CN207721862U - A kind of robot for aspiration biopsy of prostatic gland - Google Patents
A kind of robot for aspiration biopsy of prostatic gland Download PDFInfo
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- CN207721862U CN207721862U CN201720834709.0U CN201720834709U CN207721862U CN 207721862 U CN207721862 U CN 207721862U CN 201720834709 U CN201720834709 U CN 201720834709U CN 207721862 U CN207721862 U CN 207721862U
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- 238000001574 biopsy Methods 0.000 title claims abstract description 49
- 210000004907 gland Anatomy 0.000 title claims abstract description 13
- 239000000523 sample Substances 0.000 claims abstract description 39
- 230000007246 mechanism Effects 0.000 claims abstract description 27
- 238000002604 ultrasonography Methods 0.000 claims abstract description 25
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 16
- 238000009434 installation Methods 0.000 claims description 7
- 230000005611 electricity Effects 0.000 claims description 5
- 230000008450 motivation Effects 0.000 claims description 3
- 210000002307 prostate Anatomy 0.000 abstract description 8
- 210000000664 rectum Anatomy 0.000 abstract description 5
- 210000003127 knee Anatomy 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 10
- 238000010586 diagram Methods 0.000 description 5
- 239000000203 mixture Substances 0.000 description 5
- 206010060862 Prostate cancer Diseases 0.000 description 4
- 208000000236 Prostatic Neoplasms Diseases 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 206010028980 Neoplasm Diseases 0.000 description 2
- 201000011510 cancer Diseases 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 210000002414 leg Anatomy 0.000 description 2
- 238000012216 screening Methods 0.000 description 2
- 230000006641 stabilisation Effects 0.000 description 2
- 238000011105 stabilization Methods 0.000 description 2
- 102000007066 Prostate-Specific Antigen Human genes 0.000 description 1
- 108010072866 Prostate-Specific Antigen Proteins 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- -1 elastic knob Substances 0.000 description 1
- 210000000245 forearm Anatomy 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 230000036210 malignancy Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 238000001356 surgical procedure Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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Abstract
The utility model discloses a kind of robot for aspiration biopsy of prostatic gland, it is related to medical robot technical field, and pedestal is installed in bed body, and patient, which goes down on one's knees, to be leaned to one side to lie in bed body and back to ultrasound probe and piercing mechanism, by adjusting rotary jointAnd rotary jointSo that transverse arm and connecting plate is swung to suitable horizontal position, then passes through stepper motorDriving upper cross plate and lower cross plate swing to proper height, stepper motorAnd stepper motorLinkage driving arc shaped sliderAnd arc shaped sliderRespectively in arc-shaped rackAnd arc-shaped rackUpper sliding is so that ultrasound probe is quick and precisely positioned to patient's rectum mouth, rotary jointIt rotates and then ultrasound probe is made to enter rectum arrival prostate and sweep around, piercing mechanism completes aspiration biopsy task.The utility model is small, doctor can be assisted fast and accurately to carry out prostate scanning and aspiration biopsy operation automatically.
Description
Technical field
The utility model belongs to medical robot technical field, more particularly to a kind of robot for aspiration biopsy of prostatic gland.
Background technology
Prostate cancer is a kind of common Urology Surgery malignant tumour, the number of the infected every year nearly 240,000 in the U.S.
People.Incidence of the prostate cancer in China is also rising year by year at present, and some researches show that the growth rate of prostate cancer to have reached
First of male malignancy.Therefore the work for carrying out screening prostate cancer in hospital clinical work extensively seems particularly heavy
It wants.However, conventional biochemical indicator prostate-specific antigen is not sufficient to show that the presence of tumour, domestic and international academia are generally acknowledged
Current relatively good screening mode be ultrasound guidance aspiration biopsy of prostatic gland.Now, the overwhelming majority is in clinical manipulation
Doctor holds cell taking gun and is sampled to prostate focal area across rectum under the guiding of ultrasound scan images.Human body itself
Hand-held cell taking gun Needle localization not enough quickly, it is accurate, while each patient needs repeatedly to sample from prostate different parts respectively,
Higher to doctors experience and skill set requirements, the prolonged arm that operates can generate shake to influence to puncture precision because of fatigue.This
Outside, region is smaller between two leg of human body also brings certain difficulty to puncture procedure.So one kind can replace doctor, volume compared with
Robot that is small, being capable of automatically quick, accurate positionin, scanning and aspiration biopsy is particularly important.
CN104720853A discloses a kind of method, and this method uses the locating platform of six degree of freedom, by three locating shafts
The movement of needle is realized with three fulcrum shafts, and this method can complete aspiration biopsy task to a certain extent, but six axis
Coordination control difficulty is big, and occupied space volume is larger.
CN103919577A discloses a kind of method, and this method uses cantilevered mechanism, put down by large arm, forearm and biopsy needle
Platform forms, which can realize horizontal inserting needle, and when biopsy first has to obtain coordinate of the target in robot coordinate system
Value, is then punctured according to set coordinate value.This method can only aspiration biopsy do not have image scanning function.
CN204909512U discloses a kind of method, and this method pertains only to biopsy driving mechanism, and this method is sat using right angle
The driving mechanism of mark formula, volume is larger, and flexibility is poor, the narrow regions operation being not easy between two leg of human body.
Based on defect of the existing technology, technical problems to be solved needed for the present invention be provide a kind of small volume,
It is capable of the robot of automatically scanning and aspiration biopsy.
Invention content
In view of the above-mentioned problems, the technical problem to be solved in the present invention is to provide a kind of robot for aspiration biopsy of prostatic gland.
A kind of robot for aspiration biopsy of prostatic gland of the utility model, it is by bed body, pose adjustment and biopsy module, pitching
Module and column swing arm module composition, pose adjustment and biopsy module include ultrasound probe, elastic knob, probe rotation
Frame, compact heap are fixedly connected with ring, vee-block, attachment screw, arc-shaped rack, arc shaped slider, gear, gear, stepper motor, electric machine support, arc shaped slider, rotary joint, stepper motor, electric machine support, stepper motor, arc-shaped rack、
Piercing mechanism；Pitching module includes connecting plate, link, left riser, upper cross plate, connecting shaft, gas strut, electric machine support, under
Transverse slat, link, right riser, stepper motor；Column swing arm module includes rotary joint, transverse arm, stepper motor、
Rotary joint, cage plate, stepper motor, column, pedestal, adjusting hole, adjustment plate, pedestal is clamped in bed body, base side bores
There are adjusting hole, adjusting hole to be connect with adjustment plate, to adapt to the bed body of different-thickness, ultrasound probe is clamped by a pair of of vee-block,
Elastic knob passes through probe rotating turret to be connect with vee-block spiral, and probe rotating turret, which is socketed in, to be fixedly connected on ring by compact heap pressure
Tightly, it is fixedly connected with ring and arc shaped slider is fixed on by attachment screwOn, arc shaped sliderIt slips in arc-shaped rackOutside, arc
Sliding blockUpper installation piercing mechanism, electric machine supportUpper installation stepper motor, electric machine supportIt is fixed on arc shaped sliderOn, tooth
WheelMounted on stepper motorOn axis with arc-shaped rackEngagement, arc-shaped rackUpper end is fixed on arc shaped sliderOn, arc
Sliding blockIt slips in arc-shaped rackOutside, electric machine supportUpper installation stepper motor, electric machine supportIt is fixed on arc shaped slider
On, gearMounted on stepper motorOn axis with arc-shaped rackEngagement, arc-shaped rackIt is welded on rotary jointOn, rotation is closed
SectionBottom is connected with connecting plate, stepper motorRotary joint is driven below connecting plate, connecting plate and a left side are perpendicular
Plate passes through linkConnection, and then make that pose adjusts and biopsy module and pitching module link together, above left riser with it is upper
Transverse slat is by connecting axis connection, with lower cross plate by connecting axis connection below left riser, above gas strut taper end and left riser
Connect axis connection, gas strut butt end and the connection axis connection below right riser, electric machine supportIt is fixed on right riser, stepping electricity
MachineMounted on electric machine supportUpper drive upper cross plate is swung up and down, right riser and rotary jointPass through linkConnection,
And then pitching module and column swing arm module is made to link together, rotary jointTransverse arm is installed in lower section, and step is installed below transverse arm
Stepper motorTo drive rotary joint, transverse arm right end welding rotary joint, rotary jointLower section is connect with cage plate,
Stepper motor is installed below cage plateTo drive transverse arm to swing, cage plate is socketed on column, and column, which is inserted on pedestal, is
Robot provides support.
Preferably, the base side is drilled with adjusting hole, adjusting hole is connect with adjustment plate, to adapt to different-thickness
Bed body.
Preferably, the ultrasound probe is clamped by a pair of of vee-block, elastic knob passes through probe rotating turret and V
Shape block spiral connects, and probe rotating turret is socketed in be fixedly connected on ring to be compressed by compact heap, and ultrasound probe is rotated in probe
Positive and negative 360 degree rotation can be realized under the drive of frame.
Preferably, the gas strut taper end and butt end respectively with above left riser connecting shaft and right riser below
Connecting shaft is connected, i.e., gas strut is in the diagonal line that left riser, right riser, upper cross plate and lower cross plate constitute parallelogram mechanism
On, in stepper motorThe mechanism appearance is kept after driving upper cross plate and lower cross plate to swing the adjusting for completing connecting plate height above and below
The stabilization of state.
Preferably, the arc shaped sliderArcuately rackSliding, and then drive arc-shaped rackArcuately rackMovement, achieve a fixed connection ring and piercing mechanism horizontal plane movement；GearWith arc-shaped rackEngagement, gearRotation
Drive arc shaped sliderArcuately rackSliding, completion are fixedly connected with the movement of ring and piercing mechanism in vertical plane.
Preferably, the piercing mechanism is by biopsy needle, needle stand, pinion gear, spur rack, U-lag, riser, motor
Composition, motor forward and backward make spur rack move back and forth and then realize that biopsy needle enters and exit the movement of human body.
The beneficial effects of the utility model are：
（1）It is connected by adjusting the adjusting hole of plate and different location, so that the installation of robot adapts to the bed of different-thickness
Body.
（2）Using multiple rotary joints so that ultrasound guidance robot for aspiration biopsy of prostatic gland has in the horizontal plane
Higher flexibility has wider array of working space to adapt to the patient of different building shape.
（3）Piercing mechanism is mounted on arc shaped sliderOn, it can together be moved with ultrasound probe, while also ultrasound being made to draw
Lead that lower robot for aspiration biopsy of prostatic gland structure is compacter, and volume is more compact.
（4）Arc shaped sliderAnd arc shaped sliderCan move alone can also link, and can make ultrasound probe end and biopsy
Needle realizes quick, accurate positionin.
（5）Piercing mechanism uses rack pinion mode, ensures the accuracy of biopsy needle paracentesis depth and position.
（6）Under the guiding of ultrasound probe real time scan image, piercing mechanism can accurately be completed to live instead of doctor
Inspection task greatly reduces the aspiration biopsy time.
Description of the drawings：
The present invention is described in detail by following specific implementations and attached drawing for ease of explanation,.
Fig. 1 is the utility model general structure schematic diagram；
Fig. 2 is the utility model column swing arm modular structure schematic diagram；
Fig. 3 is the utility model pitching modular structure schematic diagram；
Fig. 4 is the adjustment of the utility model pose and biopsy modular structure schematic diagram；
Fig. 5 is the utility model piercing mechanism schematic diagram；
In figure：1, bed body, 2, ultrasound probe, 3, elastic knob, 4, probe rotating turret, 5, compact heap, 6, fixed connect
Connect ring, 7, vee-block, 8, attachment screw, 9, arc-shaped rack, 10, arc shaped slider, 11, gear, 12, gear, 13, stepping electricity
Machine, 14, electric machine support, 15, arc shaped slider, 16, rotary joint, 17, stepper motor, 18, connecting plate, 19, link
, 20, left riser, 21, upper cross plate, 22, connecting shaft, 23, gas strut, 24, electric machine support, 25, lower cross plate, 26, link,
27, rotary joint, 28, transverse arm, 29, stepper motor, 30, rotary joint, 31, cage plate, 32, stepper motor, 33, vertical
Column, 34, pedestal, 35, electric machine support, 36, stepper motor, 37, arc-shaped rack, 38, right riser, 39, adjusting hole, 40, adjust
Whole plate, 41, stepper motor, 42, piercing mechanism, biopsy needle 42-1, needle stand 42-2, pinion gear 42-3, spur rack 42-4, U-shaped
Slot 42-5, riser 42-6, motor 42-7.
Specific implementation mode：
In order to make the objectives, technical solutions and advantages of the present invention clearer, below by shown in the accompanying drawings specific
Embodiment describes the present invention.However, it should be understood that these descriptions are merely illustrative, and it is not intended to limit the model of the present invention
It encloses.In addition, in the following description, descriptions of well-known structures and technologies are omitted, to avoid unnecessarily obscuring the present invention's
Concept.
As shown in figure 1, figure 2, figure 3, figure 4 and figure 5, present embodiment uses following technical scheme：It is by bed body 1, position
Appearance adjusts and biopsy module, pitching module and column swing arm module composition, pose adjustment and biopsy module are visited comprising ultrasonic scanning
First 2, elastic knob 3, probe rotating turret 4, compact heap 5, be fixedly connected with ring 6, vee-block 7, attachment screw 8, arc-shaped rack9, arc
Shape sliding block10, gear11, gear12, stepper motor13, electric machine support14, arc shaped slider15, rotary joint16、
Stepper motor17, electric machine support35, stepper motor36, arc-shaped rack37, piercing mechanism 42, pitching module include to connect
Fishplate bar 18, link19, left riser 20, upper cross plate 21, connecting shaft 22, gas strut 23, electric machine support24, lower cross plate 25, company
Connect frame26, right riser 38, stepper motor41, column swing arm module includes rotary joint27, transverse arm 28, stepper motor29, rotary joint30, cage plate 31, stepper motor32, column 33, pedestal 34, adjusting hole 39, adjustment plate 40, bed body 1
Upper clamping pedestal 34,34 side of pedestal are drilled with adjusting hole 39, and adjusting hole 39 is connect with adjustment plate 40, to adapt to the bed of different-thickness
Body 1, ultrasound probe 2 are clamped by a pair of of vee-block 7, and elastic knob 3 passes through probe rotating turret 4 to be connect with 7 spiral of vee-block, visits
Head rotating turret 4 is socketed in be fixedly connected on ring 6 to be compressed by compact heap 5, is fixedly connected with ring 6 and is fixed on arc by attachment screw 8
Sliding blockOn 10, arc shaped slider10 slip in arc-shaped rack37 outsides, arc shaped sliderPiercing mechanism 42, motor are installed on 10
HolderStepper motor is installed on 3536, electric machine support35 are fixed on arc shaped sliderOn 10, gear11 are mounted on stepping electricity
MachineOn 36 axis with arc-shaped rack37 engagements, arc-shaped rack37 upper ends are fixed on arc shaped sliderOn 15, arc shaped slider15
It slips in arc-shaped rack9 outsides, electric machine supportStepper motor is installed on 1413, electric machine support14 are fixed on arc shaped slider
On 15, gear12 are mounted on stepper motorOn 13 axis with arc-shaped rack9 engagements, arc-shaped rack9 are welded on rotary joint
On 16, rotary joint16 bottoms are connected with connecting plate 18, stepper motor17 drive rotation mounted on 18 lower section of connecting plate
Joint16, connecting plate 18 passes through link with left riser 2019 connections, and then make pose adjustment and biopsy module and pitching mould
Block links together, and 20 top of left riser is connect with upper cross plate 21 by connecting shaft 22, and 23 lower section of left riser and lower cross plate 25 are logical
The connection of connecting shaft 22 is crossed, 23 taper end of gas strut is connect with the connecting shaft 22 of 20 top of left riser, 23 butt end of gas strut and right riser
The connecting shaft 22 of 38 lower sections connects, electric machine support24 are fixed on right riser 38, stepper motor41 are mounted on electric machine supportUpper cross plate 21 is driven to swing up and down on 24, right riser 38 and rotary joint27 pass through link26 connections, and then make to bow
It faces upward module and column swing arm module links together, rotary jointTransverse arm 28 is installed in 27 lower sections, and stepping is installed in 28 lower section of transverse arm
Motor29 drive rotary joint30,28 right end of transverse arm welds rotary joint30, rotary joint30 lower sections and set
Plate 31 connects, and stepper motor is installed in 31 lower section of cage plate32 to drive transverse arm 28 to swing, and cage plate 31 is socketed on column 33,
Column 33 is inserted on pedestal 34 and provides support for robot.
Further, 34 side of pedestal is drilled with adjusting hole 39, and adjusting hole 39 is connect with adjustment plate 40, to adapt to not
The bed body 1 of stack pile.
Further, the ultrasound probe 2 is clamped by a pair of of vee-block 7, and elastic knob 3 passes through probe rotating turret 4
It is connect with 7 spiral of vee-block, probe rotating turret 4 is socketed in be fixedly connected on ring 6 to be compressed by compact heap 5, and ultrasound probe 2 exists
Positive and negative 360 degree rotation can be realized under the drive of probe rotating turret 4.
Further, 23 taper end of gas strut and butt end respectively with the connecting shaft 22 of 20 top of left riser and right riser
The connecting shaft 22 of 38 lower sections is connected, i.e., it is flat to be in left riser 20, right riser 38, upper cross plate 21 and the composition of lower cross plate 25 for gas strut 23
On the diagonal line of row quadrangular mechanism, in stepper motor41, which drive upper cross plate 21 and lower cross plate 25 to swing above and below, completes connection
The stabilization of pitching module posture is kept after the adjusting of 18 height of plate.
Further, the arc shaped slider15 arcuately racks9 slidings, and then drive arc-shaped rack37 along arc
Shape rack9 movements, achieve a fixed connection ring 6 and piercing mechanism 42 horizontal plane movement；Gear11 and arc-shaped rack37
Engagement, gear11 rotations drive arc shaped slider10 arcuately racks37 slidings, completion are fixedly connected with ring 6 and piercing mechanism 42
In the movement of vertical plane.
Further, the piercing mechanism 42 by biopsy needle 42-1, needle stand 42-2, pinion gear 42-3, spur rack 42-4,
U-lag 42-5, riser 42-6, motor 42-7 compositions, motor 42-7 forward and backwards make spur rack 42-4 move back and forth in turn
Realize that biopsy needle 42-1 enters and exit the movement of human body.
The working principle of this specific embodiment: being：Adjusting the position of adjusting hole 39 and adjustment plate 40 makes pedestal 34 be installed on
In bed body 1, column 33 is inserted into pedestal 34, and patient, which leans to one side to go down on one's knees, to be lain in bed body 1 back to ultrasound probe 2 and puncture machine
Structure 42, passes through stepper motor32 and stepper motor29 rotation adjusts rotary joint respectively30 and rotary joint27
So that transverse arm 28 and connecting plate 12 is swung to suitable horizontal position, then passes through stepper motor41 driving upper cross plates 21 and lower cross plate
25 swings make pose adjustment and biopsy module reaches proper height, and gas strut 23 is for making pose adjustment and biopsy module holding appearance
State is stablized, stepper motor13 and stepper motor36 linkage driving arc shaped sliders15 and arc shaped slider10 respectively in arc-shaped gear
Item9 and arc-shaped rackSliding on 37 is so that be fixedly connected with the position change of ring 6, and then the ultrasonic scanning for making vee-block be clamped is visited
First 2 quick and precisely position to patient's rectum mouth, stepper motor17 driving rotary joints16 rotate and then make ultrasound probe
2, which enter rectum, reaches near prostate, and rotation probe rotating turret 4 makes ultrasound probe 2 be swept around in prostate, ties
The image that ultrasound probe 2 obtains is closed, is rotated forward by motor 42-7 and is rotated forward come driving pinion 42-3, and then is driven
Dynamic spur rack 42-4 advances, and the biopsy needle 42-1 of the ends spur rack 42-4 is pierced into prostate and realizes aspiration biopsy sampling, then electric
Motivation 42-7, which is rotated backward, to be carried out driving pinion 42-3 and rotates backward, and then spur rack 42-4 is driven to retreat, the ends spur rack 42-4
The biopsy needle 42-1 at end leaves prostate, completes aspiration biopsy work.
The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the above embodiments and description only describe this
The principle of invention, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these changes
Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and its
Equivalent thereof.
Claims (4)
1. a kind of robot for aspiration biopsy of prostatic gland, including bed body（1）, pose adjustment and biopsy module, pitching module and column
Swing arm module, it is characterised in that：The pose adjustment and biopsy module include ultrasound probe（2）, elastic knob（3）、
Probe rotating turret（4）, compact heap（5）, be fixedly connected with ring（6）, vee-block（7）, attachment screw（8）, arc-shaped rack（9）, arc
Sliding block（10）, gear（11）, gear（12）, stepper motor（13）, electric machine support（14）, arc shaped slider（15）, rotation close
Section（16）, stepper motor（17）, electric machine support（35）, stepper motor（36）, arc-shaped rack（37）, piercing mechanism（42）,
The pitching module includes connecting plate（18）, link（19）, left riser（20）, upper cross plate（21）, connecting shaft（22）, gas
Strut（23）, electric machine support（24）, lower cross plate（25）, link（26）, right riser（38）, stepper motor（41）；It is described
Column swing arm module include rotary joint（27）, transverse arm（28）, stepper motor（29）, rotary joint（30）, cage plate
（31）, stepper motor（32）, column（33）, pedestal（34）, adjusting hole（39）, adjustment plate（40）, the bed body（1）Upper card
Connect pedestal（34）, pedestal（34）Side is drilled with adjusting hole（39）, adjusting hole（39）With adjustment plate（40）Connection, to adapt to different thickness
The bed body of degree（1）, ultrasound probe（2）By a pair of of vee-block（7）Clamping, elastic knob（3）Across probe rotating turret（4）With V
Shape block（7）Spiral connects, rotating turret of popping one's head in（4）It is socketed in and is fixedly connected with ring（6）On by compact heap（5）It compresses, is fixedly connected with ring
（6）Pass through attachment screw（8）It is fixed on arc shaped slider（10）On, arc shaped slider（10）It slips in arc-shaped rack（37）Outside,
Arc shaped slider（10）Upper installation piercing mechanism（42）, electric machine support（35）Upper installation stepper motor（36）, electric machine support
（35）It is fixed on arc shaped slider（10）On, gear（11）Mounted on stepper motor（36）On axis with arc-shaped rack（37）It nibbles
It closes, arc-shaped rack（37）Upper end is fixed on arc shaped slider（15）On, arc shaped slider（15）It slips in arc-shaped rack（9）Outside
Side, electric machine support（14）Upper installation stepper motor（13）, electric machine support（14）It is fixed on arc shaped slider（15）On, gear
（12）Mounted on stepper motor（13）On axis with arc-shaped rack（9）Engagement, arc-shaped rack（9）It is welded on rotary joint（16）
On, rotary joint（16）Bottom and connecting plate（18）It is connected, stepper motor（17）Mounted on connecting plate（18）Lower section is driven
Dynamic rotary joint（16）, connecting plate（18）With left riser（20）Pass through link（19）Connection, and then make pose adjustment and biopsy
Module and pitching module link together, left riser（20）Top and upper cross plate（21）Pass through connecting shaft（22）Connection, left riser
（20）Lower section and lower cross plate（25）Pass through connecting shaft（22）Connection, gas strut（23）Taper end and left riser（20）The connecting shaft of top
（22）Connection, gas strut（23）Butt end and right riser（38）The connecting shaft of lower section（22）Connection, electric machine support（24）It is fixed on the right side
Riser（38）On, stepper motor（41）Mounted on electric machine support（24）Upper drive upper cross plate（21）It swings up and down, right riser
（38）With rotary joint（27）Pass through link（26）Connection, and then pitching module and column swing arm module is made to be connected to one
It rises, rotary joint（27）Lower section is installed by transverse arm（28）, transverse arm（28）Lower section is installed by stepper motor（29）To drive rotary joint（27）, transverse arm（28）Right end welds rotary joint（30）, rotary joint（30）Lower section and cage plate（31）Connection, cage plate（31）
Lower section is installed by stepper motor（32）To drive transverse arm（28）It swings, cage plate（31）It is socketed in column（33）On, column
（33）It is inserted into pedestal（34）It is upper to provide support for robot；The arc-shaped rack（9）With gear（12）Engagement, gear
（12）Rotation drives arc shaped slider（15）Arcuately rack（9）Sliding, and then drive arc-shaped rack（37）Arcuately rack
（9）Movement, gear（11）With arc-shaped rack（37）Engagement, gear（11）Rotation drives arc shaped slider（10）Arcuately rack
（37）Sliding, and then drive and be fixedly connected with ring（6）And piercing mechanism（42）Movement.
2. a kind of robot for aspiration biopsy of prostatic gland according to claim 1, it is characterised in that：The ultrasonic scanning is visited
Head（2）By a pair of of vee-block（7）Clamping, elastic knob（3）Across probe rotating turret（4）With vee-block（7）Spiral connects, and probe turns
Moving frame（4）Positive and negative 360 degree of rotation can be carried out, to drive vee-block（7）Ultrasound probe is clamped（2）Complete positive and negative 360
The rotation sweep of degree.
3. a kind of robot for aspiration biopsy of prostatic gland according to claim 1, it is characterised in that：The left riser（20）
With right riser（38）, upper cross plate（21）And lower cross plate（25）Constitute parallel four side row, gas strut（23）Taper end and left riser（20）
The connecting shaft of top（22）Connection, gas strut（23）Butt end and right riser（38）The connecting shaft of lower section（22）Connection, stepper motor（41）Forward and backward can drive upper cross plate（21）And lower cross plate（25）Upper and lower swing, with realize to connecting plate（18）Height
It adjusts, and then realizes to pose adjustment and the adjusting of biopsy module height.
4. a kind of robot for aspiration biopsy of prostatic gland according to claim 1, it is characterised in that：The piercing mechanism
（42）Including biopsy needle（42-1）, needle stand（42-2）, pinion gear（42-3）, spur rack（42-4）, U-lag（42-5）, riser
（42-6）, motor（42-7）, U-lag（42-5）It is welded on arc shaped slider（10）Crossbeam on, spur rack（42-4）Embedded in U
Shape slot（42-5）, biopsy needle（42-1）Mounted on needle stand（42-2）In, needle stand（42-2）It is fixed on spur rack（42-4）One end, electricity
Motivation（42-7）Mounted on riser（42-6）On, riser（42-6）With U-lag（42-5）Connection, pinion gear（42-3）Mounted on electricity
Motivation（42-7）On axis, with spur rack（42-4）Engagement.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720834709.0U CN207721862U (en) | 2017-07-11 | 2017-07-11 | A kind of robot for aspiration biopsy of prostatic gland |
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|---|---|---|---|
| CN201720834709.0U CN207721862U (en) | 2017-07-11 | 2017-07-11 | A kind of robot for aspiration biopsy of prostatic gland |
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| CN207721862U true CN207721862U (en) | 2018-08-14 |
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| CN201720834709.0U Expired - Fee Related CN207721862U (en) | 2017-07-11 | 2017-07-11 | A kind of robot for aspiration biopsy of prostatic gland |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107260269A (en) * | 2017-07-11 | 2017-10-20 | 哈尔滨理工大学 | A kind of ultrasound guidance robot for aspiration biopsy of prostatic gland |
| CN111640346A (en) * | 2020-06-12 | 2020-09-08 | 河南科技大学第一附属医院 | Ultrasonic interventional puncture simulation training device and using method thereof |
| CN112097019A (en) * | 2020-05-21 | 2020-12-18 | 深圳市锐凌光电有限公司 | LED display screen with adjustable elevation angle |
| CN112842752A (en) * | 2021-02-05 | 2021-05-28 | 胡忠胜 | Paralytic nursing sickbed |
| CN113274133A (en) * | 2021-06-24 | 2021-08-20 | 哈尔滨理工大学 | Mammary gland biopsy puncture robot based on MRI environment and use method thereof |
| CN113440232A (en) * | 2021-06-09 | 2021-09-28 | 中国人民解放军东部战区总医院 | Intelligent fracture reduction traction device |
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2017
- 2017-07-11 CN CN201720834709.0U patent/CN207721862U/en not_active Expired - Fee Related
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| CN107260269A (en) * | 2017-07-11 | 2017-10-20 | 哈尔滨理工大学 | A kind of ultrasound guidance robot for aspiration biopsy of prostatic gland |
| CN107260269B (en) * | 2017-07-11 | 2024-02-02 | 哈尔滨理工大学 | Ultrasonic-guided prostate puncture biopsy robot |
| CN112097019A (en) * | 2020-05-21 | 2020-12-18 | 深圳市锐凌光电有限公司 | LED display screen with adjustable elevation angle |
| CN111640346A (en) * | 2020-06-12 | 2020-09-08 | 河南科技大学第一附属医院 | Ultrasonic interventional puncture simulation training device and using method thereof |
| CN112842752A (en) * | 2021-02-05 | 2021-05-28 | 胡忠胜 | Paralytic nursing sickbed |
| CN113440232A (en) * | 2021-06-09 | 2021-09-28 | 中国人民解放军东部战区总医院 | Intelligent fracture reduction traction device |
| CN113274133A (en) * | 2021-06-24 | 2021-08-20 | 哈尔滨理工大学 | Mammary gland biopsy puncture robot based on MRI environment and use method thereof |
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