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Computerized tomoscanning guided minimally invasive surgery parallel robot

A tomography and minimally invasive surgery technology, applied in surgical robots, diagnostics, manipulators, etc., can solve the problems of low robot positioning accuracy and large joint cumulative error, and achieve the effect of high positioning accuracy and small joint cumulative error.

Inactive Publication Date: 2009-06-10
BEIHANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The cumulative error of joints is large, resulting in low positioning accuracy of the robot

Method used

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  • Computerized tomoscanning guided minimally invasive surgery parallel robot
  • Computerized tomoscanning guided minimally invasive surgery parallel robot
  • Computerized tomoscanning guided minimally invasive surgery parallel robot

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specific Embodiment

[0031] Figure 1, Figure 2, image 3 As shown, the computerized tomography navigation minimally invasive surgery parallel robot of the present invention mainly includes four parts: an upper and lower double-layer static platform 1 , a transmission mechanism 2 , a cross guide rail 3 and a puncture needle 4 .

[0032] Such as Figure 5 ,Figure 6, Figure 7 As shown, the upper and lower double-layer static platforms 1 include an upper static platform 23 and a lower static platform 24. The two platforms have the same structure and are parallel to each other, and are fixedly connected by four support rods 19, 20, 21, 22, and serve as static platform. Each layer of the double-layer static platform 1 is a square plane structure, and the platform is made of lightweight high-strength engineering plastics. The square through hole in the middle of the platform provides a movement space for the parallel robot.

[0033] Such as Figure 10 , Figure 11 As shown, the cross guide rail 3 i...

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Abstract

The invention discloses a CT navigation minimally invasive surgery parallel robot, including four parts of two layers of static platforms, a transmission mechanism, a cross guide track and a puncture needle. The two layers of static platforms are mutually parallel; the cross guide track has two sets which are respectively arranged at the through slots in the middle parts of the upper layer of static platform and the lower layer of the static platform; the cross guide track includes two smooth guide tracks which are perpendicular mutually, and the two smooth guide tracks can move independently and the directions of the movements are perpendicular mutually; the cross point of the two smooth guide tracks is connected with a ball joint, wherein the upper part of the puncture needle is connected on an upper ball joint and the lower part of the puncture needle is connected on a lower ball joint. The upper and lower ball joints have two freedoms of plane respectively, and the space position and the attitude of the puncture needle is decided by the movements of the two ball joints, at the same time, the puncture needle can also rotate around the autologous axis line and move along direction of the axis line. The flexibility is high, the joint accumulated error is small and the positioning precision is high.

Description

technical field [0001] The invention relates to a medical surgical operation positioning and operating system, in particular to a computerized tomography-guided minimally invasive surgical parallel robot. Background technique [0002] At present, the research and development of medical robots is increasing, and some medical robots are beginning to be applied in clinical practice. Medical robots in the prior art are generally tandem robots. [0003] There are at least the following disadvantages in the above-mentioned prior art: [0004] The accumulated errors of the joints are large, resulting in low positioning accuracy of the robot. Contents of the invention [0005] The purpose of the present invention is to provide a computerized tomography navigation minimally invasive surgery parallel robot with small cumulative joint error and high positioning accuracy. [0006] The purpose of the present invention is achieved through the following technical solutions: [0007] ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A61B19/00A61B17/00B25J11/00A61B34/30
Inventor 刘达王田苗唐粲
Owner BEIHANG UNIV
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