CN107773306B - A kind of five degree of freedom prostate acupuncture operation robot - Google Patents
A kind of five degree of freedom prostate acupuncture operation robot Download PDFInfo
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- CN107773306B CN107773306B CN201710877943.6A CN201710877943A CN107773306B CN 107773306 B CN107773306 B CN 107773306B CN 201710877943 A CN201710877943 A CN 201710877943A CN 107773306 B CN107773306 B CN 107773306B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B10/00—Other methods or instruments for diagnosis, e.g. instruments for taking a cell sample, for biopsy, for vaccination diagnosis; Sex determination; Ovulation-period determination; Throat striking implements
- A61B10/02—Instruments for taking cell samples or for biopsy
- A61B10/0233—Pointed or sharp biopsy instruments
- A61B10/025—Pointed or sharp biopsy instruments for taking bone, bone marrow or cartilage samples
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
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Abstract
The invention discloses a kind of five degree of freedom prostate acupuncture operation robots, including rack, needle, needle are driven to implement the feed arrangement that needle pierces and the branch catenary system in parallel for controlling feed arrangement posture；Feed arrangement includes feeding platform, needle stand and the feed mechanism for driving needle stand realization straight reciprocating motion；Rack includes oblique fagging and the horizontal fagging connected with the top of oblique fagging, branch catenary system in parallel includes a first mechanical arm and four discrete second mechanical arms, the side that one end of first mechanical arm swings connection, the other end and feeding platform with oblique fagging is hinged, the top of each second mechanical arm swings connection with horizontal fagging, bottom end is hinged with feeding platform, first mechanical arm and second mechanical arm collective effect make the feeding platform keep balance.The mechanical automation and intelligence threaded a needle is realized using the present invention, the working strength of doctor is alleviated, improves the accuracy and success rate of operation.
Description
Technical field
The invention belongs to technical field of surgical instruments more particularly to a kind of five degree of freedom prostate acupuncture operation robots.
Background technique
Malignant tumour in prostate is the most common type, and is the second main cause of cancer mortality in male.
In order to reduce the death rate, early detection and treatment are very important.Therefore, effective diagnostic techniques and treatment prostate cancer are
It is essential.The most common clinical method for prostate cancer diagnosis is the biopsy of transrectal ultrasonography (TRUS) guidance
It looks into, wherein to collect tissue sample for clinical analysis in needle insertion prostate.TRUS instructs the cancer recall rate of biopsy to be only
40%.Infantile tumour in prostate is usually that equal echo is damaged and cannot be visualized in ultrasound image.Magnetic resonance (MR)
The image enhancement visualization of prostate, early lesion can be positioned.The MR targeting biopsy of MR and TRUS imaging fusion is one
A promising practice, and compared with the prostate biopsy that traditional TRUS is guided, it can present preferably as a result, but still needing to
Want further clinical verification.Carcinoma of prostate recall rate, comprehensive benefit can be improved in the proposition of prostate acupuncture operation robot
It with TRUS and magnetic resonance imaging, displays one's respective advantages, is conducive to the discovery and treatment of early stage.
When prostate cancer is grown in coating, CT is difficult to make a definite diagnosis, and is only infiltrated into peripheral adipose tissue when invading bale broken film
When be likely to diagnose.It is not whole to show as prostate contours, density unevenness.Rectum front wall and the bladder wall can be infiltrated, and seminal vesicle angle disappears
It loses.CT can be also found that lymphatic metastasis and pelvis transfer.CT is on the by stages helpful MRI of prostate cancer, because of hyperplasia of prostate
Central area is taken place mostly in, therefore area centre increases in display on T2WI.And prostate cancer mostly occurs in peripheral region, and peripheral region is caused to exist
The upper signal of T2WI has the tubercle shadow for limiting to low or slightly lower signal.Therefore MRI ratio CT has more diagnostic value.But the MRI of prostate cancer
When performance is not true to type, diagnose still more difficult.
It can be seen that the existing technology needs further improvement and improves.
Summary of the invention
The purpose of the present invention is there is the above problem in view of the prior art, propose a kind of each by mechanical engagement realization
The amplitude of oscillation of a angle faces is adjusted, and to reach any angle in three-dimensional space, realizes height essence by the machine movement of self-action
The five degree of freedom prostate acupuncture operation robot of quasi- needle thorn.
The technical scheme adopted by the invention is as follows:
A kind of five degree of freedom prostate acupuncture operation robot, needle, band including rack, for implementing operation are started
Art needle implements the feed arrangement of needle thorn and the branch catenary system in parallel for controlling feed arrangement posture；Feed arrangement includes feeding
Platform, the needle stand being arranged in below feeding platform and the feed mechanism for driving needle stand realization straight reciprocating motion, needle peace
On the needle stand；Branch catenary system in parallel is mounted on the rack, and rack includes oblique fagging and the top with oblique fagging
The connected horizontal fagging in end, branch catenary system in parallel includes a first mechanical arm and four discrete second mechanical arms, the first machine
One end of tool arm is hinged with oblique fagging, the side of the other end and feeding platform is hinged, and the top of each second mechanical arm is equal
It is hinged with feeding platform with horizontal fagging swing connection, bottom end, and two of them second mechanical arm is located at feeding platform
Side, two other second mechanical arm are located at the other side of feeding platform, the entire length of the first mechanical arm and four
The respective entire length of second mechanical arm is adjustable, first mechanical arm and second mechanical arm collective effect, keeps the feeding flat
Platform keeps balance.
The parallel connection branch catenary system further includes a universal joint, first pair of rotating mechanism, four spherical hinges and four
Second pair of rotating mechanism, one end of the first mechanical arm is connected by first pair of rotating mechanism with the oblique fagging,
The other end is hinged by the side of universal joint and feeding platform, the corresponding second mechanical arm of a spherical hinge, and one second
The corresponding second mechanical arm of double rotating mechanisms, one end of each second mechanical arm passes through corresponding second double steering machine respectively
Structure is connected with the horizontal fagging, the other end is hinged by spherical hinge and feeding platform.
First pair of rotating mechanism includes the first multi-diameter shaft being arranged on the oblique fagging and is arranged first
First turning joint of multi-diameter shaft one end, one end of first mechanical arm are connected with the first turning joint；Each second pair of rotation
Mechanism includes the second multi-diameter shaft being arranged on the horizontal fagging and the second rotating hinge that the second multi-diameter shaft bottom end is arranged in
Four second multi-diameter shafts of chain, four second pair of rotating mechanisms are parallel to each other, one end of each second mechanical arm with described second turn
Dynamic hinge is connected.
The first mechanical arm and each second mechanical arm include lower arm body, upper arm body and for driving the lower arm
Body makees the straight line driving mechanism of straight reciprocating motion, which plays the connection lower arm body and upper arm body simultaneously
Effect；One end of the lower arm body of first mechanical arm is connected with straight line driving mechanism, the other end is connected with the universal joint, the first machine
One end of the upper arm body of tool arm is connected with first pair of rotating mechanism；One end of the lower arm body of second mechanical arm and linear drives
Mechanism is connected, the other end is connected with spherical hinge, and one end of the upper arm body of second mechanical arm is connected with second pair of rotating mechanism.
The straight line driving mechanism includes first motor and the first ball screw pair by first motor driving, the first electricity
Machine is mounted in upper arm body, and first ball screw pair includes the first lead screw and the first feed screw nut compatible with the first lead screw,
First feed screw nut is nested on the first lead screw, and the first feed screw nut is arranged on lower arm body, the first lead screw and first motor
Output shaft be connected, first motor is done reciprocating linear motion by the first lead screw and the first feed screw nut drive lower arm body.
The side of the first mechanical arm and each second mechanical arm is provided with the first guiding mechanism, each first guiding
Mechanism includes the first guide rod, pilot sleeve and the first linkage block, and pilot sleeve is arranged in upper arm body side and and upper arm body
It being connected, the top of the first guide rod is passed through out of pilot sleeve, and the lower part of the first guide rod and the first linkage block are connected, and first
Motion block and lower arm body are connected, and when lower arm body moves, drive first guide rod to slide along pilot sleeve by the first linkage block.
The side of the first mechanical arm and each second mechanical arm is also provided with position-limit mechanism, and each position-limit mechanism is equal
Including gag lever post, photoelectric sensor, the upper limit switch being arranged on gag lever post and lower position switch, photoelectric sensor setting exists
The side of pilot sleeve, and the side of pilot sleeve offers guide chute compatible with the gag lever post, the bottom of gag lever post
End is connected with first linkage block and the lower part of gag lever post is provided with the lower position switch, and the top of gag lever post passes through described
The upper limit switch is provided at the top of guide chute and gag lever post.
The feed mechanism includes that the second linkage block below feeding platform, the second motor is arranged in and is driven by the second motor
The second dynamic ball screw assembly, the second linkage block are connected with the needle stand, and the second ball screw assembly, includes second to fit each other
Lead screw and the second feed screw nut, the second feed screw nut is nested on the second lead screw and the second feed screw nut is arranged in the second linkage block
On, the second lead screw is connected with the output shaft of the second motor, and the second motor passes through the second lead screw, the second feed screw nut and the second linkage
Block drives the needle stand and the needle being arranged on needle stand to move back and forth to realize that puncture acts.
The feed arrangement further includes the second guiding mechanism, and the second guiding mechanism includes the second guide rod, the second guide rod
The side of second lead screw is set and is parallel to each other with the second lead screw, the second linkage block is nested on the second guide rod and along second
Guide rod slides back and forth.
Left limit switch is provided on the left of second guide rod, right side is provided with right limit switch.
By adopting the above-described technical solution, obtained by the present invention have the beneficial effect that
1, structure of the invention is compact, suitable for realizing multifreedom motion in needle thorn space.Working space of the invention is big,
It is suitble to the needs of a variety of crowd's operations.The positioning accuracy of needle is high in the present invention, and cooperation position-limit mechanism realizes organ site
It is accurate to obtain, it runs smoothly, high reliablity.
2, the mechanical automation and intelligence threaded a needle may be implemented using the present invention, specification surgical procedure mitigates doctor's work
Make intensity, doctor's working efficiency is improved, to improve the accuracy and success rate of operation.
3, when carrying out prostate biopsy operation using the present invention, TRUS and magnetic resonance imaging are comprehensively utilized, is played respective
Advantage is conducive to the discovery and treatment of early stage, improves the recall rate of carcinoma of prostate.
Detailed description of the invention
Fig. 1 is axonometric drawing of the invention.
Fig. 2 is main view of the invention.
Fig. 3 is bottom view of the invention.
Fig. 4 is left view of the invention.
Fig. 5 is the structural schematic diagram of second mechanical arm in the present invention.
Wherein,
1, skewed horizontal load 2, horizontally-supported 3, first mechanical arm 4, second mechanical arm 41, upper arm body 42, lower arm body
43, link block 44, first motor 45, the first lead screw 46, the first feed screw nut 47, pilot sleeve 48, the first guide rod
49, the first linkage block 410, photoelectric sensor 411, gag lever post 412, upper limit switch 413, lower position switch 5, first
Multi-diameter shaft 6, the first turning joint 7, the second multi-diameter shaft 8, the second turning joint 9, feed mechanism 91, the second motor 92,
Shaft coupling 93, the second lead screw 94, the second linkage block 95, the second guide rod 10, spherical hinge 11, feeding platform 12, operation
Needle 13, needle stand 14, universal joint 15, first bearing 16, second bearing a, first couple of rotating mechanism b, second pair of rotating machine
Structure
Specific embodiment
The present invention is described in further detail with specific embodiment with reference to the accompanying drawing, but the present invention is not limited to
These embodiments.
As shown in Figures 1 to 5, a kind of five degree of freedom prostate acupuncture operation robot, including rack, for implement operation
Needle 12, drive needle 12 to implement needle thorn feed arrangement and branch linkwork in parallel for controlling feed arrangement posture
System.
The feed arrangement includes feeding platform 11, the needle stand being arranged in below feeding platform 11 13 and drive needle stand 13
Realize that the feed mechanism of straight reciprocating motion, needle 12 are mounted on the needle stand 13.
Specifically, the feed mechanism includes second the 94, second electricity of linkage block being arranged in below feeding platform 11
Machine 91 and the second ball screw assembly, driven by the second motor 91.Second linkage block 94 is connected with the needle stand 13, the second ball
Lead screw pair includes the second lead screw 93 and the second feed screw nut to fit each other, the second feed screw nut be nested on the second lead screw 93 and
Second feed screw nut is arranged in the second linkage block 94.The output shaft of second motor 91 passes through shaft coupling 92 and 93 phase of the second lead screw
Even.The puncture direction of the needle 12 is parallel with the direction of feed of the second linkage block 94.The rotation of the output shaft of second motor 91
The dynamic linear motion that needle stand 13 is converted to by the second lead screw 93, the second feed screw nut and the second 94 pieces of linkage of transhipment, thus band
The dynamic needle 12 being arranged on needle stand 13 moves back and forth to realize that puncture acts.
It should be noted that the feed mechanism is not limited only to above-mentioned motor+ball screw assembly, structure shape
Formula can also be other building forms, for example, in such a way that hydraulic cylinder or cylinder drive the movement of the second linkage block 94, make the
Two linkage blocks 94 are connected with the piston rod of hydraulic cylinder or cylinder, directly drive the second linkage block 94 by hydraulic cylinder or cylinder and translate,
For another example can be directly driven by miniature linear in such a way that the second linkage block 94 is arranged on miniature linear
Two linkage blocks 94 do reciprocating linear motion, it is of course also possible to use other frame modes, as long as being able to drive described second
Motion block 94 is for linear motion.
The feed arrangement further includes the second guiding mechanism, and the second guiding mechanism includes two second guide rods 95, and two
Second guide rod 95 is separately positioned on the two sides of the second lead screw 93 and is parallel to each other with the second lead screw 93.Under feeding platform 11
Side is provided with the mounting rack for installing two second guide rods 95.Second linkage block 94 is nested on the second guide rod 95
And it is slid back and forth along the second guide rod 95.
The left side of second guide rod 95 is provided with left limit switch, right side is provided with right limit switch, use process
In, when the second linkage block 94 touches left limit switch or right limit switchs, corresponding limit switch can pass through electric signal
The shutdown of the second motor 91 is controlled, and then controls the feeding degree of needle stand 13.
The parallel connection branch catenary system is mounted on the rack, and rack includes oblique fagging 1 and the top with oblique fagging 1
Connected horizontal fagging 2.Angle between the oblique fagging 1 and horizontal fagging 2 is 60 °~70 °.The parallel connection branch catenary system
Including first couple of rotating mechanism a of 14, one, a universal joint of first mechanical arm 3, one, four discrete second mechanical arms 4, four
A second couple of rotating mechanism b and four spherical hinges 10.
Specifically, first couple of rotating mechanism a includes be mounted on oblique fagging 1 by first bearing 15
One multi-diameter shaft 5 and the first turning joint 6 that 5 one end of the first multi-diameter shaft is set, one end of first mechanical arm 3 and the first rotation
Hinge 6 is connected, and two rotational freedoms may be implemented, and the other end of first mechanical arm 3 passes through universal joint 14 and feeding platform 11
Right side be hinged, two rotational freedoms may be implemented.Each second couple of rotating mechanism b includes by second bearing 16
The second multi-diameter shaft 7 for being mounted on horizontal fagging 2 and the second turning joint 8 that 7 bottom end of the second multi-diameter shaft is set, four
Four second multi-diameter shafts of two pairs of rotating mechanisms are parallel to each other.A piece second mechanical arm 4 is correspondingly connected with second multi-diameter shaft 7,
One second pair of rotating mechanism is correspondingly connected with a second mechanical arm.The top of each second mechanical arm 4 and corresponding thereto
Second turning joint 8 of two multi-diameter shafts, 7 bottom end is connected, and two rotational freedoms may be implemented, the bottom end of each second mechanical arm is equal
It is hinged by spherical hinge 10 and feeding platform 11, three rotational freedoms may be implemented.Two of them second mechanical arm 4 is located at
The front side of feeding platform 11 and two second mechanical arms 4 are parallel to each other, two other second mechanical arm 4 is located at feeding platform 11
Rear side and two second mechanical arms 4 be parallel to each other.
The respective entire length of the entire length of the first mechanical arm 3 and four second mechanical arms 4 is adjustable, In
Under the suspension function of first mechanical arm 3 and second mechanical arm 4, the feeding platform 11 is made to keep balance.
The first mechanical arm 3 and each second mechanical arm 4 include link block 43, lower arm body 42, upper arm body 41 and
For driving the lower arm body 42 to make the straight line driving mechanism of straight reciprocating motion.The straight line driving mechanism plays connection institute simultaneously
State the effect of lower arm body 42 and upper arm body 41.One end of the lower arm body 42 of first mechanical arm 3 is connected with straight line driving mechanism, is another
End is connected with the universal joint 14, and one end of the upper arm body 41 of first mechanical arm 3 is connected with the link block 43 of first mechanical arm 3,
The link block 43 of first mechanical arm 3 is connected with first turning joint 6.One end of the lower arm body 42 of second mechanical arm 4 and straight
Line driving mechanism is connected, the other end is connected with spherical hinge 10, one end of the upper arm body 41 of second mechanical arm 4 and second mechanical arm 4
Link block 43 be connected, the link block 43 of second mechanical arm 4 is connected with second turning joint 8.
Each straight line driving mechanism includes first motor 44 and the first ball screw pair that is driven by first motor 44,
First motor 44 is mounted in upper arm body 41.First ball screw pair includes the first lead screw 45 and compatible with the first lead screw 45
First feed screw nut 46, the first feed screw nut 46 are nested on the first lead screw 45, and the first feed screw nut 46 is arranged in lower arm body
On 42, the first lead screw 45 is connected with the output shaft of first motor 44.First motor 44 passes through the first lead screw 45 and the first lead screw spiral shell
Mother 46 drives the lower arm body 42 to do reciprocating linear motion.
It should be noted that the straight line driving mechanism is not limited only to above-mentioned motor+ball screw assembly, knot
Configuration formula can also be other building forms, for example, in such a way that hydraulic cylinder or cylinder driving lower arm body 42 move, by liquid
Cylinder pressure or cylinder are mounted in upper arm body 41, so that lower arm body 42 and the piston rod of hydraulic cylinder or cylinder is connected, by hydraulic cylinder or gas
Cylinder directly drives the translation of lower arm body 42.It is of course also possible to use other frame modes, as long as being able to drive the lower arm body 42
It is for linear motion.
The side of the first mechanical arm 3 and each second mechanical arm 4 is provided with the first guiding mechanism, and each first leads
It include the first guide rod 48, pilot sleeve 47 and the first linkage block 49 to mechanism, pilot sleeve 47 is arranged in upper arm body 41 1
Side and with upper arm body 41 be connected, the top of the first guide rod 48 is passed through out of pilot sleeve 47, the lower part of the first guide rod 48 with
First linkage block 49 is connected, and the first linkage block 49 is connected with lower arm body 42, when lower arm body 42 moves, passes through 49 band of the first linkage block
First guide rod 48 is moved to slide along pilot sleeve 47.
The side of the first mechanical arm 3 and each second mechanical arm 4 is also provided with position-limit mechanism, each position-limit mechanism
It include gag lever post 411, photoelectric sensor 410, the upper limit switch 412 being arranged on gag lever post 411 and lower position switch
413, the side of pilot sleeve 47 is arranged in photoelectric sensor 410, and the side of pilot sleeve 47 offers and the gag lever post
411 compatible guide chutes, the bottom end of gag lever post 411 is connected with first linkage block 49 and the lower part of gag lever post 411 is set
It is equipped with the lower position switch 413, the top of gag lever post 411 passes through the guide chute and the top of gag lever post 411 is provided with
The upper limit switch 412.In use, when lower arm body 42 move, make photoelectric sensor 410 touch upper limit switch 412 or
When lower position switch 413, photoelectric sensor 410 controls first motor 44 by electric signal and shuts down, and then reaches adjusting control appearance
The purpose of state.
The present invention is supplied to feeding platform 11 5 certainly by first mechanical arm 3, the synergistic effect of second mechanical arm 4
By spending, for controlling the posture of inserting needle device, the mechanical automation and intelligence threaded a needle is realized.
The part that do not address in the present invention uses or uses for reference prior art and can be realized.
In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", "upper", "lower",
The orientation or positional relationship of the instructions such as "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside" is
It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of description of the present invention and simplification of the description, rather than instruction or dark
Show that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as pair
Limitation of the invention.
In addition, term " first ", " second " are used for description purposes only, it is not understood to indicate or imply relatively important
Property.
Specific embodiment described herein is only to spiritual example explanation of the invention.Belonging to the present invention
Those skilled in the art can make various modifications or additions to the described embodiments or using similar
Mode substitutes, and however, it does not deviate from the spirit of the invention or beyond the scope of the appended claims.
Claims (8)
1. a kind of five degree of freedom prostate acupuncture operation robot, which is characterized in that including rack, the operation for implementing operation
Needle drives needle to implement the feed arrangement of needle thorn and the branch catenary system in parallel for controlling feed arrangement posture；Feeding dress
It sets including feeding platform, the needle stand being arranged in below feeding platform and the feeding machine for driving needle stand to realize straight reciprocating motion
Structure, needle are mounted on the needle stand；Branch catenary system in parallel is mounted on the rack, rack include oblique fagging and with it is oblique
The horizontal fagging being connected to the top of fagging, branch catenary system in parallel include a first mechanical arm and four the second discrete machinery
Arm, the side that one end of first mechanical arm swings connection, the other end and feeding platform with oblique fagging are hinged, and each second is mechanical
The top of arm swings connection with horizontal fagging, bottom end is hinged with feeding platform, and two of them second mechanical arm is located at
The side of feeding platform, two other second mechanical arm are located at the other side of feeding platform, and the entirety of the first mechanical arm is long
The respective entire length of degree and four second mechanical arms is adjustable, and first mechanical arm and second mechanical arm collective effect make
The feeding platform keeps balance；
The parallel connection branch catenary system further includes a universal joint, first pair of rotating mechanism, four spherical hinges and four second
One end of double rotating mechanisms, the first mechanical arm is connected with the oblique fagging by first pair of rotating mechanism, is another
End is hinged by the side of universal joint and feeding platform, and the corresponding second mechanical arm of a spherical hinge, one second pair turns
Motivation structure correspond to a second mechanical arm, one end of each second mechanical arm pass through respectively corresponding second twin-steer with
The horizontal fagging is connected, the other end is hinged by spherical hinge and feeding platform；
First pair of rotating mechanism includes the first multi-diameter shaft being arranged on the oblique fagging and is arranged in the first ladder
First turning joint of axis one end, one end of first mechanical arm are connected with the first turning joint；Each second pair of rotating mechanism
The second turning joint for including the second multi-diameter shaft for being arranged on the horizontal fagging and the second multi-diameter shaft bottom end being set, four
Four second multi-diameter shafts of a second pair of rotating mechanism are parallel to each other, one end of each second mechanical arm and second turning joint
It is connected.
2. a kind of five degree of freedom prostate acupuncture operation robot according to claim 1, which is characterized in that described first
Mechanical arm and each second mechanical arm include lower arm body, upper arm body and for driving the lower arm body to make straight reciprocating motion
Straight line driving mechanism, which plays the role of the connection lower arm body and upper arm body simultaneously；First mechanical arm
Lower arm body one end be connected with straight line driving mechanism, the other end is connected with the universal joint, the upper arm body of first mechanical arm
One end is connected with first pair of rotating mechanism；One end of the lower arm body of second mechanical arm is connected with straight line driving mechanism, is another
End is connected with spherical hinge, and one end of the upper arm body of second mechanical arm is connected with second pair of rotating mechanism.
3. a kind of five degree of freedom prostate acupuncture operation robot according to claim 2, which is characterized in that each described straight
Line driving mechanism includes that first motor and the first ball screw pair by first motor driving, first motor are mounted on upper arm body
Interior, first ball screw pair includes the first lead screw and the first feed screw nut compatible with the first lead screw, the first screw nut sleeve
It sets on the first lead screw, and the first feed screw nut is arranged on lower arm body, the first lead screw is connected with the output shaft of first motor, the
One motor drives the lower arm body to do reciprocating linear motion by the first lead screw and the first feed screw nut.
4. a kind of five degree of freedom prostate acupuncture operation robot according to claim 2, which is characterized in that described first
The side of mechanical arm and each second mechanical arm is provided with the first guiding mechanism, and each first guiding mechanism includes first leading
To bar, pilot sleeve and the first linkage block, pilot sleeve setting is connected in upper arm body side and with upper arm body, the first guide rod
Top is passed through out of pilot sleeve, and the lower part of the first guide rod and the first linkage block are connected, and the first linkage block and lower arm body are connected,
When lower arm body moves, first guide rod is driven to slide along pilot sleeve by the first linkage block.
5. a kind of five degree of freedom prostate acupuncture operation robot according to claim 4, which is characterized in that described first
The side of mechanical arm and each second mechanical arm is also provided with position-limit mechanism, and each position-limit mechanism includes gag lever post, photoelectricity
The side of pilot sleeve is arranged in sensor, the upper limit switch being arranged on gag lever post and lower position switch, photoelectric sensor,
And the side of pilot sleeve offers guide chute compatible with the gag lever post, the bottom end of gag lever post and first linkage
Block is connected and the lower part of gag lever post is provided with the lower position switch, and the top of gag lever post passes through the guide chute and gag lever post
Top be provided with the upper limit switch.
6. a kind of five degree of freedom prostate acupuncture operation robot according to claim 1, which is characterized in that the feeding
Mechanism includes the second linkage block below feeding platform, the second motor being arranged in and by the second motor-driven second ball-screw
Pair, the second linkage block are connected with the needle stand, and the second ball screw assembly, includes the second lead screw to fit each other and the second lead screw spiral shell
Mother, the second feed screw nut is nested on the second lead screw and the second feed screw nut is arranged in the second linkage block, the second lead screw and the
The output shaft of two motors is connected, and the second motor drives the needle stand by the second lead screw, the second feed screw nut and the second linkage block
And the needle being arranged on needle stand moves back and forth to realize that puncture acts.
7. a kind of five degree of freedom prostate acupuncture operation robot according to claim 6, which is characterized in that the feeding
Device further includes the second guiding mechanism, and the second guiding mechanism includes the second guide rod, and the second lead screw is arranged in the second guide rod
It side and is parallel to each other with the second lead screw, the second linkage block is nested on the second guide rod and slides back and forth along the second guide rod.
8. a kind of five degree of freedom prostate acupuncture operation robot according to claim 7, which is characterized in that described second
Left limit switch is provided on the left of guide rod, right side is provided with right limit switch.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710877943.6A CN107773306B (en) | 2017-09-26 | 2017-09-26 | A kind of five degree of freedom prostate acupuncture operation robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710877943.6A CN107773306B (en) | 2017-09-26 | 2017-09-26 | A kind of five degree of freedom prostate acupuncture operation robot |
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| CN107773306A CN107773306A (en) | 2018-03-09 |
| CN107773306B true CN107773306B (en) | 2019-10-29 |
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Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108743369B (en) * | 2018-07-06 | 2020-05-26 | 许秋红 | Automatic acupuncture bed |
| CN108789447B (en) * | 2018-07-19 | 2023-12-19 | 常州善巧复合材料科技有限公司 | Mute needling robot and constant arc length linkage control method thereof |
| CN109499009A (en) * | 2018-12-12 | 2019-03-22 | 深圳先进技术研究院 | A kind of robot for implantation radiation particle |
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