Magnetic resonance compatible handheld portable flexible interventional needle system
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A magnetic resonance and portable technology, applied in the directions of surgery, puncture needles, trocars, etc., can solve the problems of difficult to control precision, inconvenient for professional doctors to grasp, difficult to use in surgery, etc.
Active Publication Date: 2021-01-19
BEIJING UNIV OF POSTS & TELECOMM
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However, interference with the pubic bone is unavoidable in prostate biopsy
Some instruments are simple in structure and easy to operate, but they are difficult to use in more complicated operations
Some instruments are difficult to control the accuracy
Some instrument control systems are more complex and inconvenient for professional doctors to master
The main research difficulties are: (1) The configuration of the robot in a confined space has always been a difficult point in the design; (2) The problems between the robot and the magnetic resonance environment are also difficult to solve, including material compatibility, drive compatibility, Sensor Compatibility and Structural Compatibility
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[0013] The present invention will be further described in detail with reference to the accompanying drawings and embodiments.
[0014] The present invention is a modular multi-joint flexible robot, such as Figure 1-3 As shown, it includes large fixing plate 1, needle tube fixing frame 1 2, rigid needle outer tube 3, needle tube fixing frame 2 4, rigid needle inner tube 5, rack 6, slide rail 7, needle tube fixing frame 3 8, gear fixing frame 19, spur gear 10, spur gear 11, coupling 12, reducer 13, motor 14, motor support seat 15, small fixed plate 16, spur gear 3 17, turbine 18, worm 19, speed reducer Device two 20, motor support seat two 21, motor two 22, gear holder two 23, control button one 24, control button two 25, system shell 26, base 27, slider 28 1, slider 29 2, flexible needle 30 .
[0015] The magnetic resonance compatible hand-held portable flexible needle system consists of a control part, a transmission part and a fixed part. Rigid needle outer tube 3, rigid ...
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Abstract
The invention discloses a magnetic resonance compatible handheld portable flexible interventional needle system. The magnetic resonance compatible handheld portable flexible interventional needle system includes a fixing plate, a needle tubing fixing support, a rigid needle outer tubing, a needle tubing fixing support, a rigid needle inner tubing, a gear rack, a slide rail, a gear fixing ring, a straight gear, a straight gear, a coupler, a speed reducer, a motor, a motor fixing seat, a straight gear, a worm wheel, a worm, a speed reducer, a motor fixing seat, a motor, a gear fixing ring, a control button, a control button, a system housing, a system housing, a base, a slide block, a slide block, a flexible needle. The flexible interventional needle system can be used in a magnetic resonance environment, is portable, is easy to operate, and can be flexibly used in operation by doctors.
Description
technical field [0001] The invention relates to the technical field of medical robots, in particular to the field of minimally invasive medical robots. Background technique [0002] At present, dozens of magnetic resonance compatible puncture surgical robots have been invented, which can perform prostate biopsy and seed implantation in the first place. They have solved the problem of magnetic resonance compatibility by using magnetic resonance compatible materials in the magnetic resonance environment. Some instruments realize vertical and horizontal translation and rotation. Under the guidance of magnetic resonance, the tracking accuracy reaches the millimeter level, and high needle insertion accuracy is obtained. However, it is difficult to avoid interference with the pubic bone in prostate biopsy. Some instruments are simple in structure and easy to operate, but are difficult to be used in more complicated operations. Some instruments are difficult to control the accur...
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