A novel automated prostate biopsy robot with telecentric motion

Abstract

The invention discloses a novel automatic prostate biopsy robot with remote central movement, which mainly relates to the field of prostate biopsy examination and solves the problems of large trauma and easy infection during prostate biopsy examination. The positioning module is installed on the robot fixing module; The imaging module is installed on the positioning module; the attitude adjustment module is fixed on the positioning module; the depth control module is fixed on the attitude adjustment module; the wire rope transmission module is installed on the attitude adjustment module; the attitude adjustment The module includes a horizontal arc slide rail module and a vertical arc slide rail module. Through the random reciprocating motion of the arc slider on the arc guide rail, the only virtual fixed point is determined in space. Through the positioning of the positioning module , determine a puncture point on the left and right sides of the perineum. Each movement of the present invention is carried out independently, automatically positioned by the control system, the movement between each module has no interference, the operation is convenient, and the positioning is accurate.

Description

technical field [0001] The present invention relates to the field of prostate biopsies of patients. In particular, it relates to a robot for automatically performing biopsies. Background technique [0002] With the rapid development of intelligence, more and more automated robots have entered people's field of vision, helping humans to complete various tasks quickly and accurately. However, the application of robotic systems in the domestic medical field is still relatively scarce, and only a few hospitals and research units have conducted related research on therapeutic robots and their control systems. At present, the application of robots in medical treatment is mainly to achieve minimally invasive, precise and convenient operation. [0003] Prostate cancer is one of the common malignant tumors in elderly men, with a high incidence in China. Prostate biopsy is the gold standard for prostate cancer diagnosis and prognosis. A standard prostate biopsy through the rectum ...

AI Technical Summary

Problems solved by technology

In addition, systematic needle biopsy is a "blind puncture" for the entire prostate. The biggest problem is that the number of needles used for puncture is large, which causes great trauma to the patient.

Multi-parameter magnetic resonance imaging (MRI) is currently recognized as the best imaging technology for the diagnosis of prostate cancer, but it is difficult to be widely used due to the time-consuming, laborious and special puncture equipment required for prostate biopsy under the guidance of real-time MRI

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