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Cantilever prostate biopsy robot

A prostate and robot technology, applied in the direction of trocars, etc., can solve problems such as restricting the working space of robots, and achieve the effects of dexterity in movement, high stability, and improved treatment effect.

Inactive Publication Date: 2014-07-16
HARBIN UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The application of robots in prostate biopsy is limited by the human body mechanism. The biopsy process is carried out between the patient's legs, which limits the working space of the robot and puts forward requirements for the structure and working path of the robot.

Method used

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  • Cantilever prostate biopsy robot
  • Cantilever prostate biopsy robot
  • Cantilever prostate biopsy robot

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Experimental program
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Effect test

Embodiment Construction

[0011] The working process of the cantilever prostate biopsy robot is as follows: firstly, the coordinate value of the target point in the robot coordinate system is obtained. Secondly, the surface positioning of the target point is carried out, that is, the target point is positioned in the plane where the axes of the upper arm and the forearm are located through the moving pair. Then the target point is positioned on the line, that is, the target point is positioned on the axis of the biopsy needle through the position adjustment of the large and small arm rotary joints. Finally, horizontal and straight puncture is performed, and the process of biopsy acupuncture targeting is completed through the linkage of the large and small arm rotary joints.

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Abstract

The invention relates to a cantilever prostate biopsy robot comprising a prismatic pair and a revolute pair. A large arm, a small arm, a biopsy needling platform, a base and parallelogram connecting rods are connected through a triangular connector to form two parallelogram mechanisms connected in parallel, so that the biopsy needle platform can be horizontal constantly. The length direction of the prismatic pair is perpendicular to the plane of two rotary joint mechanical arms. A drive motor for rotary joints is mounted on the base; the base is mounted on a moving slider of the prismatic pair. The axis of the drive motor for rotary joints and the rotation axis of the large arm are superposed. The small arm, the large arm, a small arm crank and a small arm connecting rod form one parallelogram mechanism which transmits power and motion of a small arm drive motor to the small arm so that the small arm is driven. The weight of the drive motor for a small arm joint is transferred to the base, the weight of a cantilever is deceased, rotational inertia of driving a joint around the large arm is decreased, and the robot is higher in response speed and load-to-weight ratio.

Description

technical field [0001] The invention relates to a cantilever type prostate biopsy robot for minimally invasive medical treatment. The robot is composed of a moving pair and two rotating pairs. A parallelogram mechanism is used to ensure that the robot biopsy needle platform is always in a horizontal state during work, so as to reduce the use of The degrees of freedom in the posture adjustment of the biopsy needle. It belongs to the field of minimally invasive medical equipment. Background technique [0002] With the development of electromechanical technology and imaging technology, minimally invasive surgical robots have entered people's field of vision. It can overcome the disadvantages of uncoordinated eye-hand movement, easy shaking, and long learning curve in traditional minimally invasive techniques. The robot performs three-dimensional reconstruction on the collected two-dimensional medical images, so that the identification of lesion targets is more accurate. At t...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B10/02
Inventor 张永德梁艺姜金刚王晓飞
Owner HARBIN UNIV OF SCI & TECH
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