Four-degree-of-freedom puncture surgical robot

Abstract

The invention relates to the technical field of puncture surgical robots, in particular to a four-degree-of-freedom puncture surgical robot which comprises a first linear translation device and a second linear translation device which can realize two mutually perpendicular linear translation degrees of freedom, and a first rotating device and a second rotating device which realize two rotational degrees of freedom, the second linear translation device linearly moves on the first linear translation device, the first rotating device is connected to the second linear translation device and linearly moves on the second linear translation device, the first rotating device controls rotation of the second rotating device, and the second rotating device is connected with an end effector for puncture work. The puncture robot is novel in design, reasonable in structure, more accurate, more stable and more convenient, can effectively complete puncture surgery, and can meet the requirements of chronic pain minimally invasive interventional surgery.

Description

technical field [0001] The invention relates to the technical field of puncture surgery robots, in particular to a four-degree-of-freedom puncture surgery robot. Background technique [0002] In traditional needle biopsy or needle ablation operations, doctors directly determine the needle path through image guidance and pre-set marking points on the skin, which has the following problems: 1. Experience dependence: Doctors are required to carry out a lot of practice and practical exercises. Physicians often need to go through a long training period before they can have mature and stable puncture techniques; 2. Insufficient precision: the accuracy of manual operations often depends on the technical proficiency and stability of the operating physician; 3. Increased operating injuries and radiation : Repeated adjustments to the operation and image scanning process increase operation-related injuries and radiation to both doctors and patients; 4. Operational fatigue: Long-term op...

AI Technical Summary

Problems solved by technology

[0002] In traditional needle biopsy or needle ablation operations, doctors directly determine the needle path through image guidance and pre-set marking points on the skin, which has the following problems: 1. Experience dependence: Doctors are required to carry out a lot of practice and practical exercises. Physicians often need to go through a long training period before they can have mature and stable puncture techniques; 2. Insufficient precision: the accuracy of manual operations often depends on the technical proficiency and stability of the operating physician; 3. Increased operating injuries and radiation : Repeated adjustments to the operation and image scanning process increase operation-related injuries and radiation to both doctors and patients; 4. Operational fatigue: long-term operations cause operator fatigue, resulting in a decline in surgical efficiency and stability

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