Puncture operation robot device with breath following function

Abstract

Disclosed is a puncture operation robot device with a breath following function. The puncture operation robot device comprises a vertical linear motion mechanism, a horizontal plane positioning mechanism, a puncture needle angle adjusting mechanism and a puncture needle tail end mechanism, wherein the vertical linear motion mechanism is in control connection with the horizontal plane positioning mechanism, and the horizontal plane positioning mechanism is in control connection with the puncture needle angle adjusting mechanism. The puncture needle angle adjusting mechanism is in control connection with the puncture needle tail end mechanism, and the puncture needle tail end mechanism comprises a breathing following assembly and a needle clamping assembly. Compared with the prior art, a puncture needle clamped by the needle clamping assembly is positioned through a multi-dimensional positioning mechanism, and the device has the advantages of being compact in structure, high in positioning precision and large in working range; the needle clamping assembly can meet the requirements of multi-needle puncture and multi-time puncture; and the breathing following mechanism can solve the traction risk caused by breathing or displacement of the patient. By the adoption of the robot, the defects of manual puncture and an existing puncture robot can be overcome, doctors are helped to conduct better operations, and the operation safety and success rate are improved.

Description

technical field [0001] The invention relates to the technical field of medical equipment, in particular to a puncture surgery robot device with breathing follow-up. Background technique [0002] 1. In the existing puncture operation, the doctor generally needs to rely on personal experience and medical imaging results to continuously adjust the angle to perform manual puncture. This operation process is very time-consuming and energy-consuming, and the surgical effect fluctuates greatly. In order to reduce the problems caused by human factors, more and more puncture operations begin to use robotic arms instead of manual puncture; [0003] 2. At this stage, most of the robotic arms used in puncture robots on the market or in research are multi-degree-of-freedom rotary articulated robotic arms or Cartesian coordinate robotic arms; [0004] 3. Cartesian coordinate mechanical arm, the mechanical arm occupies a large space and has many degrees of freedom restrictions; [0005] ...

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Problems solved by technology

[0004] 3. The Cartesian coordinate robot arm takes up a lot of space and has many restrictions on the degree of freedom;

However, the existing puncture robots have the following problems: 1) The joint structure and the needle angle adjustment device are complicated, and it is necessary to overcome the processing and assembly problems such as gear clearance, belt clearance, and connecting rod hinge precision.

2) The robot has no locking or unreliable locking, no power-off protection, and there is a risk of position deviation and other risks during the operation;

[0006] 5. The puncture robot at this stage does not solve the risk of traction caused by the patient's breathing and displacement;

[0007] 6. At this stage, the puncture robot has not solved the problem of multi-point puncture

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