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MRI compatible full-automatic mammary gland focus positioning biopsy robot system

A robotic system, fully automated technology, applied in the field of medical robotics

Pending Publication Date: 2021-05-07
SHANGHAI FIRST PEOPLES HOSPITAL
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, due to the compressibility of gas and the friction of pneumatic actuators, the accuracy of pneumatic drive has always been a key problem restricting the application of this method.
However, regarding a breast puncture positioning robot with six degrees of freedom and the new automatic vacuum suction and rotary cutting system that are matched with it, it has been further developed and successfully developed based on real-time nuclear magnetic image navigation. Sub-sampling" MRI compatible fully automated robot system for biopsy of breast lesions has not been reported so far

Method used

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  • MRI compatible full-automatic mammary gland focus positioning biopsy robot system
  • MRI compatible full-automatic mammary gland focus positioning biopsy robot system
  • MRI compatible full-automatic mammary gland focus positioning biopsy robot system

Examples

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Embodiment 1

[0050] The MRI compatible fully automated breast lesion positioning biopsy robot system of the present invention includes a vacuum suction biopsy instrument and a six-degree-of-freedom positioning robot system; the vacuum suction biopsy instrument includes a puncture biopsy needle 1 and a power system host 2 (vacuum suction pump and control system);

[0051] Please see attached figure 1 , 2 , figure 1 It is a schematic diagram of the three-dimensional structure of the puncture biopsy needle of the present invention, figure 2 It is a schematic diagram of the steps of puncturing and taking materials with the biopsy puncture needle of the present invention. The biopsy puncture needle 1 is a hollow cylindrical structure with a length of 20 cm and an outer diameter of 3 mm. The needle tip is sharp and tapered; the front of the biopsy needle 1 is provided with a groove 11 near the needle tip, and the groove 11 is 0.2 mm long. -2.0cm, width 1.5-2.5mm; the rear wall of the groove...

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Abstract

The invention relates to an MRI compatible full-automatic mammary gland focus positioning biopsy robot system. The MRI compatible full-automatic mammary gland focus positioning biopsy robot system comprises a vacuum suction biopsy instrument and a six-degree-of-freedom positioning robot system, wherein the vacuum suction biopsy instrument comprises a puncture biopsy needle and a power system host; the six-degree-of-freedom positioning robot system comprises a machine body structure and a driving system; the power system host comprises a host body; and the machine body structure comprises a positioning structure, an orientation structure and a puncture structure; the positioning structure has three degrees of freedom, the orientation structure has two degrees of freedom, and the puncture structure has one degree of freedom. The MRI compatible full-automatic mammary gland focus positioning biopsy robot system has the advantages that a full-automatic mammary gland puncture positioning robot has complete MRI compatibility, and real-time MRI image navigation of mammary gland focus sampling and automatic setting of one-time needle insertion and multiple sampling can be achieved under the assistance of a mammary gland vacuum suction rotary cutting biopsy system.

Description

technical field [0001] The invention relates to the technical field of medical robots, in particular to an MRI compatible fully automatic breast lesion positioning biopsy robot system. Background technique [0002] Trend judgment and demand analysis [0003] Current status, level and development trend at home and abroad (including intellectual property status and technical standard status); economic construction and social development needs; scientific and technological value, characteristics and innovation points. [0004] (1) Breast cancer is a common malignant tumor that seriously affects the physical and mental health of Chinese women. [0005] Breast cancer is one of the most common malignant tumors in women, and its incidence ranks first in the incidence of tumors among female patients in Europe and America, accounting for 30.9% of the total incidence. In my country, with the rapid improvement of industrialization, the improvement of people's living conditions, the c...

Claims

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Application Information

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IPC IPC(8): A61B17/34A61B34/30A61B34/10A61B10/02A61B34/20
CPCA61B10/0275A61B10/0283A61B17/3403A61B17/3417A61B17/3478A61B2017/3454A61B34/10A61B34/20A61B34/30A61B34/76A61B2034/107A61B2034/108A61B2034/2051A61B2034/2065
Inventor 李康安鲁伦博李茂林嵇颖
Owner SHANGHAI FIRST PEOPLES HOSPITAL
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