CT (computed tomography) guided puncture needle clamping-releasing device for lung puncture robot

Abstract

The invention discloses a CT (computed tomography) guided puncture needle clamping-releasing device for a lung puncture robot. The clamping-releasing device comprises a far-end motor, a wire transmission mechanism, an execution mechanism and a puncture needle. The wire transmission mechanism is connected between the far-end motor and the execution mechanism, the far-end motor rotates forwards and reversely to enable the wire transmission mechanism to transfer driving force to the execution mechanism, and the execution mechanism realizes clamping of the puncture needle and releasing in a set range by cooperating with a screw nut pair. In a puncture process, the execution mechanism is capable of realizing puncture needle clamping, needle free releasing and needle re-clamping according to the puncture depth and the respiratory rate of a patient, so that puncture surgery precision is improved.

Description

technical field [0001] The invention relates to a clamping device for a puncture needle in a lung puncture robot, in particular to a clamping and releasing device for a puncture needle of a lung puncture robot guided by CT. The invention belongs to the technical field of radiotherapy robots. Background technique [0002] During the lung puncture operation, with the respiratory movement of the patient's lungs, the position of the target point changes in real time, which makes the lung puncture operation more difficult than other non-moving organs. This requires the puncture needle mechanism in the lung puncture surgery robot system to be able to realize the functions of "needle clamping-position adjustment-needle insertion-needle release-needle re-clamping". Lung puncture was performed under the real-time guidance of CT. The needle insertion speed range was 40-100mm / s, and the needle insertion angle was within the vertebral body area of ​​±50° starting from the normal line o...

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Problems solved by technology

[0004] During the puncture operation, the patient's posture changes at any time and the lungs are doing breathing movements. The above-mentioned first mechanism fails to realize the "release-re-clamp" function of the puncture needle during the operation, so it cannot adapt to the process of the puncture needle insertion. The movement and swing of the needle position; the second mechanism can realize the "clamp-release" function during the operation, but because this mechanism moves with the patient's breathing movement, its positioning in the surgical navigation system cannot be solved. It meets the requirements of surgical precision, thereby reducing the precision of puncture surgery, and the drive mode of this mechanism is a micro motor, including metal parts, which produces obvious artifacts under CT irradiation, which affects the observation of the surgical process

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