Human-hand-imitated prostate particle implantation robot and using method thereof

Abstract

The invention discloses a human-hand-imitated prostate particle implantation robot and a using method thereof, and belongs to the technical field of medical equipment. The robot solves the problems that an existing robot for conducting prostate radioactive particle implantation operation is difficult to meet the requirement for a flexible multi-posture needle inserting task, and a flexible obstacle avoiding task cannot be conducted. A single-dimensional force sensor and a displacement sensor are installed on movement mechanisms; a six-dimensional force sensor is installed between a particle implantation mechanism and the tail end of a human-hand-imitated mechanical arm, and human-hand-imitated actions are conducted through a first movement mechanism, a second movement mechanism, a third movement mechanism and a fourth movement mechanism; a puncture assembly and the fourth movement mechanism are fixedly connected through a main support; an inner needle assembly is located between the puncture assembly and the fourth movement mechanism and arranged in a sliding mode in the length direction of the main support; the rear end of a puncture needle is inserted into a particle implantation bin and is arranged opposite to the particle outlet in a particle clip; and an inner needle and the puncture needle are coaxially arranged, and in the particle implantation process, the inner needle moves towards the front end and penetrates through the puncture needle to send radioactive particles to a target position.

Description

technical field [0001] The invention relates to a human-like prostate particle implantation robot and a use method thereof, which belong to the technical field of medical equipment. Background technique [0002] Prostate cancer is one of the high incidences of male malignant tumors, and the incidence rate is increasing year by year. At present, the treatment of prostate cancer mainly adopts the method of percutaneous targeted puncture intervention, and the implantation of radioactive seeds in the prostate is performed manually by doctors or by robots. However, due to the uncertainty of manual operation, it is difficult to guarantee the positioning accuracy, which will not only lead to improper implantation of radioactive seeds, but also cause extensive soft tissue trauma, thereby affecting the therapeutic effect. [0003] Regarding the treatment of prostate radioactive seed implantation, the operating robot is mainly based on the Cartesian coordinate structure, which can ge...

AI Technical Summary

Problems solved by technology

[0005] The present invention aims to solve the problem that the existing robot for implanting radioactive particles in the prostate is difficult to achieve flexible and multi-position needle insertion task requirements during the operation process, and cannot perform flexible obstacle avoidance tasks, and further provides a human-like robot. Prostate particle implantation robot and method of use thereof

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