Lung puncture robot body mechanism with CT image real-time guiding function

Abstract

The invention discloses a lung puncture robot body mechanism with a CT image real-time guiding function. The mechanism comprises a base, a three-dimensional sliding platform, a corner clamping disc, an RCM mechanism, a needle feeding mechanism and a needle clamping mechanism. The three-dimensional sliding platform is installed on a cross beam of the base so as to achieve moving of the platform in the three directions of an XYZ coordinate system, one end of the RCM mechanism is connected with a Y-axis module in the three-dimensional sliding platform through the corner clamping disc, the other end of the RCM mechanism is fixedly connected with the needle feeding mechanism, the angle of the corner clamping disc is adjusted according to postures of different patients, and the RCM mechanism is used for adjusting the needle feeding angle of a puncture needle; the needle clamping mechanism is fixedly connected with the needle feeding mechanism, and the needle clamping mechanism is driven by an external motor to achieve the functions of clamping, releasing and re-clamping the needle. A robot is driven by a screw transmission structure for motor far end driving so that the requirements for using a non-metallic material mechanism under the CT scanning condition can be met.

Description

technical field [0001] The invention relates to a robot for lung puncture treatment, in particular to a lung puncture robot mechanism guided by CT images in real time, and belongs to the technical field of radiotherapy robots. Background technique [0002] Puncture surgery is generally performed on the patient under local anesthesia. However, during lung puncture surgery, the position of the target point changes in real time with the breathing movement of the patient's lungs, making lung puncture surgery more difficult than other non-moving organs. At present, lung puncture surgery is still performed with the help of CT images, and the doctor relies on his own experience to complete the operation. An operation takes about 30-50 minutes, and the radiation dose to the patient is relatively large. [0003] The working environment of the lung puncture surgery robot is: the patient lies on the scanning bed and enters the CT scanning frame. The doctor controls the robot through ma...

AI Technical Summary

Problems solved by technology

[0007] The body mechanism of the above three puncture robots cannot meet the needs of lung puncture surgery under master-slave control. First of all, the structure is relatively complex. To meet the real-time guidance of CT images for puncture surgery, the structure must be within the reachable working area, and its terminal structure is complex. , the function is single, and it cannot realize the function of "releasing-re-clamping" the puncture needle entering the tissue following the patient's breathing rhythm; secondly, metal parts produce artifacts under X-rays, and in the structure of the end of the robot, the motor, The use of reducers is not feasible

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