Prostate puncture surgical robot based on ultrasonic image navigation

Abstract

The invention discloses a prostate puncture surgical robot based on ultrasonic image navigation. The prostate puncture surgical robot comprises a seven-degree-of-freedom pose adjusting mechanism and a three-degree-of-freedom supporting frame mechanism. Wherein the posture adjusting mechanism comprises a posture adjusting module capable of realizing accurate positioning, a probe adjusting module for controlling the probe to automatically position, rotate and feed, and an end effector for realizing a puncture function. The posture adjusting module adopts a multi-joint coupling algorithm to control a remote center motion point, two rotating plates are restrained through rotation to form a connecting rod mechanism, and the angle between the two rotating plates is changed through driving of a holder motor, so that virtual fixation of the remote center motion point is achieved. The supporting frame mechanism for achieving large-range movement of the pose adjusting mechanism in the space comprises a moving module for achieving X-axis and Y-axis movement and a lifting module for achieving Z-axis up-down lifting. Under ultrasonic image navigation, automatic rotary feeding and pose adjustment of the ultrasonic probe can be achieved, accurate positioning is carried out, a large-range prostate scanning view can be obtained, the biopsy tissue sampling range can be expanded, meanwhile, automatic needle insertion of a puncture needle can be achieved, fatigue of doctors can be effectively relieved, and the working efficiency of the doctors is improved. And the surgical precision, the surgical efficiency and the surgical safety are improved to a certain extent.

Description

technical field [0001] The invention belongs to the field of medical devices, and in particular relates to a prostate puncture surgery robot which is used for ultrasonic image navigation, has puncture and positioning performance, and is composed of a seven-degree-of-freedom pose adjustment mechanism and a three-degree-of-freedom support frame mechanism. Background technique [0002] Surgical robot is an emerging field that integrates mechatronics, computer, medicine, mechanics, imaging and other disciplines. Minimally invasive surgery is an important direction in the development of today's surgical methods. Its progress is inseparable from the development of science and technology, and is closely related to the development of surgical robots. Different from traditional surgical methods, minimally invasive surgery has stable working conditions, precise positioning, large working range, and good flexibility. These are the main advantages of minimally invasive surgical robot-as...

AI Technical Summary

Problems solved by technology

However, its overall quality and volume are relatively large, and its compact structure is slightly insufficient. Since the patient is not given general anesthesia during prostate puncture, it will cause certain psychological pressure on the patient being treated, and uncontrollable movements are likely to occur during the acupuncture process. Affect the puncture accuracy

Moreover, the robot does not fuse the ultrasound probe with the needle insertion part. Doctors still need to manually rotate and feed the ultrasound probe to obtain ultrasound images and find a suitable needle insertion position in the image. fatigue during operation

[0005] CN104548328B discloses a robot device for minimally invasive local radiotherapy, which can assist doctors to complete brachytherapy for prostate cancer under ultrasonic image navigation. The robot has high precision, high stability, is easy to operate, reduces pain for patients, and can improve However, the robot is not suitable for prostate biopsy surgery, and due to the space limitation of the particle implantation template, the adjustment angle of the ultrasonic probe cannot reach a large enough scanning range. For prostate biopsy, the commonly used 6 Needle puncture, 12-needle puncture and other methods cannot obtain a large enough scanning angle, which limits the range of biopsy tissue acquisition

[0006] Due to the complex structure and insufficient compactness of the above-mentioned robot, and the inability to effectively combine the positioning part of the ultrasonic probe with the advancing part of the puncture needle, the fatigue of the doctor during the operation can be relieved to the greatest extent, or there is a scanning field of view during the biopsy Restricted, limiting the range of tissue extraction and other issues, causing great application resistance

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