A six-degree-of-freedom puncture surgical robot

Abstract

The invention discloses a six-degree-of-freedom puncture surgical robot, which includes a base plate, an XYZ three-axis mobile platform, an extension rod unit, an αβ angle joint module, a six-dimensional force sensor module, a puncture needle module, and an XYZ three-axis mobile platform. Fixed on the bottom plate, one end of the extension rod unit is connected to the XYZ three-axis moving table, and the other end is connected to the αβ angle joint module, the six-dimensional force sensor module and the puncture needle module in sequence. The six-degree-of-freedom puncture surgical robot of the present invention can replace the doctor to perform puncture in the radiation environment under the guidance of the X-ray real-time image, and the doctor can track the deviation of the target point in real time, and adopt remote operation control to adjust the needle insertion angle in time , to achieve precise puncture of the lungs, and eliminate the adverse effects caused by the doctor's hand tremors, eliminating the need for step-by-step needle insertion and repeated verification processes in traditional surgery, and achieving one-time needle insertion, which improves surgical efficiency and accuracy, and reduces The probability of complications such as pneumothorax and bleeding is 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...

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