Robot for aspiration biopsy of prostatic gland

A needle biopsy and robot technology, applied in the direction of manipulators, program-controlled manipulators, trocars, etc., can solve the problems of complicated manual operations and low positioning accuracy, and achieve the effects of reducing costs, improving efficiency and quality, and reducing labor intensity

Inactive Publication Date: 2010-01-27
HARBIN UNIV OF SCI & TECH
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Problems solved by technology

[0005] The purpose of the present invention is to provide a prostate biopsy robot, which is used to solve

Method used

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  • Robot for aspiration biopsy of prostatic gland
  • Robot for aspiration biopsy of prostatic gland
  • Robot for aspiration biopsy of prostatic gland

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Embodiment Construction

[0020] The present invention will be further described below in conjunction with accompanying drawing:

[0021] figure 1 A structural schematic diagram of the present invention is provided, as shown in the figure, this prostate biopsy robot includes a computer system 1 for receiving and processing prostate ultrasound image data, a Motoman robot 3, a needle mechanism 4 and its motor 6 The computer system 1 is connected to the control cabinet 2, and the industrial computer 1 receives the prostate ultrasound image data of the patient 5. The computer system automatically processes the data, plans the optimal path for the feeding of the robot 3 and the needle insertion mechanism, and finally completes the biopsy Task. Motoman robot 3 uses the UP6 robot of Shougang Robotics Company, which has 6 degrees of freedom and can realize any posture required for needle insertion. The needle pricking mechanism 4 is the end effector of the robot, which is fixed at the end of the robot 3 . F...

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Abstract

The invention provides a robot for aspiration biopsy of the prostatic gland, which is the prostatic aspiration biopsy equipment providing a cytologic diagnosis evidence for early-stage prostate cancer. The equipment comprises a computer system(1) for receiving and processing prostatic ultrasonograph data, a Motoman robot(3), a puncturing mechanism(4) and a driving device for a motor(6) of the puncturing mechanism(4), wherein the puncturing mechanism(4) is an end effector of the robot(3) and fixed at the tail end of the robot(3); the puncturing mechanism(4) consists of a DC servo motor(6), a base, two guide rails(7), a V-shaped belt(8), a front-end bearing seat(9), a needle-holding seat(10) and an electromagnetic launching device; the DC servo motor(6) is connected with the seat and can be disassembled by a V-shaped belt tightener (13); and the seat is arranged on the two guide rails(7) and connected with the V-shaped belt(8) by a belt clamping device(15). The robot can realize the accurate positioning, high efficiency, automation and informatization in a diagnostic process, so that the labor intensity of doctors is greatly lowered.

Description

1. Technical field: [0001] The invention relates to a prostate biopsy device that provides cytological diagnosis basis for early prostate cancer, in particular to a prostate biopsy robot. 2. Background technology: [0002] With the aging of my country's population, changes in dietary structure and environmental factors, and the improvement of medical care, the incidence of prostate cancer (PCA) in my country has been increasing year by year, and has leapt to the No. 1 among male urinary and reproductive system malignant tumors. three. According to the statistics of Shanghai, the incidence of prostate cancer has increased by more than 50% compared with the 1960s, and there is a trend of more rapid increase. How to diagnose prostate cancer early has become a key issue in clinical work. [0003] Prostate biopsy can provide evidence of cytological diagnosis, which is very important for the diagnosis of early prostate cancer. Suspected patients with prostate cancer are usually ...

Claims

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Application Information

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IPC IPC(8): A61B10/02B25J9/00
Inventor 张永德张龙赵燕江
Owner HARBIN UNIV OF SCI & TECH
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