Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

Prostate puncture robot guided by transrectal ultrasound image

An image-guided, rectal ultrasound technology, applied in the field of medical devices, can solve the problems of low industrialization, low reliability, and low positioning accuracy, and achieve high industrialization, high positioning accuracy, and avoid deformation.

Active Publication Date: 2022-07-22
HARBIN INST OF TECH
View PDF10 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0008] The purpose of the present invention is to solve the problems of low positioning accuracy, low degree of industrialization, large space occupation and low reliability of existing prostate puncture robots, and to provide a prostate puncture robot guided by transrectal ultrasound images

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Prostate puncture robot guided by transrectal ultrasound image
  • Prostate puncture robot guided by transrectal ultrasound image
  • Prostate puncture robot guided by transrectal ultrasound image

Examples

Experimental program
Comparison scheme
Effect test

specific Embodiment approach 1

[0068] Embodiment 1: Combining Figure 1 to Figure 4 , Figure 17 and Figure 18 This embodiment will be described. A transrectal ultrasound image-guided prostate puncture robot of this embodiment is described. The prostate puncture robot includes a base 1, a robotic arm module 2, an arc-shaped telecentric module 3, a puncture needle clamping module 4, and a The ultrasonic probe clamping module 5; the robotic arm module 2 and the ultrasonic probe clamping module 5 are both installed on the base 1, the puncture needle clamping module 4 is the end effector of the prostate puncture robot, and the puncture needle clamping module 4, arc-shaped The telecentric module 3 and the robotic arm module 2 are sequentially connected from the end to the head end; the ultrasonic probe clamping module 5 includes an autorotation joint and a moving joint, and the ultrasonic probe clamping module 5 is used to realize the feeding motion of the ultrasonic probe and rotating motion to meet the need...

specific Embodiment approach 2

[0071] Specific implementation mode 2: Combining figure 1 and figure 2 Illustrating this embodiment, the robot arm module 2 of this embodiment includes a robot arm module base, a first rotating shaft 21 , a first robot arm 22 , a second rotating shaft 23 , a second robot arm 24 , a third rotating shaft 25 , and a robot arm connector 26. The shoulder rotary motor and the elbow rotary motor; the base of the manipulator module is installed on the base 1, the end side of the base of the manipulator module away from the ultrasonic probe clamping module 5 is processed with a gap, and the first manipulator 22 is placed at the head end At the gap of the base of the manipulator module, the head end of the first manipulator 22 is fixedly connected with a first rotating shaft 21, the end of the first rotating shaft 21 is rotatably connected to the base of the manipulator arm module, and the shoulder rotary motor is installed on the base of the manipulator arm module. Inside, the motor ...

specific Embodiment approach 3

[0073] Specific implementation three: combination Figure 3 to Figure 7Describing this embodiment, the pitch arc-shaped member 31 of this embodiment includes a housing b311, an arc-shaped track b312, a slider b313, an absolute encoder b314, an encoder magnetic strip b315, a gear set b316, a motor mounting bracket b317, and a motor b318 The shell b311 is an arc-shaped hollow box, one end face of the shell b311 is fixedly connected with the end of the manipulator connecting piece 26, and the other end face of the shell b311 is machined with an arc-shaped through hole b along the circumferential direction, and the arc-shaped track b312 is the same as The shaft is arranged inside the shell b311; the arc-shaped track b312 includes an arc-shaped rack b3121, a track body b3122 and a guide rail b3123; the track body b3122 is fixedly installed on the inner wall of the shell b311, and the inner circle of the arc-shaped rack b3121 is distributed with a number of teeth , the arc-shaped ra...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention discloses a prostate puncture robot guided by a transrectal ultrasound image, and relates to the field of medical instruments. The prostate puncture robot solves the problems that an existing prostate puncture robot is low in positioning precision, low in industrialization degree, large in occupied space and not high in reliability. A puncture needle clamping module, an arc-shaped telecentric module and a mechanical arm module are sequentially connected from the tail end to the head end, an ultrasonic probe clamping module is used for achieving feeding motion and rotating motion of an ultrasonic probe, and a pitching arc-shaped part is used for achieving pitching motion of a puncture needle of the puncture needle clamping module around a telecentric point. The deflection arc-shaped component is used for achieving deflection movement of a puncture needle of the puncture needle clamping module around a telecentric point, the mechanical arm module is used for supporting the arc-shaped telecentric module to achieve positioning of the telecentric point in space, and the puncture needle clamping module is used for achieving translation needle insertion puncture along a planned puncture path while the puncture needle rotates. The method is used for improving the positioning precision of the puncture needle and is easy to realize industrialization.

Description

technical field [0001] The invention relates to a prostate puncture biopsy operation equipment, in particular to a prostate puncture robot guided by a transrectal ultrasound (TRUS) image, which belongs to the field of medical instruments. Background technique [0002] As the incidence of prostate cancer increases and becomes younger, prostate cancer has become the second most common cancer in men worldwide after lung cancer, and its mortality rate ranks fifth. The study found that there were more than 1.33 million new cases of prostate cancer worldwide in 2017, of which more than 1 / 5 occurred in the United States; followed by China, with more than 140,000 prostate cancer patients in 2017. Therefore, the early diagnosis of prostate cancer has been paid more and more attention. Timely detection and treatment can greatly improve the possibility of cure, and it is also of great significance to improve the success rate of surgery. [0003] At present, among several commonly used...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Applications(China)
IPC IPC(8): A61B17/34A61B8/12A61B90/00A61B10/02A61B34/30A61B34/10
CPCA61B17/3403A61B8/12A61B90/37A61B10/0241A61B34/30A61B34/70A61B34/10A61B2017/3405A61B2017/3409A61B2017/3413A61B2090/378A61B2034/305A61B2034/108
Inventor 付宜利王炜荣
Owner HARBIN INST OF TECH
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com