Five-freedom degree minimally invasive acupuncture operation guiding mechanism
A technique of surgical guidance and degree of freedom, applied in the direction of surgery, puncture needles, trocars, etc., can solve the problems of affecting imaging quality, interference, and inability to affect the surgical operation of the manipulator mechanism, and achieve flexible structure, high rigidity and strength, and overcome The effect of difficult trajectory planning
Inactive Publication Date: 2013-02-06
TIANJIN UNIV
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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
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[0012] Below in conjunction with specific embodiment, and with reference to accompanying drawing, technology of the present invention is described further:
[0013] This device is an improvement based on the Chinese patent application number CN201010137726.1.
[0014] As shown in the accompanying drawings, the five-degree-of-freedom minimally invasive acupuncture surgery guiding mechanism of the present invention includes a base 1, a middle platform 10, and an upper platform 20 with linear guide grooves on it. On the upper platform 20, The acupuncture layer platform 30 with oblique guide grooves is stacked on it, the acupuncture movement mechanism is installed on the acupuncture layer platform, and the horizontal swing movement mechanism is installed on the base 1. A lifting and pitching movement mechanism is installed between the middle platform 10 and the upper platform 20, and a translation movement mechanism is connected to the bottom of the upper platform, and the transla...
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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, ...
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IPC IPC(8): A61M36/04A61B19/00A61B17/34
Inventor 姜杉程超超孙福德康熙牛文文冯文浩张震
Owner TIANJIN UNIV