Intelligent prostate puncture robot
The intelligent prostate puncture robot, utilizing components such as a mobile lifting support and a three-axis slide, achieves automation and precise guidance for prostate puncture, solving the problems of unstable accuracy and needle deviation in existing technologies, and improving the accuracy and stability of puncture.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- JIANHU COUNTY PEOPLES HOSPITAL
- Filing Date
- 2026-04-17
- Publication Date
- 2026-06-09
AI Technical Summary
Current prostate biopsy techniques rely on manual operation, resulting in inconsistent accuracy, easy needle deviation, low target hit rate, and numerous false negative results.
Design an intelligent prostate puncture robot, which uses components such as a mobile lifting support, turntable, linear drive mechanism, slide rail, probe fixing support, three-axis slide and guide sleeve, etc., to achieve automated puncture through controller, ensuring accurate guidance and stability of puncture needle.
It improves puncture accuracy, reduces the probability of false negative results, and achieves highly accurate and stable automated puncture operation.
Smart Images
Figure CN122163326A_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of prostate puncture technology, specifically relating to an intelligent prostate puncture robot. Background Technology
[0002] Prostate cancer is one of the most common malignant tumors in men, and its diagnosis is based on prostate biopsy. Currently, the widely used biopsy method in clinical practice is transrectal ultrasound-guided systematic biopsy, combined with fusion imaging of magnetic resonance and ultrasound to target suspicious lesions. However, existing techniques still have the following limitations: First, while existing fusion technologies can assist in localization, the puncture procedure still heavily relies on the physician's manual operation, including aiming the puncture needle and controlling the firing angle and depth. This manual operation method is easily affected by human factors such as the physician's experience, hand stability, and fatigue, leading to unstable puncture accuracy and the risk of target deviation and inaccurate sampling location.
[0003] Secondly, existing equipment lacks stable guidance throughout the puncture path. During tissue insertion, the puncture needle may bend or deviate due to tissue resistance, further reducing the target hit rate and increasing the probability of false negative results.
[0004] Therefore, there is an urgent need to develop a robot that can achieve high precision, high stability, and automated puncture. Summary of the Invention
[0005] To address the problems existing in the prior art, this invention discloses an intelligent prostate puncture robot, and specifically discloses the following technical solutions: An intelligent prostate biopsy robot includes a movable lifting support. A turntable is mounted on the top of the movable lifting support. A first linear drive mechanism is fixedly mounted on the upper surface of the turntable. A slide rail perpendicular to the movement direction of the first linear drive mechanism is provided on the upper surface of the output end of the first linear drive mechanism. A probe fixing bracket is slidably mounted on the slide rail for fixing an ultrasound probe. A platform plate is fixedly mounted on the top of the probe fixing bracket. A three-axis slide is fixedly mounted on the upper surface of the platform plate. A biopsy gun fixing seat is fixedly connected to the output end of the three-axis slide for fixing the biopsy gun. A mounting guide rail is fixedly connected to the side of the biopsy gun fixing seat. A support rod parallel to the biopsy gun's puncture needle is slidably mounted in the mounting guide rail. A guide sleeve for providing support and guidance for the puncture needle is fixedly connected to the other end of the support rod. The puncture needle passes through a through hole in the center of the guide sleeve. It also includes a controller, and the three-axis slide and the ultrasound host are all electrically connected to the controller.
[0006] Furthermore, the movable lifting support includes a base, the bottom of which is provided with a universal wheel with a locking device, and the top of the base is fixedly connected to an adjustable support column. The turntable is rotatably mounted on the top of the adjustable support column, and a drive mechanism for driving the turntable to rotate is provided on the top side wall of the adjustable support column.
[0007] Furthermore, the drive mechanism includes an L-shaped bracket, a rotating shaft, a first bevel gear, and a first rotating handle. The L-shaped bracket is fixedly connected to the top side wall of the adjustable support column. The rotating shaft is rotatably mounted on the L-shaped bracket. The first bevel gear is fixedly mounted on the end of the rotating shaft near the adjustable support column. The first rotating handle is fixedly mounted on the end of the rotating shaft away from the adjustable support column. A second bevel gear is fixedly connected to the bottom surface of the turntable around the adjustable support column. The first bevel gear meshes with the second bevel gear.
[0008] Furthermore, the adjustable support column includes an outer tube and a telescopic rod. The bottom end of the outer tube is fixedly connected to the base, and the telescopic rod is slidably installed inside the top end of the outer tube. A tightening bolt is installed on the side of the outer tube for tightening and fixing the telescopic rod.
[0009] Furthermore, the first linear drive mechanism includes two horizontally and parallel first guide rails. Fixed plates are fixedly connected between the front ends and the rear ends of the two first guide rails, and a first lead screw is rotatably installed between the two fixed plates. One end of the first lead screw passes through the rear fixed plate and is fixedly connected to a second rotating handle. A first slide block is threaded onto the first lead screw. The two sides of the first slide block are slidably installed on the two first guide rails, and the slide rails are fixedly installed on the upper surface of the first slide block.
[0010] Furthermore, the probe fixing bracket includes a U-shaped seat, which is slidably mounted on the slide rail. An ultrasound probe support is fixedly installed inside the U-shaped seat, and a conformal fixing buckle is installed on the ultrasound probe support. The conformal fixing buckle is used to fix the ultrasound probe on the ultrasound probe support.
[0011] Furthermore, a first support plate is fixedly connected to the top of one end of the first slide, and an adjusting bolt is threaded onto the first support plate. One end of the adjusting bolt is rotatably connected to the outer wall of one end of the U-shaped seat.
[0012] Furthermore, the three-axis slide includes an X-axis linear slide, a Y-axis linear slide, and a Z-axis linear slide. There are two Y-axis linear slides, and the two Y-axis linear slides are synchronously driven by the same first drive motor through a transmission assembly. There are also two Z-axis linear slides, which are respectively fixedly connected to the output ends of the two Y-axis linear slides and are synchronously driven by the same second drive motor through a transmission assembly. The two ends of the X-axis linear slide are respectively fixed to the output ends of the two Z-axis linear slides, and the X-axis linear slide is driven by a third drive motor. The biopsy gun holder is fixedly connected to the output end of the X-axis linear slide.
[0013] Furthermore, one end of the support rod is slidably mounted inside the mounting guide rail, and a spring is fixedly connected between the end of the support rod and the inner end face of the mounting guide rail.
[0014] Compared with the prior art, the beneficial effects of the present invention are as follows: This invention uses a controller to control a three-axis slide to drive the biopsy gun to perform puncture operations at pre-calculated positions and depths, thereby improving puncture accuracy and avoiding the risks and errors caused by manual operation.
[0015] The biopsy gun holder has a support rod installed on its side, parallel to the biopsy gun's puncture needle. The other end of the support rod is fixedly connected to a guide sleeve for providing support and guidance for the puncture needle. The puncture needle passes through a through hole in the center of the guide sleeve. The guide sleeve can provide guidance and support for the puncture needle, preventing the puncture needle from bending and deviating due to resistance, thereby further improving the accuracy of puncture and reducing the probability of false negative results. Attached Figure Description
[0016] Figure 1 This is a schematic diagram of the overall structure of the present invention.
[0017] Figure 2 This is the front view of the present invention.
[0018] Figure 3 for Figure 2 A magnified view of a portion of point A in the middle.
[0019] Figure 4 This is a schematic diagram of the first linear drive mechanism in this invention.
[0020] Figure 5 This is a schematic diagram of the structure of the three-axis slide in this invention.
[0021] 1-Base, 2-Universal caster, 3-Adjustable support column, 4-Turntable, 5-L-shaped bracket, 6-Rotating shaft, 7-First bevel gear, 8-First handle, 9-Second bevel gear, 10-First linear drive mechanism, 1001-First guide rail, 1002-Fixing plate, 1003-First lead screw, 1004-Second handle, 1005-First slide block, 11-Probe mounting bracket, 1101-U-shaped base, 110 2-Ultrasound probe support, 1103-Conformal fixing buckle, 12-Platform plate, 13-Three-axis slide, 1301-X-axis linear slide, 1302-Y-axis linear slide, 1303-Z-axis linear slide, 14-Biopsy gun mounting base, 15-Biopsy gun, 16-Puncture needle, 17-Support rod, 18-Guide sleeve, 19-Ultrasound probe, 20-First support plate, 21-Adjusting bolt, 22-Mounting guide rail. Detailed Implementation
[0022] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.
[0023] Reference Figures 1-5 An intelligent prostate biopsy robot includes a movable lifting support. A turntable 4 is rotatably mounted on the top of the movable lifting support. A first linear drive mechanism 10 is fixedly mounted on the upper surface of the turntable 4. A slide rail perpendicular to the movement direction of the first linear drive mechanism 10 is provided on the upper surface of the output end of the first linear drive mechanism 10. A probe fixing bracket 11 is slidably mounted on the slide rail for fixing an ultrasound probe 19. The ultrasound probe 19 is connected to the ultrasound host via a circuit. A flat... A platform 12 is mounted on the upper surface of the platform 12. A three-axis slide 13 is fixedly connected to the output end of the three-axis slide 13 for fixing the biopsy gun 15. A mounting guide 22 is fixedly connected to the side of the biopsy gun mounting base 14. A support rod 17 parallel to the puncture needle 16 of the biopsy gun 15 is slidably mounted in the mounting guide 22. The other end of the support rod 17 is fixedly connected to a guide sleeve 18 for providing support and guidance for the puncture needle 16. The puncture needle 16 passes through the through hole in the center of the guide sleeve 18. It also includes a controller, a three-axis slide 13, and an ultrasound host, all of which are electrically connected to the controller.
[0024] In this embodiment, the movable lifting support includes a base 1. The bottom end of the base 1 is provided with a universal wheel 2 with a locking device, which can be easily moved or paused at a certain position. An adjustable support column 3 is fixedly connected to the top end of the base 1. The length of the adjustable support column 3 can be adjusted. The turntable 4 is rotatably installed on the top end of the adjustable support column 3. A drive mechanism for driving the turntable 4 to rotate is provided on the top side wall of the adjustable support column 3.
[0025] In this embodiment, the driving mechanism includes an L-shaped bracket 5, a rotating shaft 6, a first bevel gear 7, and a first rotating handle 8. The L-shaped bracket 5 is fixedly connected to the top side wall of the adjustable support column 3. The rotating shaft 6 is rotatably mounted on the L-shaped bracket 5. The first bevel gear 7 is fixedly mounted on the end of the rotating shaft 6 near the adjustable support column 3. The first rotating handle 8 is fixedly mounted on the end of the rotating shaft 6 away from the adjustable support column 3. A second bevel gear 9 is fixedly connected to the bottom surface of the turntable 4, located around the adjustable support column 3. The first bevel gear 7 meshes with the second bevel gear 9. By rotating the first rotating handle 8, the rotating shaft 6 and the first bevel gear 7 can be driven to rotate, thereby driving the second bevel gear 9 and the turntable 4 as a whole to rotate, so as to rotate the B-ultrasound probe 19 and biopsy gun 15 installed on the turntable 4, thus facilitating the selection of a suitable angle and position.
[0026] In this embodiment, the adjustable support column 3 includes an outer sleeve and a telescopic rod. The bottom end of the outer sleeve is fixedly connected to the base 1, and the telescopic rod is slidably installed inside the top end of the outer sleeve. A tightening bolt is installed on the side of the outer sleeve for tightening and fixing the telescopic rod. The telescopic rod and the outer sleeve can slide relative to each other, thereby adjusting the length of the adjustable support column 3 so that the ultrasound probe 19 can be at the same height as the patient's anus. After the height adjustment is completed, the tightening bolt is tightened to fix the telescopic rod and the outer sleeve relative to each other.
[0027] In this embodiment, the first linear drive mechanism 10 includes two horizontally and parallelly arranged first guide rails 1001. Fixed plates 1002 are fixedly connected between the front and rear ends of the two first guide rails 1001, respectively. A first lead screw 1003 is rotatably mounted between the two fixed plates 1002. One end of the first lead screw 1003 passes through the rear fixed plate 1002 and is fixedly connected to a second rotating handle 1004. A first slide block 1005 is threaded onto the first lead screw 1003. The two sides of the first slide block 1005 are slidably mounted on the two first guide rails 1001, respectively, and the guide rails are fixedly disposed on the upper surface of the first slide block 1005. By rotating the second rotating handle 1004, the first lead screw 1003 can be driven to rotate, thereby further driving the first slide block 1005 to slide back and forth along the two first guide rails 1001, thus realizing the back-and-forth movement of the ultrasound probe 19.
[0028] In this embodiment, the probe fixing bracket 11 includes a U-shaped seat 1101, which is slidably mounted on a slide rail. An ultrasound probe support 1102 is fixedly installed inside the U-shaped seat 1101. There are two ultrasound probe supports 1102, which are located at the front and rear ends of the U-shaped seat 1101, respectively. A conformal fixing buckle 1103 is installed on the ultrasound probe support 1102, which can press and fix the ultrasound probe 19 onto the ultrasound probe support 1102.
[0029] In this embodiment, a first support plate 20 is fixedly connected to the top of one end of the first slide block 1005. An adjusting bolt 21 is threaded onto the first support plate 20, and one end of the adjusting bolt 21 is rotatably connected to the outer wall of one end of the U-shaped seat 1101. By rotating the adjusting bolt 21, the adjusting bolt 21 can move linearly relative to the first support plate 20, thereby pushing the U-shaped seat 1101 to slide along the slide rail, so as to realize the lateral translation of the U-shaped seat 1101 and the B-ultrasound probe 19, which facilitates its alignment with the anus.
[0030] In this embodiment, the three-axis slide 13 includes an X-axis linear slide 1301, a Y-axis linear slide 1302, and a Z-axis linear slide 1303. There are two Y-axis linear slides 1302, and both are synchronously driven by the same first drive motor through a transmission assembly. There are also two Z-axis linear slides 1303, which are fixedly connected to the output ends of the two Y-axis linear slides 1302, and are synchronously driven by the same second drive motor through a transmission assembly. The two ends of the X-axis linear slide 1301 are fixedly connected to the output ends of the two Z-axis linear slides 1303, and the X-axis linear slide 1301 is driven by a third drive motor. The biopsy gun mounting base 14 is fixedly connected to the output end of the X-axis linear slide 1301. The first, second, and third drive motors are all controlled by a controller, thereby driving the biopsy gun 15 to complete the puncture operation according to the set route.
[0031] In this embodiment, one end of the support rod 17 is slidably mounted within the mounting guide rail 22, and a spring is fixedly connected between the end of the support rod 17 and the inner end face of the mounting guide rail 22. Before the puncture needle 16 enters the skin, the puncture needle 16 and the support rod 17 move synchronously. After the puncture needle 16 enters the skin, and the guide sleeve 18 at the end of the support rod 17 contacts the skin, it will slide backward under the resistance of the skin and compress the spring within the mounting guide rail 22, thereby preventing interference with or influence on the movement of the puncture needle 16.
[0032] The working principle of this invention is as follows: First, the physician pushes the robot to the designated position. Then, the height of the ultrasound probe 19 is adjusted using the adjustable support column 3, the angle of the ultrasound probe 19 is adjusted using the first rotating handle 8, and the horizontal position of the ultrasound probe 19 is adjusted using the adjusting bolt 21, so that the ultrasound probe 19 is aligned with the anus. Then, the second rotating handle 1004 is rotated to drive the ultrasound probe 19 forward and insert it into the rectum, roughly locating the midline of the prostate. At this time, the puncture needle 16 of the biopsy gun 15 returns to the sagittal plane of the probe. The relative positions of the ultrasound probe and the puncture needle 16 are kept constant within the machine, thus ensuring the three-dimensional positional relationship between the puncture needle 16 and the ultrasound probe.
[0033] Then, the ultrasound probe 19 is driven by the corresponding structure to complete movements such as forward, backward, left, and right translation, thereby achieving automatic scanning of the prostate and completing the rendering of a 3D image of the prostate. After the 3D image is rendered, the system automatically matches it with a pre-rendered MR-3D image. After successful matching, the ultrasound probe 19 is repositioned to the middle of the prostate and fixed in place. At this time, the position of the ultrasound probe 19 is displayed in the fused 3D image.
[0034] The method for acquiring MR-3D images is as follows: Based on current high-throughput intelligent analysis of prostate MR, lesions with a PI-RADS score ≥ 3 are identified, and the three-dimensional structure of the prostate and the three-dimensional location of PI-RADS scores ≥ 3 are depicted (this software is currently available on the market). This software is then loaded onto the ultrasound machine, and a three-dimensional MR image is generated on the ultrasound machine's display screen.
[0035] The fused and matched three-dimensional images of the prostate (including 3D images of lesions with a PI-RADS score ≥ 3) are sent to the control system. The control system then formulates a puncture plan (such as the specific route, puncture depth, and translation distance), which is then revised and confirmed by the physician.
[0036] After confirmation, the controller controls the three-axis slide 13 to drive the biopsy gun 15 to move and align according to the puncture plan. Then, the physician controls the biopsy gun 15 to complete the puncture. At this time, the ultrasound probe 19 remains stationary. The puncture position of the biopsy gun 15's puncture needle 16 is relative to the position of the ultrasound probe 19. The positions of all puncture target points are also relative to the position of the ultrasound probe 19. This allows for precise positioning. The puncture depth is also controlled by the controller.
[0037] The above description is merely a preferred embodiment of the present invention and does not constitute any limitation on the technical scope of the present invention. Therefore, any minor modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention shall still fall within the scope of the technical solution of the present invention.
Claims
1. An intelligent prostate puncture robot, characterized in that, The device includes a movable lifting support, a turntable mounted on its top, a first linear drive mechanism fixedly mounted on the upper surface of the turntable, a slide rail perpendicular to the movement direction of the first linear drive mechanism on the upper surface of the output end of the first linear drive mechanism, a probe fixing bracket slidably mounted on the slide rail for fixing the ultrasound probe, a platform plate fixedly mounted on the top of the probe fixing bracket, a three-axis slide table fixedly mounted on the upper surface of the platform plate, a biopsy gun fixing seat fixedly connected to the output end of the three-axis slide table for fixing the biopsy gun, a mounting guide rail fixedly connected to the side of the biopsy gun fixing seat, a support rod parallel to the puncture needle of the biopsy gun slidably mounted in the mounting guide rail, a guide sleeve fixedly connected to the other end of the support rod for providing support and guidance for the puncture needle, and the puncture needle passing through a through hole in the center of the guide sleeve; It also includes a controller, and the three-axis slide and the ultrasound host are all electrically connected to the controller.
2. The intelligent prostate puncture robot according to claim 1, characterized in that, The movable lifting support includes a base, the bottom of which is provided with a universal wheel with a locking device, and the top of the base is fixedly connected to an adjustable support column. The turntable is rotatably mounted on the top of the adjustable support column, and a drive mechanism for driving the turntable to rotate is provided on the top side wall of the adjustable support column.
3. The intelligent prostate puncture robot according to claim 2, characterized in that, The drive mechanism includes an L-shaped bracket, a rotating shaft, a first bevel gear, and a first rotating handle. The L-shaped bracket is fixedly connected to the top side wall of the adjustable support column. The rotating shaft is rotatably mounted on the L-shaped bracket. The first bevel gear is fixedly mounted on the end of the rotating shaft near the adjustable support column. The first rotating handle is fixedly mounted on the end of the rotating shaft away from the adjustable support column. A second bevel gear is fixedly connected to the bottom surface of the turntable around the adjustable support column. The first bevel gear meshes with the second bevel gear.
4. The intelligent prostate puncture robot according to claim 2, characterized in that, The adjustable support column includes an outer tube and a telescopic rod. The bottom end of the outer tube is fixedly connected to the base, and the telescopic rod is slidably installed inside the top end of the outer tube. A tightening bolt is installed on the side of the outer tube for tightening and fixing the telescopic rod.
5. The intelligent prostate puncture robot according to claim 1, characterized in that, The first linear drive mechanism includes two horizontally and parallel first guide rails. Fixed plates are fixedly connected between the front ends and the rear ends of the two first guide rails, respectively. A first lead screw is rotatably installed between the two fixed plates. One end of the first lead screw passes through the rear fixed plate and is fixedly connected to a second rotating handle. A first slide block is threaded onto the first lead screw. The two sides of the first slide block are slidably installed on the two first guide rails, respectively. The slide rails are fixedly installed on the upper surface of the first slide block.
6. The intelligent prostate puncture robot according to claim 5, characterized in that, The probe mounting bracket includes a U-shaped seat, which is slidably mounted on the slide rail. An ultrasound probe support is fixedly installed inside the U-shaped seat, and a conformal fixing buckle is installed on the ultrasound probe support. The conformal fixing buckle is used to fix the ultrasound probe on the ultrasound probe support.
7. The intelligent prostate puncture robot according to claim 6, characterized in that, A first support plate is fixedly connected to the top of one end of the first slide block. An adjusting bolt is threaded onto the first support plate, and one end of the adjusting bolt is rotatably connected to the outer wall of one end of the U-shaped seat.
8. The intelligent prostate puncture robot according to claim 1, characterized in that, The three-axis slide includes an X-axis linear slide, a Y-axis linear slide, and a Z-axis linear slide. There are two Y-axis linear slides, which are synchronously driven by the same first drive motor through a transmission assembly. There are also two Z-axis linear slides, which are fixedly connected to the output ends of the two Y-axis linear slides and are synchronously driven by the same second drive motor through a transmission assembly. The two ends of the X-axis linear slide are fixed to the output ends of the two Z-axis linear slides and are driven by a third drive motor. The biopsy gun holder is fixedly connected to the output end of the X-axis linear slide.
9. The intelligent prostate puncture robot according to claim 1, characterized in that, One end of the support rod is slidably mounted inside the mounting guide rail, and a spring is fixedly connected between the end of the support rod and the inner end face of the mounting guide rail.