End effector of radiotherapy particle implantation robot

Abstract

The invention discloses a radiotherapy particle implantation robot end effector, and belongs to the field of medical robots. The problems that an existing particle implantation actuator is long, the execution precision and efficiency are affected, medical staff need to clamp radioactive particles on site, and the medical risk is large are solved. The device comprises a machine shell, a clamping jaw finger mechanism, a puncture needle, a wire feeding mechanism, a particle bin and a driver. The wire feeding mechanism, the particle bin and the driver are packaged in the machine shell. A flange is arranged at the bottom of the wire feeding mechanism and used for being in butt joint with an external mechanical arm. The wire feeding mechanism is used for feeding a guide wire in the wire feeding mechanism into the particle bin, pushing radiotherapy particles in a particle disc in the particle bin to the puncture needle and pushing the radiotherapy particles out of the puncture needle; the driver is used for driving the particle disc in the particle bin to rotate and is also used for driving the clamping jaw finger mechanism to open or close; the clamping jaw finger mechanism is used for clamping or releasing the puncture needle. The radiotherapy particle implantation device is mainly used for implantation of radiotherapy particles.

Description

technical field [0001] The invention relates to an end effector of a medical robot, which belongs to the field of medical robots. Background technique [0002] With the development and popularization of robots, more and more industries have begun to use robots to replace manual operations, and various types of robots have begun to appear in people's vision. In recent years, more and more robots have been involved in the medical field, and in surgery, more and more surgeons are using robots to assist when performing operations. [0003] At present, some hospitals still use traditional manual operation for brachytherapy seed implantation, which has low efficiency and poor precision. In the prior art, there are still non-manually operated actuators for brachytherapy seed implantation. However, the length of the particle implantation actuator is long, and the operation of the robot is inconvenient, which affects the execution accuracy and efficiency. When multiple particles nee...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to solve the problem that the existing particle implantation actuator has a long length, which affects the execution accuracy and efficiency, and the actuator requires medical personnel to clamp radioactive particles on site, which has a large medical risk.

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