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An eight-degree-of-freedom puncture robot for ultrasound guidance

A degree of freedom, robot technology, applied in the field of medical robots, can solve the problems of poor precision and high difficulty in operation, and achieve the effect of satisfying working space, convenient use and small footprint

Active Publication Date: 2022-01-18
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In order to solve the problem of high operational difficulty and poor precision caused by simultaneous operation of the probe and the puncture needle due to space limitations in the existing ultrasound-guided tissue puncture process, the present invention proposes an ultrasound-guided eight-degree-of-freedom puncture robot

Method used

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  • An eight-degree-of-freedom puncture robot for ultrasound guidance
  • An eight-degree-of-freedom puncture robot for ultrasound guidance
  • An eight-degree-of-freedom puncture robot for ultrasound guidance

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specific Embodiment approach 1

[0037] Specific implementation mode one: combine Figure 1 to Figure 11 To illustrate this embodiment, an eight-degree-of-freedom puncture robot for ultrasound guidance described in this embodiment includes an ultrasonic probe control structure 4, a puncture needle displacement control mechanism 5, and a puncture needle feed mechanism 6;

[0038] The side bottom of the puncture needle displacement control mechanism 5 is provided with an arc-shaped through hole, and an ultrasonic probe control structure 4 is arranged inside the arc-shaped through hole, and the puncture needle feed mechanism 6 is installed on the upper part of the puncture needle displacement control mechanism 5;

[0039] The ultrasonic probe control structure 4 includes an ultrasonic probe control base 4-1, a lead screw 4-2, a nut slider 4-3, an ultrasonic probe drive motor 4-4, an ultrasonic probe 4-5, and a locking unit 4- 7. No. 1 motor 4-8, No. 1 motor support 4-9, gear shaft 4-10, No. 1 gear 4-11 and No. 2...

specific Embodiment approach 2

[0044] Specific implementation mode two: combination image 3 Describe this embodiment. This embodiment is a further limitation on the puncture robot described in the first specific embodiment. In this embodiment, an eight-degree-of-freedom puncture robot for ultrasound guidance, the locking unit 4 -7 includes a locking block 4-13 and a locking screw 4-6; a locking screw 4-6 is provided on the outer surface of the locking block 4-13;

[0045] In this specific embodiment, the locking screw 4-6 is arranged on the outer surface of the locking block 4-13, which facilitates the axial locking of the ultrasonic probe 4-5 and improves the accuracy of adjusting the ultrasonic probe 4-5.

specific Embodiment approach 3

[0046] Specific implementation mode three: combination Figure 5 Describe this embodiment. This embodiment is a further limitation on the puncture robot described in Embodiment 1. An eight-degree-of-freedom puncture robot used for ultrasound guidance described in this embodiment, the displacement control of the puncture needle Mechanism 5 includes puncture needle displacement control base 5-1, No. 1 support plate 5-2, large pulley group 8, upper scissors structure 9, lower scissors structure 10, No. 2 support plate 5-6, motor assembly 7, Cardiac joint bearing 9-10 and Hooke hinge 11 with two degrees of freedom;

[0047] The section of the puncture needle displacement control base 5-1 is a "convex" shaped frame structure, and one end of the upper surface of the puncture needle displacement control base 5-1 is provided with a No. 1 support plate 5-2, and the puncture needle displacement control base 5- The other end of the 1 upper surface is provided with a No. 2 support plate ...

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Abstract

An eight-degree-of-freedom puncturing robot for ultrasonic guidance relates to the technical field of medical robots. In order to solve the problems of high operation difficulty and poor precision caused by the fact that the probe and the puncture needle need to be operated at the same time due to the space limitation in the existing ultrasound-guided tissue puncture process. An eight-degree-of-freedom ultrasonic-guided tissue puncture robot mechanism that adopts the ultrasonic probe control structure, the puncture needle displacement control mechanism and the puncture needle feeding mechanism into one. There is an ultrasonic probe control structure inside the hole, and the puncture needle feeding mechanism is installed on the upper part of the puncture needle displacement control mechanism. The invention is suitable for the field of ultrasonic guided puncture.

Description

technical field [0001] The invention relates to the technical field of medical robots, in particular to an eight-degree-of-freedom puncture robot for ultrasound guidance. Background technique [0002] At present, the tissue puncture guided by transrectal ultrasound images is mainly scanned by the doctor manually operating the transrectal ultrasound probe, and the puncture is assisted by the puncture plate under the guidance of the ultrasound image. The main difficulty is that the operator needs to operate the probe and the puncture needle at the same time The injection position and angle of the puncture needle are completely controlled by the doctor, which is highly dependent on the doctor's experience; during the process, it is easy to cause operational errors due to human disturbance. Aiming at the robot-assisted ultrasound-guided tissue puncture process, many scholars at home and abroad have conducted research. Due to limited space, the current auxiliary equipment is mai...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A61B17/34A61B34/30
CPCA61B17/3403A61B34/30A61B2017/3413A61B2034/305
Inventor 潘博闫佳雯刘柏男付宜利
Owner HARBIN INST OF TECH