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Puncture treatment robot system with sleeved flexible needle

A medical robot, flexible needle technology, applied in the field of robotics, can solve problems such as difficult tasks

Inactive Publication Date: 2017-10-24
BEIJING UNIV OF POSTS & TELECOMM
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The real-time tracking of the needle by the camera can feed back the distance between the needle and the target position in real time, so as to determine the control method, but it is difficult to complete such a task with the naked eye

Method used

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  • Puncture treatment robot system with sleeved flexible needle

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Embodiment Construction

[0021] The present invention will be further described in detail with reference to the accompanying drawings and embodiments.

[0022] The present invention is a cannula flexible needle puncture medical robot system, such as figure 1 As shown, it includes belt 1, pulley 2, ball bearing 3, force sensor connecting shaft 4, force sensor 5, chuck sleeve 6, flexible needle chuck 7, belt 8, pulley 9, ball bearing 10, connecting shaft 11, Chuck sleeve 12, outer casing chuck 13, casing support base 14, flexible needle support base 15, servo motor 16, pulley 17, servo motor 18, servo motor support base 19, servo motor 20, pulley 21 , Lead screw linear guide 22, servo motor 23, servo motor support base 24, lead screw linear guide 25, working platform 26, casing 27, flexible needle 28, camera 29.

[0023] A sleeve flexible needle puncture medical robot consists of a cannula feeding and rotating mechanism and a flexible needle feeding and rotating mechanism. The sleeve and the flexible ...

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Abstract

The invention discloses a puncture treatment robot system with a sleeved flexible needle. The puncture treatment robot system comprises an outer sleeve servo motor, lead screw linear guides, an outer sleeve servo motor base, a belt pulley, a belt, a roller bearing, a force sensor connecting shaft, a pressure sensor, a sleeve chuck, a chuck and shaft connecting mechanism, a sleeve supporting base, a flexible needle servo motor base, the other belt pulley, the other belt, the other roller bearing, the other force sensor connecting shaft, the other pressure sensor, a flexible needle chuck, the other chuck and shaft connecting mechanism, a flexible needle supporting base, a camera, and a movement control circuit. The puncture treatment robot system with the sleeved flexible needle has four degrees of freedom, and the arched puncture track of the flexible needle can be changed so that the flexible needle can avoids some obstacles and important organs to reach the focus accurately and flexibly. Besides, the puncture treatment robot system with the sleeved flexible needle can track the puncture path of the flexible needle in real time and acquire biological resistance in real time.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a cannula flexible needle puncture medical robot system. Background technique [0002] Puncture technology is the most widely used and most common technique in minimally invasive medical operations. It is an important means of many medical diagnoses, treatments and scientific research, including biopsy sampling inspection and subcutaneous puncture radiation therapy. It is used in the prostate, In the biopsy and treatment of liver, kidney, bone marrow, brain and other tissues, it is an important diagnostic and therapeutic method for major diseases such as cancer. [0003] At present, rigid needles are widely used in clinical interventional puncture, but the use of rigid needles has some serious disadvantages. Since most of the human tissue is soft, the target position may slip during the rigid needle puncture, but the rigid needle can hardly bend, and can only travel along a strai...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B34/30A61B17/34B25J11/00
CPCA61B34/30A61B17/3403A61B2017/3409B25J11/00
Inventor 苏柏泉郝铨炜李冠杰
Owner BEIJING UNIV OF POSTS & TELECOMM
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