Ultrasound-guided prostate puncture biopsy robot

Abstract

The invention discloses an ultrasound-guided prostate puncture biopsy robot, relating to the technical field of medical robots. A base is clamped on a bed body, a patient lies on the bed body on the side with the knees in a bent state and with the body back to an ultrasonic scanning probe and a puncture mechanism, a horizontal arm and a connecting plate are enabled to swing to a proper horizontal position by adjusting a rotating joint III and a rotating joint II, then an upper transverse plate and a lower transverse plate are driven by a stepping motor VI to swing to a proper height, a stepping motor I and a stepping motor V drive an arc-shaped sliding block II and an arc-shaped sliding block I in a linked manner so that the arc-shaped sliding block II and the arc-shaped sliding block I slide on an arc-shaped rack I and an arc-shaped rack II respectively, thus the ultrasonic scanning probe is rapidly and accurately positioned to the rectum of a patient, a rotating joint I rotates to enable the ultrasonic scanning probe to enter the rectum and reach the position near the prostate for performing scanning, and the puncture mechanism completes the puncture biopsy task. The ultrasound-guided prostate puncture biopsy robot is small in size, and is capable of assisting a doctor in automatically, quickly and accurately carrying outing the prostate scanning and puncture biopsy operations.

Description

Technical field [0001] The invention belongs to the technical field of medical robots, and in particular relates to an ultrasound-guided prostate puncture biopsy robot. Background technique [0002] Prostate cancer is a common urological malignant tumor, and its incidence in the United States is nearly 240,000 per year. At present, the incidence of prostate cancer in my country is also increasing year by year. Studies have shown that the growth rate of prostate cancer has reached the first place among male malignancies. Therefore, it is particularly important to carry out extensive screening for prostate cancer in hospital clinical work. However, conventional biochemical indicators of prostate-specific antigen are not sufficient to indicate the presence of tumors. The current better screening method recognized by domestic and foreign academic circles is ultrasound-guided prostate biopsy. Now, in most clinical operations, doctors hold a biopsy gun to sample the prostate lesion a...

AI Technical Summary

Problems solved by technology

[0003] CN104720853A discloses a method, which adopts a six-degree-of-freedom positioning platform, and uses three positioning axes and three fulcrum axes to realize the movement of the needle. This method can complete the puncture biopsy task to a certain extent, but the six-axis coordination Difficult to control and takes up a lot of space

[0005] CN204909512U discloses a kind of method, and this method only involves biopsy driving mechanism, and this method adopts the driving mechanism of Cartesian coordinate type, and volume is bigger, and flexibility is relatively poor, is inconvenient to operate in the narrow area between two legs of human body

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