CN110575259A - Articulated type particle implantation robot with parallelogram mechanism - Google Patents
Articulated type particle implantation robot with parallelogram mechanism Download PDFInfo
- Publication number
- CN110575259A CN110575259A CN201911000581.8A CN201911000581A CN110575259A CN 110575259 A CN110575259 A CN 110575259A CN 201911000581 A CN201911000581 A CN 201911000581A CN 110575259 A CN110575259 A CN 110575259A
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- CN
- China
- Prior art keywords
- arm
- small arm
- driving motor
- base
- robot
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B10/00—Other methods or instruments for diagnosis, e.g. instruments for taking a cell sample, for biopsy, for vaccination diagnosis; Sex determination; Ovulation-period determination; Throat striking implements
- A61B10/02—Instruments for taking cell samples or for biopsy
- A61B10/0233—Pointed or sharp biopsy instruments
- A61B10/0241—Pointed or sharp biopsy instruments for prostate
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- 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
- A61B17/3468—Trocars; Puncturing needles for implanting or removing devices, e.g. prostheses, implants, seeds, wires
-
- 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
-
- 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
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Medical Informatics (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)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Pathology (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a joint type particle implantation robot with a parallelogram mechanism, which consists of a moving pair and two revolute pairs, wherein the length direction of the moving pair is vertical to the plane of two rotary joint mechanical arms. The driving motor of the rotary joint is arranged on the base, and the base is arranged on the movable sliding block of the movable pair. The axis of the rotary joint driving motor is superposed with the rotary axis of the big arm. A parallelogram is formed by the small arm, the large arm, the small arm crank and the small arm connecting rod, and the power and the motion of the small arm driving motor are transmitted to the small arm by the parallelogram mechanism to realize the driving of the small arm. The layout transfers the mass of the driving motor of the small arm joint to the base, reduces the mass of the cantilever, reduces the moment of inertia around the driving joint of the large arm, and improves the response rapidity and the load dead weight ratio of the operating arm.
Description
Technical Field
The invention belongs to the technical field of medical treatment, and particularly relates to an articulated type particle implantation robot with a parallelogram mechanism.
Background
At present, with the development of electromechanical technology and imaging technology, minimally invasive surgical robots enter the visual field of people. The minimally invasive surgery robot can overcome the defects of inconsistent eye and hand motions, easy shake, long learning curve and the like of an operator in the traditional minimally invasive technique. The robot carries out three-dimensional reconstruction on the acquired two-dimensional medical image, so that the identification of the focus target point is more accurate. Meanwhile, the position of the execution end is accurately controlled by utilizing a space positioning technology, the positioning is accurate, the stability is high, the movement is flexible, and the long-time continuous work can be realized, so that the safety and the treatment effect of the interventional operation can be greatly improved by introducing the robot technology. The robot has been applied to a plurality of medical fields, and the function and the superiority of the robot in some medical fields are verified.
The application of the operation arm of the robot in prostate puncture biopsy is limited by a human body mechanism, the biopsy process is carried out between two legs of a patient, the working space of the operation arm of the robot is limited, and requirements are provided for the structure and the working path of the operation arm of the robot. The robot aims to solve the problem that the motion space of an operating arm is limited by a human body space structure in the prostate puncture biopsy process, so that the working space and the tail end motion mode of the robot can well meet the requirement of prostate puncture biopsy. The advantages of small trauma, light pain of patients, short recovery time and low operation cost of minimally invasive medical treatment are combined with the advantages of high precision, fatigue resistance, infection resistance and the like of the robot in the prostate puncture biopsy, the biopsy precision and reliability are improved, and the labor intensity of doctors and the degree of dependence on doctor experience in the operation are reduced.
Disclosure of Invention
In view of the above problems, the present invention provides an articulated type particle implantation robot having a parallelogram mechanism.
The invention relates to an articulated particle implantation robot with a parallelogram mechanism, which is characterized by comprising a moving pair and two rotating pairs, wherein a tail end biopsy needle platform is always in a horizontal state in work, a rotary joint driving motor is installed on a base through threaded connection, the base is installed on a moving slide block of the moving pair through threaded connection, and the axis of the rotary joint driving motor is superposed with the rotary axis of a large arm.
Preferably, the large arm, the small arm, the biopsy needle platform, the base and the parallelogram mechanism connecting rod form two parallelogram mechanisms connected in series through a triangular connecting piece.
Preferably, the small arm, the large arm, the small arm crank and the small arm connecting rod form a parallelogram.
The invention has the beneficial effects that:
(1) The invention designs an articulated particle implantation robot with a parallelogram mechanism for minimally invasive medical treatment, wherein a robot operating arm consists of a moving pair and two rotating pairs, and the parallelogram mechanism is utilized to ensure that a robot biopsy needle platform is always in a horizontal state in work so as to reduce the degree of freedom for adjusting the posture of a biopsy needle.
(2) The length direction of the sliding pair is vertical to the plane of the two rotary joint mechanical arms. The driving motor of the rotary joint is arranged on the base, and the base is arranged on the movable sliding block of the movable pair. The axis of the rotary joint driving motor is superposed with the rotary axis of the big arm. A parallelogram is formed by the small arm, the large arm, the small arm crank and the small arm connecting rod, and the power and the motion of the small arm driving motor are transmitted to the small arm by the parallelogram mechanism to realize the driving of the small arm. The layout transfers the mass of the driving motor of the small arm joint to the base, reduces the mass of the cantilever, reduces the rotational inertia around the driving joint of the large arm, and improves the response rapidity and the load self-weight ratio of the operating arm.
(3) The robot operating arm can accurately position the focus point, has high stability and flexible movement, and can continuously work for a long time, so the introduction of the robot operating arm technology can greatly improve the safety and the treatment effect of the interventional operation.
Description of the drawings:
For ease of illustration, the invention is described in detail by the following detailed description and the accompanying drawings.
FIG. 1 is an isometric view of a seed implantation robot
FIG. 2 is a front view of a particle implantation robot
FIG. 3 is a left side view of the particle implantation robot
FIG. 4 is a top view of a particle implantation robot
In the figure: 1 biopsy needle platform, 2 small arms, 3 triangular connecting pieces, 4 small arm connecting rods, 5 large arms, 6 bases, 7 small arm cranks, 8 moving pairs, 9 moving sliders, 10 small arm driving motor mounting bases, 11 large arm driving motor mounting bases and 12 parallelogram mechanism connecting rods.
The specific implementation mode is as follows:
in order that the objects, aspects and advantages of the invention will become more apparent, the invention will be described by way of example only, and in connection with the accompanying drawings. It is to be understood that such description is merely illustrative and not intended to limit the scope of the present invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.
Example 1: as shown in fig. 1, fig. 2, fig. 3 and fig. 4, the following technical solutions are adopted in the specific embodiment of the present invention: a joint type particle implantation robot with a parallelogram mechanism is characterized by comprising a moving pair 8 and two rotating pairs, wherein a tail end biopsy needle platform 1 is always in a horizontal state in work, a rotary joint driving motor is installed on a base 6 through threaded connection, the base 6 is installed on a moving slide block 9 of the moving pair 8 through threaded connection, and the axis of the rotary joint driving motor is overlapped with the rotary axis of a large arm 5.
Furthermore, the large arm 5, the small arm 2, the biopsy needle platform 1, the base 6 and the parallelogram mechanism connecting rod 12 form two parallelogram mechanisms connected in series through the triangular connecting piece 3.
Furthermore, the small arm 2, the large arm 5, the small arm crank 7 and the small arm connecting rod 4 form a parallelogram.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (3)
1. The articulated type particle implantation robot with the parallelogram mechanism is characterized by comprising a moving pair (8) and two rotating pairs, wherein a tail end biopsy needle platform (1) is always in a horizontal state in work, a rotary joint driving motor is installed on a base (6) through threaded connection, the base (6) is installed on a moving slide block (9) of the moving pair (8) through threaded connection, and the axis of the rotary joint driving motor is overlapped with the rotary axis of a large arm (5).
2. the articulated particle implantation robot of claim 1, wherein: the large arm (5), the small arm (2), the biopsy needle platform (1), the base (6) and the parallelogram mechanism connecting rod (12) form two parallelogram mechanisms connected in series through the triangular connecting piece (3).
3. The articulated particle implantation robot of claim 1, wherein: the small arm (2), the big arm (5), the small arm crank (7) and the small arm connecting rod (4) form a parallelogram.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911000581.8A CN110575259A (en) | 2019-10-21 | 2019-10-21 | Articulated type particle implantation robot with parallelogram mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911000581.8A CN110575259A (en) | 2019-10-21 | 2019-10-21 | Articulated type particle implantation robot with parallelogram mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110575259A true CN110575259A (en) | 2019-12-17 |
Family
ID=68815134
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911000581.8A Withdrawn CN110575259A (en) | 2019-10-21 | 2019-10-21 | Articulated type particle implantation robot with parallelogram mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110575259A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111264132A (en) * | 2020-03-23 | 2020-06-12 | 魏然 | Perforating device and transplanter |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103919577A (en) * | 2014-04-13 | 2014-07-16 | 哈尔滨理工大学 | Cantilever prostate biopsy robot |
-
2019
- 2019-10-21 CN CN201911000581.8A patent/CN110575259A/en not_active Withdrawn
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103919577A (en) * | 2014-04-13 | 2014-07-16 | 哈尔滨理工大学 | Cantilever prostate biopsy robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111264132A (en) * | 2020-03-23 | 2020-06-12 | 魏然 | Perforating device and transplanter |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20191217 |
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| WW01 | Invention patent application withdrawn after publication |