Five degrees of freedom minimally invasive acupuncture surgery guidance mechanism

Abstract

The invention discloses a five-freedom degree minimally invasive acupuncture operation guiding mechanism. The mechanism is sequentially provided with four platforms from bottom to top, a bottom platform, a middle platform, an upper platform and an acupuncture platform respectively, wherein a bottom module comprises the bottom platform, the middle platform as well as a push rod slide rail mechanism and a gear rack mechanism which are arranged between the bottom platform and the middle platform, and a swinging rotating freedom degree of a device around a vertical shaft is realized by pushing byvirtue of a first cylinder under the coaction of the push rod slide rail mechanism and the gear rack mechanism; a middle module comprises the middle platform, the upper platform as well as two sets of push rod slide rail mechanism-gear rack mechanism-screw nut mechanism which are parallel and are arranged between the middle platform and the upper platform; and an upper module comprises the upper platform, the acupuncture platform and push rod slide rail mechanism-swing rod sliding chute mechanism arranged between the upper platform and the acupuncture platform. The mechanism disclosed by the invention has flexible structure, four cylinders are used for realizing up-down, left-right, tilting and swinging movements in a large range, an ultrasonic motor and the screw nut mechanism are used for realizing acupuncture movement in an operation; and the two sets of gear rack-screw nut mechanisms are used in a parallel manner, and lifting and tilting movements of the mechanism are expertly realized.

Description

technical field [0001] The invention relates to an acupuncture operation guide mechanism, in particular to a five-degree-of-freedom minimally invasive acupuncture operation guide mechanism. Background technique [0002] Currently, the mainstay of prostate surgery is minimally invasive brachytherapy. Local radiotherapy is performed by implanting radioactive seeds into the prostate through acupuncture. However, manual acupuncture surgery has the disadvantages of poor precision and incapability of real-time imaging; the pre-planned trajectory may not achieve the expected effect 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 cells, and has excellent soft tissue resolution and precise geometric characteristics, ...

AI Technical Summary

Problems solved by technology

[0004] However, the working cavity of most NMR instruments will generate very strong magnetic field strength, which puts forward two restrictions on the surgical manipulator mechanism: one is that the manipulator mechanism cannot interfere with the magnetic field of the NMR instrument and affect the imaging quality; the other is strong The magnetic field environment cannot affect the manipulator mechanism to perform surgical operations in the NMR instrument

Images