Thoracentesis robot based on CT or MRI image navigation

A surgical robot and thoracic technology, applied in the field of medical devices, can solve the problems of low accuracy and slow adjustment speed, and achieve the effects of high positioning accuracy, fast positioning speed, and pain relief.

Inactive Publication Date: 2017-01-11
TIANJIN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Most of the previous thoracic surgery robots could not meet the requirements of allowing the robotic arm to insert needles from any position and angle outside the chest cavity, and the adjustment speed was slow and the accuracy was low, making it very difficult for the robot to complete the puncture autonomously

Method used

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  • Thoracentesis robot based on CT or MRI image navigation
  • Thoracentesis robot based on CT or MRI image navigation
  • Thoracentesis robot based on CT or MRI image navigation

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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 , a thoracentesis surgery robot based on CT or MRI image navigation, including an arc-shaped support module, a three-way translation module and an angle adjustment module.

[0020] see figure 1 with Figure 4 ~ Figure 5 , the arc-shaped bracket module includes two arc-shaped plates 2 which are respectively arranged at the front end and the rear end of the robot, and the two arc-shaped plates 2 are connected by two foot stabilizing plates 42 arranged longitudinally, and each arc The inner side of the shaped plate 2 is fixedly connected with an incomplete internal gear 3; the front end vertical main board 45 is provided in front of the said arc plate 2 at the front end, and the rear end is provided behind the ...

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Abstract

The invention discloses a thoracocentesis surgical robot based on CT or MRI image navigation. The thoracocentesis surgical robot comprises an arc support module, a three-direction translation module and an angle adjusting module. The arc support module adjusts the position of a puncture head on the exterior of the human body chest through transmission of an inner-tooth matching gear and achieves automatic locking through a clutch mechanism. The three-direction translation module is composed of three sets of spiral transmission mechanisms so that the puncture position can be adjusted. The angle adjusting module has three freedom degrees which are the needle feeding tendency freedom degree, the needle feeding angle freedom degree and the needle feeding motion freedom degree. The thoracocentesis surgical robot enables a mechanical arm to feed a needle from any position and any angle outside the chest, motion of the robot can be automatically adjusted, the locating precision is high, and speed is high.

Description

technical field [0001] The invention relates to the field of medical devices, belongs to the frontier discipline intersecting medicine, machinery and automation, and in particular relates to a puncture robot based on CT or MRI image navigation. Background technique [0002] With the continuous improvement of modern medical technology, traditional medical devices are increasingly unable to meet people's needs. The development of surgical robots is getting faster and faster. Robot-assisted surgery not only has high positioning accuracy and strong dexterity, but also causes less trauma to patients and facilitates postoperative recovery. For a thoracentesis robot based on CT (or MRI) image navigation, its working space can be described as an approximately circular area extending 200-300mm outward from the outline of the human chest cavity. Due to the limitations of CT (or MRI) instruments, the robot The structure must be very compact to effectively complete the corresponding su...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A61B34/30
CPCA61B17/3403A61B17/3476
Inventor 姜杉原伟杨云鹏边元窦怀素
Owner TIANJIN UNIV
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