The invention discloses a parallel
robot for
prostate flexible needle particle implanting, and relates to the field of minimally-invasive medical apparatuses. The parallel
robot has the advantages ofbeing small in size, compact in structure, convenient to operate, free of guide of guiding plates and the like. The parallel
robot comprises a parallel posture adjustment mechanism, a flexible needleparticle implanting mechanism, an ultrasonic image navigation mechanism and multiple sensors; a parallel four-degree-of-freedom mode is adopted, the stability of the rigidity of a
tail entry needle isimproved, and the outer needle movement flexibility of the flexible needle particle implanting mechanism is also met; a rotary-motor-driven flexible needle is adopted as an inner needle, an arc trackcan be formed through
puncturing, obstacles of nerves, blood vessels and the like of the
prostate are avoided, and the task of many needles at one point is completed. The ultrasonic image navigationmechanism is installed on a supporting base of the parallel posture adjustment mechanism, and can complete linear translation, pitching, yawing, and rotation around the center line of the ultrasonic image navigation mechanism, and focus target images are obtained via the anorectum so that a doctor can make corresponding
processing according to real-time needle entry situations of particle implanting needles. The parallel robot is merged with the multiple sensors, so that the doctor conveniently carries out data observation and precise operation in a
surgery, and the requirements for high precision positioning of entry needles and the safety of the
surgery are met.