Needling mechanism for minimally invasive surgery based on wire transmission

Abstract

The invention discloses a minimally invasive surgery prickling mechanism based on cable driving. The minimally invasive surgery prickling mechanism consists of a base static platform A, an external motor base B, a U-shaped movable platform C, a two-degree-of-freedom swivel D, a prickling structure E and a two-degree-of-freedom parallel mechanism F. Before surgery, the vertical height of the U-shaped movable platform C is adjusted and set in advance according to different surgery environments; in a surgery process, five nuclear magnetic compatible ultrasonic motors are used for driving; the two-degree-of-freedom parallel mechanism is used for realizing translation of the U-shaped movable platform in a horizontal plane; an elevating platform is used for realizing upward and downward movement of the U-shaped movable platform; the two-degree-of-freedom swivel is used for adjusting posture adjustment of a central shaft of the prickling structure; and the prickling structure is used for realizing prickling actions, so that five degrees of freedom of a needle body is realized. A cable driving structure is adopted for transmitting power in a nuclear magnetic resonance environment, the minimally invasive surgery prickling mechanism has a compact structure and moves flexibly, and the accuracy and success rate of prickling surgery can be increased; and in a strong magnetic field environment, the surgery efficiency is increased, and pain of patients is reduced.

Description

technical field [0001] The invention relates to a minimally invasive acupuncture operation device, in particular to a wire-driven acupuncture mechanism for minimally invasive surgery. Background technique [0002] Under current technical conditions, the main method of prostate surgery is brachytherapy. That is, during the operation, radioactive particles are implanted into the diseased part of the prostate, and the radiation of the particles is used for treatment. However, under normal circumstances, the operation process is completed manually by doctors, which inevitably encounters the following problems: (1) poor operation accuracy. There must be large errors in the observation of the NMR image by the doctor only with the naked eye. Moreover, the requirements for the doctor's own surgical operation experience are relatively high, and once a mistake is made, it will cause unnecessary pain to the patient. (2) It cannot adapt to the patient's posture changes in real time. ...

AI Technical Summary

Problems solved by technology

However, under normal circumstances, the operation process is done manually by doctors, which will inevitably encounter the following problems: (1) poor operation accuracy

There must be large errors in the observation of the NMR image by the doctor only with the naked eye

Moreover, the requirements for the doctor's own surgical operation experience are relatively high. Once there is a mistake, it will cause unnecessary pain to the patient.

(2) Unable to adapt to patient posture changes in real time

However, the working chambers of most MRI instruments are relatively narrow and there is a strong magnetic field, which puts new restrictions on the operating mechanism, mainly in the following three points: (1) The acupuncture mechanism itself and its moving process cannot Interfering with the magnetic field of the NMR instrument, otherwise it will affect the imaging quality; (2) The strong magnetic field environment cannot affect the operation and movement process of the acupuncture mechanism, otherwise the intended goal cannot be achieved; (3) The entire mechanism must meet certain size requirements, be light enough, and be able to Complete various actions in a small space

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