CN109965949A - A kind of six degree of freedom needing machine device people for inside magnetic resonance imager - Google Patents
A kind of six degree of freedom needing machine device people for inside magnetic resonance imager Download PDFInfo
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- CN109965949A CN109965949A CN201910247988.4A CN201910247988A CN109965949A CN 109965949 A CN109965949 A CN 109965949A CN 201910247988 A CN201910247988 A CN 201910247988A CN 109965949 A CN109965949 A CN 109965949A
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- 238000002604 ultrasonography Methods 0.000 claims abstract description 17
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 21
- 230000008878 coupling Effects 0.000 claims description 7
- 238000010168 coupling process Methods 0.000 claims description 7
- 238000005859 coupling reaction Methods 0.000 claims description 7
- 238000006073 displacement reaction Methods 0.000 claims description 7
- 210000002307 prostate Anatomy 0.000 abstract description 4
- 238000001574 biopsy Methods 0.000 abstract 1
- 238000005457 optimization Methods 0.000 description 6
- 238000003384 imaging method Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 230000005311 nuclear magnetism Effects 0.000 description 4
- 238000005481 NMR spectroscopy Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000001467 acupuncture Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000003902 lesion Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 210000002640 perineum Anatomy 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000002432 robotic surgery Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000001356 surgical procedure Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/107—Visualisation of planned trajectories or target regions
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Medical Informatics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Robotics (AREA)
- Pathology (AREA)
- Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of six degree of freedom needing machine device people for inside magnetic resonance imager, comprising Descartes's module, swing module and needle thorn module；It swings module to be fixed in Descartes's module, needle thorn module, which is fixed on, to be swung in module, wherein Descartes's module swings module for control and moves in X-direction, Y-direction and Z-direction, and X-direction, Y-direction, Z-direction are mutually perpendicular to；It swings module and carries out horizontal hunting for controlling needle thorn module；Needle thorn module carries out pitching movement and inserting needle movement for controlling puncture needle.The present invention takes various forms no magnetic Driven by Ultrasonic Motors, can be realized the prostate biopsy of required position and posture, while the characteristic to cut off self-lock based on ultrasound electric machine, comes holding position without locking device outside plus；And the overall structure of system simpler is compact, easy to minimize.
Description
Technical field
The present invention relates to minimally invasive medical robot device's technical fields, and in particular to one kind is for inside magnetic resonance imager
Six degree of freedom needing machine device people.
Background technique
In the design of numerous prostate needing machine device people, " flexibly, accurate, dexterous " is the weight of needing machine device people's superiority and inferiority
Index is wanted, the mode of structure design affects the size of the occupied space volume of whole system.For the needle thorn for thering is imaging to guide
Robotic surgery, imaging mode mostly use ultrasonic imaging.Driving method mostly uses pneumatic, hydraulic-driven.Since NMR imaging has
There is extraordinary real-time and does not radiate.Therefore the robot research under nuclear-magnetism rapidly becomes the hot spot in the field.It is above to drive
Although flowing mode meets nuclear-magnetism compatibility feature well, it is inevitably present more nonlinearity erron and driving device
It is comparatively laborious, so that the real-time of platform, stability and precision are poor.
Summary of the invention
The technical problem to be solved by the present invention is to provide a kind of for magnetic for defect involved in background technique
Six degree of freedom needing machine device people inside resonance imager.
The present invention uses following technical scheme to solve above-mentioned technical problem:
A kind of six degree of freedom needing machine device people for inside magnetic resonance imager comprising Descartes's module, swings module and needle
Pierce module；
The swing module is fixed in Descartes's module, and the needle thorn module is fixed in the swing module, wherein described
Descartes's module moves in X-direction, Y-direction and Z-direction for controlling swing module, the X-direction, Y-direction, Z-direction phase
It is mutually vertical；The swing module carries out horizontal hunting for controlling needle thorn module；Needle thorn module for control puncture needle into
Row pitching movement and inserting needle movement；
Descartes's module includes pedestal, X platform, Y stage, Z platform, lifting tube, first straight line ultrasound electric machine, first straight line
Encoder, second straight line ultrasound electric machine, second straight line encoder, the first double output shaft rotary ultrasonic motor, the first rotary coding
Device and several polished rods；
The pedestal be equipped be equipped on several guide rails in X direction and guide rail can be free to slide sliding block；The X is flat
Sliding block on each guide rail of platform and pedestal is connected, can be free to slide in X direction with respect to pedestal；The first straight line ultrasonic electric
Machine is fixed on the base, output end and the X platform are connected, for driving X platform to slide relative to pedestal in X-direction；It is described
The read head of first straight line encoder is fixed on the base, grating scale is fixed on the X platform, for detecting X platform
Slide displacement relative to pedestal；
The X platform be equipped with it is several be equipped on the guide rail and guide rail of Y-direction can be free to slide sliding block；The Y is flat
Sliding block on each guide rail of platform and X platform is connected, can be free to slide along Y-direction with respect to X platform；The second straight line ultrasound
Motor is fixed on X platform, output end and the Y stage are connected, for driving Y stage to slide in the Y direction relative to X platform；
The read head of the first straight line encoder is fixed on the X platform, grating scale is fixed on the Y stage, for detecting Y
Slide displacement of the platform relative to X platform；
The lifting tube includes outer cylinder and inner cylinder；The outer cylinder is the connected sky in lower ending opening, upper end and Z platform lower end surface
Heart cylindrical body, inner wall are equipped with screw thread；The inner cylinder lower end closed, outer wall be equipped with and the outer tube inner wall on screw thread phase
The screw thread matched, and inner barrel and outer barrel is threadedly coupled；
The Z platform is equipped with several and described one-to-one through-holes of polished rod；Described polished rod one end passes through it in Z along Z-direction
It is connected after corresponding through-hole with the Y stage on platform；
The center of the Y stage is equipped with through-hole；The first double output shaft rotary ultrasonic motor is fixed on the lower end of the Y stage
On face, one output shaft pass through Y stage center through-hole and the inner cylinder lower end surface center be connected, for control it is described in
Hold and rotates and then control Z platform along Z-direction sliding；The read head of first rotary encoder and the first double output shaft rotary ultrasonic
The shell of motor is connected, another output shaft fixed connection of grating scale and the first double output shaft rotary ultrasonic motor；
The swing module includes rotary mounting seat, first bearing, rotary shaft, driving pulley, driven pulley, the second double output shaft
Rotary ultrasonic motor and the second rotary encoder；
The rotary mounting seat is fixed on the Z platform, a part stretch out Z platform outside, and which is provided with bearing mounting hole and
Motor hole；
The first bearing is arranged in the bearing mounting hole of the rotary mounting seat, and outer ring and rotary mounting seat are connected, interior
The bottom end of circle and the rotary shaft is connected；The driven belt wheel case is connected in the rotary shaft with the rotary shaft；The band
Wheel, rotary shaft, inner cylinder are coaxial；
The second double output shaft rotary ultrasonic motor is fixed on the lower end surface of the rotary mounting seat, one output shaft is worn
The center for crossing the motor hole on rotary mounting seat and the driving pulley is connected；The read head of second rotary encoder and described
The shell of second double output shaft rotary ultrasonic motor is connected, grating scale and the second double output shaft rotary ultrasonic motor another is defeated
Shaft is connected；
The driving pulley, driven pulley are sequentially connected by the belt；
Needle thorn module include U-shaped support, needle thorn loading plate, screw rod, feed screw nut, needle stand, puncture needle, the first fixed plate,
Second fixed plate, the first hangers, the second hangers, second bearing, connecting shaft, 3rd bearing, shaft coupling, the rotation of third double output shaft
Ultrasound electric machine, third rotary encoder, the 4th double output shaft rotary ultrasonic motor and the 4th rotary encoder；
The needle thorn loading plate is rectangle；First hangers, the second hangers are correspondingly arranged at needle thorn loading plate two sides,
It is connected with needle thorn loading plate；First fixed plate, the second fixed plate are separately positioned on the needle thorn carrying board ends, and
The upper surface of the needle thorn loading plate is vertically connected；
The U-shaped support includes the first side plate, the second side plate and bottom plate, wherein the lower end surface of the bottom plate of U-shaped support and the rotation
The top of shaft is connected；First side plate is equipped with through-hole, and the inner wall of the second side plate is equipped with bearing mounting hole；
The second bearing is arranged in the bearing mounting hole of the second side plate, and outer ring and the second side plate be connected, inner ring and described
One end of connecting shaft is connected；The outer wall of the other end of the connecting shaft and second hangers is connected；The third double output shaft
Rotary ultrasonic motor is fixed on the first side plate outer wall, one output shaft passes through the through-hole and described first on the first side plate
The outer wall of hangers is connected and the output shaft and the second bearing are coaxial；The read head of the third rotary encoder and described
The shells of three double output shaft rotary ultrasonic motors is connected, another output of grating scale and third double output shaft rotary ultrasonic motor
Axis is connected；
Loading plate long side is parallel leads with needle thorn being equipped between the first fixed plate, the second fixed plate for needle thorn loading plate
Rail, and guide rail be equipped with can be free to slide sliding block；Sliding block on the feed screw nut and needle thorn loading plate is connected；
First fixed plate is equipped with through-hole, and second fixed plate is equipped with bearing hole and pilot hole；
The 4th double output shaft rotary ultrasonic motor is fixed on the first fixed plate outer wall, one output shaft passes through first
One end of shaft coupling and the screw rod is connected after through-hole in fixed plate；The read head and the described 4th of 4th rotary encoder
The shell of double output shaft rotary ultrasonic motor is connected, another output shaft of grating scale and the 4th double output shaft rotary ultrasonic motor
It is connected；
The 3rd bearing is arranged in the bearing hole of second fixed plate, and outer ring and second fixed plate are connected；Institute
It states screw rod and the feed screw nut is threadedly coupled, its other end is connected after feed screw nut with the inner ring of the 3rd bearing,
And screw rod is parallel with the guide rail on needle thorn loading plate；
The needle stand includes mounting plate, guide plate, pressure sensor and fixed block, wherein the mounting plate is fixed on the silk
On stem nut；The guide plate, fixed block are each attached on the mounting plate, and the guide plate is equipped with pilot hole；
The tip of the puncture needle sequentially passes through the pilot hole on guide plate, the pilot hole in the second fixed plate；The pressure passes
Sensor one end and the root of puncture needle are connected, the other end and the fixed block are connected, for measuring the puncture force size of puncture needle；
The puncture needle is parallel with the guide rail, can be slided by the pilot hole in the second fixed plate.
As a kind of further side of optimization of the six degree of freedom needing machine device people for inside magnetic resonance imager of the present invention
Case, the quantity of the pedestal upper rail are two, and the quantity of X platform upper rail is also two.
As a kind of further side of optimization of the six degree of freedom needing machine device people for inside magnetic resonance imager of the present invention
Case, the quantity of the polished rod is two, and the two sides of the outer cylinder are arranged in two through-holes matched on Z platform with polished rod.
As a kind of further side of optimization of the six degree of freedom needing machine device people for inside magnetic resonance imager of the present invention
Case, the rotary shaft and the inner ring of the first bearing are connected by interference fit.
The invention adopts the above technical scheme compared with prior art, has following technical effect that
1. working space completely covers the region of prostate, needle can reach the target of prostate with required position and posture
Point；
2. the present invention is combined with the guidance of nuclear-magnetism image, patient and doctor are freed from traditional X-ray environment, it can
To realize the real-time navigation of acupuncture operation, puncture process is reliable and stable；
3. the present invention directlys adopt driving of the linear ultrasonic motor as X-direction and Y-direction, so that compact-sized, displacement is differentiated
Rate is high；
4. the present invention is due to may be implemented the needle thorn movement of desired trajectory with six-freedom degree；
5. having the characteristics that high precision, fast response time and nuclear-magnetism are compatible, while using various forms of ultrasound electric machines, positioning
Precision is high；Simpler compact, the satisfaction miniaturization of the overall structure of system.
6. it is good with needle point point on the position of distance as far as possible to be placed in budget for each driving motor in the present invention, most
The big possible interference for reducing motor to magnetic resonance imager, to obtain clearer imaging, to have very to operation precision
Big raising.
Detailed description of the invention
Fig. 1 is three dimensional structure diagram of the invention；
Fig. 2 is left view of the invention；
Fig. 3 is the structural schematic diagram that module is swung in the present invention.
In figure, 1- pedestal, 2- the first double output shaft rotary ultrasonic motor, 3-X platform, 4- second straight line encoder, 5-
Two rotary encoders, 6- the second double output shaft rotary ultrasonic motor, the 4th rotary encoder of 7-, the rotation of the 4th double output shaft of 8- are super
Acoustic-electric machine, 9- shaft coupling, 10- fixed block, 11- pressure sensor, 12- guide plate, 13- third rotary encoder, 14- screw rod,
Pilot hole in the second fixed plate of 15-, 16- puncture needle, the second fixed plate of 17-, 18- needle pierce loading plate, 19- driven pulley, 20-
Rotary mounting seat, 21- second straight line ultrasound electric machine, the guide rail on 22- pedestal, 23-Y platform, the guide rail on 24-X platform, 25-
Lifting tube, 26-Z platform, 27- first straight line ultrasound electric machine, 28- first straight line encoder, 29-U type support, 30- polished rod, 31-
First bearing, 32- rotary shaft.
Specific embodiment
Technical solution of the present invention is described in further detail with reference to the accompanying drawing:
The present invention can be embodied in many different forms, and should not be assumed that be limited to the embodiments described herein.On the contrary, providing
These embodiments are thoroughly and complete to make the disclosure, and will give full expression to the scope of the present invention to those skilled in the art.
In the accompanying drawings, for the sake of clarity it is exaggerated component.
As shown in Figure 1 and Figure 2, a kind of six degree of freedom needing machine device people for inside magnetic resonance imager of the present invention includes
Descartes's module swings module and needle thorn module；
The swing module is fixed in Descartes's module, and the needle thorn module is fixed in the swing module, wherein described
Descartes's module moves in X-direction, Y-direction and Z-direction for controlling swing module, the X-direction, Y-direction, Z-direction phase
It is mutually vertical；The swing module carries out horizontal hunting for controlling needle thorn module；Needle thorn module for control puncture needle into
Row pitching movement and inserting needle movement；
Descartes's module includes pedestal, X platform, Y stage, Z platform, lifting tube, first straight line ultrasound electric machine, first straight line
Encoder, second straight line ultrasound electric machine, second straight line encoder, the first double output shaft rotary ultrasonic motor, the first rotary coding
Device and several polished rods；
The pedestal be equipped be equipped on several guide rails in X direction and guide rail can be free to slide sliding block；The X is flat
Sliding block on each guide rail of platform and pedestal is connected, can be free to slide in X direction with respect to pedestal；The first straight line ultrasonic electric
Machine is fixed on the base, output end and the X platform are connected, for driving X platform to slide relative to pedestal in X-direction；It is described
The read head of first straight line encoder is fixed on the base, grating scale is fixed on the X platform, for detecting X platform
Slide displacement relative to pedestal；
The X platform be equipped with it is several be equipped on the guide rail and guide rail of Y-direction can be free to slide sliding block；The Y is flat
Sliding block on each guide rail of platform and X platform is connected, can be free to slide along Y-direction with respect to X platform；The second straight line ultrasound
Motor is fixed on X platform, output end and the Y stage are connected, for driving Y stage to slide in the Y direction relative to X platform；
The read head of the first straight line encoder is fixed on the X platform, grating scale is fixed on the Y stage, for detecting Y
Slide displacement of the platform relative to X platform；
The lifting tube includes outer cylinder and inner cylinder；The outer cylinder is the connected sky in lower ending opening, upper end and Z platform lower end surface
Heart cylindrical body, inner wall are equipped with screw thread；The inner cylinder lower end closed, outer wall be equipped with and the outer tube inner wall on screw thread phase
The screw thread matched, and inner barrel and outer barrel is threadedly coupled；
The Z platform is equipped with several and described one-to-one through-holes of polished rod；Described polished rod one end passes through it in Z along Z-direction
It is connected after corresponding through-hole with the Y stage on platform；
The center of the Y stage is equipped with through-hole；The first double output shaft rotary ultrasonic motor is fixed on the lower end of the Y stage
On face, one output shaft pass through Y stage center through-hole and the inner cylinder lower end surface center be connected, for control it is described in
Hold and rotates and then control Z platform along Z-direction sliding；The read head of first rotary encoder and the first double output shaft rotary ultrasonic
The shell of motor is connected, another output shaft fixed connection of grating scale and the first double output shaft rotary ultrasonic motor；
As shown in figure 3, the swing module includes rotary mounting seat, first bearing, rotary shaft, driving pulley, driven pulley, the
Two double output shaft rotary ultrasonic motors and the second rotary encoder；
The rotary mounting seat is fixed on the Z platform, a part stretch out Z platform outside, and which is provided with bearing mounting hole and
Motor hole；
The first bearing is arranged in the bearing mounting hole of the rotary mounting seat, and outer ring and rotary mounting seat are connected, interior
The bottom end of circle and the rotary shaft is connected；The driven belt wheel case is connected in the rotary shaft with the rotary shaft；The band
Wheel, rotary shaft, inner cylinder are coaxial；
The second double output shaft rotary ultrasonic motor is fixed on the lower end surface of the rotary mounting seat, one output shaft is worn
The center for crossing the motor hole on rotary mounting seat and the driving pulley is connected；The read head of second rotary encoder and described
The shell of second double output shaft rotary ultrasonic motor is connected, grating scale and the second double output shaft rotary ultrasonic motor another is defeated
Shaft is connected；
The driving pulley, driven pulley are sequentially connected by the belt；
Needle thorn module include U-shaped support, needle thorn loading plate, screw rod, feed screw nut, needle stand, puncture needle, the first fixed plate,
Second fixed plate, the first hangers, the second hangers, second bearing, connecting shaft, 3rd bearing, shaft coupling, the rotation of third double output shaft
Ultrasound electric machine, third rotary encoder, the 4th double output shaft rotary ultrasonic motor and the 4th rotary encoder；
The needle thorn loading plate is rectangle；First hangers, the second hangers are correspondingly arranged at needle thorn loading plate two sides,
It is connected with needle thorn loading plate；First fixed plate, the second fixed plate are separately positioned on the needle thorn carrying board ends, and
The upper surface of the needle thorn loading plate is vertically connected；
The U-shaped support includes the first side plate, the second side plate and bottom plate, wherein the lower end surface of the bottom plate of U-shaped support and the rotation
The top of shaft is connected；First side plate is equipped with through-hole, and the inner wall of the second side plate is equipped with bearing mounting hole；
The second bearing is arranged in the bearing mounting hole of the second side plate, and outer ring and the second side plate be connected, inner ring and described
One end of connecting shaft is connected；The outer wall of the other end of the connecting shaft and second hangers is connected；The third double output shaft
Rotary ultrasonic motor is fixed on the first side plate outer wall, one output shaft passes through the through-hole and described first on the first side plate
The outer wall of hangers is connected and the output shaft and the second bearing are coaxial；The read head of the third rotary encoder and described
The shells of three double output shaft rotary ultrasonic motors is connected, another output of grating scale and third double output shaft rotary ultrasonic motor
Axis is connected；
Loading plate long side is parallel leads with needle thorn being equipped between the first fixed plate, the second fixed plate for needle thorn loading plate
Rail, and guide rail be equipped with can be free to slide sliding block；Sliding block on the feed screw nut and needle thorn loading plate is connected；
First fixed plate is equipped with through-hole, and second fixed plate is equipped with bearing hole and pilot hole；
The 4th double output shaft rotary ultrasonic motor is fixed on the first fixed plate outer wall, one output shaft passes through first
One end of shaft coupling and the screw rod is connected after through-hole in fixed plate；The read head and the described 4th of 4th rotary encoder
The shell of double output shaft rotary ultrasonic motor is connected, another output shaft of grating scale and the 4th double output shaft rotary ultrasonic motor
It is connected；
The 3rd bearing is arranged in the bearing hole of second fixed plate, and outer ring and second fixed plate are connected；Institute
It states screw rod and the feed screw nut is threadedly coupled, its other end is connected after feed screw nut with the inner ring of the 3rd bearing,
And screw rod is parallel with the guide rail on needle thorn loading plate；
The needle stand includes mounting plate, guide plate, pressure sensor and fixed block, wherein the mounting plate is fixed on the silk
On stem nut；The guide plate, fixed block are each attached on the mounting plate, and the guide plate is equipped with pilot hole；
The tip of the puncture needle sequentially passes through the pilot hole on guide plate, the pilot hole in the second fixed plate；The pressure passes
Sensor one end and the root of puncture needle are connected, the other end and the fixed block are connected, for measuring the puncture force size of puncture needle；
The puncture needle is parallel with the guide rail, can be slided by the pilot hole in the second fixed plate.
As a kind of further side of optimization of the six degree of freedom needing machine device people for inside magnetic resonance imager of the present invention
Case, the quantity of the pedestal upper rail are two, and the quantity of X platform upper rail is also two.
As a kind of further side of optimization of the six degree of freedom needing machine device people for inside magnetic resonance imager of the present invention
Case, the quantity of the polished rod is two, and the two sides of the outer cylinder are arranged in two through-holes matched on Z platform with polished rod.
As a kind of further side of optimization of the six degree of freedom needing machine device people for inside magnetic resonance imager of the present invention
Case, the rotary shaft and the inner ring of the first bearing are connected by interference fit.
When work, patient is lain on the intracorporal hospital bed of Nuclear Magnetic Resonance chamber, which is placed between two legs of patient.
Pass the target spot, point of puncture and the path planned of lesion back by Nuclear Magnetic Resonance.Control first straight line ultrasound electric machine, the
Syringe needle is moved to the point of puncture positioned at perineum wall by two linear ultrasonic motors, the first double output shaft rotary ultrasonic motor；Control the
Two double output shaft rotary ultrasonic motors, third double output shaft rotary ultrasonic motor adjust the puncture posture of needle；Control the 4th pair
Output shaft rotary ultrasonic motor is punctured；The puncture in surgical procedure can be measured positioned at the subsequent pressure sensor of puncture needle
Power is simultaneously fed back.Constantly repeating adjustment posture and needle thorn can realize that desired trajectory punctures.
Those skilled in the art can understand that unless otherwise defined, all terms used herein (include skill
Art term and scientific term) there is meaning identical with the general understanding of those of ordinary skill in fields of the present invention.Also
It should be understood that those terms such as defined in the general dictionary should be understood that have in the context of the prior art
The consistent meaning of meaning will not be explained in an idealized or overly formal meaning and unless defined as here.
Above-described specific embodiment has carried out further the purpose of the present invention, technical scheme and beneficial effects
It is described in detail, it should be understood that being not limited to this hair the foregoing is merely a specific embodiment of the invention
Bright, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done should be included in the present invention
Protection scope within.
Claims (4)
1. a kind of six degree of freedom needing machine device people for inside magnetic resonance imager, which is characterized in that comprising Descartes's module,
It swings module and needle pierces module；
The swing module is fixed in Descartes's module, and the needle thorn module is fixed in the swing module, wherein described
Descartes's module moves in X-direction, Y-direction and Z-direction for controlling swing module, the X-direction, Y-direction, Z-direction phase
It is mutually vertical；The swing module carries out horizontal hunting for controlling needle thorn module；Needle thorn module for control puncture needle into
Row pitching movement and inserting needle movement；
Descartes's module includes pedestal, X platform, Y stage, Z platform, lifting tube, first straight line ultrasound electric machine, first straight line
Encoder, second straight line ultrasound electric machine, second straight line encoder, the first double output shaft rotary ultrasonic motor, the first rotary coding
Device and several polished rods；
The pedestal be equipped be equipped on several guide rails in X direction and guide rail can be free to slide sliding block；The X is flat
Sliding block on each guide rail of platform and pedestal is connected, can be free to slide in X direction with respect to pedestal；The first straight line ultrasonic electric
Machine is fixed on the base, output end and the X platform are connected, for driving X platform to slide relative to pedestal in X-direction；It is described
The read head of first straight line encoder is fixed on the base, grating scale is fixed on the X platform, for detecting X platform
Slide displacement relative to pedestal；
The X platform be equipped with it is several be equipped on the guide rail and guide rail of Y-direction can be free to slide sliding block；The Y is flat
Sliding block on each guide rail of platform and X platform is connected, can be free to slide along Y-direction with respect to X platform；The second straight line ultrasound
Motor is fixed on X platform, output end and the Y stage are connected, for driving Y stage to slide in the Y direction relative to X platform；
The read head of the first straight line encoder is fixed on the X platform, grating scale is fixed on the Y stage, for detecting Y
Slide displacement of the platform relative to X platform；
The lifting tube includes outer cylinder and inner cylinder；The outer cylinder is the connected sky in lower ending opening, upper end and Z platform lower end surface
Heart cylindrical body, inner wall are equipped with screw thread；The inner cylinder lower end closed, outer wall be equipped with and the outer tube inner wall on screw thread phase
The screw thread matched, and inner barrel and outer barrel is threadedly coupled；
The Z platform is equipped with several and described one-to-one through-holes of polished rod；Described polished rod one end passes through it in Z along Z-direction
It is connected after corresponding through-hole with the Y stage on platform；
The center of the Y stage is equipped with through-hole；The first double output shaft rotary ultrasonic motor is fixed on the lower end of the Y stage
On face, one output shaft pass through Y stage center through-hole and the inner cylinder lower end surface center be connected, for control it is described in
Hold and rotates and then control Z platform along Z-direction sliding；The read head of first rotary encoder and the first double output shaft rotary ultrasonic
The shell of motor is connected, another output shaft fixed connection of grating scale and the first double output shaft rotary ultrasonic motor；
The swing module includes rotary mounting seat, first bearing, rotary shaft, driving pulley, driven pulley, the second double output shaft
Rotary ultrasonic motor and the second rotary encoder；
The rotary mounting seat is fixed on the Z platform, a part stretch out Z platform outside, and which is provided with bearing mounting hole and
Motor hole；
The first bearing is arranged in the bearing mounting hole of the rotary mounting seat, and outer ring and rotary mounting seat are connected, interior
The bottom end of circle and the rotary shaft is connected；The driven belt wheel case is connected in the rotary shaft with the rotary shaft；The band
Wheel, rotary shaft, inner cylinder are coaxial；
The second double output shaft rotary ultrasonic motor is fixed on the lower end surface of the rotary mounting seat, one output shaft is worn
The center for crossing the motor hole on rotary mounting seat and the driving pulley is connected；The read head of second rotary encoder and described
The shell of second double output shaft rotary ultrasonic motor is connected, grating scale and the second double output shaft rotary ultrasonic motor another is defeated
Shaft is connected；
The driving pulley, driven pulley are sequentially connected by the belt；
Needle thorn module include U-shaped support, needle thorn loading plate, screw rod, feed screw nut, needle stand, puncture needle, the first fixed plate,
Second fixed plate, the first hangers, the second hangers, second bearing, connecting shaft, 3rd bearing, shaft coupling, the rotation of third double output shaft
Ultrasound electric machine, third rotary encoder, the 4th double output shaft rotary ultrasonic motor and the 4th rotary encoder；
The needle thorn loading plate is rectangle；First hangers, the second hangers are correspondingly arranged at needle thorn loading plate two sides,
It is connected with needle thorn loading plate；First fixed plate, the second fixed plate are separately positioned on the needle thorn carrying board ends, and
The upper surface of the needle thorn loading plate is vertically connected；
The U-shaped support includes the first side plate, the second side plate and bottom plate, wherein the lower end surface of the bottom plate of U-shaped support and the rotation
The top of shaft is connected；First side plate is equipped with through-hole, and the inner wall of the second side plate is equipped with bearing mounting hole；
The second bearing is arranged in the bearing mounting hole of the second side plate, and outer ring and the second side plate be connected, inner ring and described
One end of connecting shaft is connected；The outer wall of the other end of the connecting shaft and second hangers is connected；The third double output shaft
Rotary ultrasonic motor is fixed on the first side plate outer wall, one output shaft passes through the through-hole and described first on the first side plate
The outer wall of hangers is connected and the output shaft and the second bearing are coaxial；The read head of the third rotary encoder and described
The shells of three double output shaft rotary ultrasonic motors is connected, another output of grating scale and third double output shaft rotary ultrasonic motor
Axis is connected；
Loading plate long side is parallel leads with needle thorn being equipped between the first fixed plate, the second fixed plate for needle thorn loading plate
Rail, and guide rail be equipped with can be free to slide sliding block；The sliding block of the feed screw nut and needle thorn carrying class is connected；
First fixed plate is equipped with through-hole, and second fixed plate is equipped with bearing hole and pilot hole；
The 4th double output shaft rotary ultrasonic motor is fixed on the first fixed plate outer wall, one output shaft passes through first
One end of shaft coupling and the screw rod is connected after through-hole in fixed plate；The read head and the described 4th of 4th rotary encoder
The shell of double output shaft rotary ultrasonic motor is connected, another output shaft of grating scale and the 4th double output shaft rotary ultrasonic motor
It is connected；
The 3rd bearing is arranged in the bearing hole of second fixed plate, and outer ring and second fixed plate are connected；Institute
It states screw rod and the feed screw nut is threadedly coupled, its other end is connected after feed screw nut with the inner ring of the 3rd bearing,
And screw rod is parallel with the guide rail on needle thorn loading plate；
The needle stand includes mounting plate, guide plate, pressure sensor and fixed block, wherein the mounting plate is fixed on the silk
On stem nut；The guide plate, fixed block are each attached on the mounting plate, and the guide plate is equipped with pilot hole；
The tip of the puncture needle sequentially passes through the pilot hole on guide plate, the pilot hole in the second fixed plate；The pressure passes
Sensor one end and the root of puncture needle are connected, the other end and the fixed block are connected, for measuring the puncture force size of puncture needle；
The puncture needle is parallel with the guide rail, can be slided by the pilot hole in the second fixed plate.
2. the six degree of freedom needing machine device people according to claim 1 for inside magnetic resonance imager, which is characterized in that
The quantity of the pedestal upper rail is two, and the quantity of X platform upper rail is also two.
3. the six degree of freedom needing machine device people according to claim 1 for inside magnetic resonance imager, which is characterized in that
The quantity of the polished rod is two, and the two sides of the outer cylinder are arranged in two through-holes matched on Z platform with polished rod.
4. the six degree of freedom needing machine device people according to claim 1 for inside magnetic resonance imager, which is characterized in that
It is connected between the rotary shaft and the inner ring of the first bearing by interference fit.
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| CN201910247988.4A CN109965949B (en) | 2019-03-29 | 2019-03-29 | Six-degree-of-freedom needling robot used in magnetic resonance imaging instrument |
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| CN110353777A (en) * | 2019-07-26 | 2019-10-22 | 哈尔滨理工大学 | The rotary mammary gland of hydraulic-driven differential motion intervenes robot under MRI |
| CN111603691A (en) * | 2020-04-26 | 2020-09-01 | 哈尔滨医科大学 | Multi-core MRI (magnetic resonance imaging) -guided HIFU (high intensity focused ultrasound) focusing probe positioning device and using method thereof |
| CN111658021A (en) * | 2020-07-10 | 2020-09-15 | 西安交通大学医学院第一附属医院 | Universal prostate puncture device |
| CN111685881A (en) * | 2020-06-19 | 2020-09-22 | 山东大学 | Freely-installed miniature bedside surgical robot and working method thereof |
| CN111959765A (en) * | 2020-08-03 | 2020-11-20 | 南京航空航天大学 | Tilt rotor wing mechanism based on ultrasonic motor |
| CN113081282A (en) * | 2021-04-22 | 2021-07-09 | 浙江大学 | Six-degree-of-freedom CT-compatible breathing compensation needle puncture robot |
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| CN113712637A (en) * | 2021-08-30 | 2021-11-30 | 广东工业大学 | Hydraulic drive position adjusting platform compatible with nuclear magnetic resonance |
| CN115399887A (en) * | 2022-07-26 | 2022-11-29 | 磅客策(上海)智能医疗科技有限公司 | Multi-degree-of-freedom hand stabilizing device for surgical robot and stabilizing method thereof |
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| CN113413215A (en) * | 2021-06-30 | 2021-09-21 | 福建省立医院 | Automatic conveying operation device of fiberbronchial endoscope |
| CN113712637A (en) * | 2021-08-30 | 2021-11-30 | 广东工业大学 | Hydraulic drive position adjusting platform compatible with nuclear magnetic resonance |
| CN115399887A (en) * | 2022-07-26 | 2022-11-29 | 磅客策(上海)智能医疗科技有限公司 | Multi-degree-of-freedom hand stabilizing device for surgical robot and stabilizing method thereof |
| CN115399887B (en) * | 2022-07-26 | 2024-07-30 | 磅客策(上海)智能医疗科技有限公司 | Multi-degree-of-freedom hand stabilizing device for surgical robot and stabilizing method thereof |
| CN116549069A (en) * | 2023-04-25 | 2023-08-08 | 北京新云医疗科技有限公司 | Medical stabilizer |
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