A rigid-flexible collaborative intervention robot

CN116531096BActive Publication Date: 2026-03-13HARBIN UNIV OF SCI & TECH
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Filing Date
2023-04-12
Publication Date
2026-03-13

AI Technical Summary

Technical Problem

Existing minimally invasive interventional surgical robots struggle to achieve high-precision punctures when lesions are located behind important tissues or along difficult puncture paths. Furthermore, the long training period for doctors and hand tremors can lead to significant errors.

Method used

The UR5 robotic arm is combined with the needle insertion mechanism, using a combination of rigid and flexible needles. Through a 5-DOF robotic arm fixing mechanism and a lead screw slide mechanism, high-precision puncture is achieved. Combined with a corrugated suction cup for soft tissue fixation, stability and flexibility are improved.

Benefits of technology

It achieves high-precision puncture, reduces the doctor training cycle, avoids errors caused by hand tremors, and improves the safety and efficiency of surgery.

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Abstract

This invention relates to a rigid-flexible collaborative interventional robot, belonging to the field of medical devices. The invention includes a UR5 robotic arm, a needle insertion mechanism, and a 5-DOF robotic arm fixation mechanism. The main purpose of this invention is to assist surgeons in performing high-precision, short-duration percutaneous interventional surgeries. The robot is highly flexible, using the UR5 robotic arm as its main body to achieve 6DOF posture adjustment. The 5-DOF robotic arm fixation mechanism assists the robot in fixing soft tissue, reducing soft tissue mobility and enabling high-precision puncture. This mechanism has a simple structure and high flexibility, not only reducing the surgeon's workload but also improving surgical accuracy, and to a certain extent achieving lesion puncture techniques that are not possible with traditional surgery.
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Citation Information

Patent Citations

  • Rigid-flexible cooperative intervention robot

    CN219963053U