Flexible needle puncture robot

Abstract

The invention relates to a flexible needle puncture robot, which belongs to the technical field of medical equipment and comprises a vertical and pitching posture adjusting mechanism, a horizontal and deflection posture adjusting mechanism, a flexible needle, a sleeve, a clamping jaw, a self-transmission motor seat, a self-transmission motor, a lead screw sliding table I and a lead screw sliding table II, the device is characterized in that the second lead screw sliding table moves back and forth to achieve simultaneous feeding and returning of the flexible needle and the sleeve, and the first lead screw sliding table moves back and forth to achieve feeding and returning of the flexible needle relative to the sleeve; the vertical and pitching posture adjusting mechanism can adjust the vertical and pitching postures of the flexible needle, the horizontal and deflection posture adjusting mechanism can adjust the horizontal and deflection postures of the flexible needle, and the vertical and pitching posture adjusting mechanism and the horizontal and deflection posture adjusting mechanism are matched with each other to move so that the omni-directional posture of the flexible needle can be adjusted. Puncture path planning at various angles is provided, puncture of a target spot can be completed more easily, and the purpose of improving stability, accuracy and accessibility of puncture is achieved.

Description

technical field [0001] The invention relates to a flexible needle puncturing robot, which belongs to the technical field of medical equipment. Background technique [0002] Minimally invasive interventional medicine is a new medical technology that has developed rapidly in recent years. It is an emerging medical method between surgery and internal medicine. Targeted puncture technology is one of the most promising medical methods. At present, the needles used in minimally invasive procedures are all steel needles, which cannot circumvent obstacles such as bones, nerves, and blood vessels during the puncture process, and cannot flexibly and effectively correct errors and accurately puncture the target. Therefore, it is proposed to use flexible needles and flexible needle belts. It has a beveled tip, and the needle shaft has sufficient flexibility relative to the tissue, so when piercing the tissue, the needle shaft will bend due to the lateral force of the tissue, puncturing ...

AI Technical Summary

Problems solved by technology

At present, the needles used for minimally invasive surgery are all steel needles, which cannot bypass obstacles such as bones, nerves, and blood vessels during the puncture process, and cannot flexibly and effectively correct errors and accurately puncture the target point. Therefore, it is proposed to use flexible needles and flexible needle belts There is an oblique tip, and the needle shaft is sufficiently flexible relative to the tissue, so when piercing the tissue, due to the lateral force of the tissue, the needle shaft will bend, puncture an arc-shaped trajectory, and use its own flexible bending to bypass bones, Obstacles such as blood vessels can accurately puncture the target; when the doctor manually punctures, it is difficult to control the flexible needle, which affects the stability, accuracy and accessibility of the puncture

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