Mammary tissue fixing device based on ultrasonic guidance and control method thereof
A breast tissue and fixation device technology, applied in the field of medical robots, can solve the problems of tumor target position drift, increased operation time, patient pain, patient tissue damage, etc., to improve operation efficiency and success rate, simple structure, and reduce puncture errors Effect
Pending Publication Date: 2020-11-06
UNIV OF JINAN
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Problems solved by technology
[0002] In clinical medical operations, breast biopsy is an effective histological method for detecting benign and malignant breast tumors, but there are still many defects in manual puncture by doctors. During breast biopsy, there is a complex interaction between soft tissue and puncture needle Mechanism, the position of the tumor target will drift. To accurately puncture the tumor target, the doctor needs to constantly change the puncture path during the puncture process, and even needs to withdraw the needle multiple times, which not only increases the operation time and the pain of the patient, Some damage to the patient's tissue
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[0017] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiment of the application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiment of the application. Obviously, the described embodiment is only It is an embodiment of a part of the application, but not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without creative efforts shall fall within the protection scope of this application.
[0018] It should be noted that the terms "first" and "second" in the description and claims of the present application and the above drawings are used to distinguish similar objects, but not necessarily used to describe a specific sequence or sequence. It should be understood that the data so used may be interchanged under appropriate circumstances for th...
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The invention discloses a mammary tissue fixing device based on ultrasonic guidance and a control method, and relates to the field of medical robots. The device mainly comprises a circular lantern ring, an X-axis linear module, a Z-axis linear module, a Y-axis linear module, a driving motor and a fixing support. The X-axis linear module, the Z-axis linear module and the Y-axis linear module can meet the requirements for high positioning precision and large working range of medical robots, and reciprocating motion of the circular lantern ring in any direction can be achieved. The circular lantern ring is used for fixing mammary gland tissues. The driving force of the linear modules is provided by the driving motor, so that the circular lantern ring can conveniently adjust the position and keep the current position. The invention designs the mammary tissue fixing device based on ultrasonic guidance and the control method thereof, the device is used for assisting a doctor in a breast puncture biopsy operation, in the operation process, a tumor is guided to actively move to a puncture needle path while breast tissue is fixed, the puncture error is reduced, and the operation efficiencyis improved.
Description
technical field [0001] The invention belongs to the field of medical robots, and in particular relates to an ultrasound-guided breast tissue fixation device and a control method thereof. Background technique [0002] In clinical medical operations, breast biopsy is an effective histological method for detecting benign and malignant breast tumors, but there are still many defects in manual puncture by doctors. During breast biopsy, there is a complex interaction between soft tissue and puncture needle Mechanism, the position of the tumor target will drift. To accurately puncture the tumor target, the doctor needs to constantly change the puncture path during the puncture process, and even needs to withdraw the needle multiple times, which not only increases the operation time and the pain of the patient, There is also some damage to the patient's tissue. So reducing the puncture error and improving the accuracy of puncture is an important research content in this field. [...
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Login to View More IPC IPC(8): A61B90/17A61B10/02A61B8/00
CPCA61B90/17A61B10/0233A61B8/406
Inventor 公续银赵建赵洪华孙殿珉胡志通林逸飞韩其飞
Owner UNIV OF JINAN