Six-freedom-degree puncture operation robot

Abstract

The invention discloses a six-freedom-degree puncture operation robot which comprises a bottom plate, an XYZ three-axis moving table, an extending rod unit, an alpha beta angle joint module, a six-dimensional force sensor module and a puncture needle feeding module, wherein the XYZ three-axis moving table is fixed on the bottom plate; one end of the extending rod unit is connected with the XYZ three-axis moving table; and the other end of the extending rod unit is sequentially connected with the alpha beta angle joint module, the three-dimensional force sensor module and the puncture needle feeding module. The six-freedom-degree puncture operation robot can replace a doctor to execute puncture in a radiation environment through being guided by X-ray real-time images; the deviation of a target point is tracked in real time by the doctor; remote operation control is used; a needle feeding angle is timely regulated; the precise puncture on the lung parts is realized; the adverse influencecaused by hand trembling of the doctor is eliminated; the flow processes of stepped needle feeding and repeated checking in a conventional operation are omitted; one-step needle feeding is realized;the operation efficiency and the operation precision are improved; and the occurrence probability of complications of pneumothorax, bleeding and the like are reduced.

Description

technical field

[0001] The invention relates to the field of medical experiments, in particular to a six-degree-of-freedom puncture surgery robot. Background technique

[0002] As the most common primary lung tumor, lung cancer is the malignant tumor with the fastest growing morbidity and mortality worldwide and the highest threat to human health and life. Percutaneous lung biopsy can be used to diagnose lung cancer and other lung diseases. At the same time, various tumor ablation techniques based on puncture surgery (such as microwave ablation, radiofrequency ablation, argon-helium knife, etc.) and radioactive particle implantation are newly developed in recent years. minimally invasive tumor therapy techniques. Therefore, lung puncture surgery is of great significance to the detection and treatment of lung tumors.

[0003] However, due to the respiratory characteristics of the lungs, the tumor target is constantly moving during the puncture, which has caused great troubl...

Images