CN111839738A - Fuse formation of image arm - Google Patents

Abstract

The invention discloses a fusion imaging mechanical arm which comprises a first joint, a second joint and a detection element, wherein the rear end of the first joint is rotationally connected to a lifting mechanism with a locking function, the rear end of the second joint is rotationally connected to the front end of the first joint with the locking function, the second joint comprises a telescopic part capable of rotating up and down, and the detection element is used for detecting the rotation and the telescopic displacement of the joint. The first joint comprises a first joint arm and a second joint arm, the rear end of the first joint arm is connected to the lifting mechanism in a rotating mode and has a locking function, the rear end of the second joint arm is connected to the front end of the first joint arm in a rotating mode and has a locking function, and the rear end of the second joint arm is connected to the front end of the second joint arm in a rotating mode and has a locking function. The device has simple structure and convenient use.

Description

A fusion imaging robotic arm

technical field

The invention relates to the field of medical equipment, in particular to a fusion imaging robotic arm.

Background technique

In recent years, with the development of imaging technology, especially the wide application of MRI examination technology, the detection rate of prostate cancer foci has become higher and higher, but prostate biopsy is still the "gold standard" for the diagnosis of prostate cancer. MRI examination has high resolution for prostate tissue, high lesion detection rate, and has good guiding significance for puncture positioning. The combination of MRI and transrectal ultrasonography (TRUS) technology, that is, MRI-TRUS fusion as a new technology to guide prostate biopsy, can not only accurately locate by MRI, but also combine the real-time positioning of ultrasound, which can improve the accuracy of puncture. Reduce misdiagnosis or missed diagnosis of prostate cancer due to imaging positioning errors.

During detection, the hand-held probe is inserted into the human body. Due to discomfort or pain, the patient will move the position, resulting in a deviation from the initial preset position of the probe, but the detection system cannot get feedback of the displacement, resulting in errors in image comparison. and inaccuracy, which will affect the test results. At the same time, the pressure of the probe on the gland cannot be kept constant, and it is easy to cause the deformation of the prostate to obtain inaccurate images. Therefore, it is necessary to develop a set of equipment to assist the use of the probe, which can reduce the operator’s difficulty in operation. It can relieve the pain of the patient, and at the same time feedback the probe position change in time.

SUMMARY OF THE INVENTION

In view of this, it is necessary to provide a fusion imaging manipulator with simple structure, convenient operation, timely feedback of probe displacement change data, maintaining constant pressure of the ultrasound probe on the prostate, and minimizing image deformation.

In order to solve the above technical problems, the technical solution of the present invention is: a fusion imaging manipulator, including a first joint, a second joint and a detection element, the rear end of the first joint is rotatably connected with a locking function to a lifting mechanism The rear end of the second joint with a locking function is connected to the front end of the first joint, the second joint includes a telescopic part that can rotate up and down, and the detection element is used to detect the rotation and telescopic displacement of the joint.

Further, the first joint includes a first joint arm and a second joint arm, the rear end of the first joint arm is rotatably connected to the lifting mechanism with a locking function, and the rear end of the second joint arm has a locking function. It is rotatably connected to the front end of the first joint arm, and the rear end of the second joint with a locking function is rotatably connected to the front end of the second joint arm.

Further, the second joint has a connecting portion, the rear end of the connecting portion is rotatably connected to the front end of the first joint with a locking function, and the telescopic portion is rotatably connected to the connecting portion.

Further, the telescopic part includes a scissor-type telescopic element and a drive assembly, the rear end of the scissor-type telescopic element is rotatably connected to the connecting part, and the driving assembly is installed on the connecting part and is connected to the rear of the scissor-type telescopic element. The end drive is connected to drive the scissor-type telescopic piece to do telescopic movement.

Further, the driving assembly includes two gas springs, one end of the gas springs is rotatably connected to the connecting portion, and the other end is rotatably connected to the scissor-type telescopic piece.

Further, the rear end of the scissor-type telescopic piece is fixedly connected with a fan-shaped movable block, the connecting portion is provided with a locking mechanism for restricting the movement of the telescopic portion, and the locking mechanism acts on the movable block.

Further, it also includes a third joint, the rear end of the third joint is fixedly connected to the front end of the second joint, and the front of the third joint is used to rotate and connect the stepper.

Further, the detection element is a magnetic rotary encoder.

Compared with the prior art, the present invention has the following beneficial effects: the device constitutes a mechanical arm with multiple degrees of freedom through the rotational connection of multiple joints, which makes the installation and use of the stepper with the probe more convenient, And can timely feedback probe displacement change data.

In order to make the above-mentioned and other objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are hereinafter described in detail together with the accompanying drawings.

Description of drawings

FIG. 1 is a schematic diagram of a use state of an embodiment of the present invention.

FIG. 2 is a schematic structural diagram of an embodiment of the present invention.

FIG. 3 is a schematic structural diagram of an embodiment of the present invention.

In the picture: 1-electric lifting column, 2-robot arm, 21-first joint, 211-first joint arm, 212-second joint arm, 213-lock stud, 22-second joint, 221-connection part, 222- telescopic part, 223- sector movable block, 224- gas spring, 225- locking bolt, 226- pin, 227- locking buckle, 228- cylindrical locking buckle, 229- rotating shaft, 23- third joint, 231-rear bracket, 232-link, 233-front bracket, 3-stepper.

Detailed ways

In order to further illustrate the technical means and effects adopted by the present invention to achieve the predetermined purpose of the invention, the specific embodiments, structures, features and effects of the present invention are described in detail below with reference to the accompanying drawings and preferred embodiments.

As shown in Figures 1-3, a fusion imaging manipulator includes a first joint, a second joint, a third joint and a detection element.

The rear end of the first joint with a locking function is rotatably connected to a lifting mechanism, preferably an electric lifting column 1, and the rear end of the first joint is rotatably connected to the lifting shaft of the electric lifting column.

The first joint 21 includes a first joint arm 211 and a second joint arm 212. The rear end of the first joint arm 211 is rotatably connected to the lifting shaft of the electric lifting column 12 with a locking function, and the rear end of the second joint arm 212 has a locking function. The rotation of the first joint arm 211 is connected to the front end of the first joint arm 211 , and the rotation of the rear end of the second joint 22 with locking function is connected to the front end of the second joint arm 212 . The two articulated arms of the first joint 21 realize a large-angle rotation of the entire robotic arm 2, thereby ensuring the range of motion of the robotic arm 2; when in use, the angle of the first joint 21 is adjusted and locked. The first joint arm 211 includes a locking block and a locking stud 213. The two ends of the locking block respectively have a through hole, the middle part has a locking groove connecting the two through holes, and the locking stud is screwed in the middle of the locking groove. The rear end of the second joint arm is fixedly connected with a convex shaft, the lifting shaft of the electric lifting column is sleeved in the rear end through hole of the locking block, and the convex shaft is sleeved in the front end through hole of the locking block. When the post 213 is closed, the locking groove shrinks, thereby locking the lift shaft and the convex shaft in the two through holes, so that the first joint arm is locked on the lift shaft, and the second joint arm is locked on the first joint arm.

The second joint 22 includes a connecting portion 221 and a telescopic portion 222 . The rear end of the connecting portion 221 is rotatably connected to the front end of the second joint arm 212 with a locking function, and the telescopic portion 222 is rotatably connected to the connecting portion 221 . The rear end of the connecting portion 221 is rotatably connected to the second joint arm 212 through a pin shaft 226 , and is used for locking the pin shaft 226 through a locking bolt 225 .

The telescopic part 222 includes a scissor-type telescopic piece and a drive assembly, the rear end of the scissor-type telescopic piece is rotatably connected to a rotating shaft 229 of the connecting part, and the drive assembly is mounted on the connecting part and is connected with the rear end of the scissor-type telescopic piece The transmission connection is used to drive the scissor-type telescopic piece to do telescopic movement.

In this embodiment, the driving assembly includes two gas springs 224. One end of the gas springs 224 is rotatably connected to the connecting portion 221, and the other end is rotatably connected to the scissor-type telescopic member. The damping of the gas springs 224 is used to ensure that the The expansion-contraction portion 222 can be maintained in this state without an external force, and does not fall freely.

In this embodiment, two fan-shaped movable blocks 223 are fixedly connected to the scissor-type telescopic piece, and a locking assembly is provided on the connecting portion 221. The locking assembly includes a locking buckle 227 and a cylindrical locking buckle 228. The locking buckle 227 is used for The cylindrical lock 228 is driven to move, and the cylindrical lock 228 acts on the sector-shaped movable block 223. When the cylindrical lock 228 locks the sector-shaped movable block 223, the scissor-type telescopic element can neither extend nor rotate up and down.

The third joint 23 includes a connecting rod 232. Both ends of the connecting rod 232 are fixedly connected to a U-shaped bracket. .

The stepper 3 is rotatably connected to the bracket at the front end of the third joint, and the probe is installed on the stepper.

Two magnetic rotary encoders are provided at the connection between the connecting part 221 and the telescopic part 222 of the second joint 22 , one is used to detect the telescopic displacement of the telescopic part, and the other is used to detect the vertical rotation displacement of the telescopic part.

A magnetic rotary encoder is provided at the connection between the front end bracket of the third joint 23 and the stepper, which is used to detect the rotational displacement of the stepper.

This device has the following advantages:

(1) Six-degree-of-freedom robotic arm: It is composed of up and down, front and rear, and left and right moving joints; there are multiple ultra-small magnetic rotary encoders in the robotic arm, which can know the current position of the robotic arm in real time and feed it back to the software. The patient moves involuntarily to generate a probe The change of position is fed back to the host computer through the encoder, and the MRI image is automatically compensated for real-time motion according to the data of the probe movement, matching the real-time image of the ultrasound. In turn, it helps doctors to perform accurate biopsy sampling of lesions to ensure image accuracy.

(2) The third joint of zero pressure balance: At the connection between the robotic arm and the stepper, there is a third joint that allows the probe to rotate in the pitch and yaw directions. After the probe enters the rectum, the patient's body cannot move involuntarily. This will cause the probe to press against the rectum.

The above descriptions are only preferred embodiments of the present invention, and do not limit the present invention in any form. Although the present invention has been disclosed above with preferred embodiments, it is not intended to limit the present invention. Anyone skilled in the art , without departing from the scope of the technical solution of the present invention, when the technical content disclosed above can be used to make some changes or modifications to equivalent embodiments of equivalent changes, as long as it does not depart from the technical solution content of the present invention, according to the technical solution of the present invention Substantially any brief modifications, equivalent changes and modifications made to the above embodiments still fall within the scope of the technical solutions of the present invention.

Claims (8)

1. A fusion imaging robotic arm, characterized in that it comprises a first joint, a second joint and a detection element, the rear end of the first joint is rotatably connected with a locking function on a lifting mechanism, and the second joint The rotation with the locking function at the end is connected to the front end of the first joint, the second joint includes a telescopic part that can rotate up and down, and the detection element is used to detect the rotation and telescopic displacement of the joint. 2 . The fusion imaging robotic arm according to claim 1 , wherein the first joint comprises a first joint arm and a second joint arm, and the rear end of the first joint arm is rotatably connected with a locking function in the lift. 3 . In terms of mechanism, the rear end of the second joint arm with a locking function is connected to the front end of the first joint arm, and the rear end of the second joint arm with a locking function is connected to the front end of the second joint arm. 3 . The fusion imaging robotic arm according to claim 2 , wherein the second joint has a connecting part, the rear end of the connecting part is rotatably connected with the front end of the first joint with a locking function, and the telescopic The part is rotatably connected to the connecting part. 4 . The fusion imaging robotic arm according to claim 3 , wherein the telescopic part comprises a scissor-type telescopic element and a drive assembly, the rear end of the scissor-type telescopic element is rotatably connected to the connecting part, and the The driving component is mounted on the connecting part and is drive-connected with the rear end of the scissor-type telescopic element, so as to drive the scissor-type telescopic element to perform telescopic motion. 5 . The fusion imaging robotic arm according to claim 4 , wherein the driving assembly comprises two gas springs, one end of the gas springs is rotatably connected to the connecting part, and the other end is rotatably connected to the scissor-type telescopic piece. 6 . . 6 . The fusion imaging robotic arm according to claim 4 , wherein a fan-shaped movable block is fixedly connected to the rear end of the scissor-type telescopic part, and a locking mechanism for restricting the movement of the telescopic part is arranged on the connecting part. 7 . The locking mechanism acts on the movable block. 7 . The fusion imaging robotic arm according to claim 1 , further comprising a third joint, the rear end of the third joint is fixedly connected to the front end of the second joint, and the front end of the third joint is fixedly connected to the front end of the third joint. 8 . For rotating connection stepper. 8. The fusion imaging robotic arm according to claim 7, wherein the detection element is a magnetic rotary encoder.

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