CN102113905B - Novel acupuncture surgery manipulator mechanism in nuclear magnetic resonance environment - Google Patents

Abstract

The invention discloses a novel acupuncture operation manipulator mechanism under the nuclear magnetic resonance environment, and five degrees of freedom are allocated to three independent modules for execution. The bottom module consists of a screw slide mechanism and two different sets of rack and pinion mechanisms. The screw slide mechanism and a set of rack and pinion mechanisms work together to realize the lifting movement of the device through the control of the cylinder; the other set of gear teeth The bar mechanism realizes the horizontal swing of the device under the control of another cylinder. The platform of the middle module realizes the pitching motion of the device and the translational motion in the horizontal plane through the rotation of the ultrasonic motor and the push of the cylinder respectively. The acupuncture layer module realizes the acupuncture movement, and the linear feed movement of the needle body in the horizontal direction is realized by the screw slide rail mechanism and the rotation of the ultrasonic motor. Adopting the structure of the present invention can realize a wide range of up and down, left and right, tilting and swinging movements; at the same time, the structure is compact, and it can assist in completing acupuncture operations in the limited space of the NMR instrument, greatly improving the accuracy of the operation.

Description

The Manipulator Mechanism of Acupuncture Surgery under MRI Environment

technical field

The invention relates to an acupuncture operation manipulator mechanism, in particular to a novel acupuncture operation manipulator mechanism under a nuclear magnetic resonance environment.

Background technique

Currently, the mainstay of prostate surgery is minimally invasive brachytherapy. During the operation, radioactive seeds are implanted into the prostate through acupuncture for localized radiation therapy. However, acupuncture surgery performed manually usually has the disadvantages of poor precision and incapability of real-time imaging; for pre-planned trajectories, the expected effect may not be achieved due to the movement of the patient's body and the stimulation of soft tissue by acupuncture . These problems can be well solved by means of robot-assisted or robot-handed high-precision acupuncture.

Compared with traditional X-rays and CT, magnetic resonance imaging (MRI) can avoid X-ray radiation to healthy cells, and has excellent soft tissue resolution and precise geometric characteristics, and can detect lesion areas more accurately to ensure Reasonable trajectory optimization, and more accurate judgment of the lesion, to ensure the position accuracy of implanted particles. The Chinese patent with the patent number CN201010137726.1 discloses "an acupuncture manipulator mechanism applied in a nuclear magnetic resonance environment", and the movement of the manipulator is realized by controlling the active sliders of the six slider swing bars. Among them, the lower layer is composed of four slider swing rod mechanisms, the front and rear two sets are relatively independent, and each set is composed of two slider swing rod mechanisms, which are controlled by one cylinder to realize synchronous movement, while the front and rear two sets are controlled by different cylinders respectively. , Asynchronous movement, realizing the movement of the four degrees of freedom of the mechanism up and down, left and right, tilting and swinging. Acupuncture movement is achieved by the linear feed movement of the needle body in the horizontal direction through the rotation of the ultrasonic motor through the screw slide rail mechanism. Adopting this mechanism can overcome the disadvantages of untimely imaging effect and difficult trajectory planning of acupuncture surgery, and can greatly improve the accuracy, success and perfection of surgery. However, the patented technology has the problem that the upper platform is supported by swing rods, which has low rigidity and is easy to swing.

Contents of the invention

The purpose of the present invention is to overcome the deficiencies of the prior art and provide an acupuncture surgery in a high-rigidity nuclear magnetic resonance environment that can realize real-time control, improve the accuracy of acupuncture surgery in a limited space, and reduce the pain of surgery for patients. Robot mechanism.

The manipulator mechanism for acupuncture surgery in a nuclear magnetic resonance environment of the present invention includes a bottom module, a middle module and an acupuncture layer module arranged in sequence from bottom to top, the bottom module includes a bottom platform, and the middle module includes a middle module Platform, the acupuncture layer module includes an acupuncture platform, a second ultrasonic motor is installed on the acupuncture platform, the output shaft of the second ultrasonic motor is connected to the first lead screw, and the second ultrasonic motor is connected to the first lead screw. The threaded screw is connected with the lead screw seat fixed on the acupuncture platform through bearings, the two sides of the nuts set on the first lead screw are respectively set on a light rod, and the two ends of the two light rods are respectively connected to the lead screw On the seat, a surgical needle is connected to the nut, a nut platform is arranged between the bottom platform and the middle platform, and a first lead screw slide rail mechanism is installed on the bottom platform, and the The slider of the first lead screw slide rail mechanism is fixedly connected with the first rack, and the first rack is engaged with the swing gear that is rotatably installed on the second lead screw through the first bearing, and the nut platform Connected to the second lead screw located above the swing gear, one end of at least two guide posts is fixedly connected with the swing gear, and the other ends of at least two guide posts are inserted into the openings on the nut platform and connected to the openings Sliding fit, the bottom of the second lead screw is connected vertically to the bottom platform through the second bearing and its top is threadedly fitted with the nut platform, on the bottom surface of the swing gear A second lead screw slide mechanism is connected to the top, the slider of the second lead screw slide mechanism is fixedly connected with the second rack, and the second rack is connected with the bottom platform and the swing gear. The lifting gear on the second lead screw is meshed and matched, and the first ultrasonic motor is installed on the nut platform, and the output shaft of the first ultrasonic motor is arranged along the horizontal direction and is fixedly connected with the middle platform. The output shafts of the second lead screw and the first ultrasonic motor are arranged perpendicular to each other, and a third lead screw slide mechanism is connected to the bottom surface of the middle platform, and the slider and the pendulum of the third lead screw slide mechanism are connected to each other. The rods are fixedly connected, and there is a linear guide groove on the middle platform, and an oblique guide groove set at an angle to the linear guide groove is opened on the acupuncture platform, and the swing rod passes through the straight line. The guide rail groove is inserted into the oblique guide groove, and the moving direction of the slider of the third lead screw slide rail mechanism is perpendicular to the output shaft of the first ultrasonic motor.

Outstanding advantage of the present invention is:

The present invention has a flexible structure, and can realize a wide range of up and down, left and right, tilting and swinging movements by comprehensively using mechanisms such as gear racks, lead screw nuts, and swing rod chute; Assist in the completion of acupuncture surgery, overcome the disadvantages of untimely imaging and difficult trajectory planning during the operation, can greatly improve the accuracy of the operation, the success and perfection of the operation, and thus guide the robot for MRI. Minimally invasive surgery opens up new avenues.

Description of drawings

Fig. 1 is the perspective view of the structure of the acupuncture operation manipulator mechanism under the nuclear magnetic resonance environment of the present invention;

Fig. 2 is the top view of the bottom module of the mechanism shown in Fig. 1;

Fig. 3 is a partial bottom sectional view of the mechanism shown in Fig. 1;

Fig. 4 is the bottom view of the middle platform of the mechanism shown in Fig. 1;

Fig. 5 is a top view of the acupuncture platform of the mechanism shown in Fig. 1 .

Detailed ways

Below in conjunction with specific embodiment, and with reference to accompanying drawing, technology of the present invention is described further:

As shown in the figure, the acupuncture operation manipulator mechanism under the MRI environment includes a bottom module, a middle module and an acupuncture layer module arranged sequentially from bottom to top, the bottom module includes a bottom platform 2, and the middle module The module includes a middle platform 21, and the acupuncture layer module includes an acupuncture platform 24, on which a second ultrasonic motor 29 is installed, and the output shaft of the second ultrasonic motor 29 is connected to the first wire The first lead screw 28 is connected with the lead screw seat 26 fixed on the acupuncture platform through bearings, and the two sides of the nuts that are sleeved on the first lead screw 28 are respectively set on a light rod, and the two The two ends of each light rod 27 are respectively connected on the lead screw seat, the operation needle 25 is connected on the nut, the nut platform is arranged between the bottom platform and the middle platform, on the bottom platform The first lead screw slide mechanism is installed, the slider of the first lead screw slide mechanism is fixedly connected with the first rack 5, and the first rack 5 is installed on the second rack through the first bearing rotation. The swing gear 3 on the lead screw 4 is meshed and matched, the nut platform is connected to the second lead screw above the swing gear, one end of at least two guide posts 13 is fixedly connected with the swing gear, and the ends of at least two guide posts 13 are fixedly connected to each other. The other end is inserted into the opening on the nut platform and is slidingly fitted with the opening. The bottom of the second lead screw is vertically connected to the bottom platform 2 through the second bearing and its top is threadedly connected with the nut platform, and the bottom surface of the swing gear is connected with the first Two lead screw slide rail mechanisms, the slider of the second lead screw slide rail mechanism is fixedly connected with the second rack 11, and the second rack is connected with the second wire installed between the bottom platform and the swing gear. The lifting gear 12 on the bar 4 is meshed and matched, and the first ultrasonic motor 22 is installed on the nut platform. The output shaft of the first ultrasonic motor is arranged along the horizontal direction and is fixedly connected with the middle platform 21. The output shafts of the second lead screw 4 and the first ultrasonic motor 22 are arranged perpendicular to each other, and a third lead screw slide mechanism is connected to the bottom surface of the middle platform, and the slide mechanism of the third lead screw slide mechanism The block 17 is fixedly connected with the swing bar 18, and a linear guide rail groove 20 is formed on the middle platform 21, and an oblique guide groove arranged at an angle to the linear guide rail groove is formed on the described acupuncture platform, The swing rod is inserted into the oblique guide groove 30 through the linear guide groove, and the moving direction of the slider of the third lead screw slide mechanism is perpendicular to the output shaft of the first ultrasonic motor.

As shown in Figures 2, 3, and 4, as an embodiment of the present invention, the first screw slide mechanism includes a first linear guide 7 installed on the bottom platform and a first linear guide rail 7 installed on the bottom platform through a bearing seat. The first cylinder 1 on the first linear guide rail is provided with a first slider 6 that is slidably connected to it. One side of the first slider is connected to the piston rod of the first cylinder 1 and the other side It is fixedly connected with the first rack 5.

The second screw slide rail mechanism includes a second linear guide rail 14 installed on the bottom surface of the swing gear 3 and a second cylinder 8 installed on the bottom platform through a bearing seat 9, and the second linear guide rail is provided with a sliding connection with it. One side of the second slider is connected with the piston rod 10 of the second cylinder 8 and the other side is fixedly connected with the second rack 11 .

The third screw slide rail mechanism includes a third linear guide rail 19 installed on the bottom surface of the middle platform 21 and a third cylinder 16 installed on the bottom surface of the middle platform 21 through a bearing seat, the third linear guide rail is provided with a sliding Connected third slide block 17, one side of the third slide block 17 is connected with the piston rod of the third cylinder 16 and its other side is fixedly connected with the swing rod.

Of course, the screw slide rail mechanism may also adopt a motor-nut screw structure.

The working process of this device is as follows:

Lifting movement: by controlling the cylinder piston rod 10 connected to the air pump to push the second slider 15 to move along the second linear guide rail 14, so as to realize the horizontal movement of the second rack 11 to drive the lifting gear 12 to rotate around the vertical direction, To achieve the rotation of the second lead screw 4, the top of the second lead screw 4 is threadedly connected to the nut platform. According to the principle of the lead screw nut mechanism, the rotational motion is changed into a linear motion, thereby realizing the lifting motion of the device. By controlling the rotation of the first ultrasonic motor 22, the pitching motion of the middle platform 21 is realized, and the middle platform and the acupuncture layer platform 24 are consolidated together by the swing rod 18, thereby realizing the pitching motion of the device.

Translational movement: by controlling the third cylinder 16 connected to the air pump, the piston rod pushes the slider 17 to move horizontally along the third linear guide rail 19, thereby realizing the movement of the swing rod 18 in the linear guide rail groove 20, because the middle platform passes through the swing rod 18 It is fixed with the acupuncture platform, so the swing bar 18 moves in the oblique guide groove 30 at the same time, and under the joint constraints of the linear groove and the oblique groove, the acupuncture platform 24 can move horizontally, thereby realizing the horizontal movement of the device. By controlling the first cylinder 1 connected to the air pump, the piston rod pushes the slider 6 to move horizontally along the first linear guide rail 7, thereby realizing the horizontal movement of the first rack 5 to drive the swing gear 3 to rotate around the vertical direction, The swing gear 3 is consolidated with the second lead screw 4 and the middle platform 21, so as to realize the swing of the device in the horizontal plane.

Acupuncture movement: through the second ultrasonic motor 29, the first lead screw 28 drives the surgical needle 25 to move, and the movement and force are transmitted to the needle tip to realize the acupuncture operation.

Therefore, through the cooperation of the translational movement and the lifting movement, the adjustment of the spatial posture of the needle body is realized; through the acupuncture movement, the acupuncture operation is finally realized.

Claims (1)

1. The acupuncture operation manipulator mechanism under the nuclear magnetic resonance environment, it comprises bottom module, middle module and acupuncture layer module that are arranged in order from bottom to top, and described bottom module includes bottom platform, and described middle module includes middle platform , the acupuncture layer module includes an acupuncture platform, a second ultrasonic motor is installed on the acupuncture platform, the output shaft of the second ultrasonic motor is connected to the first lead screw, and the first The lead screw is connected with the lead screw seat fixed on the acupuncture platform through bearings, the two sides of the nuts sleeved on the first lead screw are respectively placed on a light rod, and the two ends of the two light rods are respectively connected to the lead screw seat above, a surgical needle is connected to the nut, and it is characterized in that: a nut platform is set between the bottom platform and the middle platform, and a first lead screw slide rail mechanism is installed on the bottom platform, The slider of the first lead screw slide rail mechanism is fixedly connected with the first rack, and the first rack is meshed with the swing gear that is rotatably mounted on the second lead screw through the first bearing. The nut platform is connected to the second lead screw above the swing gear, one end of at least two guide posts is fixedly connected with the swing gear, and the other ends of at least two guide posts are inserted into the openings on the nut platform and connected to the The openings of the second lead screw are slidably fitted, the bottom of the second lead screw is connected to the bottom platform in the vertical direction through the second bearing and its top is screwed and matched with the nut platform. The bottom surface of the gear is connected with a second lead screw slide mechanism, the slider of the second lead screw slide mechanism is fixedly connected with the second rack, and the second rack is connected with the bottom platform and the swing gear The lifting gear on the second lead screw between them is meshed and matched, and the first ultrasonic motor is installed on the nut platform, and the output shaft of the first ultrasonic motor is arranged along the horizontal direction and is fixedly connected with the middle platform. The output shafts of the second lead screw and the first ultrasonic motor are perpendicular to each other, and a third lead screw slide mechanism is connected to the bottom surface of the middle platform, and the slide rail mechanism of the third lead screw mechanism The block is fixedly connected with the swing bar, and a linear guide groove is opened on the middle platform, and an oblique guide groove set at an angle with the linear guide groove is opened on the acupuncture platform, and the pendulum The rod is inserted into the oblique guide groove through the linear guide groove, and the moving direction of the slider of the third lead screw slide mechanism is perpendicular to the output shaft of the first ultrasonic motor.

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