CN102921099A - Short-distance particle implantation robot based on ultrasonic image navigation - Google Patents
Short-distance particle implantation robot based on ultrasonic image navigation Download PDFInfo
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- CN102921099A CN102921099A CN2012104087414A CN201210408741A CN102921099A CN 102921099 A CN102921099 A CN 102921099A CN 2012104087414 A CN2012104087414 A CN 2012104087414A CN 201210408741 A CN201210408741 A CN 201210408741A CN 102921099 A CN102921099 A CN 102921099A
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Abstract
The invention discloses a short-distance particle implantation robot based on ultrasonic image navigation. The short-distance particle implantation robot comprises a movable support, an ultrasonic probe feeding and rotating unit and an acupuncture template spatial attitude adjusting unit, wherein the movable support is used for realizing movement in four horizontal directions such as a front direction, a rear direction, a left direction and a right direction and movement in an up-down direction; the ultrasonic probe feeding and rotating unit is arranged on the movable support; the acupuncture template spatial attitude adjusting unit is arranged on the ultrasonic probe feeding and rotating unit and is provided with an ultrasonic probe extension side; the ultrasonic probe feeding and rotating unit is provided with an ultrasonic probe supporting frame feeding mechanism and an ultrasonic probe rotating mechanism; and the acupuncture template spatial attitude adjusting unit is provided with an acupuncture template rotating mechanism and an acupuncture template lifting and turning mechanism. According to the short-distance particle implantation robot, a doctor can be assisted by navigation of an ultrasonic image to finish an acupuncture surgery, so that the accuracy for the acupuncture surgery is improved as much as possible, and the pain of the patient in the surgery is reduced. According to the short-distance particle implantation robot, the accuracy for the surgery and the success and the completeness of the surgery can be improved to a great extent, so that a new approach is developed for an ultrasonic image-guided robot aided minimally invasive surgery.
Description
Technical field
The present invention relates to a kind of robot.The close-range particle based on the ultrasonoscopy navigation that particularly relates to a kind of acupuncture manipulator mechanism is implanted robot.
Background technology
Closely radiation treatment is a kind of effective ways of control carcinoma of prostate PD and mortality rate, and it implants the radioactive particle kill cancer cell to reach the purpose for the treatment of by acupuncture operation at the canceration position.Not only precision is low for traditional manual acupuncture operation, and radioactive particle also can cause the radioactivity injury to the clinician.For the track of planning in advance, also may be because of the movement of patient body and the acupuncture stimulation for soft tissue, and can't realize the effect estimated.Not only positioning accuracy is high, dexterity is strong based on the robotic assisted surgery of image-guidance, and the wound that the patient is caused is little, is convenient to post-operative recovery, can well solve like this problem that the needled conventionally operation brings.
Ultrasonoscopy has the characteristics such as real-time, radiationless, economy, being widely applied in the puncture operation.The puncture operation of ultrasonic guidance has the following advantages: one, and the doctor can plan the inserting needle path exactly under the ultrasonoscopy navigation, robot has higher stability and accuracy than staff simultaneously; Its two, puncture needle with overcome the restriction of guiding puncture frame to needle angle separating of probe, be conducive to the selection in inserting needle path; Its three, reduced the factor of thinking in the operation, reduced doctor's labor intensity, be conducive to the popularization and application of technology.Therefore, the robot assisted puncture operation based on ultrasonic guidance has important theory significance and actual application value.
Summary of the invention
Technical problem to be solved by this invention is to provide a kind of close-range particle that can reach the ultrasonoscopy navigation of high accuracy, low-wound, minimizing post-operative complication and sequela to implant robot.
The technical solution adopted in the present invention is: a kind of close-range particle of ultrasonoscopy navigation is implanted robot, comprise: realize that four horizontal directions in front, rear, left and right move the mobile support saddle that moves with above-below direction, be arranged on ultrasound probe feeding and rotary unit on the mobile support saddle, and the acupuncture template spatial attitude adjustment unit that ultrasound probe stretches out side that has that is arranged on ultrasound probe feeding and rotary unit, wherein, described ultrasound probe feeding and rotary unit have ultrasound probe bracing frame feed mechanism and ultrasound probe rotating mechanism; Described acupuncture template spatial attitude adjustment unit has acupuncture template rotating mechanism and acupuncture template lifting turning mechanism.
Described mobile support saddle comprises: base, the moving platform that is arranged on the base and moves as horizontal linear along base, be arranged on the moving platform and do along moving platform the lifting pedestal that moves with the perpendicular horizontal linear of moving platform moving direction, be arranged on the elevating mechanism of doing elevating movement on the lifting pedestal.
One side of described base is equipped with the first servomotor, the first ball-screw that links to each other with the output shaft of the first servomotor is installed in the described base, middle part, the bottom surface of described moving platform and described the first ball-screw are for being threaded, and the both sides, bottom surface of described moving platform and described base are the syndeton of dovetail groove guide rail; A side that parallels with self moving direction on the described moving platform is equipped with the second servomotor, the second ball-screw that links to each other with the output shaft of the second servomotor is installed in the described moving platform, middle part, the bottom surface of described lifting pedestal and described the second ball-screw are for being threaded, and the both sides, bottom surface of described lifting pedestal and described moving platform are the syndeton of dovetail groove guide rail.
Described elevating mechanism comprises: the 3rd ball-screw that is positioned at the lifting pedestal top, be positioned at the servomotor that the 3rd ball-screw lower end and output shaft link to each other with the 3rd ball-screw lower end, be vertically fixed on respectively four lifting guide pillars on the lifting pedestal end face, be enclosed within respectively four jacking sleeves on four lifting guide pillars, and the gripper shoe that is fixedly connected on the sleeve top of four jacking sleeve tops and the 3rd ball-screw.
Described ultrasound probe feeding and rotary unit comprise: be arranged on the ultrasound probe silent flatform on the gripper shoe of mobile support saddle, be installed in the 3rd servomotor of ultrasound probe silent flatform one side, be arranged in the ultrasound probe silent flatform and the 3rd ball-screw that links to each other with the output shaft of described the 3rd servomotor, be the probe moving platform that is threaded with described the 3rd ball-screw, be arranged on the U-shaped ultrasound probe bracing frame on the probe moving platform, be formed with the through hole that runs through Ultrasonic-B probe on the two vertical framves of described U-shaped ultrasound probe bracing frame, the inboard of described U-shaped ultrasound probe bracing frame two vertical framves is respectively arranging Ultrasonic-B probe anchor clamps with described through hole corresponding section, the lateral surface away from the vertical frame of acupuncture template one side at U-shaped ultrasound probe bracing frame is provided with the 4th servomotor, and two vertical framves and two Ultrasonic-B probe anchor clamps that an end of described Ultrasonic-B probe runs through U-shaped ultrasound probe bracing frame are connected with the output shaft of described the 4th servomotor.
Described acupuncture template rotating mechanism is man-operated mechanism, comprise: acupuncture template silent flatform, be installed in the ball-screw torsion bar on the acupuncture template silent flatform, one end of ball-screw torsion bar is positioned at the outside of acupuncture template silent flatform and is provided with knob, the ball-screw torsion bar connects feed screw nut in the part that is positioned at above the acupuncture template silent flatform, be fixedly connected with the first acupuncture template moving platform on the described feed screw nut, the bevel gear bar has been threaded on described the first acupuncture template moving platform, be fixedly connected with the first bevel gear on the described bevel gear bar, also be provided with horizontally disposed the second bevel gear that is meshed with described the first bevel gear, described the second bevel gear connects the second acupuncture template moving platform by a rotating shaft, thereby realize the rotation of the second acupuncture template moving platform, also be provided with on described the first acupuncture template moving platform for the first hook knob that limits the bevel gear bar anglec of rotation, be provided with acupuncture template lifting turning mechanism on described the second acupuncture template moving platform.
Described acupuncture template lifting turning mechanism is man-operated mechanism, comprise: an end is arranged on two ball-screw screw rods above the second acupuncture template moving platform in the acupuncture template rotating mechanism, be provided with the lifting knob of two ball-screw screw rod rotations of manual control on described the second acupuncture template moving platform, described two ball-screw screw tip acupuncture template framework that is threaded, the acupuncture template-setup is in the acupuncture template framework, be provided with the switching mechanism for the upset of control acupuncture template on the sidewall of described acupuncture template framework, described switching mechanism has the upset knob, the first gear that is connected with the upset knob, the second gear that is meshed with the first gear, described the second gear connects the trip shaft of acupuncture template, also is provided with on the described acupuncture template framework for the second hook knob that limits acupuncture template flip angle.
The diameter of described the first gear is less than the diameter of the second gear.
The close-range particle of ultrasonoscopy navigation of the present invention is implanted robot, can assist the doctor to finish acupuncture operation under the navigation of ultrasonography, improves as much as possible the precision of acupuncture operation, reduces the misery of patient in operation.Flexible structure overcomes the drawback of the untimely and trajectory planning difficulty of imaging effect in the operation process, to reach high accuracy, low-wound, minimizing post-operative complication and sequela.The present invention is the precision of the raising operation of degree greatly, the successful of operation and integrity, thus open up a new way for ultrasonography guided robot assisted minimally invasive surgical operation.
Description of drawings
Fig. 1 is overall structure schematic diagram of the present invention;
Fig. 2 is the mobile support saddle structural representation of the present invention bottom;
Fig. 3 is ultrasound probe feeding of the present invention and rotary unit structural representation;
Fig. 4 is acupuncture template spatial attitude adjustment unit structural representation of the present invention.
1: 2: the first servomotors of base
Ball-screw 4 in 3: the first: moving platform
7: the three ball-screws 8: lifting guide pillar
9: 10: the three servomotors of jacking sleeve
11: 12: the three ball-screws of ultrasound probe silent flatform
13: probe moving platform 14: ultrasound probe bracing frame
15: the super probe gripper of four servomotor 16:B
The super probe 18 of 17:B: gripper shoe
Ball-screw 20 in 19: the second: the bevel gear bar
22: the first hook knob of 21: the first acupuncture template moving platforms
24: the second bevel gears of 23: the first bevel gears
25: feed screw nut 26: acupuncture template silent flatform
27: 28: the second acupuncture templates of ball-screw torsion bar moving platform
29: lifting knob 30: the ball-screw screw rod
31: acupuncture template framework 32: the acupuncture template
Hook knob 34 in 33: the second: the upset knob
36: the second gears of 35: the first gears
The specific embodiment
Below in conjunction with embodiment and accompanying drawing the close-range particle implantation robot that ultrasonoscopy of the present invention navigates is made a detailed description.
The close-range particle of ultrasonoscopy navigation of the present invention is implanted robot, and the location of its ultrasound probe has been assigned in two standalone modules and has carried out, and is respectively manipulator mechanism bottom module and ultrasound probe console module.Wherein the bottom module is comprised of servomotor, ball-screw and dovetail groove slide rail, the translational motion of three mutually perpendicular directions in implementation space, the locus of adjustment ultrasound probe and acupuncture template.In the ultrasound probe console module, be divided into and joined two degree of freedom, the translation that the first realizes by servomotor and ball-screw realizes the feed motion of ultrasound probe, adjusts the locus of ultrasound probe and with respect to the position of acupuncture template; Its two, be the among a small circle rotation that realizes ultrasound probe by the rotation of servomotor, to increase sweep limits.Three translational degree of freedom of the adjustment of template spatial pose in being distributed in the bottom module, four degree of freedom (two translations and two rotational freedoms) have been distributed at the acupuncture template platform, these four degree of freedom are realized the fine setting of acupuncture template spatial pose, are finished by manual adjustment by the doctor.
As shown in Figure 1, the close-range particle of ultrasonoscopy navigation of the present invention is implanted robot, comprise: realize that four horizontal directions in front, rear, left and right move the mobile support saddle that moves with above-below direction, be arranged on ultrasound probe feeding and rotary unit on the mobile support saddle, and the acupuncture template spatial attitude adjustment unit that ultrasound probe stretches out side that has that is arranged on ultrasound probe feeding and rotary unit, wherein, described ultrasound probe feeding and rotary unit have ultrasound probe bracing frame feed mechanism and ultrasound probe rotating mechanism; Described acupuncture template spatial attitude adjustment unit has acupuncture template rotating mechanism and acupuncture template lifting turning mechanism.
As shown in Figure 2, described mobile support saddle comprises: base 1, the moving platform 4 that is arranged on the base 1 and moves as horizontal linear along base 1, be arranged on the moving platform 4 and do along moving platform 4 lifting pedestal 6 that moves with the perpendicular horizontal linear of moving platform 4 moving directions, be arranged on the elevating mechanism of doing elevating movement on the lifting pedestal 6.
One side of described base 1 is equipped with the first servomotor 2, the first ball-screw 3 that links to each other with the output shaft of the first servomotor 2 is installed in the described base 1, middle part, the bottom surface of described moving platform 4 and described the first ball-screw 3 are for being threaded, and the both sides, bottom surface of described moving platform 4 and described base 1 are the syndeton of dovetail groove guide rail; A side that parallels with self moving direction on the described moving platform 4 is equipped with the second servomotor 5, the second ball-screw 19 that links to each other with the output shaft of the second servomotor 5 is installed in the described moving platform 4, middle part, the bottom surface of described lifting pedestal 6 and described the second ball-screw 19 are for being threaded, and the both sides, bottom surface of described lifting pedestal 6 and described moving platform 4 are the syndeton of dovetail groove guide rail.
Described elevating mechanism comprises: the 3rd ball-screw 7 that is positioned at lifting pedestal 6 tops, be positioned at the servomotor that the 3rd ball-screw 7 lower ends and output shaft link to each other with the 3rd ball-screw 7 lower ends, be vertically fixed on respectively four lifting guide pillars 8 on lifting pedestal 6 end faces, be enclosed within respectively four jacking sleeves 9 on four lifting guide pillars 8, and the gripper shoe 18 that is fixedly connected on the sleeve top of four jacking sleeve 9 tops and the 3rd ball-screw 7.
As shown in Figure 3, described ultrasound probe feeding and rotary unit comprise: be arranged on the ultrasound probe silent flatform 11 on the gripper shoe 18 of mobile support saddle, be installed in the 3rd servomotor 10 of ultrasound probe silent flatform 11 1 sides, be arranged in the ultrasound probe silent flatform 11 and the 3rd ball-screw 12 that links to each other with the output shaft of described the 3rd servomotor 10, with the probe moving platform 13 of described the 3rd ball-screw 12 for being threaded, be arranged on the U-shaped ultrasound probe bracing frame 14 on the probe moving platform 13, be formed with the through hole that runs through Ultrasonic-B probe 17 on the two vertical framves of described U-shaped ultrasound probe bracing frame 14, the inboard of 14 liang of vertical framves of described U-shaped ultrasound probe bracing frame is respectively arranging Ultrasonic-B probe anchor clamps 16 with described through hole corresponding section, the lateral surface away from the vertical frame of acupuncture template 32 1 sides at U-shaped ultrasound probe bracing frame 14 is provided with the 4th servomotor 15, and two vertical framves and two Ultrasonic-B probe anchor clamps 16 that an end of described Ultrasonic-B probe 17 runs through U-shaped ultrasound probe bracing frame 14 are connected with the output shaft of described the 4th servomotor 15.
As shown in Figure 4, described acupuncture template rotating mechanism is man-operated mechanism, comprise: acupuncture template silent flatform 26, be installed in the ball-screw torsion bar 27 on the acupuncture template silent flatform 26, one end of ball-screw torsion bar 27 is positioned at the outside of acupuncture template silent flatform 26 and is provided with knob, ball-screw torsion bar 27 connects feed screw nut 25 in the part that is positioned at above the acupuncture template silent flatform 26, be fixedly connected with the first acupuncture template moving platform 21 on the described feed screw nut 25, bevel gear bar 20 has been threaded on described the first acupuncture template moving platform 21, be fixedly connected with the first bevel gear 23 on the described bevel gear bar 20, also be provided with horizontally disposed the second bevel gear 24 that is meshed with described the first bevel gear 23, described the second bevel gear 24 connects the second acupuncture template moving platform 28 by a rotating shaft, thereby realize the rotation of the second acupuncture template moving platform 28, also be provided with on described the first acupuncture template moving platform 21 for the first hook knob 22 that limits bevel gear bar 20 anglecs of rotation, be provided with acupuncture template lifting turning mechanism on described the second acupuncture template moving platform 28.
Described acupuncture template lifting turning mechanism is man-operated mechanism, comprise: an end is arranged on two ball-screw screw rods 30 above the second acupuncture template moving platform 28 in the acupuncture template rotating mechanism, be provided with the lifting knob 29 of two ball-screw screw rods of manual control, 30 rotations on described the second acupuncture template moving platform 28, described two ball-screw screw rod 30 tops acupuncture template framework 31 that is threaded, acupuncture template 32 is arranged in the acupuncture template framework 31, be provided with the switching mechanism for 32 upsets of control acupuncture template on the sidewall of described acupuncture template framework 31, described switching mechanism has upset knob 34, the first gear 35 that is connected with upset knob 34, the second gear 36 that is meshed with the first gear 35, described the second gear 36 connects the trip shaft of acupuncture template 32, and the diameter of described the first gear 35 is less than the diameter of the second gear 36.Also be provided with on the described acupuncture template framework 31 for the second hook knob 33 that limits acupuncture template 32 flip angles.
The working method of the close-range particle of ultrasonoscopy navigation of the present invention being implanted robot below in conjunction with accompanying drawing is described below:
Translational motion: the bottom mobile support saddle of the close-range particle implantation robot of ultrasonoscopy navigation of the present invention is mainly realized the translational motion of ultrasound probe module and three directions of template platform.The first servomotor 2 is installed on the base 1, drives moving platform 4 by the first ball-screw 3 and does translational motion, comes guided-moving by the dovetail groove guide rail between moving platform 4 and the base 1.The second servomotor 5 is installed on the moving platform 4, and drive lifting pedestal 6 by the second ball-screw 19 and do translational motion, also be to come guided-moving by the dovetail groove guide rail between moving platform 4 and the lifting pedestal 6.The 3rd ball-screw 7 is by the driven by servomotor that is positioned at its lower end, cooperates between four lifting guide pillars 8 and the jacking sleeve 9, jointly realizes the lifting campaign of upper platform.By the translation of three directions of bottom module, can realize that the space of ultrasound probe module and template platform is located fast.
Ultrasound probe motion: ultrasound probe feeding and rotary unit are mainly realized feed motion and the rotation of popping one's head in.The 3rd servomotor 10 is installed on the ultrasound probe silent flatform 11, drives probe moving platform 13 by the 3rd ball-screw 12 and moves, and realizes the feed motion of ultrasonic probe.Ultrasound probe bracing frame 14 is installed on the probe moving platform 13, and Ultrasonic-B probe 17 is installed on the ultrasound probe bracing frame 14 by Ultrasonic-B probe anchor clamps 16.The 4th servomotor 15 is installed on the ultrasound probe bracing frame 14, drives Ultrasonic-B probe 17 and rotates.
Template position adjustment campaign: acupuncture template spatial attitude adjustment unit is mainly realized the spatial attitude adjustment of template, have two translations and two rotational freedoms, be convenient to the doctor and by means of template radioactive particle accurately sent to the canceration position from different angles and position according to ultrasonoscopy.Ball-screw torsion bar 27 is installed on the acupuncture template silent flatform 26, and by 25 motions of ball screw assembly, driving-belt movable wire thick stick nut, thereby the first acupuncture template moving platform 21 moves.The bevel gear bar is installed on the first acupuncture template platform 21, by bevel gear 23 and bevel gear 24 engagements, the rotation of bevel gear bar 20 is converted to the rotation of bevel gear 24 place axles, this axle and the second acupuncture template moving platform 28 connect firmly, thereby realize the rotation of acupuncture template moving platform, because Bevel Gear Transmission does not have auto-lock function, therefore be provided with the first hook knob 22 at the first acupuncture template moving platform 21.By screw the rotation of lifting knob 29 is converted to the lifting campaign of acupuncture template framework 31 between lifting knob 29 and the ball-screw screw rod 30.Acupuncture template 32 is installed on the acupuncture template framework 31, upset knob 34 is converted to the swing of template 32 by will the overturn rotation of knob 34 of the engagement between the first gear 35 and the second gear 36, consider the impact of gravity factor, can return to the original equilibrium state when template occurs to swing such as without external force, admittedly be provided with the second hook knob 33, when template occurs to swing, give locked.
Therefore, the close-range particle of ultrasonoscopy navigation of the present invention is implanted robot, at first the translational motion of the three degree of freedom degree by the bottom mobile support saddle realizes the location, locus of ultrasound probe and template fast, in conjunction with ultrasound probe feeding and rotary unit and acupuncture template spatial attitude adjustment unit, adjust easily ultrasound probe the locus and with the relative position of template.In addition, in conjunction with ultrasonography, the spatial pose of template can be adjusted by two translational degree of freedom and two rotary freedoms of template platform.By the routing motion between the modules, can assist a physician is implanted to patient's canceration position quickly and accurately with radioactive particle.
Claims (8)
1. the close-range particle of a ultrasonoscopy navigation is implanted robot, it is characterized in that, comprise: realize that four horizontal directions in front, rear, left and right move the mobile support saddle that moves with above-below direction, be arranged on ultrasound probe feeding and rotary unit on the mobile support saddle, and the acupuncture template spatial attitude adjustment unit that ultrasound probe stretches out side that has that is arranged on ultrasound probe feeding and rotary unit, wherein, described ultrasound probe feeding and rotary unit have ultrasound probe bracing frame feed mechanism and ultrasound probe rotating mechanism; Described acupuncture template spatial attitude adjustment unit has acupuncture template rotating mechanism and acupuncture template lifting turning mechanism.
2. the close-range particle of ultrasonoscopy navigation according to claim 1 is implanted robot, it is characterized in that, described mobile support saddle comprises: base (1), be arranged on base (1) moving platform (4) upper and that move as horizontal linear along base (1), be arranged on moving platform (4) upper and make the lifting pedestal (6) that moves with the perpendicular horizontal linear of moving platform (4) moving direction along moving platform (4), be arranged on the elevating mechanism of doing elevating movement on the lifting pedestal (6).
3. the close-range particle of ultrasonoscopy navigation according to claim 2 is implanted robot, it is characterized in that, one side of described base (1) is equipped with the first servomotor (2), the first ball-screw (3) that links to each other with the output shaft of the first servomotor (2) is installed in the described base (1), middle part, the bottom surface of described moving platform (4) and described the first ball-screw (3) are for being threaded, and the both sides, bottom surface of described moving platform (4) and described base (1) are the syndeton of dovetail groove guide rail; Described moving platform (4) is gone up a side that parallels with self moving direction the second servomotor (5) is installed, the second ball-screw (19) that links to each other with the output shaft of the second servomotor (5) is installed in the described moving platform (4), middle part, the bottom surface of described lifting pedestal (6) and described the second ball-screw (19) are for being threaded, and the both sides, bottom surface of described lifting pedestal (6) and described moving platform (4) are the syndeton of dovetail groove guide rail.
4. the close-range particle of ultrasonoscopy navigation according to claim 2 is implanted robot, it is characterized in that, described elevating mechanism comprises: the 3rd ball-screw (7) that is positioned at lifting pedestal (6) top, be positioned at the servomotor that the 3rd ball-screw (7) lower end and output shaft link to each other with the 3rd ball-screw (7) lower end, be vertically fixed on respectively four the lifting guide pillars (8) on lifting pedestal (6) end face, be enclosed within respectively four jacking sleeves (9) on four lifting guide pillars (8), and the gripper shoe (18) that is fixedly connected on the sleeve top of four jacking sleeve (9) tops and the 3rd ball-screw (7).
5. the close-range particle of ultrasonoscopy navigation according to claim 1 is implanted robot, it is characterized in that, described ultrasound probe feeding and rotary unit comprise: be arranged on the ultrasound probe silent flatform (11) on the gripper shoe (18) of mobile support saddle, be installed in the 3rd servomotor (10) of ultrasound probe silent flatform (11) one sides, be arranged in the ultrasound probe silent flatform (11) and the 3rd ball-screw (12) that links to each other with the output shaft of described the 3rd servomotor (10), with the probe moving platform (13) of described the 3rd ball-screw (12) for being threaded, be arranged on the U-shaped ultrasound probe bracing frame (14) on the probe moving platform (13), be formed with the through hole that runs through Ultrasonic-B probe (17) on the two vertical framves of described U-shaped ultrasound probe bracing frame (14), the inboard of described U-shaped ultrasound probe bracing frame (14) two vertical framves is respectively arranging Ultrasonic-B probe anchor clamps (16) with described through hole corresponding section, the lateral surface away from the vertical frame of acupuncture template (32) one sides at U-shaped ultrasound probe bracing frame (14) is provided with the 4th servomotor (15), and two vertical framves and two Ultrasonic-B probe anchor clamps (16) that an end of described Ultrasonic-B probe (17) runs through U-shaped ultrasound probe bracing frame (14) are connected with the output shaft of described the 4th servomotor (15).
6. the close-range particle of ultrasonoscopy navigation according to claim 1 is implanted robot, it is characterized in that, described acupuncture template rotating mechanism is man-operated mechanism, comprise: acupuncture template silent flatform (26), be installed in the ball-screw torsion bar (27) on the acupuncture template silent flatform (26), one end of ball-screw torsion bar (27) is positioned at the outside of acupuncture template silent flatform (26) and is provided with knob, ball-screw torsion bar (27) connects feed screw nut (25) in the part that is positioned at acupuncture template silent flatform (26) top, be fixedly connected with the first acupuncture template moving platform (21) on the described feed screw nut (25), bevel gear bar (20) has been threaded on described the first acupuncture template moving platform (21), be fixedly connected with the first bevel gear (23) on the described bevel gear bar (20), also be provided with horizontally disposed the second bevel gear (24) that is meshed with described the first bevel gear (23), described the second bevel gear (24) connects the second acupuncture template moving platform (28) by a rotating shaft, thereby realize the rotation of the second acupuncture template moving platform (28), also be provided with on described the first acupuncture template moving platform (21) for the first hook knob (22) that limits bevel gear bar (20) anglec of rotation, be provided with acupuncture template lifting turning mechanism on described the second acupuncture template moving platform (28).
7. the close-range particle of ultrasonoscopy navigation according to claim 1 is implanted robot, it is characterized in that, described acupuncture template lifting turning mechanism is man-operated mechanism, comprise: an end is arranged on top two the ball-screw screw rods (30) of the second acupuncture template moving platform (28) in the acupuncture template rotating mechanism, be provided with the lifting knob (29) of two ball-screw screw rods of manual control (30) rotation on described the second acupuncture template moving platform (28), described two ball-screw screw rods (30) top acupuncture template framework (31) that is threaded, acupuncture template (32) is arranged in the acupuncture template framework (31), be provided with the switching mechanism for control acupuncture template (32) upset on the sidewall of described acupuncture template framework (31), described switching mechanism has upset knob (34), the first gear (35) that is connected with upset knob (34), the second gear (36) that is meshed with the first gear (35), described the second gear (36) connects the trip shaft of acupuncture template (32), also is provided with on the described acupuncture template framework (31) for the second hook knob (33) that limits acupuncture template (32) flip angle.
8. the close-range particle of ultrasonoscopy navigation according to claim 7 is implanted robot, it is characterized in that, the diameter of described the first gear (35) is less than the diameter of the second gear (36).
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| CN201210408741.4A CN102921099B (en) | 2012-10-23 | 2012-10-23 | Short-distance particle implantation robot based on ultrasonic image navigation |
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| CN112451056B (en) * | 2020-11-23 | 2022-01-18 | 哈尔滨工业大学 | Eight-degree-of-freedom puncture robot for ultrasonic guidance |
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