Puncture actuator of cooperative medical robot and puncture system and method thereof

A collaborative medical and robotic technology, applied in surgical robots, puncture needles, medical science, etc., can solve the problems of strong experience dependence and low puncture accuracy, so as to ensure the accuracy of puncture, reduce the dependence on doctors' experience, and facilitate the realization of Effect

Active Publication Date: 2022-05-27
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003]The purpose of the present invention is to solve the problem that the existing puncture needles need to perform operations such as twisting and twisting according to the doctor's experience to correct the deviation of the needle tip trajectory, which has strong experience dependence and low puncture accuracy. problem, the present invention provides a puncture actuator for a collaborative medical robot and its puncture system and method

Method used

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  • Puncture actuator of cooperative medical robot and puncture system and method thereof
  • Puncture actuator of cooperative medical robot and puncture system and method thereof
  • Puncture actuator of cooperative medical robot and puncture system and method thereof

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Experimental program
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Effect test

specific Embodiment approach 1

[0039] Specific embodiment one: the following combination image 3 Describing this embodiment, the puncture actuator of the collaborative medical robot described in this embodiment includes a base plate 100, a manual feeding mechanism 200, and is characterized in that it also includes an openable and closable guide mechanism 300 and a needle twisting mechanism 400;

[0040] The openable and closable guide mechanism 300 is disposed at one end of the base plate 100 for guiding the puncture needle 700;

[0041] The manual feeding mechanism 200 is arranged above the base plate 100 and is used to control the feeding depth and speed of the puncture needle 700;

[0042] The needle twisting mechanism 400 is arranged above the manual feeding mechanism 200, and the needle twisting mechanism 400 is used to sense the resistance of the puncture needle 700, and adjust the puncture according to the resistance, the feeding depth and the feeding speed of the puncturing needle 700. The twistin...

specific Embodiment approach 2

[0076] Specific embodiment two: the following combination figure 1 and Figure 5 This embodiment will be described. This embodiment adopts the puncture system implemented by the puncture actuator of the collaborative medical robot described in the specific embodiment 1. The puncture system further includes an optical navigation system 1, a manipulator 2, a calibration target ball 3 and a host computer;

[0077] The puncture actuator is fixed on the manipulator 2, and the calibration target ball 3 is set on the puncture actuator;

[0078] The optical navigation system 1 determines the position of the puncture actuator on the manipulator 2 by collecting the position and attitude of the calibration target ball 3;

[0079] The upper computer is used to determine the feeding depth and speed of the puncture needle 700 according to the rotational speed and the number of turns of the main drive gear 202-1 of the transmission mechanism 202 collected by the encoder 500, and then accord...

specific Embodiment approach 3

[0082] Embodiment 3: This embodiment adopts the puncture method implemented by the puncture system described in Embodiment 2, and the method includes the following steps:

[0083] S1. The optical navigation system 1 determines the current position of the puncture actuator on the manipulator 2 by collecting the position and attitude of the calibration target ball 3;

[0084] S2. According to the current position of the puncture actuator, the upper computer drives the puncture actuator to a preset position through the manipulator 2, and locks the manipulator 2;

[0085] S3, push the puncture needle 700 to move toward the lesion position by the manual feeding mechanism 200,

[0086] During the movement of the puncture needle 700 to the lesion position, the upper computer adjusts the twisting speed and the speed of the puncture needle 700 through the needle twisting mechanism 400 according to the rotational speed and the number of turns collected by the encoder 500 and the resista...

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Abstract

The invention discloses a puncture actuator cooperating with a medical robot and a puncture system and method thereof, and relates to the field of medical robot puncture. The problems that according to an existing puncture needle, the track of a needle point needs to be rectified through operations such as rotating and twisting according to the experience of a doctor, experience dependence is high, and puncture precision is low are solved. The puncture actuator comprises a base plate, a manual feeding mechanism, an openable guide mechanism and a needle head twisting mechanism, the openable guide mechanism is arranged at one end of the base plate and is used for guiding the puncture needle head; the manual feeding mechanism is arranged above the base plate and used for controlling the feeding depth and speed of the puncture needle head; the needle head rotating and twisting mechanism is arranged above the manual feeding mechanism, and the needle head rotating and twisting mechanism is used for sensing the resistance borne by the puncture needle head and controlling the rotating and twisting speed and the rotating and twisting angle of the puncture needle head according to the resistance borne by the puncture needle head, the feeding depth and the feeding speed. The invention is mainly used in the field of medical robot puncture.

Description

technical field [0001] The invention relates to the field of medical robot puncture. Background technique [0002] Puncture surgery is a common clinical detection and treatment method. It is often used in drug targeted delivery, brachytherapy, tumor biopsy, and radiofrequency ablation. Usually, a slender puncture needle is used to penetrate the tissue to reach the lesion to form a pathway. The puncture needle has a single bevel. Needle (lancet type) is the most commonly used. When the lesion is deep, the needle tip deviates from the established trajectory due to the uneven force on the needle tip of the single bevel needle. In order to achieve trajectory correction and ensure puncture accuracy, the whole process relies heavily on the experience of the doctor, and the human participation in the puncture accuracy is low. Therefore, the above problems need to be solved urgently. SUMMARY OF THE INVENTION [0003] The purpose of the present invention is to solve the problem t...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B17/34A61B34/30A61B90/10
CPCA61B17/3403A61B90/10A61B34/30A61B2034/302A61B2017/3409A61B2090/101
Inventor 李长乐张雷锋范逸伦张学贺刘刚峰赵杰
Owner HARBIN INST OF TECH
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