A dual-arm puncture robot based on ultrasound image navigation
A technology of ultrasonic imaging and robotics, applied in the field of robotics, can solve the problems that the system does not have positioning, navigation, and puncture functions, difficult clinical applications, and expensive prices, and achieve high positioning accuracy, high controllability, and good stability.
Active Publication Date: 2022-06-07
WUHAN UNIV
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Problems solved by technology
[0003] Domestic research on puncture robots is mostly in the experimental stage, and most systems do not have complete positioning, navigation, and puncture functions. A few systems with complete functions mostly rely on CT or MRI to locate tumors. Due to the large size of such devices , expensive, and limited to work with other therapeutic devices, so clinical application is difficult
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Embodiment 1
[0051] see figure 1 , the navigation manipulator 3 and the puncture manipulator 9 are respectively installed on both sides of the mounting base 7, wherein the navigation manipulator 3 uses a six-axis manipulator, the puncture manipulator 9 uses a seven-axis manipulator, and two The number of joint axes of the manipulator is not limited to this, but should be at least six or more. If the center position of the upper surface of the mounting base is selected to establish a coordinate system and defined as the world coordinate system, the poses of the navigation manipulator 1 and the puncture manipulator 9 can be represented in the world coordinate system, especially the end positions of the two manipulators. The pose can be tracked in real time in the world coordinate system. The navigation manipulator 3 and the industrial computer establish a real-time communication mechanism, and the industrial computer 13 can acquire the joint angle information of all joints of the navigation...
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The invention discloses a dual-arm puncture robot based on ultrasonic image navigation. The robot includes two mechanical arms, a B-ultrasound instrument, a force sensor, a puncture needle, a needle insertion mechanism, a depth camera, a display, a mounting base and an industrial computer. The two robotic arms are respectively a navigation robotic arm and a puncture robotic arm; the invention uses the navigation robotic arm to carry the ultrasonic probe of the B-ultrasound instrument to move, obtain ultrasonic images, and determine the position and posture of the tumor; obtain the point cloud information of the patient's body surface through the depth camera The relative positional relationship between the tumor, the patient's body surface and the puncture needle is synthesized by coordinate transformation through the industrial computer, and displayed on the monitor; the needle insertion point is manually selected, and the needle insertion trajectory and needle insertion posture are planned by the industrial computer , through the puncture robot arm to carry the needle mechanism to insert the needle to complete the puncture. The present invention is simple in structure, easy to use, greatly improves the precision of puncture by combining the respective advantages of human and machine, and has strong practicability.
Description
technical field [0001] The invention belongs to the technical field of robots, and relates to a medical puncture robot, in particular to a dual-arm puncture robot based on ultrasonic image navigation. Background technique [0002] In recent years, robots have developed rapidly in industry, service industry, and agriculture. At the same time, they have also been popularized and applied in the medical field. In particular, tumor treatment robots have developed rapidly in recent years. At present, the actual operation of clinical tumor treatment mainly depends on the personal ability and experience of doctors, which is difficult to operate, poor controllability, unstable curative effect, and limited clinical application. Internationally, developed countries such as the United States and Japan have developed relatively advanced robotic tumor treatment systems based on ultrasound guidance, which have the advantages of high surgical precision and good controllability. Although th...
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IPC IPC(8): A61B34/30A61B8/08A61B17/34
CPCA61B34/30A61B34/70A61B34/76A61B8/085A61B17/34A61B17/3403A61B2017/3413
Inventor 李淼雷自伟邓旭畑王熠肖晓晖
Owner WUHAN UNIV