CN206365925U - A kind of pneumatic puncturing operation robot of magnetic resonance compatible - Google Patents
A kind of pneumatic puncturing operation robot of magnetic resonance compatible Download PDFInfo
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- CN206365925U CN206365925U CN201621128287.7U CN201621128287U CN206365925U CN 206365925 U CN206365925 U CN 206365925U CN 201621128287 U CN201621128287 U CN 201621128287U CN 206365925 U CN206365925 U CN 206365925U
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Abstract
The utility model discloses a kind of pneumatic puncturing operation robot of magnetic resonance compatible, including be sequentially connected locating module, puncture orientation module, enter pin module；Locating module is arranged on ring-shaped guide rail sliding block using scissor-type lifting mechanism, then ring-shaped guide rail is arranged on into Rodless cylinder and the form on straight-line guide rail slide block, realizes the running fix of puncture needle in MR imaging apparatus axially, radially with circumference；Puncture the puncture angle that orientation module realizes adjustment positioning puncture needle in the form of the RCM mechanisms based on parallel four-bar are fixed in a rotary shaft；Enter pin module to use by cylinder two friction pulleys of promotion, then drive the form of puncture needles to realize by two friction pulleys and puncture needle inserting needle is automatically controlled with withdraw of the needle campaign.The present invention is simple in construction, save space, safe and reliable, can be worked in the small space of NMR and high field intensity magnetic field, while disturbing smaller to magnetic resonance imaging, effectively increases the Stability and veracity of puncturing operation.
Description
Technical field
The present invention relates to a kind of pneumatic puncturing operation robot of magnetic resonance compatible, belong to technical field of medical instruments.
Background technology
Puncturing operation is common a kind of micro-wound surgical operation in clinic, and doctor will puncture under the guiding of medical image
Pin, to focal area, is that biopsy or PCI set up passage through skin penetrating.Minimally Invasive Surgery has wound small, and pain is light, extensive
Multiple fast the features such as, higher requirement it is also proposed to the accuracy of operation technique, stability and the technical ability of doctor.Utilize robot
Assist a physician and operation is completed under the guiding of magnetic resonance real-time imaging, not only positioning precision is high, dexterity is strong, and patient is made
Into wound it is small, be easy to post-operative recovery.But it is due to that NMR working space is narrow, the structure necessary ten of such robot
It is point compact, at the same need can in the high field intensity magnetic field of NMR normal work, and magnetic resonance imaging must not be produced dry
Disturb, i.e., with magnetic resonance compatible characteristic.Therefore, the puncturing operation robot of magnetic resonance compatible can not indiscriminately imitate general operating robot
Configuration, driving, material and Sensor Design scheme.
Magnetic resonance compatible puncturing operation robot can not be used as driver, type of drive feasible at present using conventional motors
Mainly have hydraulic-driven, air pressure driving and a driving of ultrasonic wave/piezoelectric motor, wherein air pressure driving have magnetic resonance compatibility it is good,
Power weight ratio is big, cleaning, simple in construction, easy care the advantages of, be a kind of more satisfactory type of drive.
Therefore, those skilled in the art be directed to developing one kind can be in NMR small space and high field intensity magnetic field
Middle work, while the pneumatic puncturing operation robot of interference will not be produced to magnetic resonance imaging.
The content of the invention
Goal of the invention：In order to overcome the deficiencies in the prior art, the present invention provides a kind of the pneumatic of magnetic resonance compatible
Puncturing operation robot, with it is simple in construction, save space, it is safe and reliable the features such as, and pass through air pressure drive control puncture needle
The self-movement of six-freedom degree, can work in the small space of NMR and high field intensity magnetic field, while will not be right
Magnetic resonance imaging produces interference, and accurate positioning is efficient.
Technical scheme：To achieve the above object, the technical solution adopted by the present invention is：
A kind of pneumatic puncturing operation robot of magnetic resonance compatible, including locating module, the puncture orientation mould being sequentially connected
Block, enter pin module；
Locating module is used to realize the running fix of puncture needle in MR imaging apparatus axially, radially with circumference；
Puncture the puncture angle that orientation module is used to adjust positioning puncture needle；
Enter pin module be used for realize puncture needle inserting needle is automatically controlled with withdraw of the needle campaign.
It is preferred that, the locating module includes Rodless cylinder, line slideway, ring-shaped guide rail, elevating mechanism and the first cylinder；
Wherein, the Rodless cylinder and line slideway are parallel and are relatively arranged on the bed board both sides of MR imaging apparatus,
The stockless cylinder slipper being adapted and straight-line guide rail slide block are respectively arranged with Rodless cylinder and line slideway；Stockless cylinder slipper
And a support is each provided with straight-line guide rail slide block, two side stands are fixed on stockless cylinder slipper and straight by connecting plate respectively
On line guide rail slide block；Ring-shaped guide rail is installed on two side stands, and plane where ring-shaped guide rail is perpendicular to the center of Rodless cylinder
Axis；
It is provided between two ring-shaped guide rail sliding blocks, two ring-shaped guide rail sliding blocks and is cut with scissors by slide block connecting rod on ring-shaped guide rail
Connect；The upper mounting plate of elevating mechanism is installed on front side of one of ring-shaped guide rail sliding block, and the lifting trajectory of elevating mechanism is passed through
The center of circle of ring-shaped guide rail；The connection of the first L-type is respectively arranged with front side of another ring-shaped guide rail sliding block and its support of close side
Block, the second L-type contiguous block, the piston rod top and cylinder barrel end of the first cylinder are hingedly connected to the first L-type contiguous block and the 2nd L
On type contiguous block, the slip by two ring-shaped guide rail sliding blocks of extension and contraction control of the first cylinder along ring-shaped guide rail.
Realized by Rodless cylinder, the first cylinder and elevating mechanism puncture needle in MR imaging apparatus vertically,
Radially with the running fix in these three circumferential frees degree.
It is preferred that, the elevating mechanism uses fork type elevator, stable and reliable operation.
It is preferred that, the puncture orientation module include bottom plate, two bearing spiders, rotating shaft, the second cylinder, the 3rd cylinder,
Jointed gear unit and housing；
Wherein, two bearing spiders are fixed on the lower platform bottom of elevating mechanism by bottom plate, and rotating shaft is horizontally installed to two
On individual bearing spider, and the front end of rotating shaft is extended to outside bearing spider；Installed on the supporting section of rotating shaft along the diametric(al) of rotating shaft
There is rotating shaft connecting rod, the top of rotating shaft connecting rod and the piston rod top of the second cylinder are hinged；The cylinder barrel of second cylinder is articulated with bottom plate
On, pass through the rotation of the extension and contraction control rotating shaft of the second cylinder；
Jointed gear unit includes push rod, first connecting rod, second connecting rod, third connecting rod, fourth link, the 5th connecting rod, the
It is parallel to each other between six-bar linkage, wherein first connecting rod, second connecting rod, third connecting rod, fourth link, the 5th connecting rod, six-bar linkage；
First connecting rod, second connecting rod length are identical, and third connecting rod, fourth link length are identical, the 5th connecting rod, six-bar linkage length phase
Together；
First connecting rod and second connecting rod are relatively arranged on one end of the extension both sides of rotating shaft, first connecting rod and second connecting rod
It is fixed in rotating shaft, the other end extends forwards；Set gradually from back to front between first connecting rod and the elongated end of second connecting rod
There are the first U-shaped contiguous block, the second U-shaped contiguous block, Open Side Down and sets side by side for the first U-shaped contiguous block and the second U-shaped contiguous block
Put；The opening both sides of first U-shaped contiguous block are hinged with first connecting rod, second connecting rod respectively, the opening both sides of the second U-shaped contiguous block
It is hinged respectively with first connecting rod, second connecting rod；The cylinder barrel of 3rd cylinder is fixed on second connecting rod along the length direction of second connecting rod
Inner side, be hinged in the middle part of the two ends of push rod piston rod top respectively with the 3rd cylinder, the first U-shaped contiguous block, pass through the 3rd
The rotation of the U-shaped contiguous block of flexible drive first of cylinder；
Third connecting rod and fourth link are relatively arranged on the first U-shaped contiguous block and the second U-shaped side roof part of contiguous block two, so that
Two identical parallelogram lindages are constituted, are realized from the first U-shaped contiguous block to the transmission of the second U-shaped contiguous block；
Third connecting rod and fourth link extend forwards, the front end of third connecting rod and fourth link respectively with housing or so two
Upper lateral part is hinged；One end of 5th connecting rod and six-bar linkage is hinged with the second U-shaped middle side part of contiguous block two respectively, the 5th connecting rod and
The other end of six-bar linkage respectively with housing left and right sides lower hinge, two identical parallelogram lindages are constituted again, it is real
Now from the second U-shaped contiguous block to the transmission of housing.
The rolling of housing, pitch freedom are controlled by the second cylinder, the 3rd cylinder, so as to realize lancet puncture posture
Adjustment.Above-mentioned puncture orientation module constitutes remote centre of motion (RCM) mechanism, and RCM mechanisms can hold mechanism end
Row device rotates around certain fixing point thereon, and the virtual fixing point is at mechanism distal end (i.e. target).
It is preferred that, it is described enter pin module include the 4th cylinder, rack, gear shaft, the first friction pulley, friction wheel axle, second
Friction pulley, axle of threading a needle, puncture needle and needle catheter；
Wherein, gear shaft, friction wheel axle and the equal level of axle of threading a needle run through the left and right sides of housing, and gear shaft passes through the 5th
The pan of connecting rod, six-bar linkage and housing and be connected with the 5th connecting rod, six-bar linkage；First friction pulley is set in housing
On gear shaft, the gear on gear shaft is arranged on outside left shell；Length direction of the cylinder barrel of 4th cylinder along the 5th connecting rod is consolidated
Due to the outside of the 5th connecting rod, the piston rod of the 4th cylinder is connected with rack, and the gear on rack and pinion axle is engaged, and is passed through
The rotation of the telescopic band movable gear shaft and the first friction pulley of 4th cylinder；
Second friction pulley is set on the friction wheel axle in housing, and the second friction pulley and the first friction pulley are tangent；Puncture
Thread a needle axle and being fixed on of diametric(al) of the wire guide along axle of threading a needle is threaded a needle in axle, and puncture needle is through needle catheter and process
It is simultaneously tangent with the first friction pulley, the second friction pulley between first friction pulley and the second friction pulley, pass through the first friction pulley
Rotate the advance and retreat for driving puncture needle.
The rotation of two friction pulleys is driven by the 4th cylinder, and then drives the advance and retreat of puncture needle, realizes and puncture is needled into
The control of the patient skin depth.
It is preferred that, the square opening for being available for activity, friction pulley are provided with housing with the junction of friction wheel axle and axle of threading a needle
Axle and axle both sides of threading a needle are arranged on housing by bolt；Adjustment bolt, friction wheel axle and the second friction are provided with front side of housing
Take turns and itself and the position of the distance between gear shaft, the first friction pulley so as to fixed puncture needle are adjusted by adjustment bolt.
Beneficial effect：The pneumatic puncturing operation robot for a kind of magnetic resonance compatible that the present invention is provided, relative to existing skill
Art, with advantages below：1st, simple in construction, cost is relatively low, while greatling save space, and operates and easy to maintenance, uses
It is safe and reliable；2nd, by the self-movement of air pressure drive control puncture needle six-freedom degree, free-hand puncture is effectively solved
Drawback, effectively increases the Stability and veracity of puncturing operation；3rd, can NMR small space and high field intensity
Worked in magnetic field, while interference will not be produced to magnetic resonance imaging, accurate positioning is efficient.
Brief description of the drawings
Fig. 1 is a kind of overall structure diagram of the pneumatic puncturing operation robot of magnetic resonance compatible of the invention；
Fig. 2 is a kind of structural representation of the pneumatic puncturing operation robot localization module of magnetic resonance compatible of the invention；
Fig. 3 is a kind of structural representation of the pneumatic puncturing operation robot puncturing orientation module of magnetic resonance compatible of the invention
Figure；
Fig. 4 is rolling module in a kind of pneumatic puncturing operation robot puncturing orientation module of magnetic resonance compatible of the invention
Structural representation；
Fig. 5 is pitching module in a kind of pneumatic puncturing operation robot puncturing orientation module of magnetic resonance compatible of the invention
Structural representation；
Fig. 6 is a kind of structural representation of the pneumatic puncturing operation robot needle-insertion module-external of magnetic resonance compatible of the invention
Figure；
Fig. 7 is a kind of structural representation of the pneumatic puncturing operation robot needle-insertion inside modules of magnetic resonance compatible of the invention
Figure；
Figure includes：1st, locating module, 1-1, Rodless cylinder, 1-2, stockless cylinder slipper, 1-3, line slideway are 1-4, straight
Line guide rail slide block, 1-5, connecting plate, 1-6, the second L-type contiguous block, 1-7, support, 1-8, ring-shaped guide rail, 1-9, ring-shaped guide rail are slided
Block, 1-10, slide block connecting rod, 1-11, fork type elevator, 1-12, the first L-type contiguous block, 1-13, the first cylinder；
2nd, orientation module, 2-1, bottom plate, 2-2, rotating shaft, 2-3, bearing spider, 2-4, rotating shaft connecting rod, 2-5, the second gas are punctured
Cylinder, 2-6, first connecting rod, 2-7, second connecting rod, 2-8, third connecting rod, 2-9, fourth link, 2-10, the 5th connecting rod, 2-11,
Six-bar linkage, 2-12, the first U-shaped contiguous block, 2-13, the second U-shaped contiguous block, 2-14, the 3rd cylinder, 2-15, push rod, 2-16, shell
Body；
3rd, pin module, 3-1, the 4th cylinder, 3-2, rack, 3-3, gear shaft, 3-4, friction wheel axle, 3-5, adjustment spiral shell are entered
Bolt, 3-6, axle of threading a needle, 3-7, puncture needle, 3-8, square opening, 3-9, needle catheter, 3-10, the first friction pulley, 3-11, second
Friction pulley.
Embodiment
Below in conjunction with the accompanying drawings and embodiment is further described to the present invention.
It is a kind of pneumatic puncturing operation robot of magnetic resonance compatible as shown in Figure 1, it is characterised in that including being sequentially connected
Locating module 1, puncture orientation module 2, enter pin module 3；
Wherein, locating module 1 be used to realizing puncture needle 3-7 in MR imaging apparatus axially, radially with it is circumferential
Running fix；
Puncture the puncture angle that orientation module 2 is used to adjust positioning puncture needle 3-7；
Enter pin module 3 be used for realize puncture needle 3-7 inserting needles are automatically controlled with withdraw of the needle campaign.
In the present embodiment, the locating module 1 includes Rodless cylinder 1-1, line slideway 1-3, ring-shaped guide rail 1-8, scissor
Formula lift 1-11 and the first cylinder 1-13；
Wherein, the Rodless cylinder 1-1 and line slideway 1-3 are parallel and are relatively arranged on the bed board of MR imaging apparatus
The stockless cylinder slipper 1-2 being adapted is respectively arranged with both sides, Rodless cylinder 1-1 and line slideway 1-3 and line slideway is slided
Block 1-4；A support 1-7 is each provided with stockless cylinder slipper 1-2 and straight-line guide rail slide block 1-4, two side stand 1-7 lead to respectively
Connecting plate 1-5 is crossed to be fixed on stockless cylinder slipper 1-2 and straight-line guide rail slide block 1-4；Ring-shaped guide rail 1-8 is installed on two side stands
On 1-7, and central axis of the plane perpendicular to Rodless cylinder 1-1 where ring-shaped guide rail 1-8；
It is provided with ring-shaped guide rail 1-8 between two ring-shaped guide rail sliding blocks 1-9, two ring-shaped guide rail sliding block 1-9 and passes through cunning
Block connecting rod 1-10 is hinged；Fork type elevator 1-11 upper mounting plate is installed on front side of one of ring-shaped guide rail sliding block 1-9, and is cut
Fork lifter 1-11 lifting trajectory passes through the ring-shaped guide rail 1-8 center of circle；Another ring-shaped guide rail sliding block 1-9 and its close
The first L-type contiguous block 1-12, the second L-type contiguous block 1-6 are respectively arranged with front side of the support 1-7 of side, the first cylinder 1-13's
Piston rod top and cylinder barrel end are hingedly connected on the first L-type contiguous block 1-12 and the second L-type contiguous block 1-6, pass through first
Slips of the cylinder 1-13 two ring-shaped guide rail sliding block 1-9 of extension and contraction control along ring-shaped guide rail 1-8.
In the present embodiment, the puncture orientation module 2 includes bottom plate 2-1, rotating shaft 2-2, two bearing spider 2-3, second
Cylinder 2-5, the 3rd cylinder 2-14, jointed gear unit and housing 2-16；
Wherein, two bearing spider 2-3 are fixed on fork type elevator 1-11 lower platform bottom by bottom plate 2-1, turn
Axle 2-2 is horizontally installed on two bearing spider 2-3, and rotating shaft 2-2 front end is extended to outside bearing spider 2-3；Rotating shaft 2-2's
Rotating shaft connecting rod 2-4 is installed along rotating shaft 2-2 diametric(al) on supporting section, rotating shaft connecting rod 2-4 top is with the second cylinder 2-5's
Piston rod top is hinged；Second cylinder 2-5 cylinder barrel is articulated with bottom plate 2-1, passes through the second cylinder 2-5 extension and contraction control rotating shaft
2-2 rotation；
Jointed gear unit includes first connecting rod 2-6, second connecting rod 2-7, third connecting rod 2-8, fourth link 2-9, the 5th
Connecting rod 2-10, six-bar linkage 2-11, push rod 2-15, wherein first connecting rod 2-6, second connecting rod 2-7, third connecting rod 2-8, the 4th connect
It is parallel to each other between bar 2-9, the 5th connecting rod 2-10, six-bar linkage 2-11；First connecting rod 2-6, second connecting rod 2-7 length are identical,
Third connecting rod 2-8, fourth link 2-9 length are identical, and the 5th connecting rod 2-10, six-bar linkage 2-11 length are identical；
First connecting rod 2-6 and second connecting rod 2-7 are relatively arranged on rotating shaft 2-2 extension both sides, and its one end, which is fixed on, to be turned
On axle 2-2, the other end extends forwards；Set gradually from back to front between first connecting rod 2-6 and second connecting rod 2-7 elongated end
There are the first U-shaped contiguous block 2-12, the second U-shaped contiguous block 2-13, the first U-shaped U-shaped contiguous block 2-13 of contiguous block 2-12 and second are equal
Open Side Down and is set up in parallel；Cut with scissors respectively with first connecting rod 2-6, second connecting rod 2-7 first U-shaped contiguous block 2-12 opening both sides
Connect, the second U-shaped contiguous block 2-13 opening both sides are hinged with first connecting rod 2-6, second connecting rod 2-7 respectively；3rd cylinder 2-14
Length direction of the cylinder barrel along second connecting rod 2-7 be fixed on second connecting rod 2-7 inner side, push rod 2-15 two ends are respectively with the 3rd
It is hinged in the middle part of cylinder 2-14 piston rod top, the first U-shaped contiguous block 2-12, passes through the 3rd cylinder 2-14 flexible drive
One U-shaped contiguous block 2-12 rotation；
Third connecting rod 2-8 and fourth link 2-9 are relatively arranged on the first U-shaped U-shaped contiguous block 2- of contiguous block 2-12 and second
13 liang of side roof parts, so as to constitute two identical parallelogram lindages, are realized from the first U-shaped U-shaped companies of contiguous block 2-12 to second
Connect block 2-13 transmission；
Third connecting rod 2-8 and fourth link 2-9 front end respectively with housing 2-16 left and right sides upper articulation；5th connecting rod
2-10 and six-bar linkage 2-11 one end are hinged with the second U-shaped middle side parts of contiguous block 2-13 two respectively, the 5th connecting rod 2-10 and
The six-bar linkage 2-11 other end respectively with housing 2-16 left and right sides lower hinge, again constitute two identical parallel four-bar machines
Structure, realizes the transmission from the second U-shaped contiguous block 2-13 to housing 2-16.
In the present embodiment, it is described enter pin module 3 include the 4th cylinder 3-1, rack 3-2, gear shaft 3-3, the first friction pulley
3-10, friction wheel axle 3-4, the second friction pulley 3-11, the axle 3-6 that threads a needle, puncture needle 3-7 and needle catheter 3-9；
Wherein, gear shaft 3-3, friction wheel axle 3-4 and the equal levels of axle 3-6 of threading a needle run through the housing 2-16 left and right sides, and
Gear shaft 3-3 through the 5th connecting rod 2-10, six-bar linkage 2-11 and housing 2-16 pan and with the 5th connecting rod 2-10, the 6th
Connecting rod 2-11 is connected；First friction pulley 3-10 is set on the gear shaft 3-3 in housing 2-16, and the gear on gear shaft 3-3 is set
Put outside left shell 2-16；Length direction of the 4th cylinder 3-1 cylinder barrel along the 5th connecting rod 2-10 is fixed on the 5th connecting rod 2-
10 outside, the 4th cylinder 3-1 piston rod is connected with rack 3-2, and rack 3-2 is engaged with the gear on gear shaft 3-3, leads to
Cross the 4th cylinder 3-1 telescopic band movable gear shaft 3-3 and the first friction pulley 3-10 rotation；
Second friction pulley 3-11 is set on the friction wheel axle 3-4 in housing 2-16, and the second friction pulley 3-11 and first
Friction pulley 3-10 is tangent；Diametric(al)s of the needle catheter 3-9 along the axle 3-6 that threads a needle, which is threaded a needle, axle 3-6 and is fixed on axle of threading a needle
In 3-6, puncture needle 3-7 is through needle catheter 3-9 and by same the first friction pulley 3-10 and the second friction pulley 3-11
When it is tangent with the first friction pulley 3-10, the second friction pulley 3-11, drive puncture needle 3-7's by the first friction pulley 3-10 rotation
Retreat.
It is provided with the present embodiment, on the housing 2-16 with the friction wheel axle 3-4 and axle 3-6 that threads a needle junction and is available for living
Dynamic square opening 3-8, friction wheel axle 3-4 and axle 3-6 both sides of threading a needle are arranged on housing 2-16 by bolt；On front side of housing 2-16
It is provided with adjustment bolt 3-5, friction wheel axle 3-4 and the second friction pulley 3-11 and itself and gear shaft 3- is adjusted by adjustment bolt 3-5
3rd, the distance between first friction pulley 3-10 is so as to fixed puncture needle 3-7 position.
The embodiment of the present invention is as follows：
Determine to open nuclear magnetic resonance (MR) equipment behind the site of puncture of patient, patient lies low on the sick bed of MR equipment, it is accurate
It is standby to start；Translation of the whole robot on MR equipment axial direction is controlled by Rodless cylinder 1-1, controlled by the first cylinder 1-13
Slips of the ring-shaped guide rail sliding block 1-9 along half of ring-shaped guide rail 1-8；When site of puncture is in patient body opposite side, it will can rise
Descending mechanism 1-11 is transposed on another ring-shaped guide rail sliding block 1-9；Orientation module 2 is punctured in MR by elevating mechanism 1-11 controls
The displacement of equipment radially.The three degree of freedom that above three cylinder is controlled can send the apocenter for puncturing orientation module 2
To the point of puncture of patient.
Puncture needle 3-7 rolling movement is controlled by the second cylinder 2-5, puncture needle 3-7 is controlled by the 3rd cylinder 2-14
Elevating movement.The free degree that above-mentioned two cylinder is controlled can realize the pose adjustment of puncture needle.
Puncture needle 3-7 inserting needle and withdraw of the needle campaign is controlled by the 4th cylinder 3-1, acupuncture 3-7 will be punctured and be pierced into patient's
In vivo.
Using above-mentioned technical proposal, the motion of each free degree independence can be controlled by cylinder, can be on demand at
From different position outside abdominal cavity of patients and different angle inserting needles in nuclear magnetic resonance equipment, make puncture needle 3-7 with different appearances
State reaches target, assists a physician and completes puncturing operation under the guiding of magnetic resonance real-time imaging.Compact conformation of the present invention, energy
Work, while interference will not be produced to magnetic resonance imaging, and position in NMR small space and high field intensity magnetic field
Precision is high, dexterity is strong, and the wound caused to patient is small, is easy to post-operative recovery.
Described above is only the preferred embodiment of the present invention, it should be pointed out that：For the ordinary skill people of the art
For member, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (6)
1. the pneumatic puncturing operation robot of a kind of magnetic resonance compatible, it is characterised in that including the locating module being sequentially connected
(1), puncture orientation module (2), enter pin module (3)；
Wherein, locating module (1) be used to realizing puncture needle (3-7) in MR imaging apparatus axially, radially with it is circumferential
Running fix；
Puncture the puncture angle that orientation module (2) is used to adjust positioning puncture needle (3-7)；
Enter pin module (3) be used for realize puncture needle (3-7) inserting needle and withdraw of the needle campaign are automatically controlled.
2. the pneumatic puncturing operation robot of a kind of magnetic resonance compatible according to claim 1, it is characterised in that described fixed
Position module (1) includes Rodless cylinder (1-1), line slideway (1-3), ring-shaped guide rail (1-8), elevating mechanism and the first cylinder (1-
13)；
Wherein, the Rodless cylinder (1-1) and line slideway (1-3) are parallel and be relatively arranged on the bed board of MR imaging apparatus
The stockless cylinder slipper (1-2) being adapted and straight line are respectively arranged with both sides, Rodless cylinder (1-1) and line slideway (1-3)
Guide rail slide block (1-4)；A support (1-7), two are each provided with stockless cylinder slipper (1-2) and straight-line guide rail slide block (1-4)
Side stand (1-7) is fixed in stockless cylinder slipper (1-2) and straight-line guide rail slide block (1-4) by connecting plate (1-5) respectively；Ring
Shape guide rail (1-8) is installed on two side stands (1-7), and plane where ring-shaped guide rail (1-8) is perpendicular to Rodless cylinder (1-1)
Central axis；
It is provided between two ring-shaped guide rail sliding blocks (1-9), two ring-shaped guide rail sliding blocks (1-9) and passes through on ring-shaped guide rail (1-8)
Slide block connecting rod (1-10) is hinged；The upper mounting plate of elevating mechanism is installed on front side of one of ring-shaped guide rail sliding block (1-9), and lifting
The lifting trajectory of mechanism passes through the center of circle of ring-shaped guide rail (1-8)；Another ring-shaped guide rail sliding block (1-9) and its close side
The first L-type contiguous block (1-12), the second L-type contiguous block (1-6), the first cylinder (1-13) are respectively arranged with front side of support (1-7)
Piston rod top and cylinder barrel end be hingedly connected on the first L-type contiguous block (1-12) and the second L-type contiguous block (1-6), lead to
Cross slip of the two ring-shaped guide rail sliding blocks (1-9) of extension and contraction control of the first cylinder (1-13) along ring-shaped guide rail (1-8).
3. a kind of pneumatic puncturing operation robot of magnetic resonance compatible according to claim 2, it is characterised in that the liter
Descending mechanism uses fork type elevator (1-11).
4. the pneumatic puncturing operation robot of a kind of magnetic resonance compatible according to claim 2, it is characterised in that described to wear
Piercing orientation module (2) includes bottom plate (2-1), rotating shaft (2-2), two bearing spiders (2-3), the second cylinder (2-5), the 3rd cylinders
(2-14), jointed gear unit and housing (2-16)；
Wherein, two bearing spiders (2-3) are fixed on the lower platform bottom of elevating mechanism, rotating shaft (2-2) water by bottom plate (2-1)
Safety is loaded on two bearing spiders (2-3), and the front end of rotating shaft (2-2) extends to bearing spider (2-3) outside；Rotating shaft (2-2)
Supporting section on rotating shaft connecting rod (2-4), the top and second of rotating shaft connecting rod (2-4) are installed along the diametric(al) of rotating shaft (2-2)
The piston rod top of cylinder (2-5) is hinged；The cylinder barrel of second cylinder (2-5) is articulated with bottom plate (2-1), passes through the second cylinder
The rotation of the extension and contraction control rotating shaft (2-2) of (2-5)；
Jointed gear unit include first connecting rod (2-6), second connecting rod (2-7), third connecting rod (2-8), fourth link (2-9),
5th connecting rod (2-10), six-bar linkage (2-11), push rod (2-15), wherein first connecting rod (2-6), second connecting rod (2-7), the 3rd
It is parallel to each other between connecting rod (2-8), fourth link (2-9), the 5th connecting rod (2-10), six-bar linkage (2-11)；First connecting rod (2-
6), second connecting rod (2-7) length is identical, and third connecting rod (2-8), fourth link (2-9) length are identical, the 5th connecting rod (2-10),
Six-bar linkage (2-11) length is identical；
First connecting rod (2-6) and second connecting rod (2-7) are relatively arranged on the extension both sides of rotating shaft (2-2), first connecting rod (2-6)
And one end of second connecting rod (2-7) is fixed in rotating shaft (2-2), the other end extends forwards；First connecting rod (2-6) and the second company
The first U-shaped contiguous block (2-12), the second U-shaped contiguous block (2-13) are disposed between the elongated end of bar (2-7) from back to front,
Open Side Down and is set up in parallel for first U-shaped contiguous block (2-12) and the second U-shaped contiguous block (2-13)；First U-shaped contiguous block (2-
12) opening both sides are hinged with first connecting rod (2-6), second connecting rod (2-7) respectively, the opening of the second U-shaped contiguous block (2-13)
Both sides are hinged with first connecting rod (2-6), second connecting rod (2-7) respectively；The cylinder barrel of 3rd cylinder (2-14) is along second connecting rod (2-7)
Length direction be fixed on second connecting rod (2-7) inner side, the work of the two ends of push rod (2-15) respectively with the 3rd cylinder (2-14)
It is hinged in the middle part of stopper rod top, the first U-shaped contiguous block (2-12), passes through the U-shaped company of flexible drive first of the 3rd cylinder (2-14)
Connect block (2-12) rotation；
Third connecting rod (2-8) and fourth link (2-9) are relatively arranged on the first U-shaped contiguous block (2-12) and the second U-shaped contiguous block
(2-13) two side roof part, so as to constitute two identical parallelogram lindages, is realized from the first U-shaped contiguous block (2-12) to second
The transmission of U-shaped contiguous block (2-13)；
The front end of third connecting rod (2-8) and fourth link (2-9) respectively with housing (2-16) left and right sides upper articulation；5th connects
One end of bar (2-10) and six-bar linkage (2-11) is hinged with the second U-shaped middle side part of contiguous block (2-13) two respectively, the 5th connecting rod
The other end of (2-10) and six-bar linkage (2-11) respectively with housing (2-16) left and right sides lower hinge, again constitute two phases
Same parallelogram lindage, realizes the transmission from the second U-shaped contiguous block (2-13) to housing (2-16).
5. a kind of pneumatic puncturing operation robot of magnetic resonance compatible according to claim 4, it is characterised in that it is described enter
Pin module (3) includes the 4th cylinder (3-1), rack (3-2), gear shaft (3-3), the first friction pulley (3-10), friction wheel axle (3-
4), the second friction pulley (3-11), axle of threading a needle (3-6), puncture needle (3-7) and needle catheter (3-9)；
Wherein, gear shaft (3-3), friction wheel axle (3-4) and axle of threading a needle (3-6) level run through the left and right two of housing (2-16)
Side, and gear shaft (3-3) through the 5th connecting rod (2-10), the pan of six-bar linkage (2-11) and housing (2-16) and with the 5th
Connecting rod (2-10), six-bar linkage (2-11) are connected；First friction pulley (3-10) is set in the gear shaft (3-3) in housing (2-16)
On, the gear on gear shaft (3-3) is arranged on left shell (2-16) outside；The cylinder barrel of 4th cylinder (3-1) is along the 5th connecting rod (2-
10) length direction is fixed on the outside of the 5th connecting rod (2-10), and the piston rod of the 4th cylinder (3-1) is connected with rack (3-2),
Rack (3-2) is engaged with the gear on gear shaft (3-3), by the telescopic band movable gear shaft (3-3) of the 4th cylinder (3-1) and
The rotation of first friction pulley (3-10)；
Second friction pulley (3-11) is set on the friction wheel axle (3-4) in housing (2-16), and the second friction pulley (3-11) with
First friction pulley (3-10) is tangent；Diametric(al) of the needle catheter (3-9) along axle (3-6) of threading a needle threads a needle axle (3-6) simultaneously
It is fixed in axle of threading a needle (3-6), puncture needle (3-7) is through needle catheter (3-9) and by the first friction pulley (3-10) and the
It is simultaneously tangent with the first friction pulley (3-10), the second friction pulley (3-11) between two friction pulleys (3-11), pass through the first friction
The rotation for taking turns (3-10) drives the advance and retreat of puncture needle (3-7).
6. a kind of pneumatic puncturing operation robot of magnetic resonance compatible according to claim 5, it is characterised in that the shell
The square opening (3-8) for being available for activity is provided with body (2-16) with the junction of friction wheel axle (3-4) and axle of threading a needle (3-6), is rubbed
Wheel shaft (3-4) and axle of threading a needle (3-6) both sides are wiped to be arranged on housing (2-16) by bolt；Tune is provided with front side of housing (2-16)
Whole bolt (3-5), friction wheel axle (3-4) and the second friction pulley (3-11) adjust itself and gear shaft (3- by adjustment bolt (3-5)
3), the distance between first friction pulley (3-10) is so as to the position of fixed puncture needle (3-7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621128287.7U CN206365925U (en) | 2016-10-17 | 2016-10-17 | A kind of pneumatic puncturing operation robot of magnetic resonance compatible |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621128287.7U CN206365925U (en) | 2016-10-17 | 2016-10-17 | A kind of pneumatic puncturing operation robot of magnetic resonance compatible |
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| Publication Number | Publication Date |
|---|---|
| CN206365925U true CN206365925U (en) | 2017-08-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201621128287.7U Expired - Fee Related CN206365925U (en) | 2016-10-17 | 2016-10-17 | A kind of pneumatic puncturing operation robot of magnetic resonance compatible |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107411821A (en) * | 2017-08-28 | 2017-12-01 | 哈尔滨理工大学 | Five degree of freedom flexibility Needle-driven Robot |
| CN107595508A (en) * | 2017-09-19 | 2018-01-19 | 连雪芳 | It is a kind of medical care bed |
| CN111643188A (en) * | 2020-06-16 | 2020-09-11 | 上海交通大学 | Puncture surgical robot device |
| WO2022027729A1 (en) * | 2020-08-07 | 2022-02-10 | 浙江大学 | Kidney puncture sampling device |
| CN114668462A (en) * | 2022-03-29 | 2022-06-28 | 哈尔滨理工大学 | Flexible needle puncturing device supported by scissor fork mechanism and capable of adjusting needle inserting angle |
| CN114767234A (en) * | 2022-05-05 | 2022-07-22 | 元化智能科技(深圳)有限公司 | Venipuncture device |
| WO2024077975A1 (en) * | 2022-10-13 | 2024-04-18 | 湖州大士医疗科技有限公司 | Single-body puncture depth regulation device and regulation method |
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- 2016-10-17 CN CN201621128287.7U patent/CN206365925U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107411821A (en) * | 2017-08-28 | 2017-12-01 | 哈尔滨理工大学 | Five degree of freedom flexibility Needle-driven Robot |
| CN107595508A (en) * | 2017-09-19 | 2018-01-19 | 连雪芳 | It is a kind of medical care bed |
| CN107595508B (en) * | 2017-09-19 | 2020-04-28 | 董景云 | Medical care bed |
| CN111643188A (en) * | 2020-06-16 | 2020-09-11 | 上海交通大学 | Puncture surgical robot device |
| WO2022027729A1 (en) * | 2020-08-07 | 2022-02-10 | 浙江大学 | Kidney puncture sampling device |
| CN114668462A (en) * | 2022-03-29 | 2022-06-28 | 哈尔滨理工大学 | Flexible needle puncturing device supported by scissor fork mechanism and capable of adjusting needle inserting angle |
| CN114767234A (en) * | 2022-05-05 | 2022-07-22 | 元化智能科技(深圳)有限公司 | Venipuncture device |
| CN114767234B (en) * | 2022-05-05 | 2023-02-24 | 元化智能科技(深圳)有限公司 | Venipuncture device |
| WO2024077975A1 (en) * | 2022-10-13 | 2024-04-18 | 湖州大士医疗科技有限公司 | Single-body puncture depth regulation device and regulation method |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
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Granted publication date: 20170801 Termination date: 20211017 |