Interventional surgery robot and its control system based on intelligent structure

Abstract

The invention relates to an interventional surgery robot based on an intelligent structure and its control system, including a box assembly, a lifting column assembly, a box door assembly, a Z-axis linear module assembly, a Y-axis linear module assembly, an interventional robot assembly, and an end execution A device assembly, a plurality of lifting column assemblies are connected to the lower end of the box assembly, a Z-axis linear module assembly is installed on the inside of the box assembly, and a Y-axis is connected to the lifting platform of the Z-axis linear module assembly of the Z-axis linear module assembly The linear module assembly, the Y-axis linear module assembly is provided with a Y-axis linear module assembly slide table that can move laterally, the Y-axis linear module assembly slide table is connected to one end of the interventional robot assembly, and the other end of the interventional robot assembly is connected to There is an end effector assembly, and the box body assembly is connected with a box door assembly. This patent can efficiently and accurately complete interventional surgery, puncture biopsy and other minimally invasive surgery in the environment of large-scale medical imaging equipment such as magnetic resonance and CT.

Description

technical field

[0001] The invention belongs to the technical field of surgical robots, and relates to a robot structure and a control system for puncture extraction biopsy and minimally invasive interventional surgery in the environment of CT or MRI and other medical imaging equipment. Background technique

[0002] With the continuous development of science and technology, more and more puncture extraction biopsies and operations for various diseases are developing in the direction of minimally invasive surgery with less trauma, less bleeding, lower infection rate, less pain and faster recovery. However, the traditional minimally invasive surgery process is cumbersome and labor-intensive, and depends on the experience, physical strength and proficiency of the doctor. During the operation, it is necessary to coordinate the force applied to the shoulders, elbows, wrists and fingers, especially the wrist and wrist. Torque control at the fingertips requires both gentleness and ...

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