Short-distance particle implantation robot based on ultrasonic image navigation

An ultrasonic image and short-distance technology, applied in the field of robotics, can solve the problems of clinicians such as radiation damage, low precision, and impossibility, and achieve the effects of reducing postoperative complications and sequelae, improving precision, and reducing trauma

Inactive Publication Date: 2013-02-13
TIANJIN UNIV
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  • Abstract
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  • Application Information

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Problems solved by technology

Traditional manual acupuncture surgery not only has low accuracy, but also radioactive particles will cause radiation damage to clinicians
For the pre-p

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  • Short-distance particle implantation robot based on ultrasonic image navigation
  • Short-distance particle implantation robot based on ultrasonic image navigation
  • Short-distance particle implantation robot based on ultrasonic image navigation

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Embodiment Construction

[0036] The short-distance particle implantation robot guided by ultrasound images of the present invention will be described in detail below with reference to the embodiments and drawings.

[0037] In the ultrasonic image-guided short-distance particle implantation robot of the present invention, the positioning of the ultrasonic probe is assigned to two independent modules, which are the bottom layer module of the manipulator mechanism and the ultrasonic probe platform module. The bottom module is composed of a servo motor, a ball screw and a dovetail slide rail, which realize translational movement in three mutually perpendicular directions in space, and adjust the spatial position of the ultrasonic probe and the acupuncture template. In the ultrasonic probe platform module, a total of two degrees of freedom are allocated, one is the translational movement realized by the servo motor and the ball screw, which realizes the feeding movement of the ultrasonic probe, and adjusts ...

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Abstract

The invention discloses a short-distance particle implantation robot based on ultrasonic image navigation. The short-distance particle implantation robot comprises a movable support, an ultrasonic probe feeding and rotating unit and an acupuncture template spatial attitude adjusting unit, wherein the movable support is used for realizing movement in four horizontal directions such as a front direction, a rear direction, a left direction and a right direction and movement in an up-down direction; the ultrasonic probe feeding and rotating unit is arranged on the movable support; the acupuncture template spatial attitude adjusting unit is arranged on the ultrasonic probe feeding and rotating unit and is provided with an ultrasonic probe extension side; the ultrasonic probe feeding and rotating unit is provided with an ultrasonic probe supporting frame feeding mechanism and an ultrasonic probe rotating mechanism; and the acupuncture template spatial attitude adjusting unit is provided with an acupuncture template rotating mechanism and an acupuncture template lifting and turning mechanism. According to the short-distance particle implantation robot, a doctor can be assisted by navigation of an ultrasonic image to finish an acupuncture surgery, so that the accuracy for the acupuncture surgery is improved as much as possible, and the pain of the patient in the surgery is reduced. According to the short-distance particle implantation robot, the accuracy for the surgery and the success and the completeness of the surgery can be improved to a great extent, so that a new approach is developed for an ultrasonic image-guided robot aided minimally invasive surgery.

Description

technical field [0001] The present invention relates to a robot. In particular, it relates to a short-distance particle implantation robot based on ultrasound image navigation of an acupuncture manipulator mechanism. Background technique [0002] Brachytherapy is an effective method to control the development and mortality of prostate cancer. It uses acupuncture to implant radioactive particles in the cancerous part to kill cancer cells to achieve the purpose of treatment. Traditional manual acupuncture surgery not only has low accuracy, but also radioactive particles can cause radiation damage to clinicians. 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. Robot-assisted surgery based on image navigation not only has high positioning accuracy and strong dexterity, but also causes less trauma to patients and facilitates postoperative recovery. This ca...

Claims

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Application Information

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IPC IPC(8): A61M36/04
Inventor 杨志永张震郭杰张雯仇博文李梓楠
Owner TIANJIN UNIV
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