Six-degree-of-freedom acupuncture robot for internal use of magnetic resonance imager

Abstract

The invention discloses a six-degree-of-freedom acupuncture robot for internal use of a magnetic resonance imager. The six-degree-of-freedom acupuncture robot comprises a Cartesian module, a swing module and an acupuncture module; the swing module is fixed onto the Cartesian module, the acupuncture module is fixed onto the swing module, the Cartesian module is used for controlling the motion of the swing module in X direction, Y direction and Z direction, and the X direction, the Y direction and the Z direction are perpendicular to one another; the swing module is used for controlling the acupuncture module to swing horizontally; the acupuncture module is used for controlling the pitching motion and the needle movement of the acupuncture module. Various forms of non-magnetic ultrasonic motor drive is adopted, prostate puncture with the desired position and posture can be realized, and based on the characteristics of power off and self-locking of an ultrasonic motor, adding of an extralocking device to keep the position is not needed; the overall system of the six-degree-of-freedom acupuncture robot is simple and compact and easy to miniaturize.

Description

technical field [0001] The invention relates to the technical field of minimally invasive medical robot equipment, in particular to a six-degree-of-freedom acupuncture robot used inside a magnetic resonance imager. Background technique [0002] In the design of many prostate acupuncture robots, "flexibility, precision, and dexterity" are important indicators of the advantages and disadvantages of acupuncture robots, and the way of structural design affects the size of the occupied space of the entire system. For imaging-guided acupuncture robotic surgery, ultrasound imaging is mostly used for imaging. Most of the driving methods are pneumatic and hydraulic. Because nuclear magnetic imaging has very good real-time performance and no radiation. Therefore, the research of robots under NMR has rapidly become a hot spot in this field. Although the above driving methods satisfies the characteristics of nuclear magnetic compatibility very well, there are inevitably many nonlinea...

AI Technical Summary

Problems solved by technology

Although the above driving methods satisfies the characteristics of nuclear magnetic compatibility very well, there are inevitably many nonlinear errors and the driving device is relatively cumbersome, which makes the real-time performance, stability and accuracy of the platform poor.

Images