A four-degree-of-freedom flexible needle puncture platform combining macro and micro movements

Abstract

The invention discloses a four-degree-of-freedom flexible needle puncture platform combining macro motion and micro motion, which includes a base, a guide rail, a slider, a linear motor stator, a linear motor mover, a Z-axis platform, an XY platform, a rotating motor, and a joint. Shaft, rib, mounting seat and flexible needle; the guide rails are installed symmetrically on both sides of the top of the base, the linear motor stator is installed between the guide rails, the linear motor mover is embedded in the gap between the upper and lower parts of the linear motor stator, and the guide rails on both sides are respectively The sliders are slidingly connected; the sliders on both sides are symmetrically distributed on both sides of the Z-axis platform and connected to the Z-axis platform through bolts; the XY platform is connected to the Z-axis platform through bolts; the XY platform includes X-axis piezoelectric ceramics Driver, X-axis pre-tightening bolt, Y-axis piezoelectric ceramic driver, Y-axis pre-tightening bolt, X-axis transmission mechanism, Y-axis transmission mechanism and XY platform end effector. For the first time, the platform adopts the combination of macro and micro, which can realize macro puncture and micro adjustment, and has the functions of positioning, puncture and direction adjustment.

Description

technical field [0001] The invention belongs to the field of medical devices, and in particular relates to a four-degree-of-freedom flexible needle puncturing platform with puncturing and positioning performance combining macro-motion and micro-motion. Background technique [0002] In recent years, with the rise of minimally invasive interventional medicine, high-end minimally invasive surgical robots have gradually been widely used in various fields of medical surgery. For minimally invasive medical robots used in percutaneous puncture surgery, the end effector is often a thin and long bevel-pointed flexible needle. The traditional rigid needle cannot avoid important organs and tissues during the puncture process, however, the flexible needle is widely used due to its strong maneuverability. Therefore, the flexible needle can reach an effective target area by establishing an appropriate kinematic model and manipulation strategy. As an important part of performing flexible...

AI Technical Summary

Problems solved by technology

However, such a puncture platform will often cause puncture deformation of the flexible needle when operating the oblique-tipped flexible needle, and the error compensation of the deformation cannot be performed through a suitable control strategy

Other scholars have also designed four-degree-of-freedom puncture platforms. However, most of them only have the macroscopic X-axis, Y-axis, Z-axis, and axial rotation degrees of freedom. Such a puncture platform can play a role in the positioning of flexible needles. When the deformation of the flexible needle occurs during the process, the fine adjustment of the X-axis and Y-axis cannot be used to perform error compensation

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