Operation robot needle-insertion positioning device under magnetic sensor environment

Abstract

The invention discloses a positioning device for needle insertion by a surgical robot under a magnetic sensor environment, which pertains to the technical field of accessories for minimally invasive surgery. The positioning device adopts a connecting rod mechanism taking the shape of parallelogram to transmit motion and comprises a short rod and a long rod of an inputting terminal and a short rod of an outputting terminal, wherein, the short rod of the inputting terminal has a disc-shaped structure and is fixedly connected with a harmonic reducer; one end of the long rod is hinged with the short rod of the inputting terminal to transmit the motion to the outputting terminal; the short rod of the outputting terminal is designed to a straight-angle shape and has a long side and a short side, wherein, the end of the long side of the short rod of the outputting terminal is provided with a surgical needle parallel to the long side so that the surgical needle has a maximum positioning scope of + / -90 degrees vertically; the long rod is longer so that the distance between a revolving shaft of the short rod of the inputting terminal and the end of the long side of the short rod of the outputting terminal is more than or equal to 400mm when the long side of the short rod of the outputting terminal is vertical. The positioning device has compact structure, avoids the influence of magnetic interference sources such as a motor and the reducer of the inputting terminal on the normal operation of a magnetic locator, and also solves the problems of single angle and small scale in needle insertion in the traditional surgical operation.

Description

technical field [0001] The invention relates to a needle positioning device for minimally invasive surgery, which belongs to the technical field of minimally invasive medical auxiliary equipment, and in particular is used for needle insertion positioning of a surgical robot in a magnetic sensor environment. Background technique [0002] At present, minimally invasive surgery based on ultrasound image navigation mainly relies on manual positioning by experienced doctors, and the conversion between medical images and the spatial position of lesions is realized by magnetic sensing devices such as magnetic locators. The positioning of needle insertion in this type of surgery is realized by the guide frame fixed with the scanning probe, and the needle can only be inserted from a fixed direction, which has great limitations and requires high experience of the operator. Case resolution is limited. The active positioning surgical robot is designed to solve this problem. This kind o...

AI Technical Summary

Problems solved by technology

[0003] The first purpose of the present invention is to solve the problem that the magnetic interference source in the needle insertion positioning device of the surgical robot is too close to the magnetic sensor and the sensor cannot work normally

[0004] The second purpose of the present invention is to solve the single problem of needle positioning direction in the existing minimally invasive surgery

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