CN210144719U - Six-degree-of-freedom acupuncture robot used in magnetic resonance imager - Google Patents
Six-degree-of-freedom acupuncture robot used in magnetic resonance imager Download PDFInfo
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- CN210144719U CN210144719U CN201920415352.1U CN201920415352U CN210144719U CN 210144719 U CN210144719 U CN 210144719U CN 201920415352 U CN201920415352 U CN 201920415352U CN 210144719 U CN210144719 U CN 210144719U
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- 238000001467 acupuncture Methods 0.000 title claims abstract description 63
- 238000006073 displacement reaction Methods 0.000 claims description 7
- 238000009434 installation Methods 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 210000002307 prostate Anatomy 0.000 abstract description 4
- 238000005457 optimization Methods 0.000 description 6
- 238000003384 imaging method Methods 0.000 description 4
- 238000005481 NMR spectroscopy Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 238000004080 punching Methods 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000003902 lesion Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000005311 nuclear magnetism Effects 0.000 description 1
- 210000002640 perineum Anatomy 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Abstract
The utility model discloses a six-degree-of-freedom acupuncture robot used in a magnetic resonance imager, which comprises a Cartesian module, a swing module and an acupuncture module; the swing module is fixed on the Cartesian module, and the acupuncture module is fixed on the swing module, wherein the Cartesian module is used for controlling the swing module to move in the X direction, the Y direction and the Z direction, and the X direction, the Y direction and the Z direction are perpendicular to each other; the swing module is used for controlling the needling module to swing horizontally; the acupuncture module is used for controlling the puncture needle to perform pitching motion and needle inserting motion. The utility model adopts multiple forms of non-magnetic ultrasonic motor drive, can realize the prostate puncture at the required position and posture, and simultaneously, does not need to add an additional locking device to keep the position based on the characteristic of power-off self-locking of the ultrasonic motor; and the whole structure of the system is simpler and more compact, and the miniaturization is easy.
Description
Technical Field
The utility model relates to a minimally invasive medical robot equipment technical field, concretely relates to six degrees of freedom acupuncture robot for inside magnetic resonance imager.
Background
In the design of numerous prostate acupuncture robots, "flexibility, precision and dexterity" are important indexes of the acupuncture robot, and the structural design mode influences the size of the occupied space volume of the whole system. For the imaging guided needle-punching robot operation, the imaging mode mostly adopts ultrasonic imaging. The driving mode adopts pneumatic and hydraulic driving. Since magnetic imaging has very good real-time and no radiation. Therefore, the research on robots under nuclear magnetism has rapidly become a hot spot in this field. Although the above driving mode well meets the nuclear magnetic compatibility characteristic, more nonlinear errors inevitably exist and the driving device is more complicated, so that the real-time performance, the stability and the precision of the platform are poor.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the technical problem that to the defect that involves in the background art, provide a six degree of freedom acupuncture robots that is used for magnetic resonance imager inside.
The utility model discloses a solve above-mentioned technical problem and adopt following technical scheme:
a six-degree-of-freedom acupuncture robot used in a magnetic resonance imager comprises a Cartesian module, a swing module and an acupuncture module;
the acupuncture device comprises a swinging module, a needling module, a Cartesian module and a needling module, wherein the swinging module is fixed on the Cartesian module, the Cartesian module is used for controlling the swinging module to move in an X direction, a Y direction and a Z direction, and the X direction, the Y direction and the Z direction are perpendicular to each other; the swing module is used for controlling the needling module to swing horizontally; the acupuncture module is used for controlling the puncture needle to perform pitching motion and needle inserting motion;
the Cartesian module comprises a base, an X platform, a Y platform, a Z platform, a lifting cylinder, a first linear ultrasonic motor, a first linear encoder, a second linear ultrasonic motor, a second linear encoder, a first double-output-shaft rotary ultrasonic motor, a first rotary encoder and a plurality of polished rods;
the base is provided with a plurality of guide rails along the X direction, and the guide rails are provided with sliding blocks capable of freely sliding; the X platform is fixedly connected with the sliding blocks on the guide rails of the base and can freely slide along the X direction relative to the base; the first linear ultrasonic motor is fixed on the base, and the output end of the first linear ultrasonic motor is fixedly connected with the X platform and used for driving the X platform to slide in the X direction relative to the base; a reading head of the first linear encoder is fixed on the base, and a grating ruler is fixed on the X platform and used for detecting the sliding displacement of the X platform relative to the base;
the X platform is provided with a plurality of guide rails along the Y direction, and the guide rails are provided with sliding blocks capable of freely sliding; the Y platform is fixedly connected with the sliding blocks on the guide rails of the X platform and can freely slide along the Y direction relative to the X platform; the second linear ultrasonic motor is fixed on the X platform, the output end of the second linear ultrasonic motor is fixedly connected with the Y platform, and the second linear ultrasonic motor is used for driving the Y platform to slide in the Y direction relative to the X platform; a reading head of the first linear encoder is fixed on the X platform, and a grating ruler is fixed on the Y platform and used for detecting the sliding displacement of the Y platform relative to the X platform;
the lifting cylinder comprises an outer cylinder and an inner cylinder; the outer cylinder is a hollow cylinder with an opening at the lower end, the upper end and the lower end face of the Z platform which are fixedly connected, and the inner wall of the outer cylinder is provided with threads; the lower end of the inner cylinder is closed, the outer wall of the inner cylinder is provided with threads matched with the threads on the inner wall of the outer cylinder, and the inner cylinder is in threaded connection with the outer cylinder;
a plurality of through holes which correspond to the polish rods one by one are formed in the Z platform; one end of the polished rod penetrates through a corresponding through hole on the Z platform along the Z direction and then is fixedly connected with the Y platform;
a through hole is formed in the center of the Y platform; the first double-output-shaft rotary ultrasonic motor is fixed on the lower end face of the Y platform, one output shaft of the first double-output-shaft rotary ultrasonic motor penetrates through a through hole in the center of the Y platform to be fixedly connected with the center of the lower end face of the inner cylinder and is used for controlling the content to rotate so as to control the Z platform to slide along the Z direction; a reading head of the first rotary encoder is fixedly connected with a shell of the first double output shaft rotary ultrasonic motor, and a grating ruler is fixedly connected with the other output shaft of the first double output shaft rotary ultrasonic motor;
the swing module comprises a rotary mounting seat, a first bearing, a rotating shaft, a driving belt wheel, a driven belt wheel, a second double output shaft rotary ultrasonic motor and a second rotary encoder;
the rotary mounting seat is fixed on the Z platform, one part of the rotary mounting seat extends out of the Z platform, and a bearing mounting hole and a motor hole are formed in the rotary mounting seat;
the first bearing is arranged in a bearing mounting hole of the rotary mounting seat, an outer ring of the first bearing is fixedly connected with the rotary mounting seat, and an inner ring of the first bearing is fixedly connected with the bottom end of the rotary shaft; the driven belt wheel is sleeved on the rotating shaft and fixedly connected with the rotating shaft; the belt wheel, the rotating shaft and the inner cylinder are coaxial;
the second double output shaft rotating ultrasonic motor is fixed on the lower end surface of the rotating mounting seat, and one output shaft of the second double output shaft rotating ultrasonic motor is fixedly connected with the center of the driving belt pulley through a motor hole in the rotating mounting seat; a reading head of the second rotary encoder is fixedly connected with a shell of the second double output shaft rotary ultrasonic motor, and a grating ruler is fixedly connected with the other output shaft of the second double output shaft rotary ultrasonic motor;
the driving belt wheel and the driven belt wheel are in transmission connection through the belt;
the acupuncture module comprises a U-shaped support, an acupuncture bearing plate, a screw rod nut, a needle seat, a puncture needle, a first fixing plate, a second fixing plate, a first lug, a second bearing, a connecting shaft, a third bearing, a coupler, a third double-output-shaft rotary ultrasonic motor, a third rotary encoder, a fourth double-output-shaft rotary ultrasonic motor and a fourth rotary encoder;
the acupuncture bearing plate is rectangular; the first hanging lug and the second hanging lug are correspondingly arranged on two sides of the acupuncture bearing plate and fixedly connected with the acupuncture bearing plate; the first fixing plate and the second fixing plate are respectively arranged at two ends of the acupuncture bearing plate and are vertically and fixedly connected with the upper end face of the acupuncture bearing plate;
the U-shaped support comprises a first side plate, a second side plate and a bottom plate, wherein the lower end face of the bottom plate of the U-shaped support is fixedly connected with the top end of the rotating shaft; the first side plate is provided with a through hole, and the inner wall of the second side plate is provided with a bearing mounting hole;
the second bearing is arranged in a bearing mounting hole of the second side plate, an outer ring of the second bearing is fixedly connected with the second side plate, and an inner ring of the second bearing is fixedly connected with one end of the connecting shaft; the other end of the connecting shaft is fixedly connected with the outer wall of the second hanging lug; the third double-output-shaft rotary ultrasonic motor is fixed on the outer wall of the first side plate, one output shaft of the third double-output-shaft rotary ultrasonic motor penetrates through a through hole in the first side plate and is fixedly connected with the outer wall of the first hanging lug, and the output shaft and the second bearing are coaxial; a reading head of the third rotary encoder is fixedly connected with a shell of the third double-output-shaft rotary ultrasonic motor, and a grating ruler is fixedly connected with the other output shaft of the third double-output-shaft rotary ultrasonic motor;
the acupuncture bearing plate is provided with a guide rail parallel to the long edge of the acupuncture bearing plate between the first fixing plate and the second fixing plate, and the guide rail is provided with a sliding block capable of freely sliding; the feed screw nut is fixedly connected with the sliding block on the acupuncture bearing plate;
the first fixing plate is provided with a through hole, and the second fixing plate is provided with a bearing hole and a guide hole;
the fourth double-output-shaft rotary ultrasonic motor is fixed on the outer wall of the first fixing plate, and one output shaft of the fourth double-output-shaft rotary ultrasonic motor penetrates through a through hole in the first fixing plate and is fixedly connected with one end of the screw rod through a rear coupling; a reading head of the fourth rotary encoder is fixedly connected with a shell of the fourth double-output-shaft rotary ultrasonic motor, and a grating ruler is fixedly connected with the other output shaft of the fourth double-output-shaft rotary ultrasonic motor;
the third bearing is arranged in a bearing hole of the second fixing plate, and an outer ring of the third bearing is fixedly connected with the second fixing plate; the screw rod is in threaded connection with the screw rod nut, the other end of the screw rod is fixedly connected with the inner ring of the third bearing after penetrating through the screw rod nut, and the screw rod is parallel to the guide rail on the needling bearing plate;
the needle seat comprises an installation plate, a guide plate, a pressure sensor and a fixed block, wherein the installation plate is fixed on the screw rod nut; the guide plate and the fixed block are fixed on the mounting plate, and the guide plate is provided with a guide hole;
the tip of the puncture needle sequentially penetrates through the guide hole in the guide plate and the guide hole in the second fixing plate; one end of the pressure sensor is fixedly connected with the root of the puncture needle, and the other end of the pressure sensor is fixedly connected with the fixed block and used for measuring the puncture force of the puncture needle; the puncture needle is parallel to the guide rail and can slide through the guide hole in the second fixing plate.
As the utility model relates to a further optimization scheme of six degree of freedom acupuncture robot for magnetic resonance imager is inside, the quantity of guide rail is two on the base, and the quantity of guide rail is also two on the X platform.
As a further optimization scheme of six degree of freedom acupuncture robot for magnetic resonance imager is inside, the quantity of polished rod is two, and sets up with two through-holes of polished rod matched with on the Z platform the both sides of urceolus.
As a further optimization scheme of six degree of freedom acupuncture robot for the inside magnetic resonance imager, the rotation axis with the inner circle of first bearing links to each other through interference fit.
The utility model adopts the above technical scheme to compare with prior art, have following technological effect:
1. the working space completely covers the area of the prostate, and its needle can reach the target of the prostate in the desired position and posture;
2. the utility model is combined with the guidance of nuclear magnetic images, and frees the patient and the doctor from the traditional X-ray environment, thereby realizing the real-time navigation of the acupuncture operation and having stable and reliable puncture process;
3. the utility model directly adopts the linear ultrasonic motor as the drive of the X direction and the Y direction, so that the structure is compact and the displacement resolution ratio is high;
4. the utility model has six degrees of freedom, thus realizing the acupuncture motion with preset track;
5. the ultrasonic motor has the characteristics of high precision, high response speed and nuclear magnetic compatibility, and simultaneously, the ultrasonic motors in various forms are applied, and the positioning precision is high; the whole structure of the system is simpler and more compact, and the miniaturization is met.
6. The utility model discloses in every driving motor be arranged in budget good with the needle point apart from as far as possible the position on, the interference of maximum possible reduction motor to the magnetic resonance imager to obtain more clear formation of image, thereby have very big improvement to the operation precision.
Drawings
Fig. 1 is a schematic three-dimensional structure of the present invention;
fig. 2 is a left side view of the present invention;
fig. 3 is a schematic structural diagram of the middle swing module of the present invention.
In the figure, 1-base, 2-first double output shaft rotary ultrasonic motor, 3-X platform, 4-second linear encoder, 5-second rotary encoder, 6-second double output shaft rotary ultrasonic motor, 7-fourth rotary encoder, 8-fourth double output shaft rotary ultrasonic motor, 9-coupler, 10-fixed block, 11-pressure sensor, 12-guide plate, 13-third rotary encoder, 14-lead screw, 15-guide hole on the second fixed plate, 16-puncture needle, 17-second fixed plate, 18-needle bearing plate, 19-driven pulley, 20-rotary mounting seat, 21-second linear ultrasonic motor, 22-guide rail on the base, 23-Y platform, guide rail on 24-X platform, 25-lifting cylinder, 26-Z platform, 27-first linear ultrasonic motor, 28-first linear encoder, 29-U-shaped support, 30-polished rod, 31-first bearing and 32-rotating shaft.
Detailed Description
The technical scheme of the utility model is further explained in detail with the attached drawings as follows:
the present invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. In the drawings, components are exaggerated for clarity.
As shown in fig. 1 and 2, the present invention relates to a six-degree-of-freedom acupuncture robot for use in a magnetic resonance imager, which comprises a cartesian module, a swing module and an acupuncture module;
the acupuncture device comprises a swinging module, a needling module, a Cartesian module and a needling module, wherein the swinging module is fixed on the Cartesian module, the Cartesian module is used for controlling the swinging module to move in an X direction, a Y direction and a Z direction, and the X direction, the Y direction and the Z direction are perpendicular to each other; the swing module is used for controlling the needling module to swing horizontally; the acupuncture module is used for controlling the puncture needle to perform pitching motion and needle inserting motion;
the Cartesian module comprises a base, an X platform, a Y platform, a Z platform, a lifting cylinder, a first linear ultrasonic motor, a first linear encoder, a second linear ultrasonic motor, a second linear encoder, a first double-output-shaft rotary ultrasonic motor, a first rotary encoder and a plurality of polished rods;
the base is provided with a plurality of guide rails along the X direction, and the guide rails are provided with sliding blocks capable of freely sliding; the X platform is fixedly connected with the sliding blocks on the guide rails of the base and can freely slide along the X direction relative to the base; the first linear ultrasonic motor is fixed on the base, and the output end of the first linear ultrasonic motor is fixedly connected with the X platform and used for driving the X platform to slide in the X direction relative to the base; a reading head of the first linear encoder is fixed on the base, and a grating ruler is fixed on the X platform and used for detecting the sliding displacement of the X platform relative to the base;
the X platform is provided with a plurality of guide rails along the Y direction, and the guide rails are provided with sliding blocks capable of freely sliding; the Y platform is fixedly connected with the sliding blocks on the guide rails of the X platform and can freely slide along the Y direction relative to the X platform; the second linear ultrasonic motor is fixed on the X platform, the output end of the second linear ultrasonic motor is fixedly connected with the Y platform, and the second linear ultrasonic motor is used for driving the Y platform to slide in the Y direction relative to the X platform; a reading head of the first linear encoder is fixed on the X platform, and a grating ruler is fixed on the Y platform and used for detecting the sliding displacement of the Y platform relative to the X platform;
the lifting cylinder comprises an outer cylinder and an inner cylinder; the outer cylinder is a hollow cylinder with an opening at the lower end, the upper end and the lower end face of the Z platform which are fixedly connected, and the inner wall of the outer cylinder is provided with threads; the lower end of the inner cylinder is closed, the outer wall of the inner cylinder is provided with threads matched with the threads on the inner wall of the outer cylinder, and the inner cylinder is in threaded connection with the outer cylinder;
a plurality of through holes which correspond to the polish rods one by one are formed in the Z platform; one end of the polished rod penetrates through a corresponding through hole on the Z platform along the Z direction and then is fixedly connected with the Y platform;
a through hole is formed in the center of the Y platform; the first double-output-shaft rotary ultrasonic motor is fixed on the lower end face of the Y platform, one output shaft of the first double-output-shaft rotary ultrasonic motor penetrates through a through hole in the center of the Y platform to be fixedly connected with the center of the lower end face of the inner cylinder and is used for controlling the content to rotate so as to control the Z platform to slide along the Z direction; a reading head of the first rotary encoder is fixedly connected with a shell of the first double output shaft rotary ultrasonic motor, and a grating ruler is fixedly connected with the other output shaft of the first double output shaft rotary ultrasonic motor;
as shown in fig. 3, the swing module includes a rotation mounting base, a first bearing, a rotation shaft, a driving pulley, a driven pulley, a second dual output shaft rotation ultrasonic motor, and a second rotary encoder;
the rotary mounting seat is fixed on the Z platform, one part of the rotary mounting seat extends out of the Z platform, and a bearing mounting hole and a motor hole are formed in the rotary mounting seat;
the first bearing is arranged in a bearing mounting hole of the rotary mounting seat, an outer ring of the first bearing is fixedly connected with the rotary mounting seat, and an inner ring of the first bearing is fixedly connected with the bottom end of the rotary shaft; the driven belt wheel is sleeved on the rotating shaft and fixedly connected with the rotating shaft; the belt wheel, the rotating shaft and the inner cylinder are coaxial;
the second double output shaft rotating ultrasonic motor is fixed on the lower end surface of the rotating mounting seat, and one output shaft of the second double output shaft rotating ultrasonic motor is fixedly connected with the center of the driving belt pulley through a motor hole in the rotating mounting seat; a reading head of the second rotary encoder is fixedly connected with a shell of the second double output shaft rotary ultrasonic motor, and a grating ruler is fixedly connected with the other output shaft of the second double output shaft rotary ultrasonic motor;
the driving belt wheel and the driven belt wheel are in transmission connection through the belt;
the acupuncture module comprises a U-shaped support, an acupuncture bearing plate, a screw rod nut, a needle seat, a puncture needle, a first fixing plate, a second fixing plate, a first lug, a second bearing, a connecting shaft, a third bearing, a coupler, a third double-output-shaft rotary ultrasonic motor, a third rotary encoder, a fourth double-output-shaft rotary ultrasonic motor and a fourth rotary encoder;
the acupuncture bearing plate is rectangular; the first hanging lug and the second hanging lug are correspondingly arranged on two sides of the acupuncture bearing plate and fixedly connected with the acupuncture bearing plate; the first fixing plate and the second fixing plate are respectively arranged at two ends of the acupuncture bearing plate and are vertically and fixedly connected with the upper end face of the acupuncture bearing plate;
the U-shaped support comprises a first side plate, a second side plate and a bottom plate, wherein the lower end face of the bottom plate of the U-shaped support is fixedly connected with the top end of the rotating shaft; the first side plate is provided with a through hole, and the inner wall of the second side plate is provided with a bearing mounting hole;
the second bearing is arranged in a bearing mounting hole of the second side plate, an outer ring of the second bearing is fixedly connected with the second side plate, and an inner ring of the second bearing is fixedly connected with one end of the connecting shaft; the other end of the connecting shaft is fixedly connected with the outer wall of the second hanging lug; the third double-output-shaft rotary ultrasonic motor is fixed on the outer wall of the first side plate, one output shaft of the third double-output-shaft rotary ultrasonic motor penetrates through a through hole in the first side plate and is fixedly connected with the outer wall of the first hanging lug, and the output shaft and the second bearing are coaxial; a reading head of the third rotary encoder is fixedly connected with a shell of the third double-output-shaft rotary ultrasonic motor, and a grating ruler is fixedly connected with the other output shaft of the third double-output-shaft rotary ultrasonic motor;
the acupuncture bearing plate is provided with a guide rail parallel to the long edge of the acupuncture bearing plate between the first fixing plate and the second fixing plate, and the guide rail is provided with a sliding block capable of freely sliding; the feed screw nut is fixedly connected with the sliding block on the acupuncture bearing plate;
the first fixing plate is provided with a through hole, and the second fixing plate is provided with a bearing hole and a guide hole;
the fourth double-output-shaft rotary ultrasonic motor is fixed on the outer wall of the first fixing plate, and one output shaft of the fourth double-output-shaft rotary ultrasonic motor penetrates through a through hole in the first fixing plate and is fixedly connected with one end of the screw rod through a rear coupling; a reading head of the fourth rotary encoder is fixedly connected with a shell of the fourth double-output-shaft rotary ultrasonic motor, and a grating ruler is fixedly connected with the other output shaft of the fourth double-output-shaft rotary ultrasonic motor;
the third bearing is arranged in a bearing hole of the second fixing plate, and an outer ring of the third bearing is fixedly connected with the second fixing plate; the screw rod is in threaded connection with the screw rod nut, the other end of the screw rod is fixedly connected with the inner ring of the third bearing after penetrating through the screw rod nut, and the screw rod is parallel to the guide rail on the needling bearing plate;
the needle seat comprises an installation plate, a guide plate, a pressure sensor and a fixed block, wherein the installation plate is fixed on the screw rod nut; the guide plate and the fixed block are fixed on the mounting plate, and the guide plate is provided with a guide hole;
the tip of the puncture needle sequentially penetrates through the guide hole in the guide plate and the guide hole in the second fixing plate; one end of the pressure sensor is fixedly connected with the root of the puncture needle, and the other end of the pressure sensor is fixedly connected with the fixed block and used for measuring the puncture force of the puncture needle; the puncture needle is parallel to the guide rail and can slide through the guide hole in the second fixing plate.
As the utility model relates to a further optimization scheme of six degree of freedom acupuncture robot for magnetic resonance imager is inside, the quantity of guide rail is two on the base, and the quantity of guide rail is also two on the X platform.
As a further optimization scheme of six degree of freedom acupuncture robot for magnetic resonance imager is inside, the quantity of polished rod is two, and sets up with two through-holes of polished rod matched with on the Z platform the both sides of urceolus.
As a further optimization scheme of six degree of freedom acupuncture robot for the inside magnetic resonance imager, the rotation axis with the inner circle of first bearing links to each other through interference fit.
When the robot works, a patient lies on a sickbed in the cavity of the nuclear magnetic resonance apparatus, and the robot is placed between two legs of the patient. The target point of the lesion, the puncture point and the planned path are transmitted back by the nuclear magnetic resonance apparatus. Controlling the first linear ultrasonic motor, the second linear ultrasonic motor and the first double-output-shaft rotary ultrasonic motor to move the needle head to the puncture point on the perineum wall; controlling a second double output shaft rotating ultrasonic motor and a third double output shaft rotating ultrasonic motor to adjust the puncture posture of the needle; controlling a fourth double-output-shaft rotary ultrasonic motor to puncture; the pressure sensor positioned behind the puncture needle can measure the puncture force during the operation and feed back the puncture force. The puncture with the preset track can be realized by continuously and repeatedly adjusting the posture and the needle punching.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The above-mentioned embodiments further describe the objects, technical solutions and advantages of the present invention in detail, it should be understood that the above description is only the embodiments of the present invention, and is not intended to limit the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (4)
1. A six-degree-of-freedom acupuncture robot used in a magnetic resonance imager is characterized by comprising a Cartesian module, a swing module and an acupuncture module;
the acupuncture device comprises a swinging module, a needling module, a Cartesian module and a needling module, wherein the swinging module is fixed on the Cartesian module, the Cartesian module is used for controlling the swinging module to move in an X direction, a Y direction and a Z direction, and the X direction, the Y direction and the Z direction are perpendicular to each other; the swing module is used for controlling the needling module to swing horizontally; the acupuncture module is used for controlling the puncture needle to perform pitching motion and needle inserting motion;
the Cartesian module comprises a base, an X platform, a Y platform, a Z platform, a lifting cylinder, a first linear ultrasonic motor, a first linear encoder, a second linear ultrasonic motor, a second linear encoder, a first double-output-shaft rotary ultrasonic motor, a first rotary encoder and a plurality of polished rods;
the base is provided with a plurality of guide rails along the X direction, and the guide rails are provided with sliding blocks capable of freely sliding; the X platform is fixedly connected with the sliding blocks on the guide rails of the base and can freely slide along the X direction relative to the base; the first linear ultrasonic motor is fixed on the base, and the output end of the first linear ultrasonic motor is fixedly connected with the X platform and used for driving the X platform to slide in the X direction relative to the base; a reading head of the first linear encoder is fixed on the base, and a grating ruler is fixed on the X platform and used for detecting the sliding displacement of the X platform relative to the base;
the X platform is provided with a plurality of guide rails along the Y direction, and the guide rails are provided with sliding blocks capable of freely sliding; the Y platform is fixedly connected with the sliding blocks on the guide rails of the X platform and can freely slide along the Y direction relative to the X platform; the second linear ultrasonic motor is fixed on the X platform, the output end of the second linear ultrasonic motor is fixedly connected with the Y platform, and the second linear ultrasonic motor is used for driving the Y platform to slide in the Y direction relative to the X platform; a reading head of the first linear encoder is fixed on the X platform, and a grating ruler is fixed on the Y platform and used for detecting the sliding displacement of the Y platform relative to the X platform;
the lifting cylinder comprises an outer cylinder and an inner cylinder; the outer cylinder is a hollow cylinder with an opening at the lower end, the upper end and the lower end face of the Z platform which are fixedly connected, and the inner wall of the outer cylinder is provided with threads; the lower end of the inner cylinder is closed, the outer wall of the inner cylinder is provided with threads matched with the threads on the inner wall of the outer cylinder, and the inner cylinder is in threaded connection with the outer cylinder;
a plurality of through holes which correspond to the polish rods one by one are formed in the Z platform; one end of the polished rod penetrates through a corresponding through hole on the Z platform along the Z direction and then is fixedly connected with the Y platform;
a through hole is formed in the center of the Y platform; the first double-output-shaft rotary ultrasonic motor is fixed on the lower end face of the Y platform, one output shaft of the first double-output-shaft rotary ultrasonic motor penetrates through a through hole in the center of the Y platform to be fixedly connected with the center of the lower end face of the inner cylinder and is used for controlling the inner cylinder to rotate so as to control the Z platform to slide along the Z direction; a reading head of the first rotary encoder is fixedly connected with a shell of the first double output shaft rotary ultrasonic motor, and a grating ruler is fixedly connected with the other output shaft of the first double output shaft rotary ultrasonic motor;
the swing module comprises a rotary mounting seat, a first bearing, a rotating shaft, a driving belt wheel, a driven belt wheel, a second double output shaft rotary ultrasonic motor and a second rotary encoder;
the rotary mounting seat is fixed on the Z platform, one part of the rotary mounting seat extends out of the Z platform, and a bearing mounting hole and a motor hole are formed in the rotary mounting seat;
the first bearing is arranged in a bearing mounting hole of the rotary mounting seat, an outer ring of the first bearing is fixedly connected with the rotary mounting seat, and an inner ring of the first bearing is fixedly connected with the bottom end of the rotary shaft; the driven belt wheel is sleeved on the rotating shaft and fixedly connected with the rotating shaft; the belt wheel, the rotating shaft and the inner cylinder are coaxial;
the second double output shaft rotating ultrasonic motor is fixed on the lower end surface of the rotating mounting seat, and one output shaft of the second double output shaft rotating ultrasonic motor is fixedly connected with the center of the driving belt pulley through a motor hole in the rotating mounting seat; a reading head of the second rotary encoder is fixedly connected with a shell of the second double output shaft rotary ultrasonic motor, and a grating ruler is fixedly connected with the other output shaft of the second double output shaft rotary ultrasonic motor;
the driving belt wheel and the driven belt wheel are in transmission connection through a belt;
the acupuncture module comprises a U-shaped support, an acupuncture bearing plate, a screw rod nut, a needle seat, a puncture needle, a first fixing plate, a second fixing plate, a first lug, a second bearing, a connecting shaft, a third bearing, a coupler, a third double-output-shaft rotary ultrasonic motor, a third rotary encoder, a fourth double-output-shaft rotary ultrasonic motor and a fourth rotary encoder;
the acupuncture bearing plate is rectangular; the first hanging lug and the second hanging lug are correspondingly arranged on two sides of the acupuncture bearing plate and fixedly connected with the acupuncture bearing plate; the first fixing plate and the second fixing plate are respectively arranged at two ends of the acupuncture bearing plate and are vertically and fixedly connected with the upper end face of the acupuncture bearing plate;
the U-shaped support comprises a first side plate, a second side plate and a bottom plate, wherein the lower end face of the bottom plate of the U-shaped support is fixedly connected with the top end of the rotating shaft; the first side plate is provided with a through hole, and the inner wall of the second side plate is provided with a bearing mounting hole;
the second bearing is arranged in a bearing mounting hole of the second side plate, an outer ring of the second bearing is fixedly connected with the second side plate, and an inner ring of the second bearing is fixedly connected with one end of the connecting shaft; the other end of the connecting shaft is fixedly connected with the outer wall of the second hanging lug; the third double-output-shaft rotary ultrasonic motor is fixed on the outer wall of the first side plate, one output shaft of the third double-output-shaft rotary ultrasonic motor penetrates through a through hole in the first side plate and is fixedly connected with the outer wall of the first hanging lug, and the output shaft and the second bearing are coaxial; a reading head of the third rotary encoder is fixedly connected with a shell of the third double-output-shaft rotary ultrasonic motor, and a grating ruler is fixedly connected with the other output shaft of the third double-output-shaft rotary ultrasonic motor;
the acupuncture bearing plate is provided with a guide rail parallel to the long edge of the acupuncture bearing plate between the first fixing plate and the second fixing plate, and the guide rail is provided with a sliding block capable of freely sliding; the feed screw nut is fixedly connected with a sliding block on the acupuncture bearing class;
the first fixing plate is provided with a through hole, and the second fixing plate is provided with a bearing hole and a guide hole;
the fourth double-output-shaft rotary ultrasonic motor is fixed on the outer wall of the first fixing plate, and one output shaft of the fourth double-output-shaft rotary ultrasonic motor penetrates through a through hole in the first fixing plate and is fixedly connected with one end of the screw rod through a rear coupling; a reading head of the fourth rotary encoder is fixedly connected with a shell of the fourth double-output-shaft rotary ultrasonic motor, and a grating ruler is fixedly connected with the other output shaft of the fourth double-output-shaft rotary ultrasonic motor;
the third bearing is arranged in a bearing hole of the second fixing plate, and an outer ring of the third bearing is fixedly connected with the second fixing plate; the screw rod is in threaded connection with the screw rod nut, the other end of the screw rod is fixedly connected with the inner ring of the third bearing after penetrating through the screw rod nut, and the screw rod is parallel to the guide rail on the needling bearing plate;
the needle seat comprises an installation plate, a guide plate, a pressure sensor and a fixed block, wherein the installation plate is fixed on the screw rod nut; the guide plate and the fixed block are fixed on the mounting plate, and the guide plate is provided with a guide hole;
the tip of the puncture needle sequentially penetrates through the guide hole in the guide plate and the guide hole in the second fixing plate; one end of the pressure sensor is fixedly connected with the root of the puncture needle, and the other end of the pressure sensor is fixedly connected with the fixed block and used for measuring the puncture force of the puncture needle; the puncture needle is parallel to the guide rail and can slide through the guide hole in the second fixing plate.
2. The six-degree-of-freedom acupuncture robot for the interior of a magnetic resonance imager of claim 1, wherein the number of the guide rails on the base is two, and the number of the guide rails on the X-stage is also two.
3. The six-degree-of-freedom acupuncture robot for the interior of a magnetic resonance imager according to claim 1, wherein the number of the polish rods is two, and two through holes on the Z-stage, which are matched with the polish rods, are provided on both sides of the outer cylinder.
4. The six-degree-of-freedom acupuncture robot for the interior of a magnetic resonance imager of claim 1, wherein the rotating shaft and the inner ring of the first bearing are connected by interference fit.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201920415352.1U CN210144719U (en) | 2019-03-29 | 2019-03-29 | Six-degree-of-freedom acupuncture robot used in magnetic resonance imager |
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| CN201920415352.1U CN210144719U (en) | 2019-03-29 | 2019-03-29 | Six-degree-of-freedom acupuncture robot used in magnetic resonance imager |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109965949A (en) * | 2019-03-29 | 2019-07-05 | 南京航空航天大学 | A kind of six degree of freedom needing machine device people for inside magnetic resonance imager |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109965949A (en) * | 2019-03-29 | 2019-07-05 | 南京航空航天大学 | A kind of six degree of freedom needing machine device people for inside magnetic resonance imager |
| CN109965949B (en) * | 2019-03-29 | 2024-02-13 | 南京航空航天大学 | Six-degree-of-freedom needling robot used in magnetic resonance imaging instrument |
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