Six-degree-of-freedom respiratory compensation needle puncture robot compatible with CT

Abstract

The invention discloses a six-degree-of-freedom respiratory compensation needle puncture robot compatible with CT. The robot comprises a wearable vest guide rail module, a breathing movement self-adaptive robot needle seat module and a puncture needle six-degree-of-freedom robot module. The wearable vest guide rail module is used for supporting the breathing movement self-adaptive robot needle seat module and driving the breathing movement self-adaptive robot needle seat module to perform posture adjustment and adaptation, and the puncture needle six-degree-of-freedom robot module is used for performing biopsy puncture operation and movement; the puncture needle six-degree-of-freedom robot module comprises a four-degree-of-freedom posture adjusting module and a needle inserting module, and a biopsy puncture needle on the needle inserting module is driven to perform biopsy detection cooperative movement in a breathing compensation following manner through cooperation of the four-degree-of-freedom posture adjusting module and the needle inserting module. According to the invention, no metal compact object exists in the CT section in the needle puncture operation process, the operation process is compatible with CT imaging, and the height distance of the puncture robot relative to the human body does not change along with breathing movement and can reach all puncture points.

Description

technical field [0001] The invention belongs to a needle puncture auxiliary surgical robot in the field of medical device manufacturing and application, specifically, a CT-compatible motor external six-degree-of-freedom self-adaptive breathing motion needle puncture robot and its fixing device. Background technique [0002] Clinically, if a lesion is found in the lungs through CT examination, but it is not sure whether it is caused by infection, non-lesion infection, or tumor, especially if malignant tumor cannot be ruled out, a lung biopsy is required to clarify the nature of the lesion. Lung puncture is to puncture into the lesion under the positioning of CT to take out some tissues for routine inspection. However, CT-guided puncture also has disadvantages: because the imaging is not timely, breathing movement will cause errors in accurate positioning, and the human body must be trained to master the breathing phase. When the puncture needle needs to form a certain angle ...

AI Technical Summary

Problems solved by technology

However, CT-guided puncture also has disadvantages: because the imaging is not timely, breathing movement will cause errors in accurate positioning, and the human body must be trained to master the phase of breathing.

However, due to human respiration, this effect is often poor

So it's hard to really fix the puncture needle

In addition, considering the health of the medical staff, the medical staff cannot be exposed to radiation for a long time, and the CT scanning process cannot be intervened, so a medical staff cannot be arranged to fix the radiation manually.

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