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Novel acupuncture surgery manipulator mechanism in nuclear magnetic resonance environment

A nuclear magnetic resonance and environmental technology, applied in the direction of trocar, puncture needle, radiotherapy, etc., can solve the problems of easy swing and low rigidity, achieve the effect of improving precision, ingenious cylinder layout, and overcoming the difficulty of trajectory planning

Inactive Publication Date: 2011-07-06
TIANJIN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, this patented technology has the problem that the upper platform is supported by swing rods, which has low rigidity and is easy to swing.

Method used

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  • Novel acupuncture surgery manipulator mechanism in nuclear magnetic resonance environment
  • Novel acupuncture surgery manipulator mechanism in nuclear magnetic resonance environment
  • Novel acupuncture surgery manipulator mechanism in nuclear magnetic resonance environment

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Embodiment Construction

[0013] Below in conjunction with specific embodiment, and with reference to accompanying drawing, technology of the present invention is described further:

[0014] As shown in the figure, the novel acupuncture surgery manipulator mechanism under the MRI environment includes a bottom module, a middle module and an acupuncture layer module arranged sequentially from bottom to top, the bottom module includes a bottom platform 2, and the The middle module includes a middle platform 21, and the acupuncture layer module includes an acupuncture platform 24, on which a second ultrasonic motor 29 is installed, and the output shaft of the second ultrasonic motor 29 is connected to the first The leading screw 28 is connected, and the first leading screw 28 is connected with the screw seat 26 fixed on the acupuncture platform through a bearing, and the two sides of the nuts that are sleeved on the first leading screw 28 are respectively set on a light rod, The two ends of two feed rods 2...

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Abstract

The invention discloses a novel acupuncture surgery manipulator mechanism in a nuclear magnetic resonance environment, and five degrees of freedom are distributed in three independent modules for implementation. A bottom-layer module consists of a screw-rod sliding rail mechanism, and two sets of gear rack mechanisms which are different, and the screw-rod sliding rail mechanism and one set of gear rack mechanism cooperates to realize the uplifting motion of a device under the control of a cylinder; and the other set of gear rack mechanism realizes the horizontal swinging of the device under the control of another cylinder; platforms of a middle-layer module realize pitching motion and translational motion in the horizontal plane of the device through the rotating of an ultrasonic motor and the pushing of the cylinder respectively; and an acupuncture-layer module realizes the acupuncture motion, and linear feed motion of an acupuncture body in the horizontal direction is realized through the rotating of the ultrasonic motor by the screw-rod sliding rail mechanism. By adopting the novel acupuncture surgery manipulator mechanism with the structure, vertical, horizontal, inclined and swinging motion in large range can be realized; and simultaneously the structure is simple to be capable of helping an acupuncture surgery be finished in a limited space of a nuclear magnetism instrument, and the accuracy of the surgery is improved to a greater extent.

Description

technical field [0001] The invention relates to an acupuncture operation manipulator mechanism, in particular to a novel acupuncture operation manipulator mechanism under a nuclear magnetic resonance environment. Background technique [0002] Currently, the mainstay of prostate surgery is minimally invasive brachytherapy. During the surgical procedure, radioactive seeds are implanted into the prostate through acupuncture for localized radiation therapy. However, acupuncture surgery performed manually usually has the disadvantages of poor precision and incapability of real-time imaging; for pre-planned trajectories, the expected effect may not be achieved due to the movement of the patient's body and the stimulation of soft tissue by acupuncture . These problems can be well solved by means of robot-assisted or robot-handed high-precision acupuncture. [0003] Compared with traditional X-rays and CT, magnetic resonance imaging (MRI) can avoid X-ray radiation to healthy cell...

Claims

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Application Information

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IPC IPC(8): A61B17/34A61M36/06
Inventor 姜杉程超超孙福德冯文浩张震
Owner TIANJIN UNIV
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