CN114617615A - Surgical robot navigation system and navigation method thereof - Google Patents
Surgical robot navigation system and navigation method thereof Download PDFInfo
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- CN114617615A CN114617615A CN202210145563.4A CN202210145563A CN114617615A CN 114617615 A CN114617615 A CN 114617615A CN 202210145563 A CN202210145563 A CN 202210145563A CN 114617615 A CN114617615 A CN 114617615A
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- 238000000034 method Methods 0.000 title claims abstract description 14
- 239000000523 sample Substances 0.000 claims abstract description 52
- 230000007246 mechanism Effects 0.000 claims abstract description 42
- 230000033001 locomotion Effects 0.000 claims description 19
- 230000001360 synchronised effect Effects 0.000 claims description 13
- 210000002307 prostate Anatomy 0.000 claims description 10
- 210000000664 rectum Anatomy 0.000 claims description 7
- 230000006978 adaptation Effects 0.000 claims description 5
- 230000008520 organization Effects 0.000 claims description 3
- 238000003780 insertion Methods 0.000 abstract description 8
- 230000037431 insertion Effects 0.000 abstract description 8
- 238000001514 detection method Methods 0.000 abstract 3
- 238000010408 sweeping Methods 0.000 abstract 1
- 238000002604 ultrasonography Methods 0.000 description 7
- 238000001574 biopsy Methods 0.000 description 5
- 239000012528 membrane Substances 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 239000007822 coupling agent Substances 0.000 description 2
- 230000009977 dual effect Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 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 description 2
- 230000035515 penetration Effects 0.000 description 2
- 210000002640 perineum Anatomy 0.000 description 2
- 206010067484 Adverse reaction Diseases 0.000 description 1
- 206010028980 Neoplasm Diseases 0.000 description 1
- 206010060862 Prostate cancer Diseases 0.000 description 1
- 208000000236 Prostatic Neoplasms Diseases 0.000 description 1
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- 230000006838 adverse reaction Effects 0.000 description 1
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- 238000013480 data collection Methods 0.000 description 1
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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
- A61B17/3403—Needle locating or guiding means
-
- 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
- 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
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- 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
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
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- A61B34/30—Surgical robots
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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
- A61B17/3403—Needle locating or guiding means
- A61B2017/3413—Needle locating or guiding means guided by ultrasound
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- 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
- A61B2034/101—Computer-aided simulation of surgical operations
- A61B2034/105—Modelling of the patient, e.g. for ligaments or bones
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- 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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- A—HUMAN NECESSITIES
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- 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
- A61B2034/108—Computer aided selection or customisation of medical implants or cutting guides
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- A—HUMAN NECESSITIES
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- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2063—Acoustic tracking systems, e.g. using ultrasound
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- 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
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2065—Tracking using image or pattern recognition
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Abstract
The invention discloses a surgical robot navigation system and a navigation method thereof, relating to the field of medical instruments and comprising an ultrasonic exploration mechanism and a puncture shaft mechanism; the ultrasonic exploration mechanism is used for roughly positioning a human body and performing feed scanning in multiple directions and comprises a two-freedom-degree adjusting part and an ultrasonic probe which is connected to the two-freedom-degree adjusting part and used for ultrasonic exploration positioning. The ultrasonic detection mechanism and the puncture shaft mechanism are arranged, so that the ultrasonic detection mechanism can be applied to puncture of needle insertion points at one to a plurality of self-defined positions, the ultrasonic can be used for rotating and sweeping in the feeding direction to position, search or model registration of a target, the multi-degree-of-freedom structure in the positioning structure of the puncture shaft mechanism can enable the puncture part to move in a preset arc area range above the ultrasonic detection mechanism, meanwhile, the tail end of the puncture needle can have reasonable operable space under different narrow space conditions, the puncture needle can have different needle insertion angles, and the puncture needle can be arranged in any angle posture.
Description
Technical Field
The invention relates to the field of medical instruments, in particular to a surgical robot navigation system and a navigation method thereof.
Background
The biopsy procedure is the final standard and best diagnostic method for diagnosing prostate cancer, and there are two general ways of performing the biopsy procedure, one is through perineum and the other is through rectum, wherein the transperineal biopsy is more beneficial to finding early stage tumor and reducing adverse reaction after operation due to higher safety, and is gradually used by more medical institutions.
At present, in the transperineal prostate puncture biopsy operation process, a puncture template needs to be pushed to be attached to the perineum of a patient from a gap between two legs of the patient, the puncture template penetrates through different positioning small holes in the puncture template through a puncture needle to puncture into a prostate gland, and the puncture needle penetrates through the different positioning small holes to realize the puncture into different positions of the prostate gland.
The existing transperineal prostate puncture equipment has less freedom degree, can only perform needle insertion puncture or forward and backward movement in the direction parallel to an ultrasonic probe, is not beneficial to positioning and observation of a needle path in the operation process, has relatively complex structure and small operation space, or limits needle insertion positions into two holes, can only be suitable for prostate operations with two needle insertion holes, and simultaneously, partial equipment utilizes mechanical arms or needle channel positions to perform positioning.
Disclosure of Invention
The purpose of the invention is as follows: the present invention provides a surgical robot navigation system and a navigation method thereof to solve the above problems in the prior art.
The technical scheme is as follows: the surgical robot navigation system comprises an ultrasonic exploration mechanism and a puncture shaft mechanism;
the ultrasonic exploration mechanism is used for roughly positioning a human body and performing feed scanning in multiple directions, and comprises a two-degree-of-freedom adjusting part and an ultrasonic probe which is connected to the two-degree-of-freedom adjusting part and used for ultrasonic exploration positioning, wherein one end of the ultrasonic probe is fixedly provided with an ultrasonic sheath used for reducing the influence of ultrasonic motion on an organization structure, and the two-degree-of-freedom adjusting part is used for adjusting the two degrees of freedom of the ultrasonic probe;
the puncture shaft mechanism comprises a multi-degree-of-freedom adjusting component and a puncture component connected to the multi-degree-of-freedom adjusting component, and the multi-degree-of-freedom adjusting component is used for multi-degree-of-freedom adjustment of the puncture component.
In a further embodiment, the two-degree-of-freedom adjustment component comprises a first sliding table, a first sliding block, a probe bearing seat, a first rotating sleeve, a first fixed seat and a first stepping motor;
the first sliding table is provided with a first sliding block in a sliding mode, one end of the first sliding table is connected with a first stepping motor used for driving the first sliding block to rotate, the first stepping motor is a first lead screw motor, the driving end of the first stepping motor is connected with a first lead screw, the first sliding block is arranged on the first lead screw of the first stepping motor, and the first stepping motor is started to drive the first sliding block to move through the rotation of the first lead screw;
the probe bearing block is connected to the first sliding block, a first rotating shaft penetrates through the probe bearing block, and a first bearing is connected to the inner wall of the first rotating shaft;
first rotatory sleeve rotates and locates in the first bearing and with first bearing looks adaptation, be connected with first fixing base between first rotatory sleeve and the ultrasonic probe, first fixing base and the detachable installation of ultrasonic probe, convenient to use person carries out operations such as dismouting and change to ultrasonic probe, and the ultrasonic probe outside is located to first rotatory sleeve cover.
In a further embodiment, the two-degree-of-freedom adjustment component further comprises a first driving motor, two synchronous belts and a synchronous wheel;
the first driving motor is connected to one side of the probe bearing seat, and a driving end of the first driving motor penetrates through the probe bearing seat;
the two synchronous belts are respectively connected to the driving end of the first driving motor and the outer wall of the first rotary sleeve;
the synchronizing wheel is connected to two on the synchronizing belt for two synchronous hold-in ranges of synchronization move, during the use, start first driving motor, and first driving motor drive end drives corresponding hold-in range and rotates, drives the hold-in range on the first rotatory sleeve through the synchronizing wheel simultaneously and rotates.
In a further embodiment, the two-degree-of-freedom adjusting component further comprises an integral fixing seat, a sliding table fixing seat, a sheath fixing seat, a retainer ring and a hoop cover;
the integral fixed seat is arranged at the lower side of the first sliding table, one end, close to the integral fixed seat, of the first rotating sleeve is connected with a check ring, and the check ring is used for limiting the axial movement of the first bearing;
the sliding table fixing seat is connected between the integral fixing seat and the first sliding table, one end of the sliding table fixing seat, which is far away from the first stepping motor, is connected with a sheath fixing seat, a second rotating shaft matched with the ultrasonic sheath penetrates through the sheath fixing seat, the sliding table fixing seat is used for fixing the first sliding table, and the sheath fixing seat is used for fixing the ultrasonic sheath;
and the hoop cover is connected to the sheath fixing seat and used for fixing the ultrasonic sheath, and the hoop cover is matched with the sheath fixing seat to relatively fix the ultrasonic sheath in the second rotating shaft.
In a further embodiment, the multiple degree of freedom adjustment component includes a puncture table, a second drive motor, and a third drive motor;
the puncture platform is arranged on one side of the integral fixed seat and is used for supporting and fixing the multi-degree-of-freedom adjusting component;
the second driving motor is arranged on one side, far away from the first sliding table, of the puncture table;
and the third driving motor is arranged on the other side of the puncture platform and is matched with the second driving motor to enable the puncture part to move in a preset arc area range above the ultrasonic exploration mechanism so as to realize the positioning of planar motion.
In a further embodiment, the multiple-degree-of-freedom adjustment component further comprises a first electric rotary sliding table, a swing arm, a second electric rotary sliding table and a fourth driving motor;
the first electric rotary sliding table is connected to the driving end of the third driving motor, and the third driving motor is used for driving the first electric rotary sliding table to work;
the second electric rotating sliding table is arranged on the upper side of the first electric rotating sliding table, and a swing arm is connected between the first electric rotating sliding table and the second electric rotating sliding table;
and the fourth driving motor is connected to the second electric rotating sliding table and used for adjusting the operation space of the puncture part, and the fourth driving motor is used for driving the second electric rotating sliding table to work.
In a further embodiment, the multi-degree-of-freedom adjustment component further comprises a double-rotating-table fixing seat, a third electric rotating sliding table, a fifth driving motor, an attitude fixing seat, a sixth driving motor and an upper fixing sliding table seat;
the double-rotating-table fixing seat is connected to the puncture table and used for fixing a fourth driving motor;
the third electric rotating sliding table is connected to one surface, away from the fourth driving motor, of the double-rotating-table fixing seat, one end of the third electric rotating sliding table is connected with a fifth driving motor, and the double-rotating-table fixing seat is used for connecting and fixing the fourth driving motor and the third electric rotating sliding table;
the posture fixing seat is connected with one surface of the third electric rotary sliding table away from the fourth driving motor, the posture fixing seat is connected with a sixth driving motor, the sixth driving motor is connected with a fixed sliding table seat, and the third electric rotary sliding table is matched with the sixth driving motor and used for controlling the needle inserting angle of the puncture part.
In a further embodiment, the multiple degree of freedom adjustment component further includes a second slide table, a second slider, a lower fixed slide table base, and a second stepping motor;
the second sliding table is connected to one surface, far away from the posture fixing seat, of the upper fixed sliding table seat;
the second sliding block is arranged on the second sliding table in a sliding mode, one end of the second sliding table is connected with a second stepping motor used for driving the second sliding block to move, the second stepping motor is a second lead screw motor, the driving end of the second stepping motor is connected with a second lead screw, the second sliding block is arranged on the second lead screw of the second stepping motor, and the second stepping motor is started to drive the second sliding block to move through the rotation of the second lead screw;
and the lower fixed sliding table seat is connected to one surface, far away from the second sliding table, of the second sliding block and is used for connecting the second sliding block and the puncture part.
In a further embodiment, the piercing elements comprise a piercing needle, a needle track needle, a needle mount, and a needle hub;
the puncture needle is connected to the lower fixed sliding table seat;
the needle channel needle is connected to one end of the puncture needle, which is far away from the lower fixed sliding platform seat;
the needle file, connect in the second slip table keeps away from the one side of second step motor, seted up a pair of fixed orifices on the needle file, it is a pair of all be provided with the needle cover with needle way needle looks adaptation in the fixed orifices.
The navigation method of the surgical robot navigation system comprises the following steps:
s1, after the ultrasonic sheath is sent into the rectum, the two-degree-of-freedom adjusting component is started to drive the ultrasonic probe to advance and rotate, so that the ultrasonic exploration mechanism carries out scanning modeling on the internal structure around the prostate;
s2, planning the modeled structure in software, and determining a puncture execution path;
s3, the puncture component in the puncture shaft mechanism enables the puncture component to reach the target position through the multi-degree-of-freedom linkage of the multi-degree-of-freedom adjusting component;
s4, when the needle is used for operation, the consumable material of the needle can be arranged on the guide groove and then automatically inserted by the device, the puncture needle is put in place, the puncture needle is taken out after corresponding operation is carried out, the position of the needle in the body is automatically adjusted, and the operation is repeated;
s5, when the needle channel needle is not used, the puncture needle is put in, the puncture needle is taken out after the corresponding operation is executed, and the operation is repeated after the position is automatically adjusted.
Has the advantages that: the invention discloses a surgical robot navigation system and a navigation method thereof, which can be applied to the puncture of needle points at one or more self-defined positions by arranging an ultrasonic exploration mechanism and a puncture shaft mechanism, can support the puncture of needle needles and the puncture of needle-free needles, can perform coarse positioning on a human body, can perform rotation and scanning in the feeding direction by utilizing ultrasound to position, search or model and register a target, can output ultrasonic data with position information, is externally provided with an ultrasonic sheath structure at a fixed position so as to ensure that the influence of the ultrasound on an organization structure during movement is small, and can ensure that a puncture part moves in a preset circular arc area range above the ultrasonic exploration mechanism by a multi-degree-of-freedom structure in a positioning structure of the puncture shaft mechanism and ensure that the tail end of a puncture needle has reasonable operable space under different narrow space conditions, and the puncture needles have different needle inserting angles, so that the puncture needles are arranged in any angle posture.
Drawings
Fig. 1 is a perspective view of the overall structure of the present invention.
Fig. 2 is a perspective view of another perspective of the overall structure of the present invention.
The figures are numbered: 1. the ultrasonic probe mechanism 101, the ultrasonic probe 102, the ultrasonic sheath, the 2, the two-degree-of-freedom adjusting component 201, the first sliding table 202, the first sliding block 203, the probe bearing seat 204, the retainer ring 205, the first rotating sleeve 206, the first fixed seat 207, the synchronous belt 208, the synchronous wheel 209, the first stepping motor 210, the integral fixed seat 211, the sliding table fixed seat 212, the sheath fixed seat 213, the first driving motor 214, the hoop cover 3, the puncture shaft mechanism 4, the multiple-degree-of-freedom adjusting component 401, the puncture table 402, the second driving motor 403, the third driving motor 404, the first electric rotating sliding table 405, the swing arm 405, the 406, the second electric rotating sliding table 407, the fourth driving motor 408, the third electric rotating sliding table 409, the fifth driving motor 410, the two-rotating table fixed seat 411, the posture fixed seat 412, the sixth driving motor 409, the second driving motor, the second driving sliding table fixed seat 202, the sheath fixed seat 212, the sheath fixed seat, the rotating sleeve, the rotating, 413. The needle fixing device comprises an upper fixed sliding table seat, 414, a second sliding table, 415, a second sliding block, 416, a lower fixed sliding table seat, 417, a second stepping motor, 5, a puncture part, 501, a puncture needle, 502, a needle channel needle, 503, a needle seat and 504, and a needle sleeve.
Detailed Description
In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring the invention.
The applicant considers that the existing transperineal prostate puncture equipment has less freedom degree, can only carry out needle insertion puncture or forward and backward movement in the directions parallel to the ultrasonic probe, is not beneficial to positioning and observation of a needle path in the operation process, or can only be suitable for prostate operations with two needle insertion holes, and data used in the operation is collected preoperatively, does not have a real-time data collection function, and has larger operation risk caused by pose change or stress deformation.
For this purpose, the applicant proposes a surgical robot navigation system and a navigation method thereof, as shown in fig. 1 to 2, including an ultrasonic probe mechanism 1 and a puncture shaft mechanism 3.
Specifically, the ultrasonic probing mechanism 1 is used for coarsely positioning a human body and performing feed scanning in multiple directions, and comprises a two-degree-of-freedom adjusting component 2 and an ultrasonic probe 101 which is connected to the two-degree-of-freedom adjusting component 2 and used for ultrasonic probing positioning, wherein an ultrasonic sheath 102 used for reducing the influence of ultrasonic motion on the tissue structure is fixed at one end of the ultrasonic probe 101, and the two-degree-of-freedom adjusting component 2 is used for adjusting the two degrees of freedom of the ultrasonic probe 101.
In actual use, the ultrasonic sheath 102 can be replaced by an acoustic membrane sheath according to specific requirements and is arranged at one end of the ultrasonic probe 101, so that the attaching effect and the acoustic effect can be improved, when in use, if the ultrasonic sheath 102 is adopted, the ultrasonic sheath 102 is sent into the rectum along with the ultrasonic probe 101, and if the acoustic membrane sheath is adopted, the acoustic membrane sheath containing the coupling agent is sent into the rectum along with the ultrasonic probe 101.
As shown in fig. 1 to 2, the puncture shaft mechanism 3 includes a multiple degree of freedom adjustment member 4 and a puncture member 5 connected to the multiple degree of freedom adjustment member 4, and the multiple degree of freedom adjustment member 4 is used for multiple degree of freedom adjustment of the puncture member 5.
Wherein, ultrasonic exploration mechanism 1 has two degrees of freedom, and puncture axle mechanism 3 totally six degrees of freedom, two degrees of freedom in the puncture axle mechanism 3 are the positioning action, and three degrees of freedom are the angular adjustment effect in addition, and last degree of freedom is the effect of feeding degree of depth control, and this scheme can be applied to the puncture of the income needle point of one to a plurality of self-defined positions, and can support the puncture that has needle way needle 502: after the needle is inserted once, the angle of the needle channel is adjusted in vivo, so that the biopsy targeting can be more accurate; and penetration of the needle-free tract needle 502: the puncture needle 501 is used for puncture and target shooting directly, the operation is quicker, but the needle is forced to deviate in the body due to the needle-free channel.
As shown in fig. 1 to 2, the two-degree-of-freedom adjustment component 2 includes a first slide table 201, a first slider 202, a probe bearing base 203, a first rotary sleeve 205, a first fixed base 206, and a first stepping motor 209.
First slip table 201 goes up the slip and is equipped with first slider 202, and first slip table 201 one end is connected with and is used for driving first slider 202 pivoted first step motor 209, and first step motor 209 is a lead screw motor, and first step motor 209 drive end is connected with first lead screw, and on first slider 202 located the first lead screw of first step motor 209, start first step motor 209 and rotate through first lead screw and drive first slider 202 and remove.
The probe bearing pedestal 203 is connected to the first slider 202, a first rotating shaft penetrates through the probe bearing pedestal 203, and a first bearing is connected to the inner wall of the first rotating shaft.
First rotating sleeve 205 rotates and locates in the first bearing and with first bearing looks adaptation, is connected with first fixing base 206 between first rotating sleeve 205 and the ultrasonic probe 101, and first fixing base 206 and the detachable installation of ultrasonic probe 101, the person of being convenient for carries out operations such as dismouting and change to ultrasonic probe 101, and the ultrasonic probe 101 outside is located to first rotating sleeve 205 cover.
As shown in fig. 1, the two-degree-of-freedom adjustment unit 2 further includes a first drive motor 213, two timing belts 207, and a timing wheel 208.
The first driving motor 213 is connected to one side of the probe bearing seat 203, and a driving end of the first driving motor 213 penetrates through the probe bearing seat 203.
Two synchronous belts 207 are respectively connected to the driving end of the first driving motor 213 and the outer wall of the first rotating sleeve 205.
As shown in fig. 1-2, the two-degree-of-freedom adjustment component 2 further includes an integral fixing base 210, a sliding table fixing base 211, a sheath fixing base 212, a retainer ring 204, and a hoop cover 214.
Wherein, whole fixing base 210 sets up in first slip table 201 downside, and the one end that first rotatory sleeve 205 is close to whole fixing base 210 is connected with retaining ring 204, and retaining ring 204 is used for restricting the axial float of first bearing.
The sliding table fixing seat 211 is connected between the integral fixing seat 210 and the first sliding table 201, one end, away from the first stepping motor 209, of the sliding table fixing seat 211 is connected with a sheath fixing seat 212, a second rotating shaft matched with the ultrasonic sheath 102 penetrates through the sheath fixing seat 212, the sliding table fixing seat 211 is used for fixing the first sliding table 201, and the sheath fixing seat 212 is used for fixing the ultrasonic sheath 102.
The hoop cover 214 is connected to the sheath holder 212 for fixing the ultrasound sheath 102, and the hoop cover 214 cooperates with the sheath holder 212 to relatively fix the ultrasound sheath 102 in the second rotation axis.
In addition, for the convenience of resolution, the shaft of the first stepping motor 209 controlling the movement of the ultrasonic probing mechanism 1 is called as an ultrasonic feed shaft, or called as a shaft a, the shaft of the first driving motor 213 controlling the movement of the ultrasonic probing mechanism 1 is called as an ultrasonic rotation shaft, or called as a shaft b, the ultrasonic probe 101 is mounted on the first fixed seat 206, the first fixed seat 206 is a hollow clamp seat, the ultrasonic probe 101 and the first fixed seat 206 are detachably arranged, and the ultrasonic probe 101 is driven by the shaft b to rotate around the axis by using the structural transmission of the synchronous belt 207 and the synchronous wheel 208, so that the ultrasonic can perform rotary scanning to position, search or model and register a target, because the ultrasonic data is of a motor-driven structure, the output ultrasonic data can be connected in series on the shaft a, the whole ultrasonic probing mechanism 1 can be controlled to move back and forth to perform rough positioning on a human body, if the ultrasonic has an observation probe in a transverse direction, a sweep of the feed direction may also be performed to locate, search, or model registration of the target.
The ultrasound probe 101 has a fixed position ultrasound sheath 102 structure outside it so that ultrasound has less effect on tissue structure when moving.
As shown in fig. 2, the multiple degree of freedom adjustment member 4 includes a puncture stage 401, a second drive motor 402, and a third drive motor 403.
The puncture stage 401 is provided on the side of the integrated holder 210, and supports and fixes the multi-degree-of-freedom adjustment member 4.
The second driving motor 402 is disposed on a side of the puncture table 401 away from the first slide table 201.
The third driving motor 403 is disposed on the other side of the puncture platform 401, and is used in cooperation with the second driving motor 402 to move the puncture part 5 within a predetermined arc region above the ultrasonic probing mechanism 1 to realize positioning of planar motion.
As shown in fig. 1 to 2, the multiple degree of freedom adjustment unit 4 further includes a first electric rotary slide table 404, a swing arm 405, a second electric rotary slide table 406, and a fourth drive motor 407.
The first electric rotary sliding table 404 is connected to a driving end of the third driving motor 403, and the third driving motor 403 is used for driving the first electric rotary sliding table 404 to work.
The second electric rotary sliding table 406 is disposed on the upper side of the first electric rotary sliding table 404, and a swing arm 405 is connected between the first electric rotary sliding table 404 and the second electric rotary sliding table 406.
The fourth driving motor 407 is connected to the second electric rotary sliding table 406 for adjusting the operation space of the puncturing part 5, and the fourth driving motor 407 is used for driving the second electric rotary sliding table 406 to operate.
As shown in fig. 1, the multiple degree of freedom adjustment unit 4 further includes a dual rotary table holder 410, a third electric rotary table 408, a fifth drive motor 409, an attitude holder 411, a sixth drive motor 412, and an upper fixed table holder 413.
The dual rotary table holder 410 is connected to the puncturing table 401, and is used for holding the fourth driving motor 407.
The third electric rotating sliding table 408 is connected to one surface of the double rotating table fixing seat 410, which is far away from the fourth driving motor 407, one end of the third electric rotating sliding table 408 is connected to a fifth driving motor 409, and the double rotating table fixing seat 410 is used for connecting and fixing the fourth driving motor 407 and the third electric rotating sliding table 408.
The posture fixing seat 411 is connected to one side of the third electric rotary sliding table 408 far away from the fourth driving motor 407, a sixth driving motor 412 is connected to the posture fixing seat 411, a fixed sliding table seat 413 is connected to the sixth driving motor 412, and the third electric rotary sliding table 408 is matched with the sixth driving motor 412 to control the needle inserting angle of the puncture part 5.
Meanwhile, the multiple degree of freedom adjustment unit 4 further includes a second slide table 414, a second slider 415, a lower fixed slide table base 416, and a second stepping motor 417.
The second sliding table 414 is connected to a surface of the upper fixed sliding table base 413 away from the posture fixing base 411.
The second sliding block 415 is slidably disposed on the second sliding table 414, one end of the second sliding table 414 is connected to a second stepping motor 417 for driving the second sliding block 415 to move, the second stepping motor 417 is a second lead screw motor, a driving end of the second stepping motor 417 is connected to a second lead screw, the second sliding block 415 is disposed on the second lead screw of the second stepping motor 417, and the second stepping motor 417 is started to rotate through the second lead screw to drive the second sliding block 415 to move.
The lower stationary slide base 416 is attached to a surface of the second slider 415 away from the second slide table 414, and is used to connect the second slider 415 and the penetration member 5.
In addition, for the sake of easy identification, the shaft of the second driving motor 402 controlling the movement of the puncturing part 5 is called as a lifting shaft, or a first shaft; the shaft of the third driving motor 403 for controlling the movement of the puncturing part 5 is called as a swing arm rotating shaft or a second shaft; the shaft of the fourth driving motor 407 for controlling the movement of the puncturing part 5 is called as a puncturing roll shaft or a third shaft; the axis of the fifth driving motor 409 for controlling the movement of the puncturing part 5 is called the raw axis or the fourth axis; the axis along which the sixth driving motor 412 controls the movement of the piercing member 5 is called the pitch axis, or axis five; the shaft of the second stepping motor 417 controlling the movement of the puncturing part 5 is called a puncturing feed shaft, or shaft six; the lifting of the first shaft and the second shaft in the positioning structure of the puncture shaft mechanism 3 and the rotation linkage of the swing arm 405 can make the puncture part 5 move in the range of a preset circular arc area above the ultrasonic exploration mechanism 1, namely realize the positioning of plane motion.
The third shaft in the angle adjusting structure of the puncture shaft mechanism 3 can enable the tail end of the puncture needle 501 to have reasonable operable space under different narrow space conditions, the fourth shaft and the fifth shaft are linked to enable the puncture needle 501 to have different needle inserting angles, and the linkage of the first shaft, the second shaft, the third shaft, the fourth shaft and the fifth shaft can enable the puncture needle 501 to be arranged in any angle posture.
The shaft six has multiple functions, when the needle channel needle 502 is used, the feeding puncture operation of the needle channel needle 502 can be automatically carried out, and the puncture needle 501 can be punctured after the needle channel needle is in place: connect with puncture needle 501 and push puncture needle 501 in place, or provide a limit of puncturing to the point: the position is limited in advance, and the manual puncture is completed until the position is limited by propping.
As shown in fig. 1-2, the puncture device 5 includes a puncture needle 501, a needle channel needle 502, a needle holder 503, and a needle sheath 504.
In which the puncture needle 501 is attached to the lower stationary slide block 416.
The needle track needle 502 is attached to the end of the puncture needle 501 remote from the lower stationary slide block 416.
The needle seat 503 is connected to a side of the second sliding table 414 away from the second stepping motor 417, a pair of fixing holes are formed in the needle seat 503, and needle sleeves 504 matched with the needle channel needles 502 are arranged in the pair of fixing holes.
The working principle is as follows: if an ultrasonic sheath 102 is adopted, the ultrasonic sheath 102 is sent into the rectum along with an ultrasonic probe 101, if an acoustic membrane sheath is adopted, the acoustic membrane sheath containing a coupling agent is sent into the rectum along with the ultrasonic probe 101, then, a two-degree-of-freedom adjusting component 2 is started to drive the ultrasonic probe 101 to advance and rotate, so that the ultrasonic exploration mechanism 1 carries out scanning modeling on the internal structure around the prostate, the modeled structure is planned in software, a puncture execution path is determined, and the puncture component 5 in the puncture shaft mechanism 3 enables the puncture component 5 to reach a target position through multi-degree-of-freedom linkage of a multi-degree-of-freedom adjusting component 4.
When the needle channel needle 502 is used for operation, consumable materials of the needle channel needle 502 can be arranged on the guide groove, needle insertion is automatically performed by equipment, the puncture needle 501 is placed in place, the puncture needle 501 is taken out after corresponding operation is performed, the position of the needle channel needle 502 in the body is automatically adjusted, operation is repeated, when the needle channel needle 502 is not used for operation, the puncture needle 501 is placed in, the puncture needle 501 is taken out after corresponding operation is performed, and operation is repeated after the position is automatically adjusted.
As above, while the invention has been shown and described with reference to certain preferred embodiments, it is not to be construed as limited thereto. Various changes in form and detail may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. Surgical robot navigation system, characterized by, includes:
the ultrasonic exploration mechanism is used for roughly positioning a human body and performing feed scanning in multiple directions, and comprises a two-degree-of-freedom adjusting part and an ultrasonic probe which is connected to the two-degree-of-freedom adjusting part and used for ultrasonic exploration positioning, wherein one end of the ultrasonic probe is fixedly provided with an ultrasonic sheath used for reducing the influence of ultrasonic motion on an organization structure, and the two-degree-of-freedom adjusting part is used for adjusting the two degrees of freedom of the ultrasonic probe;
the puncture shaft mechanism comprises a multi-degree-of-freedom adjusting component and a puncture component connected to the multi-degree-of-freedom adjusting component, and the multi-degree-of-freedom adjusting component is used for multi-degree-of-freedom adjustment of the puncture component.
2. The surgical robotic navigation system of claim 1, wherein: the two-degree-of-freedom adjustment part includes:
the first sliding table is provided with a first sliding block in a sliding manner, and one end of the first sliding table is connected with a first stepping motor for driving the first sliding block to rotate;
the probe bearing block is connected to the first sliding block, a first rotating shaft penetrates through the probe bearing block, and a first bearing is connected to the inner wall of the first rotating shaft;
first rotatory sleeve rotates and locates in the first bearing and with first bearing looks adaptation, be connected with first fixing base between first rotatory sleeve and the ultrasonic probe.
3. The surgical robotic navigation system of claim 2, wherein: the two-degree-of-freedom adjustment component further comprises:
the first driving motor is connected to one side of the probe bearing seat, and a driving end of the first driving motor penetrates through the probe bearing seat;
the two synchronous belts are respectively connected to the driving end of the first driving motor and the outer wall of the first rotary sleeve;
and the synchronous wheels are connected to the two synchronous belts and used for synchronizing the two synchronous belts to move.
4. The surgical robotic navigation system of claim 2, wherein: the two-degree-of-freedom adjustment component further comprises:
the integral fixed seat is arranged at the lower side of the first sliding table, and one end, close to the integral fixed seat, of the first rotating sleeve is connected with a check ring;
the sliding table fixing seat is connected between the integral fixing seat and the first sliding table, one end of the sliding table fixing seat, which is far away from the first stepping motor, is connected with a sheath fixing seat, and a second rotating shaft matched with the ultrasonic sheath penetrates through the sheath fixing seat;
and the hoop cover is connected to the sheath fixing seat and used for fixing the ultrasonic sheath.
5. The surgical robotic navigation system of claim 1, wherein: the multiple degree of freedom adjustment member includes:
the puncture platform is arranged on one side of the integral fixed seat;
the second driving motor is arranged on one side, far away from the first sliding table, of the puncture table;
and the third driving motor is arranged on the other side of the puncture platform and is matched with the second driving motor to enable the puncture part to move in a preset arc area range above the ultrasonic exploration mechanism so as to realize the positioning of planar motion.
6. The surgical robotic navigation system of claim 5, wherein: the multiple degree of freedom adjustment component further includes:
the first electric rotary sliding table is connected to the driving end of the third driving motor;
the second electric rotating sliding table is arranged on the upper side of the first electric rotating sliding table, and a swing arm is connected between the first electric rotating sliding table and the second electric rotating sliding table;
and the fourth driving motor is connected to the second electric rotating sliding table and used for adjusting the operation space of the puncture part.
7. The surgical robotic navigation system of claim 5, wherein: the multiple degree of freedom adjustment component further comprises:
the double-rotating-table fixing seat is connected to the puncture table and used for fixing a fourth driving motor;
the third electric rotating sliding table is connected to one surface, far away from the fourth driving motor, of the double-rotating-table fixing seat, and one end of the third electric rotating sliding table is connected with a fifth driving motor;
the posture fixing seat is connected with one surface of the third electric rotary sliding table away from the fourth driving motor, the posture fixing seat is connected with a sixth driving motor, the sixth driving motor is connected with a fixed sliding table seat, and the third electric rotary sliding table is matched with the sixth driving motor and used for controlling the needle inserting angle of the puncture part.
8. The surgical robotic navigation system of claim 7, wherein: the multiple degree of freedom adjustment component further includes:
the second sliding table is connected to one surface, far away from the posture fixing seat, of the upper fixed sliding table seat;
the second sliding block is arranged on the second sliding table in a sliding mode, and one end of the second sliding table is connected with a second stepping motor used for driving the second sliding block to move;
and the lower fixed sliding table seat is connected to one surface, far away from the second sliding table, of the second sliding block and is used for connecting the second sliding block and the puncture part.
9. The surgical robotic navigation system of claim 1, wherein: the piercing member includes:
the puncture needle is connected to the lower fixed sliding platform seat;
the needle channel needle is connected to one end of the puncture needle, which is far away from the lower fixed sliding platform seat;
the needle file is connected in the one side that second step motor was kept away from to the second slip table, seted up a pair of fixed orifices on the needle file, it is a pair of all be provided with the needle cover with needle way needle looks adaptation in the fixed orifices.
10. The navigation method of the surgical robot navigation system is characterized by comprising the following steps:
s1, after the ultrasonic sheath is sent into the rectum, the two-degree-of-freedom adjusting component is started to drive the ultrasonic probe to advance and rotate, so that the ultrasonic exploration mechanism carries out scanning modeling on the internal structure around the prostate;
s2, planning the modeled structure in software, and determining a puncture execution path;
s3, the puncture component in the puncture shaft mechanism enables the puncture component to reach the target position through the linkage of the multiple degrees of freedom adjusting component.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210145563.4A CN114617615A (en) | 2022-02-17 | 2022-02-17 | Surgical robot navigation system and navigation method thereof |
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| CN202210145563.4A CN114617615A (en) | 2022-02-17 | 2022-02-17 | Surgical robot navigation system and navigation method thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| 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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