Wire-driven MRI-compatible surgical robot

A surgical robot and wire transmission technology, applied in surgical robots and other directions, can solve problems such as the inability to meet the power requirements of the robot, the small torque of the NMR-compatible motor, and the hysteresis of the pneumatic drive, so as to expand the optional range of the drive, improve the accuracy and linearity. good effect

Active Publication Date: 2016-01-20
TIANJIN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Pneumatic drive has disadvantages such as hysteresis and non-linearity; NMC motor torque is usually too small to meet robot power requirements

Method used

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  • Wire-driven MRI-compatible surgical robot
  • Wire-driven MRI-compatible surgical robot
  • Wire-driven MRI-compatible surgical robot

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Embodiment Construction

[0018] In order to further understand the invention content, characteristics and effects of the present invention, the following examples are given, and detailed descriptions are as follows in conjunction with the accompanying drawings:

[0019] see Figure 1 to Figure 5 , an NMR compatible surgical robot based on wire transmission, comprising a base 1, a lifting part, a deflection part and an acupuncture part; the acupuncture part is mounted on the deflection part, and the deflection part is mounted on the lifting part , the lifting part is installed on the base; the acupuncture part, the deflection part and the lifting part all adopt a wire transmission structure.

[0020] In this embodiment, the above-mentioned lifting part is a left-right symmetrical structure, which includes a left-right symmetrical front sliding bottom plate 9, a rear sliding bottom plate 11, a front fixed bottom plate 4, and a rear fixed bottom plate 2, and the left side structure of the lifting part in...

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Abstract

The invention discloses a nuclear magnetism compatibility surgical robot based on screw drive. The nuclear magnetism compatibility surgical robot based on screw drive comprises a base, a lifting part, a deflection part and a needling part, wherein the needling part is arranged on the deflection part; the deflection part is arranged on the lifting part; the lifting part is arranged on the base; the needling part, the deflection part and the lifting part respectively adopt a screw drive structure. According to the nuclear magnetism compatibility surgical robot based on screw drive, the selectable range of drive of a robot is greatly expanded, common motor drive which cannot be selected in the existing mechanism can be applied in the screw transmission structure, and a common motor can more easily realize high-accuracy control and output variable torque; screw drive has favorable linearity, can effectively overcome delaying phenomenon in pneumatic drive, and provides conditions for improving the accuracy of needing surgery; in addition, due to the screw drive, a drive component is arranged outside a mechanism body, so that the mechanism body is more compact in design, and the problem of limited surgery space under a nuclear magnetism environment is effectively solved.

Description

technical field [0001] The invention relates to the field of precision medical instruments, belongs to the frontier discipline intersecting machinery and medicine, in particular applies wire transmission to an acupuncture manipulator mechanism in a nuclear magnetic resonance environment. Background technique [0002] At present, the method of prostate surgery using minimally invasive brachytherapy has gradually matured. In radiation therapy, doctors often need to use acupuncture to manually implant radioactive particles into the lesion. However, due to the instability of manual operation by doctors, the success rate of surgery is seriously affected. Now a kind of acupuncture surgery robot under image navigation has been developed, which has become a research hotspot in the field of medical devices at home and abroad. [0003] Since magnetic resonance imaging (MRI) can provide multi-directional, multi-parameter information, and has high soft tissue resolution characteristics...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A61B34/30
Inventor 姜杉娄金龙
Owner TIANJIN UNIV
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