Acupuncture manipulator mechanism for nuclear magnetic resonance environment

Abstract

The invention discloses an acupuncture manipulator mechanism for a nuclear magnetic resonance environment, which comprises a base, a front platform and a rear platform. The front platform and the rear platform are fixed on the base. The front platform and the rear platform are mutually parallel, are identical in structure and are arranged coaxially; two first sliders capable of moving radially and axially are respectively disposed on the front platform and the rear platform, an acupuncture shell is supported on the two first sliders via ball bearings, a surgical needle is mounted in the acupuncture shell, a tip of the surgical needle penetrates out of the front platform, and the surgical needle can be driven by an ultrasonic motor to realize acupuncture actions. The acupuncture manipulator mechanism is a surgical robot mechanism with a flexible working space, is fine in rigidity and compact and reasonable in structure, has a good operating performance, can assist in acupuncture surgery in a limited space of a nuclear resonance spectrometer, can approach a target from an optional direction in a work range, overcomes defects that an imaging effect is not timely and trace planning isdifficult in a surgery process, and greatly increases surgery precision and surgery success and improvement.

Description

technical field [0001] The invention relates to the field of medical instruments, in particular to an acupuncture manipulator mechanism used in 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, most of the manual acupuncture operations have to face the disadvantages of poor precision and inability to perform real-time imaging. For the pre-planned trajectory, the expected effect may not be achieved due to the movement of the patient's body and the stimulation of the soft tissue by the acupuncture. These problems can be well solved by means of robot-assisted or robot-handed direct realization of high-precision acupuncture. [0003] Compared with traditional X-rays and CT, magnetic resonance imaging (MRI) can avoid X-ray radiation to...

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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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