Electromagnetic force feedback-type puncture operation control system and robot puncture equipment

Abstract

The invention discloses an electromagnetic force feedback type puncture operation control system. The system comprises a puncture needle device and a force feedback-type control device; an electric push rod is mounted on a robot through a connecting flange; a needle holding part comprises a connecting assembly and a puncture needle telescopic protective sleeve, the connecting assembly is connectedto a sliding block of the electric push rod, the puncture needle telescopic protective sleeve comprises an outer sleeve and an inner sleeve, the outer sleeve is detachably connected to the connectingassembly, and the inner sleeve is telescopically sleeved by the outer sleeve; the tip of a puncture needle extends out of the inner sleeve; the force feedback-type control device comprises a controlhandle, a force feedback assembly and a main controller, an operating rod of the control handle is rotatably or slidably mounted on a base, and a travel switch touched by the operating rod is arrangedon the base; and the force feedback assembly comprises an electromagnet and a force measuring sensor used for detecting resistance borne by the puncture needle, the operating rod is fixedly connectedto a magnet, and the magnet is located within the magnetic field induction range of the electromagnet. The invention further provides robot puncture equipment.

Description

technical field [0001] The invention relates to the technical field of medical devices, in particular to an electromagnetic force feedback type puncture operation control system and robot puncture equipment. Background technique [0002] The current puncture operation needs to use an X-ray machine, and the X-rays of the X-ray machine will cause damage to the human body. The more radiation is irradiated, the greater the risk of cancer, and the more serious the health damage to doctors and patients. Doctors need to do case examination and surgical treatment for different patients, use X-ray machines more frequently, receive higher doses of radiation, and suffer more serious radiation damage. [0003] The existing technology uses a robot to replace the manual puncture operation of a doctor. The puncture operation is performed with the help of a manipulator. After the puncture needle is oriented and positioned, the manipulator can be moved along the direction of the puncture nee...

AI Technical Summary

Problems solved by technology

[0007] The invention provides an electromagnetic force feedback type puncture operation control system and robot puncture equipment to solve the technical problems that the existing puncture needles are easily deformed during the operation and the handle cannot realize force feedback. The invention can enhance the stability of the puncture needle , and at the same time realize the force feedback function of the handle, which can improve the reliability of the puncture machine and the operation efficiency

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