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Prostate biopsy robot

A robot and prostate technology, applied in the field of robotics, can solve problems such as insufficient puncture accuracy, arm tremor, and doctor fatigue, and achieve the effects of reducing the number of punctures, large movement space, and overcoming uncoordinated movements.

Inactive Publication Date: 2019-01-18
SHANDONG UNIV OF SCI & TECH
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  • Claims
  • Application Information

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Problems solved by technology

[0004] In view of the deficiencies in the prior art above, the purpose of the present invention is to propose a prostate puncture robot to solve the problems of insufficient puncture accuracy, difficult puncture, easy to cause doctor fatigue and arm trembling in the existing prostate biopsy, and improve the efficiency of prostate biopsy puncture. Surgical quality

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Embodiment Construction

[0023] The present invention is described in detail below in conjunction with accompanying drawing:

[0024] combine Figure 1 to Figure 5 , a prostate puncture robot, including a rotary drive device 1, a detector linear drive device, a detector rotation mechanism 2, a detector 3, a puncture needle drive device, a puncture needle 6 and a control system, and the rotary drive device 1 includes a chassis 11, The first servo motor 12 , the main shaft 13 and the disc 14 , the first servo motor 12 drives the disc 14 to rotate through the main shaft 13 . The main shaft 13 is vertically arranged in the bottom frame 11 through the shaft sleeve, the shaft sleeve is fixedly connected with the bottom frame 11, the first servo motor 12 is connected with the lower end of the main shaft 13 through the first belt 15, and the center of the disc 14 is fixed with the upper end of the main shaft 13 connected, the control terminal of the first servo motor 12 communicates with the control system. ...

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Abstract

The invention discloses a prostate biopsy robot, comprising a rotating driving device, a detector linear driving device, a detector rotating mechanism, a detector, a biopsy needle driving device, a biopsy needle and a control system. The rotating driving device comprises a chassis, a first servo motor, a main shaft and a disk, wherein the first servo motor drives the disk to rotate through the main shaft. A linear drive device of the detector is arranged on the disc and comprises a longitudinal guide rail lead screw mechanism and a transverse guide rod lead screw mechanism, wherein the transverse guide rod lead screw mechanism is arranged above the longitudinal guide rail lead screw mechanism. The detector rotating mechanism is arranged on the transverse guide rod lead screw mechanism. Andthe detector is mounted on the detector rotating mechanism. The driving device of the biopsy needle is fixedly connected with the disc, and comprises a vertical guide rail lead screw mechanism and aneedle feeding mechanism, wherein the needle feeding mechanism is connected with the vertical guide rail lead screw mechanism. The biopsy needle is arranged on the needle feeding mechanism. The invention has the advantages of compact structure, high automation degree, high matching degree of the detector and the biopsy needle, and can improve the biopsy precision, improve the operation quality andreduce the risk.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a prostate puncture robot. Background technique [0002] With the prolongation of the average human life expectancy, the improvement of diagnostic technology, and the change of lifestyle, the incidence of male prostate diseases in my country is constantly increasing. "Number One Killer" in Puncture is a term used in medical operations. It is a diagnosis and treatment technique in which a puncture needle is inserted into a body cavity to extract secretions for testing, injecting gas or contrast agent into the body cavity for contrast examination, or injecting drugs into the body cavity. The purpose of the puncture is to draw blood for testing, blood transfusion, infusion and catheterization for angiography. [0003] At present, the equipment commonly used clinically for prostate biopsy is very simple, mainly in the form of being integrated with ultrasonic examination equipment. U...

Claims

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Application Information

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IPC IPC(8): A61B10/02
CPCA61B10/0241
Inventor 田和强郑晨玲李建永马龙鑫王晨晨金小龙
Owner SHANDONG UNIV OF SCI & TECH
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