Orthogonal structure five-degree-of-freedom puncture robot
A technology with a degree of freedom and robotics, applied in the direction of surgical robots, puncture needles, trocars, etc., can solve the problems of small working space, large volume, and few types of puncture postures, and achieve multiple working spaces, small volume and weight Effect
Active Publication Date: 2022-07-01
真健康(珠海)医疗科技有限公司
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Problems solved by technology
[0004] The main purpose of this application is to provide a puncturing robot with five degrees of freedom in an orthogonal structure to solve the problem that the puncturing robot in the related art has a large volume, a small working space, fewer types of postures that can be pierced, and less adjustable posture angles. small problem
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[0050] In order to make those skilled in the art better understand the solutions of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only The embodiments are part of the present application, but not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present application.
[0051] It should be noted that the terms "first", "second" and the like in the description and claims of the present application and the above drawings are used to distinguish similar objects, and are not necessarily used to describe a specific sequence or sequence. It is to be understood that the data so used are interchangeabl...
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The present application discloses a five-degree-of-freedom puncture robot with an orthogonal structure, which includes two layers of drive platforms; the drive platforms each include a base, a translation component, a linear drive component, a drive link, a bracket, a slider and a connecting joint; the translation component drives The bracket translates linearly; the first end of the driving link is hinged with the linear drive assembly through a vertical axis, and the second end is hinged with the slider through the vertical axis; the slider is arranged on the bracket and can slide along the translation direction perpendicular to the bracket; The connecting joint is hinged on the slider through the Y-direction rotating shaft; the first fixing part and the second fixing part, the first fixing part and the second fixing part are respectively hinged on the connecting joint of one of the driving platforms and the other through an X-direction horizontal axis On the connecting joint of the driving platform; it also includes a needle feeding mechanism, which is composed of a lifting motor and a pneumatic gripper. The present application guides the needle insertion position and posture of the puncture needle by driving the two-layer driving assembly, and realizes the movement of the puncture needle in its axial direction through the needle feeding mechanism.
Description
technical field [0001] The present application relates to the technical field of medical equipment, and in particular, to a five-degree-of-freedom puncture robot with an orthogonal structure. Background technique [0002] Many conventional treatments applied in modern clinical practice involve the percutaneous insertion of medical tools (eg, needles and catheters) for biopsy, drug delivery, and other diagnostic and therapeutic procedures. The goal of the insertion procedure is to safely and precisely place the tip of a suitable medical tool on the target area, which may be a lesion, tumor, organ, or blood vessel. Examples of treatments requiring insertion of such medical tools include vaccination, blood / fluid sampling, local anesthesia, tissue biopsy, catheterization, cryoablation, electrolytic ablation, brachytherapy, neurosurgery, deep brain stimulation, and various Minimally invasive surgery. [0003] In recent years, miniaturized puncture robots have been introduced. ...
Claims
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IPC IPC(8): A61B17/34A61B34/30
CPCA61B17/3403A61B34/30A61B2017/3407A61B2017/3409
Inventor 徐岩张昊任温浩何睿滕绯虎陈向前史纪鹏
Owner 真健康(珠海)医疗科技有限公司