Magnetic-resonance compatible pneumatic puncture surgical robot

Abstract

The invention discloses a magnetic-resonance compatible pneumatic puncture surgical robot which comprises a location module, a puncture orientation module and a needle feed module which are sequentially connected, wherein the location module adopts a manner of arranging a shear fork type lift mechanism on an annular guide rail slide block, then arranging an annular guide rail on a rodless air cylinder and a linear guide rail slide block, so that the movable location of a puncture needle in a magnetic-resonance imaging device in the axial direction, the radial direction and the peripheral direction is achieved; the puncture orientation module can adjust and locate the puncture angle of the puncture needle based on being fixed to a rotation shaft through a parallel four-rod RCM mechanism; the needle feed module can achieve automatic control on needle feed and needle withdrawal of the puncture needle in a mode that two friction wheels are pushed by an air cylinder to drive the puncture needle. The magnetic-resonance compatible pneumatic puncture surgical robot is simple in structure, saves space, is safe and reliable, can work in a narrow space and a high-field-intensity magnetic field of a nuclear magnetic resonance spectrometer, is smaller in interference on magnetic resonance imaging and effectively improves the accuracy and the stability of puncture operation.

Description

technical field [0001] The invention relates to a magnetic resonance compatible pneumatic puncture operation robot, which belongs to the technical field of medical instruments. Background technique [0002] Puncture surgery is a common minimally invasive surgical operation in clinical practice. Under the guidance of medical images, the doctor punctures the puncture needle through the skin to the lesion area to establish a channel for biopsy or interventional treatment. Minimally invasive surgery has the characteristics of less trauma, less pain, and faster recovery. It also puts forward higher requirements for the accuracy and stability of surgical operations and the skills of doctors. Using robots to assist doctors to complete the operation under the guidance of real-time magnetic resonance images not only has high positioning accuracy and strong dexterity, but also causes less trauma to the patient and facilitates postoperative recovery. However, due to the narrow working...

AI Technical Summary

Problems solved by technology

However, due to the narrow working space of the nuclear magnetic resonance instrument, the structure of this type of robot must be very compact. At the same time, it needs to be able to work normally in the high field strength magnetic field of the nuclear magnetic resonance instrument, and must not interfere with magnetic resonance imaging, that is, it has magnetic resonance compatibility.

Therefore, MRI-compatible puncture surgical robots cannot copy the configuration, drive, material, and sensor designs of general-purpose surgical robots.

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