Hydraulically driven differential motion rotary breast interventional robot under MRI

Abstract

The invention discloses a hydraulically driven differential motion rotary breast interventional robot under MRI, and belongs to the field of medical instruments. The robot is composed of a positioningmodule, a puncture module, a rotary module and a breast tissue fixing module. The positioning module can adjust the position of a biopsy mechanism, the puncture module can achieve the puncture of thebreast tissue, the rotary module can make the puncture module rotate by 360 degrees around the breast tissue and can adjust the pitch angle of a biopsy gun, and the breast tissue fixing module can stabilize the breast tissue. The robot can help a doctor complete a breast interventional operation in a nuclear magnetic instrument with limited space, reduce the work intensity of the doctor, improvethe operation precision and increase the success rate of the operation.

Description

technical field [0001] The invention discloses a hydraulically driven differential motion rotary mammary gland interventional robot for MRI, relates to the field of medical equipment, and is particularly applied to breast interventional surgery in a nuclear magnetic environment. Background technique [0002] At present, breast interventional surgery is generally performed manually by doctors. The whole process is time-consuming and labor-intensive. Doctors are highly fatigued and patients feel pain. Breast interventional robots can help doctors complete surgery. The robot has the advantages of high positioning accuracy, and will not affect the accuracy of surgery due to patient body movements or doctor's hand shaking, and MRI has good resolution of soft tissues. [0003] Application publication number CN 103876786 A discloses a breast interventional robot compatible with nuclear magnetic resonance. The positioning module is mainly driven by a screw nut, and the motor is plac...

AI Technical Summary

Problems solved by technology

However, in the process of completing the interventional operation, the movement of the upper movable bracket of the horizontal guide rail on the guide rail is converted into the rotation of the cylinder in the vertical plane with the lower guide rail as the base point. This process has a large amount of motion loss, resulting in low motion accuracy. big error

[0008] Application publication number CN104825231A discloses a magnetic resonance-guided breast cancer minimally invasive interventional surgery robot and its control method. In this invention, the first driving mechanism drives the first transmission mechanism, thereby driving the first screw to rotate, and then driving the first The mobile platform moves along the Z-axis direction, the transmission of this process is complex and difficult to control

[0009] Application publication number US6889073B2 discloses a breast biopsy and treatment system in an MRI environment. The MRI biopsy device includes radio frequency receiving coils for imaging bilateral breasts. The coils are opened at the front and side to provide access to the breasts when the patient is in the scanner. At the same time, the support column of the device is installed on a rotatable gear, and the rotatable gear is driven to rotate by the second gear, and the second gear rotates through the transmission shaft. The transmission process is complicated and the process energy loss is large.

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