Magnetic resonance compatible deep brain electrode implantation robot

Abstract

The application provides a magnetic resonance compatible deep brain electrode implanting robot, which comprises a frame, a first driving assembly, a posture adjusting assembly, a first rotating assembly, a pulley assembly, a second driving assembly and a second rotating assembly, the first driving assemblies are symmetrically arranged on the two sides of the frame, the cylinder support of the first driving assembly is fixed on the frame, the posture adjusting assembly is slidably connected with the annular slide rail of the first rotating assembly through a guide pulley, the first rotating assembly and the pulley assembly are symmetrically arranged on the two sides of the frame, the second driving assemblies are symmetrically arranged on the fixed plate of the frame, and the second rotating assembly is located in the middle of the frame, the robot is rapidly positioned by combining hydraulic driving and flexible cable transmission, the position of the puncture needle is adjusted through the posture adjusting assembly, laser sensors and surgical cameras are arranged, the implanting position and the implanting depth of the brain pacemaker are adjusted according to the position information provided by the real-time imaging of the nuclear magnetic scanner, and the accuracy and safety of the minimally invasive directional surgery are effectively improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of medical robots, and in particular relates to a magnetic resonance compatible deep brain electrode implantation robot. Background Art

[0002] Deep brain electrode implantation surgery involves implanting electrodes into specific deep brain nuclei for chronic electrical stimulation. This surgery is plagued by issues such as discrepancies in preoperative and intraoperative imaging, complex surgical procedures, and insufficient precision in manually adjusting the implanted electrodes. An MRI-compatible deep brain electrode implantation robot can address these issues. The robot operates under real-time guidance from magnetic resonance imaging (MRI) and offers advantages such as high precision, accurate movement, and precise feedback.

[0003] In an MRI-compatible deep brain electrode implantation robot system, the robot's driving mode and driving structure are key, as these two factors determine whether the pacemaker electrode can be accurately implanted in the intended location. However, due to the limited space of the MRI scanner and the influence of the strong magnetic field during MRI imaging, conventional driving modes and structures cannot meet the requirements. For example, in the existing motor-driven manipulator structure, the ferromagnetic material of the motor will affect the quality of MRI imaging; the precision of the pneumatic-driven sleeve structure is difficult to control; the long flexible cable mechanism driven by an external motor occupies most of the space in the MRI scanner, and the excessively long flexible cable cannot meet the precision requirements of the MRI robot, making it impossible to perform high-precision surgery. In terms of structure, some current MRI-compatible surgical robot structures occupy a large amount of space in the MRI scanner, but there is no significant improvement in the working space. Summary of the Invention

[0004] In response to the problems existing in the prior art, the present invention provides a magnetic resonance compatible deep brain electrode implantation robot. The annular slide rail and the posture adjustment component are both driven by dual drives. The robot is quickly positioned by combining hydraulic drive and flexible cable transmission. The posture of the puncture needle is adjusted by the posture adjustment component. The needle insertion movement is achieved by a hydraulic cylinder. A laser sensor and a surgical camera are provided to make the robot's positioning of the target point, the needle insertion angle and the needle insertion length more accurate. The hydraulic cylinder is used to ensure sealing, safety and movement stability through combined sealing and rolling diaphragms, which greatly improves the accuracy and safety of minimally invasive directional surgery and makes minimally invasive directional surgery more efficient.

[0005] The present invention provides a magnetic resonance compatible deep brain electrode implantation robot, which includes a frame, a first drive assembly, a posture adjustment assembly, a first rotating assembly, a pulley assembly, a second drive assembly and a second rotating assembly, wherein the first drive assembly is symmetrically arranged on both sides of the frame, the cylinder support of the first drive assembly is arranged on the frame, the posture adjustment assembly is slidably connected to the annular slide rail of the first rotating assembly through a guide pulley, the first rotating assembly and the pulley assembly are symmetrically arranged on both sides of the frame, the second drive assembly is symmetrically arranged on the fixed plate of the frame, and the second rotating assembly is located in the middle of the frame; the posture adjustment assembly includes a puncture needle, a guide tube, a moving platform, a moving electric cylinder, a hydraulic cylinder, an articulated seat, a fixed platform, a mounting plate, a posture adjustment slider, a guide pulley, a fixed column, a laser sensor, a ranging plate and a surgical camera, the puncture needle is inserted into the guide tube and the two are slidably connected, the guide tube is fixed in the middle of the moving platform, the moving platform is connected to the fixed platform through a moving electric cylinder, the moving electric cylinder is arranged on the circumferential side of the moving platform and the fixed platform at equal circumferential angles, and the first The end is rotatably connected to the moving platform through a ball pair, the second end of the moving electric cylinder is rotatably connected to the fixed platform through a hinge seat, the cylinder seat of the hydraulic cylinder abuts the moving platform, and the piston column of the hydraulic cylinder is fixedly connected to the end of the puncture needle, the mounting plate is fixedly connected to the fixed platform, the posture adjustment slider is fixedly installed below the mounting plate, the fixed column is symmetrically arranged at the bottom end of the mounting plate, the laser sensor is mounted on the moving platform, the ranging plate is arranged on the piston column of the hydraulic cylinder, and the surgical camera is arranged on the side of the mounting plate close to the moving platform; the first driving assembly includes a cylinder support, a cylinder connecting plate, a driving frame, a first hydraulic cylinder and a second hydraulic cylinder, the first hydraulic cylinder and the second hydraulic cylinder are respectively fixedly connected to the frame through cylinder supports, the driving frame is an I-shaped structure, the two ends of the driving frame are respectively sleeved on the cylinder bodies of the first hydraulic cylinder and the second hydraulic cylinder, the first hydraulic cylinder and the second hydraulic cylinder are arranged in antiparallel, and the piston columns of the first hydraulic cylinder and the second hydraulic cylinder are fixedly connected to the two ends of the driving frame, and the cylinder connecting plate is fixedly connected to the middle part of the driving frame;The first rotating assembly includes an annular slide rail, a connecting seat, a rotating shaft, a rolling bearing, a first pulley, a second pulley, a third pulley, a first transmission belt, a first tensioning pulley, a swing cylinder seat, a first swing cylinder, a second swing cylinder, a toothed belt mounting plate and a toothed belt, the connecting seat is symmetrically mounted at both ends of the annular slide rail, the rotating shaft passes through the connecting seat, and the rotating shaft is rotatably connected to the fixed plate through a rolling bearing, the first pulley is sleeved on the rotating shaft, the first pulley is meshed with the second pulley through the first transmission belt, the second pulley and the third pulley are coaxially arranged, the first tensioning pulley is located between the first pulley and the second pulley, and the first tensioning pulley is in contact with the outer side of the first conveyor belt, the second pulley and the third pulley are rotatably connected to the swing cylinder seat through a connecting shaft, the first swing cylinder and the second swing cylinder are arranged in the same direction and are respectively located on both sides of the third pulley, the toothed belt mounting plate is respectively fixedly connected to the ends of the piston columns in the first swing cylinder and the second swing cylinder, the toothed belt is meshed with the third pulley, and the toothed belt is fixedly connected to the toothed belt mounting plate. ;

[0006] Preferably, the pulley assembly includes a first pulley, a second pulley, a third pulley, a fourth pulley, a fifth pulley, a sixth pulley, a small pulley, a flexible cable, a pulley seat and a fixed ring, the first pulley and the second pulley are vertically arranged and are both fixedly mounted on the connecting seat, the fourth pulley and the fifth pulley are symmetrically arranged on the slider connector, the third pulley and the sixth pulley are symmetrically arranged on the pulley seat, the first end of the flexible cable is fixedly connected to the fixed column, the flexible cable is sequentially wound around the first pulley, the second pulley, the third pulley, the fourth pulley, the fifth pulley and the sixth pulley, and the second end of the flexible cable is fixedly connected to the fixed ring.

[0007] Preferably, the second drive assembly includes a ball screw, a slider, a screw seat, a drive motor, a slider connector, a photoelectric switch and a limit plate, the first end of the ball screw is connected to the output shaft of the drive motor, the second end of the ball screw is rotatably connected to the screw seat through a bearing, the slider is mounted on the ball screw and the two are slidably connected, the slider connector is fixedly connected to the slider, the photoelectric switch is symmetrically arranged on both sides of the slider, and the limit plate is arranged on the slider connector.

[0008] Preferably, the second rotating component includes a driven pulley, a driving pulley, a second transmission belt, a second tensioner, a transmission shaft, a bidirectional reducer and a rotating motor, the driven pulley is mounted on the rotating shaft of the first rotating component, the driving pulley is meshed with the driven pulley through the second transmission belt, the driving pulley is connected to the first end of the transmission shaft, the second tensioner is located between the driven pulley and the driving pulley and is in contact with the outer side of the second transmission belt, the output shaft of the bidirectional reducer is connected to the second end of the transmission shaft through a coupling, the output shaft of the rotating motor is connected to the bidirectional reducer, and the rotating motor is fixedly connected to the base through a motor seat.

[0009] Preferably, a head support is provided in the middle of the frame, and the head support is located in front of the second rotating assembly.

[0010] Preferably, fixing plates are symmetrically provided on both sides of the base, and an arc groove is provided on the fixing plate near the first tensioning wheel. The wheel axle shared by the first tensioning wheel and the second tensioning wheel slides in the arc groove, and the wheel axle is clamped and fixed at any position of the arc groove by a two-way stud.

[0011] Preferably, both sides of the annular slide rail are provided with slide grooves, and the posture adjustment slider slides on the annular slide rail by cooperating with the slide grooves through a guide pulley.

[0012] Preferably, the axis of the first pulley is perpendicular to the axis of the second pulley, the axes of the second pulley, the third pulley, the fourth pulley, the fifth pulley and the sixth pulley are parallel to each other, the third pulley is located above the sixth pulley, the fourth pulley is located above the fifth pulley, the small pulleys are arranged in parallel on the connecting seat of the first rotating component, and the axis of the small pulley is parallel to the axis of the first pulley.

[0013] Preferably, the movement direction of the piston columns in the first swing cylinder and the second swing cylinder is the same as the rotation direction of the second pulley.

[0014] The characteristics and beneficial effects of the present invention are:

[0015] 1. The magnetic resonance-compatible deep brain electrode implantation robot provided by the present invention adopts dual drive for the movement of the annular slide rail and the posture adjustment component. The swing hydraulic cylinder engages with the pulley through a toothed belt to drive the pulley to rotate, thereby driving the annular slide rail and the posture adjustment component to rotate as a whole. The flexible cable is driven by the drive assembly to move. The flexible cable, with the cooperation of the pulleys in the pulley assembly, causes the posture adjustment component to slide on the annular slide rail to achieve positioning.

[0016] 2. The MRI-compatible deep brain electrode implantation robot provided by the present invention adopts a combination of hydraulic drive and flexible cable transmission to achieve rapid positioning of the robot, realizes the posture adjustment movement of the puncture needle through the posture adjustment component, and the needle insertion movement is achieved by a hydraulic cylinder. In addition, a laser sensor and a surgical camera are provided to make the robot's positioning of the target point, the needle insertion angle and the needle insertion length more accurate.

[0017] 3. The MRI-compatible deep brain electrode implantation robot provided by the present invention is set on the moving bed of the MRI scanner. After MRI imaging, the spatial position of the target point is determined. After the target point position is determined, the position information is input into the robot's control system. The robot will move the puncture needle on the horizontal slide to the input coordinate position, thereby accurately and quickly introducing the puncture needle into the skull for treatment.

[0018] 4. The MRI-compatible deep brain electrode implantation robot provided by this invention utilizes a flexible cable-driven traction mechanism to position the puncture needle robot within the MRI scanner, covering the patient's entire head. The robot's overall structure and key components are constructed from MRI-compatible materials, effectively preventing interference with MRI imaging. It offers advantages such as a compact structure, a wide operating range, and precise positioning.

[0019] 5. The magnetic resonance compatible deep brain electrode implant robot provided by the present invention has a rotating component that realizes linear reciprocating motion and rotation by a combination of single-acting hydraulic cylinders. Each single-acting hydraulic cylinder ensures sealing, safety and motion stability through a combination of seals and rolling diaphragms, and has the advantages of smooth transmission, high precision and fast response speed. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the overall structure of the magnetic resonance compatible deep brain electrode implant robot of the present invention;

[0021] Figure 2 2. It is a schematic structural diagram of the magnetic resonance compatible deep brain electrode implantation robot of the present invention;

[0022] Figure 3 2. It is a schematic structural diagram of the magnetic resonance compatible deep brain electrode implantation robot of the present invention;

[0023] Figure 4 1 is a schematic side view of the entirety of the magnetic resonance compatible deep brain electrode implant robot of the present invention;

[0024] Figure 5 It is a structural diagram of the posture adjustment component in the present invention;

[0025] Figure 6 It is a structural diagram of the coordination between the posture adjustment component and the annular slide rail in the present invention.

[0026] Main reference numerals:

[0027] Frame 1, base 11, head support 12, fixed plate 13, first drive assembly 2, cylinder support 21, cylinder connecting plate 22, drive frame 23, first hydraulic cylinder 24, second hydraulic cylinder 25, posture adjustment assembly 3, puncture needle 301, guide tube 302, moving platform 303, moving electric cylinder 304, hydraulic cylinder 305, articulated seat 306, fixed platform 307, mounting plate 308, posture adjustment slider 309, guide pulley 310, fixed column 311, laser sensor 312, ranging plate 313, surgical camera 314, first rotating assembly 4, annular slide rail 401, connecting seat 402, rotating shaft 403, rolling bearing 404, first pulley 405, second pulley 406, third pulley 407, first transmission belt 408, First tensioning pulley 409, swing cylinder seat 410, first swing cylinder 411, second swing cylinder 412, toothed belt mounting plate 413, toothed belt 414, pulley assembly 5, first pulley 501, second pulley 502, third pulley 503, fourth pulley 504, fifth pulley 505, sixth pulley 506, small pulley 507, flexible rope 508, pulley seat 509, fixing ring 510, second driving assembly 6, ball screw 61, slider 62, screw seat 63, driving motor 64, slider connector 65, photoelectric switch 66, limit plate 67, second rotating assembly 7, driven pulley 71, driving pulley 72, second transmission belt 73, second tensioning pulley 74, transmission shaft 75, bidirectional reducer 76, rotating motor 77. DETAILED DESCRIPTION

[0028] To fully describe the technical content, structural features, objectives and effects of the present invention, the following is a detailed description with reference to the accompanying drawings.

[0029] The present invention discloses a magnetic resonance compatible brain electrode implantation robot, in particular a magnetic resonance compatible deep brain electrode implantation robot. Figure 1 As shown, it includes a frame 1, a first drive component 2, a posture adjustment component 3, a first rotating component 4, a pulley assembly 5, a second drive component 6 and a second rotating component 7. The first drive component 2 is symmetrically arranged on both sides of the frame 1, and the cylinder support 21 of the first drive component 2 is fixedly mounted on the frame 1. The posture adjustment component 3 is rollingly connected to the annular slide rail 401 of the first rotating component 4 through the guide pulley 310. The first rotating component 4 and the pulley assembly 5 are symmetrically arranged on both sides of the frame 1. The second drive component 6 is symmetrically arranged on the fixed plate 13 of the frame 1. The second rotating component 7 is located in the middle of the frame 1. A head support 12 is provided in the middle of the frame 1, and the head support 12 is located in front of the second rotating component 7.

[0030] like Figure 2As shown, the first drive assembly 2 includes a cylinder support 21, a cylinder connecting plate 22, a drive frame 23, a first hydraulic cylinder 24 and a second hydraulic cylinder 25. The first hydraulic cylinder 24 and the second hydraulic cylinder 25 are respectively fixedly connected to the frame 1 through the cylinder support 21. The drive frame 23 is an I-shaped structure. The two ends of the drive frame 23 are respectively mounted on the cylinder bodies of the first hydraulic cylinder 25 and the second hydraulic cylinder 26. The first hydraulic cylinder 24 and the second hydraulic cylinder 25 are arranged in reverse parallel, and the piston columns of the first hydraulic cylinder 24 and the second hydraulic cylinder 25 are fixedly connected to the two ends of the drive frame 23. The cylinder connecting plate 22 is fixedly connected to the middle part of the drive frame 23.

[0031] The first rotating assembly 4 includes an annular slide rail 401, a connecting seat 402, a rotating shaft 403, a rolling bearing 404, a first pulley 405, a second pulley 406, a third pulley 407, a first transmission belt 408, a first tensioning wheel 409, a swing cylinder seat 410, a first swing cylinder 411, a second swing cylinder 412, a toothed belt mounting plate 413 and a toothed belt 414. Slide grooves are provided on both sides of the annular slide rail 401. The posture adjustment slider 309 cooperates with the slide groove through the guide pulley 310 to slide on the annular slide rail 401. The connecting seat 402 is symmetrically mounted at both ends of the annular slide rail 401. The rotating shaft 403 is passed through the connecting seat 402 and is rotatably connected to the side plate of the frame 1 through the rolling bearing 404. The first pulley 405 is mounted on the rotating shaft 403. The first pulley 405 is connected to the first transmission belt 4 08 is meshed with the second pulley 406 for transmission, the second pulley 406 is coaxially arranged with the third pulley 407, the first tensioning pulley 409 is located between the first pulley 405 and the second pulley 406 and the first tensioning pulley 409 is in contact with the outer side of the first conveyor belt 408, the second pulley 406 and the third pulley 407 are rotatably connected to the swing cylinder seat 410 through the connecting shaft, the first swing cylinder 411 and the second swing cylinder 412 are arranged in the same direction and are respectively located on both sides of the third pulley 407, the movement direction of the piston column in the first swing cylinder 411 and the second swing cylinder 412 is the same as the rotation direction of the second pulley 406, the toothed belt mounting plates 413 are respectively arranged at the ends of the piston columns in the first swing cylinder 411 and the second swing cylinder 412, the toothed belt 414 is meshed with the third pulley 407, and the toothed belt 414 is fixedly connected to the toothed belt mounting plate 413. The base 11 is provided with fixed plates 13 symmetrically on both sides. The fixed plates 13 are provided with arc grooves near the first tensioning wheel 409. The axles of the first tensioning wheel 409 and the second tensioning wheel 74 slide in the arc grooves, and the axles are clamped and fixed at any position of the arc grooves by bidirectional studs.

[0032] like Figure 2 and Figure 3As shown, the second drive assembly 6 includes a ball screw 61, a slider 62, a screw seat 63, a drive motor 64, a slider connector 65, a photoelectric switch 66 and a limit plate 67. The first end of the ball screw 61 is connected to the output shaft of the drive motor 64, and the second end of the ball screw 61 is rotatably connected to the screw seat 63 through a bearing. The slider 62 is mounted on the ball screw 61 and the two are slidably connected. The slider connector 65 is fixedly installed on the slider 62, the photoelectric switch 66 is symmetrically arranged on both sides of the slider 62, and the limit plate 67 is arranged on the slider connector 65. The second rotating assembly 7 includes a driven pulley 71, a driving pulley 72, a second transmission belt 73, a second tensioning pulley 74, a transmission shaft 75, a bidirectional reducer 76 and a rotating motor 77. The driven pulley 71 is mounted on the rotating shaft 403 of the first rotating assembly 4. The driving pulley 72 is engaged with the driven pulley 71 through the second transmission belt 73. The driving pulley 72 is connected to the first end of the transmission shaft 75. The second tensioning pulley 74 is located between the driven pulley 71 and the driving pulley 72 and is in contact with the outer side of the second transmission belt 73. The output shaft of the bidirectional reducer 76 is connected to the second end of the transmission shaft 75 through a coupling. The output shaft of the rotating motor 77 is connected to the bidirectional reducer 76. The rotating motor 77 is fixedly connected to the base through a motor seat.

[0033] like Figure 4 As shown, the pulley assembly 5 includes a first pulley 501, a second pulley 502, a third pulley 503, a fourth pulley 504, a fifth pulley 505, a sixth pulley 506, a small pulley 507, a flexible cable 508, a pulley seat 509 and a fixed ring 510. The first pulley 501 and the second pulley 502 are arranged vertically and are both fixedly mounted on the connecting seat 402. The fourth pulley 504 and the fifth pulley 505 are symmetrically arranged on the slider connector 65. The third pulley 503 and the sixth pulley 506 are symmetrically arranged on the pulley seat 509. A first end of the flexible cable 508 is fixedly connected to the fixed column 311. The flexible cable 508 is sequentially wound around the first pulley 501, the second pulley 502, the third pulley 503, the fourth pulley 504, the fifth pulley 505 and the sixth pulley 506. A second end of the flexible cable 508 is fixedly connected to the fixed ring 510. The axis of the first pulley 501 is perpendicular to the axis of the second pulley 502, and the axes of the second pulley 502, the third pulley 503, the fourth pulley 504, the fifth pulley 505 and the sixth pulley 506 are parallel to each other. The third pulley 503 is located above the sixth pulley 506, and the fourth pulley 504 is located above the fifth pulley 505. The small pulley 507 is arranged in parallel on the connecting seat 402 of the first rotating component 4, and the axis of the small pulley 507 is parallel to the axis of the first pulley 501.

[0034] like Figure 5 and Figure 6As shown, the posture adjustment component 3 includes a puncture needle 301, a guide tube 302, a moving platform 303, a moving electric cylinder 304, a hydraulic cylinder 305, a hinged seat 306, a fixed platform 307, a mounting plate 308, a posture adjustment slider 309, a guide pulley 310, a fixed column 311, a laser sensor 312, a distance measuring plate 313 and a surgical camera 314. The puncture needle 301 is inserted into the guide tube 302 and the two are slidably connected. The guide tube 302 is fixedly installed in the middle of the moving platform 303. The moving platform 303 is connected to the fixed platform 307 through the moving electric cylinder 303. The moving electric cylinder 303 is arranged circumferentially on the sides of the moving platform 303 and the fixed platform 307 at intervals of 120 degrees. The moving electric cylinder 30 The first end of 4 is rotatably connected to the moving platform 1 through a ball pair, the second end of the moving electric cylinder 304 is rotatably connected to the fixed platform 1 through a hinged seat 306, the cylinder seat of the hydraulic cylinder 305 abuts on the moving platform 303, and the piston column of the hydraulic cylinder 305 is fixedly connected to the end of the puncture needle 301, the first end surface of the mounting plate 308 is fixedly connected to the fixed platform 307, the posture adjustment slider 309 is fixedly installed below the mounting plate 308, the fixed column 311 is symmetrically arranged at the bottom end of the mounting plate 308, the laser sensor 312 is installed on the moving platform 303, the ranging plate 313 is arranged on the piston column of the hydraulic cylinder 305, and the surgical camera 314 is installed on the side of the mounting plate 308 close to the moving platform 303.

[0035] The magnetic resonance-compatible deep brain electrode implant robot of the present invention has two driving modes. The first driving mode is: the first driving component 2 drives the fixed ring 510 of the fixed flexible cable 508 to move, thereby driving the posture adjustment component 3 to slide on the annular slide rail 401, and the first rotating component 4 drives the annular slide rail 401 to rotate around the base 11 through the swing cylinder combination; the second driving mode is: the ball screw 61 in the second driving component 6 drives the flexible cable 508 on the slider 62 to move, thereby driving the posture adjustment component 3 to slide on the annular slide rail 401, and the second rotating component 7 drives the annular slide rail 401 to rotate around the base 11 through the reducer and the pulley.

[0036] The following is a further description of the magnetic resonance compatible deep brain electrode implantation robot of the present invention with reference to the embodiments:

[0037] The robot is placed on the platform of the MRI scanner, near the head of the user, and the user lies on the platform of the MRI scanner with his head on the head support 12 of the rack 1 .

[0038] First, the two peristaltic hydraulic pumps outside the MRI room are connected to the electrode implantation robot inside the MRI scanner through long catheters. The first peristaltic pump is connected to the inlet and outlet of the first hydraulic cylinder 24 and the second hydraulic cylinder 25 through the catheter, and the second peristaltic pump is connected to the inlet and outlet of the first swing cylinder 411 and the second swing cylinder 412 through the catheter and the multi-way connector. The MRI scanner is started, and the position of the robot and the MRI image of the user's head will be displayed on the monitor of the MRI scanner. After determining the location of the user's lesion, the robot's control system controls the rotation speed and direction of the first peristaltic pump. , which changes the liquid volume and hydraulic pressure of the first hydraulic cylinder 24 and the second hydraulic cylinder 25, thereby causing the piston columns of the first hydraulic cylinder 24 and the second hydraulic cylinder 25 to move in opposite directions, and through the cylinder connecting plate 22, the drive frame 23 and the slider connector 65 fixedly connected thereto, the slider 62 moves on the ball screw 61, driving the extension and retraction of the flexible cable 508, and the direction of the flexible cable 508 is changed by the cooperation of the pulleys in the pulley assembly 5. Since the end of the flexible cable 508 is connected to the posture adjustment slider 309, the posture adjustment slider 309 slides on the annular slide rail 401 to achieve circumferential positioning. After circumferential positioning, the second peristaltic pump is turned on to change the liquid volume and hydraulic pressure of the first swing cylinder 411 and the second swing cylinder 412. The piston column of the first swing cylinder 411 is extended and the piston column of the second swing cylinder 412 is retracted, so that the third pulley 407 rotates, and the third pulley 407 rotates coaxially with the second pulley 406. The second pulley 406 and the first pulley 405 are engaged and transmitted through the first transmission belt 408, so that the first pulley 405, the rotating shaft 403, the connecting seat 402 and the annular slide rail 401 rotate synchronously, realizing the axial positioning of the posture adjustment component 3 around the rotating shaft 403.

[0039] After the robot completes the positioning, the robot's needle insertion posture is continuously corrected according to the real-time image of the MRI scanner, so that the posture adjustment component 3 continuously adjusts its posture. At the same time, the piston column of the hydraulic cylinder 305 extends to push the implanted electrode to move, and finally the implanted electrode is accurately placed.

[0040] The embodiments described above are merely descriptions of preferred implementations of the present invention and are not intended to limit the scope of the present invention. Without departing from the spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should fall within the scope of protection determined by the claims of the present invention.

Claims

1. A magnetic resonance compatible deep brain electrode implantation robot, characterized in that: It includes a frame, a first driving assembly, a posture adjustment assembly, a first rotating assembly, a pulley assembly, a second driving assembly and a second rotating assembly. The first drive assembly is symmetrically arranged on both sides of the frame, the cylinder support of the first drive assembly is fixed to the frame, the posture adjustment assembly is slidably connected to the annular slide rail of the first rotation assembly via a guide pulley, the first rotation assembly and the pulley assembly are symmetrically arranged on both sides of the frame, the second drive assembly is symmetrically arranged on the fixed plate of the frame, and the second rotation assembly is located in the middle of the frame; The posture adjustment assembly includes a puncture needle, a guide tube, a moving platform, a moving electric cylinder, a hydraulic cylinder, an articulated seat, a fixed platform, a mounting plate, a posture adjustment slider, a guide pulley, a fixed column, a laser sensor, a ranging plate and a surgical camera. The puncture needle is inserted into the guide tube and the two are slidably connected. The guide tube is fixed to the middle of the moving platform. The moving platform is connected to the fixed platform through a moving electric cylinder. The moving electric cylinders are arranged on the circumferential sides of the moving platform and the fixed platform at equal circumferential angles. The first end of the moving electric cylinder is rotatably connected to the moving platform through a ball pair, and the second end of the moving electric cylinder is rotatably connected to the fixed platform through an articulated seat. The cylinder seat of the hydraulic cylinder abuts against the moving platform, and the piston column of the hydraulic cylinder is fixedly connected to the end of the puncture needle. The mounting plate is fixedly connected to the fixed platform. The posture adjustment slider is fixedly installed below the mounting plate, the fixed column is symmetrically arranged at the bottom end of the mounting plate, the laser sensor is mounted on the moving platform, the ranging plate is arranged on the piston column of the hydraulic cylinder, and the surgical camera is arranged on the side of the mounting plate close to the moving platform. The first drive assembly includes a cylinder support, a cylinder connecting plate, a drive frame, a first hydraulic cylinder and a second hydraulic cylinder, wherein the first hydraulic cylinder and the second hydraulic cylinder are respectively fixedly connected to the frame via the cylinder support, the drive frame is an I-shaped structure, and the two ends of the drive frame are respectively sleeved on the cylinder bodies of the first hydraulic cylinder and the second hydraulic cylinder, the first hydraulic cylinder and the second hydraulic cylinder are arranged in antiparallel, and the piston rods of the first hydraulic cylinder and the second hydraulic cylinder are fixedly connected to the two ends of the drive frame, and the cylinder connecting plate is fixedly connected to the middle part of the drive frame; The first rotating assembly includes an annular slide rail, a connecting seat, a rotating shaft, a rolling bearing, a first pulley, a second pulley, a third pulley, a first transmission belt, a first tensioning pulley, a swing cylinder seat, a first swing cylinder, a second swing cylinder, a toothed belt mounting plate and a toothed belt, the connecting seat is symmetrically mounted at both ends of the annular slide rail, the rotating shaft is passed through the connecting seat, and the rotating shaft is rotatably connected to the fixed plate through a rolling bearing, the first pulley is sleeved on the rotating shaft, the first pulley is meshed with the second pulley for transmission through the first transmission belt, and the second belt The pulley is coaxially arranged with the third pulley, the first tensioning pulley is located between the first pulley and the second pulley, and the first tensioning pulley is in contact with the outer side of the first conveyor belt, the second pulley and the third pulley are rotatably connected to the swing cylinder seat through a connecting shaft, the first swing cylinder and the second swing cylinder are arranged in the same direction and are respectively located on both sides of the third pulley, the toothed belt mounting plate is fixedly connected to the piston column ends of the first swing cylinder and the second swing cylinder respectively, the toothed belt is meshed with the third pulley, and the toothed belt is fixedly connected to the toothed belt mounting plate.

2. The magnetic resonance compatible deep brain electrode implantation robot according to claim 1, characterized in that: The pulley assembly includes a first pulley, a second pulley, a third pulley, a fourth pulley, a fifth pulley, a sixth pulley, a small pulley, a flexible cable, a pulley seat and a fixed ring. The first pulley and the second pulley are vertically arranged and are both fixedly mounted on the connecting seat. The fourth pulley and the fifth pulley are symmetrically arranged on the slider connector. The third pulley and the sixth pulley are symmetrically arranged on the pulley seat. The first end of the flexible cable is fixedly connected to the fixed column. The flexible cable is sequentially wound around the first pulley, the second pulley, the third pulley, the fourth pulley, the fifth pulley and the sixth pulley. The second end of the flexible cable is fixedly connected to the fixed ring.

3. The magnetic resonance compatible deep brain electrode implantation robot according to claim 1, characterized in that: The second drive assembly includes a ball screw, a slider, a screw seat, a drive motor, a slider connector, a photoelectric switch and a limit plate. The first end of the ball screw is connected to the output shaft of the drive motor, and the second end of the ball screw is rotatably connected to the screw seat through a bearing. The slider is mounted on the ball screw and the two are slidably connected. The slider connector is fixedly connected to the slider. The photoelectric switches are symmetrically arranged on both sides of the slider. The limit plate is fixed to the slider connector.

4. The magnetic resonance compatible deep brain electrode implantation robot according to claim 1, characterized in that: The second rotating assembly includes a driven pulley, a driving pulley, a second transmission belt, a second tensioning pulley, a transmission shaft, a bidirectional reducer and a rotating motor. The driven pulley is mounted on the rotating shaft of the first rotating assembly, the driving pulley is engaged with the driven pulley through the second transmission belt, the driving pulley is connected to the first end of the transmission shaft, the second tensioning pulley is located between the driven pulley and the driving pulley and is in contact with the outer side of the second transmission belt, the output shaft of the bidirectional reducer is connected to the second end of the transmission shaft through a coupling, the output shaft of the rotating motor is connected to the bidirectional reducer, and the rotating motor is fixedly connected to the base through a motor seat.

5. The magnetic resonance compatible deep brain electrode implantation robot according to claim 1, characterized in that: A head support is provided in the middle of the frame, and the head support is located in front of the second rotating component.

6. The magnetic resonance compatible deep brain electrode implantation robot according to claim 1, characterized in that: A fixing plate is symmetrically provided on both sides of the base, and an arc groove is provided on the fixing plate near the first tensioning wheel. The wheel axle shared by the first tensioning wheel and the second tensioning wheel slides in the arc groove, and the wheel axle is clamped and fixed at any position of the arc groove by a bidirectional stud.

7. The magnetic resonance compatible deep brain electrode implantation robot according to claim 1, characterized in that: Slide grooves are provided on both sides of the annular slide rail, and the posture adjustment slider slides on the annular slide rail by cooperating with the slide grooves through a guide pulley.

8. The magnetic resonance compatible deep brain electrode implantation robot according to claim 2, characterized in that: The axis of the first pulley is perpendicular to the axis of the second pulley, the axes of the second pulley, the third pulley, the fourth pulley, the fifth pulley and the sixth pulley are parallel to each other, the third pulley is located above the sixth pulley, the fourth pulley is located above the fifth pulley, the small pulleys are arranged in parallel on the connecting seat of the first rotating component, and the axis of the small pulley is parallel to the axis of the first pulley.

9. The magnetic resonance compatible deep brain electrode implantation robot according to claim 1, characterized in that: The movement direction of the piston columns in the first swing cylinder and the second swing cylinder is the same as the rotation direction of the second pulley.

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