CN102921099B - Short-distance particle implantation robot based on ultrasonic image navigation - Google Patents
Short-distance particle implantation robot based on ultrasonic image navigation Download PDFInfo
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- CN102921099B CN102921099B CN201210408741.4A CN201210408741A CN102921099B CN 102921099 B CN102921099 B CN 102921099B CN 201210408741 A CN201210408741 A CN 201210408741A CN 102921099 B CN102921099 B CN 102921099B
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Abstract
The invention discloses a short-distance particle implantation robot based on ultrasonic image navigation. The short-distance particle implantation robot comprises a movable support, an ultrasonic probe feeding and rotating unit and an acupuncture template spatial attitude adjusting unit, wherein the movable support is used for realizing movement in four horizontal directions such as a front direction, a rear direction, a left direction and a right direction and movement in an up-down direction; the ultrasonic probe feeding and rotating unit is arranged on the movable support; the acupuncture template spatial attitude adjusting unit is arranged on the ultrasonic probe feeding and rotating unit and is provided with an ultrasonic probe extension side; the ultrasonic probe feeding and rotating unit is provided with an ultrasonic probe supporting frame feeding mechanism and an ultrasonic probe rotating mechanism; and the acupuncture template spatial attitude adjusting unit is provided with an acupuncture template rotating mechanism and an acupuncture template lifting and turning mechanism. According to the short-distance particle implantation robot, a doctor can be assisted by navigation of an ultrasonic image to finish an acupuncture surgery, so that the accuracy for the acupuncture surgery is improved as much as possible, and the pain of the patient in the surgery is reduced. According to the short-distance particle implantation robot, the accuracy for the surgery and the success and the completeness of the surgery can be improved to a great extent, so that a new approach is developed for an ultrasonic image-guided robot aided minimally invasive surgery.
Description
Technical field
The present invention relates to a kind of robot.The close-range particle based on the ultrasonoscopy navigation that particularly relates to a kind of acupuncture manipulator mechanism is implanted robot.
Background technology
Closely radiation treatment is a kind of effective ways of controlling carcinoma of prostate PD and mortality rate, and it implants the radioactive particle kill cancer cell to reach the purpose for the treatment of at the canceration position by acupuncture operation.Not only precision is low for traditional manual acupuncture operation, and radioactive particle also can cause the radioactivity injury to the clinician.For the track of planning in advance, also may the stimulation for soft tissue because of the movement of patient body and acupuncture, and can't realize the effect of estimating.Not only positioning precision is high for robotic assisted surgery based on image-guidance, dexterity is strong, and the wound that the patient is caused is little, is convenient to post-operative recovery, can well solve like this problem that the needled conventionally operation brings.
Ultrasonoscopy has the characteristics such as real-time, radiationless, economy, being widely applied in the puncture operation.The puncture operation of ultrasonic guidance has the following advantages: one, and the doctor can plan exactly the inserting needle path under the ultrasonoscopy navigation, robot has higher stability and accuracy than staff simultaneously; Its two, puncture needle with overcome the restriction of guiding puncture frame to needle angle separating of probe, be conducive to the selection in inserting needle path; Its three, reduced the factor of thinking in operation, reduced doctor's labor intensity, be conducive to the popularization and application of technology.Therefore, the puncture of the robot assisted based on ultrasonic guidance operation has important theory significance and actual application value.
Summary of the invention
Technical problem to be solved by this invention is to provide a kind of close-range particle that can reach the ultrasonoscopy navigation of high accuracy, low-wound, minimizing post-operative complication and sequela to implant robot.
The technical solution adopted in the present invention is: a kind of close-range particle of ultrasonoscopy navigation is implanted robot, comprise: realize that four of front, rear, left and right horizontal direction moves the mobile support saddle moved with above-below direction, be arranged on ultrasound probe feeding and rotary unit on mobile support saddle, and the acupuncture template spatial attitude adjustment unit that ultrasound probe stretches out side that has that is arranged on ultrasound probe feeding and rotary unit, wherein, described ultrasound probe feeding and rotary unit have ultrasound probe bracing frame feed mechanism and ultrasound probe rotating mechanism; Described acupuncture template spatial attitude adjustment unit has acupuncture template rotating mechanism and acupuncture template lifting turning mechanism.
Described mobile support saddle comprises: base, the moving platform that is arranged on base and moves as horizontal linear along base, be arranged on moving platform and along moving platform and make the lifting pedestal that the horizontal linear perpendicular with the moving platform moving direction moves, be arranged on lifting pedestal the elevating mechanism of doing elevating movement.
One side of described base is equipped with the first servomotor, the first ball-screw be connected with the output shaft of the first servomotor is installed in described base, middle part, the bottom surface of described moving platform with described the first ball-screw for being threaded, the syndeton that the both sides, bottom surface of described moving platform and described base are the dovetail groove guide rail; The side paralleled with self moving direction on described moving platform is equipped with the second servomotor, the second ball-screw be connected with the output shaft of the second servomotor is installed in described moving platform, middle part, the bottom surface of described lifting pedestal with described the second ball-screw for being threaded, the syndeton that the both sides, bottom surface of described lifting pedestal and described moving platform are the dovetail groove guide rail.
Described elevating mechanism comprises: the 3rd ball-screw that is positioned at the lifting pedestal top, be positioned at the servomotor that the 3rd ball-screw lower end and output shaft are connected with the 3rd ball-screw lower end, be vertically fixed on respectively four lifting guide pillars on the lifting pedestal end face, be enclosed within respectively four jacking sleeves on four lifting guide pillars, and the gripper shoe that is fixedly connected on the sleeve top of four jacking sleeve tops and the 3rd ball-screw.
Described ultrasound probe feeding and rotary unit comprise: be arranged on the ultrasound probe silent flatform on the gripper shoe of mobile support saddle, be arranged on the 3rd servomotor of ultrasound probe silent flatform one side, be arranged in the ultrasound probe silent flatform and the 3rd ball-screw be connected with the output shaft of described the 3rd servomotor, with described the 3rd ball-screw, it is the probe moving platform be threaded, be arranged on the U-shaped ultrasound probe bracing frame on the probe moving platform, be formed with the through hole that runs through Ultrasonic-B probe on two vertical framves of described U-shaped ultrasound probe bracing frame, the inboard of described U-shaped ultrasound probe bracing frame two vertical framves is respectively arranging a Ultrasonic-B probe fixture with described through hole corresponding section, be provided with the 4th servomotor on the lateral surface of the vertical frame away from acupuncture template one side of U-shaped ultrasound probe bracing frame, two vertical framves and two Ultrasonic-B probe fixtures that one end of described Ultrasonic-B probe runs through U-shaped ultrasound probe bracing frame are connected with the output shaft of described the 4th servomotor.
Described acupuncture template rotating mechanism is man-operated mechanism, comprise: acupuncture template silent flatform, be arranged on the ball-screw torsion bar on acupuncture template silent flatform, one end of ball-screw torsion bar is positioned at the outside of acupuncture template silent flatform and is provided with knob, the ball-screw torsion bar connects feed screw nut in the part be positioned at above acupuncture template silent flatform, be fixedly connected with the first acupuncture template moving platform on described feed screw nut, the bevel gear bar has been threaded on described the first acupuncture template moving platform, be fixedly connected with the first bevel gear on described bevel gear bar, also be provided with horizontally disposed the second bevel gear be meshed with described the first bevel gear, described the second bevel gear connects the second acupuncture template moving platform by a rotating shaft, thereby realize the rotation of the second acupuncture template moving platform, on described the first acupuncture template moving platform, also be provided with for limiting the first hook knob of the bevel gear bar anglec of rotation, be provided with acupuncture template lifting turning mechanism on described the second acupuncture template moving platform.
Described acupuncture template lifting turning mechanism is man-operated mechanism, comprise: an end is arranged on two ball-screw screw rods above the second acupuncture template moving platform in acupuncture template rotating mechanism, be provided with the lifting knob of two ball-screw screw rod rotations of manual control on described the second acupuncture template moving platform, described two ball-screw screw tip acupuncture template framework that is threaded, the acupuncture template-setup is in the acupuncture template framework, on the sidewall of described acupuncture template framework, be provided with for controlling the switching mechanism of acupuncture template upset, described switching mechanism has the upset knob, the first gear be connected with the upset knob, the second gear be meshed with the first gear, described the second gear connects the trip shaft of acupuncture template, on described acupuncture template framework, also be provided with for limiting the second hook knob of acupuncture template flip angle.
The diameter of described the first gear is less than the diameter of the second gear.
The close-range particle of ultrasonoscopy navigation of the present invention is implanted robot, can under the navigation of ultrasonography, assist the doctor to complete acupuncture operation, improves as much as possible the precision of acupuncture operation, reduces the misery of patient in operation.Flexible structure, overcome imaging effect in operation process not in time with the drawback of trajectory planning difficulty, to reach high accuracy, low-wound, minimizing post-operative complication and sequela.The present invention is the precision of the raising operation of degree greatly, the successful of operation and integrity, thus for ultrasonography guided robot assisted minimally invasive surgical operation, open up a new way.
The accompanying drawing explanation
Fig. 1 is overall structure schematic diagram of the present invention;
Fig. 2 is the mobile support saddle structural representation of the present invention bottom;
Fig. 3 is ultrasound probe feeding of the present invention and rotary unit structural representation;
Fig. 4 is acupuncture template spatial attitude adjustment unit structural representation of the present invention.
1: 2: the first servomotors of base
Within 3: the first, ball-screw 4: moving platform
Within 5: the second, servomotor 6: lifting pedestal
7: the three ball-screws 8: lifting guide pillar
9: 10: the three servomotors of jacking sleeve
11: 12: the three ball-screws of ultrasound probe silent flatform
13: probe moving platform 14: ultrasound probe bracing frame
15: the super probe gripper of four servomotor 16:B
The super probe 18 of 17:B: gripper shoe
Within 19: the second, ball-screw 20: the bevel gear bar
22: the first hook knob of 21: the first acupuncture template moving platforms
24: the second bevel gears of 23: the first bevel gears
25: feed screw nut 26: acupuncture template silent flatform
27: 28: the second acupuncture template moving platforms of ball-screw torsion bar
29: lifting knob 30: the ball-screw screw rod
31: acupuncture template framework 32: the acupuncture template
Within 33: the second, hook knob 34: the upset knob
36: the second gears of 35: the first gears
The specific embodiment
Below in conjunction with embodiment and accompanying drawing, the close-range particle of ultrasonoscopy navigation of the present invention being implanted to robot is described in detail.
The close-range particle of ultrasonoscopy navigation of the present invention is implanted robot, and the location of its ultrasound probe has been assigned in two standalone modules and has carried out, and is respectively manipulator mechanism bottom module and ultrasound probe console module.Wherein the bottom module is comprised of servomotor, ball-screw and dovetail groove slide rail, the translational motion of three mutually perpendicular directions in implementation space, the locus of adjustment ultrasound probe and acupuncture template.In the ultrasound probe console module, be divided into and joined two degree of freedom, the translation that the first realizes by servomotor and ball-screw, realize the feed motion of ultrasound probe, adjusts the locus of ultrasound probe and with respect to the position of acupuncture template; Its two, be to realize the rotation among a small circle of ultrasound probe by the rotation of servomotor, to increase sweep limits.Three translational degree of freedom of the adjustment of template spatial pose in being distributed in the bottom module, four degree of freedom (two translations and two rotational freedoms) have been distributed on the acupuncture template platform, these four degree of freedom are realized the fine setting of acupuncture template spatial pose, by the doctor, by manual adjustment, are completed.
As shown in Figure 1, the close-range particle of ultrasonoscopy navigation of the present invention is implanted robot, comprise: realize that four of front, rear, left and right horizontal direction moves the mobile support saddle moved with above-below direction, be arranged on ultrasound probe feeding and rotary unit on mobile support saddle, and the acupuncture template spatial attitude adjustment unit that ultrasound probe stretches out side that has that is arranged on ultrasound probe feeding and rotary unit, wherein, described ultrasound probe feeding and rotary unit have ultrasound probe bracing frame feed mechanism and ultrasound probe rotating mechanism; Described acupuncture template spatial attitude adjustment unit has acupuncture template rotating mechanism and acupuncture template lifting turning mechanism.
As shown in Figure 2, described mobile support saddle comprises: base 1, the moving platform 4 that is arranged on base 1 and moves as horizontal linear along base 1, be arranged on moving platform 4 and along moving platform 4 and make the lifting pedestal 6 that the horizontal linear perpendicular with moving platform 4 moving directions moves, be arranged on the elevating mechanism of doing elevating movement on lifting pedestal 6.
One side of described base 1 is equipped with the first servomotor 2, the first ball-screw 3 be connected with the output shaft of the first servomotor 2 is installed in described base 1, middle part, the bottom surface of described moving platform 4 with described the first ball-screw 3 for being threaded, the syndeton that the both sides, bottom surface of described moving platform 4 and described base 1 are the dovetail groove guide rail; The side paralleled with self moving direction on described moving platform 4 is equipped with the second servomotor 5, the second ball-screw 19 be connected with the output shaft of the second servomotor 5 is installed in described moving platform 4, middle part, the bottom surface of described lifting pedestal 6 with described the second ball-screw 19 for being threaded, the syndeton that the both sides, bottom surface of described lifting pedestal 6 and described moving platform 4 are the dovetail groove guide rail.
Described elevating mechanism comprises: the 3rd ball-screw 7 that is positioned at lifting pedestal 6 tops, be positioned at the servomotor that the 3rd ball-screw 7 lower ends and output shaft are connected with the 3rd ball-screw 7 lower ends, be vertically fixed on respectively four lifting guide pillars 8 on lifting pedestal 6 end faces, be enclosed within respectively four jacking sleeves 9 on four lifting guide pillars 8, and the gripper shoe 18 that is fixedly connected on the sleeve top of four jacking sleeve 9 tops and the 3rd ball-screw 7.
As shown in Figure 3, described ultrasound probe feeding and rotary unit comprise: be arranged on the ultrasound probe silent flatform 11 on the gripper shoe 18 of mobile support saddle, be arranged on the 3rd servomotor 10 of ultrasound probe silent flatform 11 1 sides, be arranged in ultrasound probe silent flatform 11 and the 3rd ball-screw 12 be connected with the output shaft of described the 3rd servomotor 10, with the probe moving platform 13 of described the 3rd ball-screw 12 for being threaded, be arranged on the U-shaped ultrasound probe bracing frame 14 on probe moving platform 13, be formed with the through hole that runs through Ultrasonic-B probe 17 on two vertical framves of described U-shaped ultrasound probe bracing frame 14, the inboard of 14 liang of vertical framves of described U-shaped ultrasound probe bracing frame is respectively arranging a Ultrasonic-B probe fixture 16 with described through hole corresponding section, be provided with the 4th servomotor 15 on the lateral surface of the vertical frame away from acupuncture template 32 1 sides of U-shaped ultrasound probe bracing frame 14, two vertical framves and two Ultrasonic-B probe fixtures 16 that one end of described Ultrasonic-B probe 17 runs through U-shaped ultrasound probe bracing frame 14 are connected with the output shaft of described the 4th servomotor 15.
As shown in Figure 4, described acupuncture template rotating mechanism is man-operated mechanism, comprise: acupuncture template silent flatform 26, be arranged on the ball-screw torsion bar 27 on acupuncture template silent flatform 26, one end of ball-screw torsion bar 27 is positioned at the outside of acupuncture template silent flatform 26 and is provided with knob, ball-screw torsion bar 27 connects feed screw nut 25 in the part be positioned at above acupuncture template silent flatform 26, be fixedly connected with the first acupuncture template moving platform 21 on described feed screw nut 25, bevel gear bar 20 has been threaded on described the first acupuncture template moving platform 21, be fixedly connected with the first bevel gear 23 on described bevel gear bar 20, also be provided with horizontally disposed the second bevel gear 24 be meshed with described the first bevel gear 23, described the second bevel gear 24 connects the second acupuncture template moving platform 28 by a rotating shaft, thereby realize the rotation of the second acupuncture template moving platform 28, on described the first acupuncture template moving platform 21, also be provided with for limiting the first hook knob 22 of bevel gear bar 20 anglecs of rotation, be provided with acupuncture template lifting turning mechanism on described the second acupuncture template moving platform 28.
Described acupuncture template lifting turning mechanism is man-operated mechanism, comprise: an end is arranged on two ball-screw screw rods 30 above the second acupuncture template moving platform 28 in acupuncture template rotating mechanism, be provided with the lifting knob 29 of two ball-screw screw rods of manual control, 30 rotations on described the second acupuncture template moving platform 28, described two ball-screw screw rod 30 tops acupuncture template framework 31 that is threaded, acupuncture template 32 is arranged in acupuncture template framework 31, on the sidewall of described acupuncture template framework 31, be provided with for controlling the switching mechanism of acupuncture template 32 upsets, described switching mechanism has upset knob 34, the first gear 35 be connected with upset knob 34, the second gear 36 be meshed with the first gear 35, described the second gear 36 connects the trip shaft of acupuncture template 32, the diameter of described the first gear 35 is less than the diameter of the second gear 36.On described acupuncture template framework 31, also be provided with for limiting the second hook knob 33 of acupuncture template 32 flip angles.
The working method of the close-range particle of ultrasonoscopy navigation of the present invention being implanted to robot below in conjunction with accompanying drawing is described below:
Translational motion: the bottom mobile support saddle of the close-range particle implantation robot of ultrasonoscopy navigation of the present invention is mainly realized the translational motion of ultrasound probe module and three directions of template platform.The first servomotor 2 is arranged on base 1, drives moving platform 4 by the first ball-screw 3 and does translational motion, between moving platform 4 and base 1, by the dovetail groove guide rail, carrys out guided-moving.The second servomotor 5 is arranged on moving platform 4, and drive lifting pedestal 6 by the second ball-screw 19 and do translational motion, between moving platform 4 and lifting pedestal 6, be also to carry out guided-moving by the dovetail groove guide rail.The 3rd ball-screw 7 is by the driven by servomotor that is positioned at its lower end, between four lifting guide pillars 8 and jacking sleeve 9, coordinates, and jointly realizes the lifting campaign of upper platform.By the translation of three directions of bottom module, can realize that the space of ultrasound probe module and template platform is located fast.
The ultrasound probe motion: ultrasound probe feeding and rotary unit are mainly realized feed motion and the rotation of probe.The 3rd servomotor 10 is arranged on ultrasound probe silent flatform 11, drives probe moving platform 13 by the 3rd ball-screw 12 and moves, and realizes the feed motion of ultrasonic probe.Ultrasound probe bracing frame 14 is arranged on probe moving platform 13, and Ultrasonic-B probe 17 is arranged on ultrasound probe bracing frame 14 by Ultrasonic-B probe fixture 16.The 4th servomotor 15 is arranged on ultrasound probe bracing frame 14, drives Ultrasonic-B probe 17 and rotates.
Template position adjustment campaign: acupuncture template spatial attitude adjustment unit is mainly realized the spatial attitude adjustment of template, there are two translations and two rotational freedoms, be convenient to the doctor and by means of template, radioactive particle accurately sent to the canceration position from different angles and position according to ultrasonoscopy.Ball-screw torsion bar 27 is arranged on acupuncture template silent flatform 26, and by 25 motions of ball screw assembly, driving-belt movable wire thick stick nut, thereby the first acupuncture template moving platform 21 moves.The bevel gear bar is arranged on the first acupuncture template platform 21, by bevel gear 23 and bevel gear 24 engagements, the rotation of bevel gear bar 20 is converted to the rotation of bevel gear 24 place axles, this axle and the second acupuncture template moving platform 28 connect firmly, thereby realize the rotation of acupuncture template moving platform, because Bevel Gear Transmission does not have auto-lock function, therefore be provided with the first hook knob 22 on the first acupuncture template moving platform 21.By screw, the rotation of lifting knob 29 is converted to the lifting campaign of acupuncture template framework 31 between lifting knob 29 and ball-screw screw rod 30.Acupuncture template 32 is arranged on acupuncture template framework 31, upset knob 34 is converted to the swing of template 32 by will the overturn rotation of knob 34 of the engagement between the first gear 35 and the second gear 36, consider the impact of gravity factor, when template occur to swing as without external force, returned to the original equilibrium state, admittedly be provided with the second hook knob 33, give locked when template occurs to swing.
Therefore, the close-range particle of ultrasonoscopy navigation of the present invention is implanted robot, at first the translational motion of the three degree of freedom degree by the bottom mobile support saddle realizes the location, locus of ultrasound probe and template fast, in conjunction with ultrasound probe feeding and rotary unit and acupuncture template spatial attitude adjustment unit, adjust easily ultrasound probe locus and with the relative position of template.In addition, in conjunction with ultrasonography, the spatial pose of template can be adjusted by two translational degree of freedom and two rotary freedoms of template platform.By the routing motion between modules, can assist a physician radioactive particle is implanted to patient's canceration position quickly and accurately.
Claims (2)
1. the close-range particle of a ultrasonoscopy navigation is implanted robot, it is characterized in that, comprise: realize that four of front, rear, left and right horizontal direction moves the mobile support saddle moved with above-below direction, be arranged on ultrasound probe feeding and rotary unit on mobile support saddle, and the acupuncture template spatial attitude adjustment unit that ultrasound probe stretches out side that has that is arranged on ultrasound probe feeding and rotary unit, wherein, described ultrasound probe feeding and rotary unit have ultrasound probe bracing frame feed mechanism and ultrasound probe rotating mechanism; Described acupuncture template spatial attitude adjustment unit has acupuncture template rotating mechanism and acupuncture template lifting turning mechanism, wherein:
Described mobile support saddle comprises: base (1), be arranged on the moving platform (4) that base (1) is upper and move as horizontal linear along base (1), be arranged on moving platform (4) and above and along moving platform (4) make the lifting pedestal (6) that the horizontal linear perpendicular with moving platform (4) moving direction moves, be arranged on the elevating mechanism of doing elevating movement on lifting pedestal (6), one side of described base (1) is equipped with the first servomotor (2), the first ball-screw (3) be connected with the output shaft of the first servomotor (2) is installed in described base (1), middle part, the bottom surface of described moving platform (4) with described the first ball-screw (3) for being threaded, the syndeton that the both sides, bottom surface of described moving platform (4) and described base (1) are the dovetail groove guide rail, described moving platform (4) is gone up the side paralleled with self moving direction the second servomotor (5) is installed, the second ball-screw (19) be connected with the output shaft of the second servomotor (5) is installed in described moving platform (4), middle part, the bottom surface of described lifting pedestal (6) with described the second ball-screw (19) for being threaded, the syndeton that the both sides, bottom surface of described lifting pedestal (6) and described moving platform (4) are the dovetail groove guide rail, described elevating mechanism comprises: the 3rd ball-screw (7) that is positioned at lifting pedestal (6) top, be positioned at the servomotor that the 3rd ball-screw (7) lower end and output shaft are connected with the 3rd ball-screw (7) lower end, be vertically fixed on respectively four the lifting guide pillars (8) on lifting pedestal (6) end face, be enclosed within respectively four jacking sleeves (9) on four lifting guide pillars (8), and the gripper shoe (18) that is fixedly connected on the sleeve top of four jacking sleeve (9) tops and the 3rd ball-screw (7),
Described ultrasound probe feeding and rotary unit comprise: be arranged on the ultrasound probe silent flatform (11) on the gripper shoe (18) of mobile support saddle, be arranged on the 3rd servomotor (10) of ultrasound probe silent flatform (11) one sides, be arranged in ultrasound probe silent flatform (11) and the 3rd ball-screw (12) be connected with the output shaft of described the 3rd servomotor (10), with the probe moving platform (13) of described the 3rd ball-screw (12) for being threaded, be arranged on the U-shaped ultrasound probe bracing frame (14) on probe moving platform (13), be formed with the through hole that runs through Ultrasonic-B probe (17) on two vertical framves of described U-shaped ultrasound probe bracing frame (14), the inboard of described U-shaped ultrasound probe bracing frame (14) two vertical framves is respectively arranging a Ultrasonic-B probe fixture (16) with described through hole corresponding section, be provided with the 4th servomotor (15) on the lateral surface of the vertical frame away from acupuncture template (32) one sides of U-shaped ultrasound probe bracing frame (14), two vertical framves and two Ultrasonic-B probe fixtures (16) that one end of described Ultrasonic-B probe (17) runs through U-shaped ultrasound probe bracing frame (14) are connected with the output shaft of described the 4th servomotor (15),
Described acupuncture template rotating mechanism is man-operated mechanism, comprise: acupuncture template silent flatform (26), be arranged on the ball-screw torsion bar (27) on acupuncture template silent flatform (26), one end of ball-screw torsion bar (27) is positioned at the outside of acupuncture template silent flatform (26) and is provided with knob, ball-screw torsion bar (27) connects feed screw nut (25) in the part that is positioned at acupuncture template silent flatform (26) top, be fixedly connected with the first acupuncture template moving platform (21) on described feed screw nut (25), bevel gear bar (20) has been threaded on described the first acupuncture template moving platform (21), be fixedly connected with the first bevel gear (23) on described bevel gear bar (20), also be provided with horizontally disposed the second bevel gear (24) be meshed with described the first bevel gear (23), described the second bevel gear (24) connects the second acupuncture template moving platform (28) by a rotating shaft, thereby realize the rotation of the second acupuncture template moving platform (28), on described the first acupuncture template moving platform (21), also be provided with for limiting first hook knob (22) of bevel gear bar (20) anglec of rotation, be provided with acupuncture template lifting turning mechanism on described the second acupuncture template moving platform (28),
Described acupuncture template lifting turning mechanism is man-operated mechanism, comprise: an end is arranged on two the ball-screw screw rods (30) above the second acupuncture template moving platform (28) in acupuncture template rotating mechanism, be provided with the lifting knob (29) of two ball-screw screw rods of manual control (30) rotation on described the second acupuncture template moving platform (28), described two ball-screw screw rods (30) top acupuncture template framework (31) that is threaded, acupuncture template (32) is arranged in acupuncture template framework (31), on the sidewall of described acupuncture template framework (31), be provided with for controlling the switching mechanism of acupuncture template (32) upset, described switching mechanism has upset knob (34), the first gear (35) be connected with upset knob (34), the second gear (36) be meshed with the first gear (35), described the second gear (36) connects the trip shaft of acupuncture template (32), on described acupuncture template framework (31), also be provided with for limiting second hook knob (33) of acupuncture template (32) flip angle.
2. the close-range particle of ultrasonoscopy navigation according to claim 1 is implanted robot, it is characterized in that, the diameter of described the first gear (35) is less than the diameter of the second gear (36).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210408741.4A CN102921099B (en) | 2012-10-23 | 2012-10-23 | Short-distance particle implantation robot based on ultrasonic image navigation |
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| CN201210408741.4A CN102921099B (en) | 2012-10-23 | 2012-10-23 | Short-distance particle implantation robot based on ultrasonic image navigation |
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| CN102921099B true CN102921099B (en) | 2014-01-01 |
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| CN201959412U (en) * | 2010-12-28 | 2011-09-07 | 天津大学 | Novel nuclear magnetic compatible operation mechanism for close-range particle radiotherapy |
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| US7527593B2 (en) * | 2005-06-11 | 2009-05-05 | Fidel Howard F | Active template guide plate and system and method for utilizing same |
| US7962192B2 (en) * | 2005-09-30 | 2011-06-14 | Restoration Robotics, Inc. | Systems and methods for aligning a tool with a desired location or object |
| WO2010075097A1 (en) * | 2008-12-15 | 2010-07-01 | Arcsan, Inc. | Alignment and imaging of an eye with an ultrasonic scanner |
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| CN1410031A (en) * | 2002-11-21 | 2003-04-16 | 上海交通大学 | Stereo positioning system in high strength focusing ultrasonic operation |
| CN2712301Y (en) * | 2004-06-17 | 2005-07-27 | 冯威健 | Guiding device for puncturation, biopsy and injection under CT |
| CN2796972Y (en) * | 2005-04-04 | 2006-07-19 | 天津市华志计算机应用有限公司 | Structure of fire freedom space location robot |
| CN101181168A (en) * | 2007-12-14 | 2008-05-21 | 北京航空航天大学 | CT guidance minimally invasive surgery parallel robot |
| CN101791451A (en) * | 2010-04-01 | 2010-08-04 | 天津大学 | Acupuncture manipulator mechanism for applying to magnetic nuclear resonance environment |
| CN101933841A (en) * | 2010-08-30 | 2011-01-05 | 昆山市工业技术研究院有限责任公司 | Four degree-of-freedom parallel robot with bipolar coordinate |
| CN201959412U (en) * | 2010-12-28 | 2011-09-07 | 天津大学 | Novel nuclear magnetic compatible operation mechanism for close-range particle radiotherapy |
| CN102113905A (en) * | 2011-01-25 | 2011-07-06 | 天津大学 | Novel acupuncture surgery manipulator mechanism in nuclear magnetic resonance environment |
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