CN103417303B - Based on the nuclear magnetism compatibility surgical robot of silk transmission - Google Patents

Abstract

The invention discloses a nuclear magnetic compatible surgical robot based on wire transmission, which includes a base, a lifting part, a deflection part and an acupuncture part; the acupuncture part is installed on the deflection part, and the deflection part is installed on the lifting part. In part, the lifting part is installed on the base; the acupuncture part, the deflection part and the lifting part all adopt a wire transmission structure. The invention greatly expands the optional range of robot drive, and the ordinary motor drive that cannot be selected in the existing mechanism can be applied in the wire transmission mechanism, and the ordinary motor is easier to achieve high-precision control and output variable torque; and the wire transmission linearity Good, can effectively overcome the hysteresis phenomenon in the pneumatic drive, and also provide conditions for improving the accuracy of acupuncture surgery; in addition, the wire drive puts the driving element outside the mechanism body, making the mechanism body design more compact, effectively solving the problem of nuclear magnetic resonance. The problem of limited operating space in the instrument environment.

Description

NMR Compatible Surgical Robot Based on Wire Drive

technical field

The invention relates to the field of precision medical instruments, belongs to the frontier discipline intersecting machinery and medicine, in particular applies wire transmission to an acupuncture manipulator mechanism in a nuclear magnetic resonance environment.

Background technique

At present, the method of prostate surgery using minimally invasive brachytherapy has gradually matured. In radiation therapy, doctors often need to use acupuncture to manually implant radioactive particles into the lesion. However, due to the instability of manual operation by doctors, the success rate of surgery is seriously affected. Now a kind of acupuncture surgery robot under image navigation has been developed, which has become a research hotspot in the field of medical devices at home and abroad.

Since magnetic resonance imaging (MRI) can provide multi-directional, multi-parameter information, and has high soft tissue resolution characteristics, under the guidance of MRI, the system can display the three-dimensional spatial position of the soft tissue and surgical instruments to be operated in real time, resulting in many favorable surgical procedures. Conditions, so the surgical robot under the magnetic resonance imaging (MRI) has become the key research object of many research institutions at home and abroad. They have also invented a variety of different surgical robot mechanisms. In order to achieve a high-precision acupuncture process without affecting the effect of nuclear magnetic imaging in the nuclear magnetic environment, they generally use pneumatic or nuclear magnetic compatible motor drive methods. Pneumatic drives have disadvantages such as hysteresis and nonlinearity; the torque of NMR compatible motors is usually too small to meet the robot dynamic requirements. After consulting various materials, it is found that the driving method of wire transmission has the advantages of high precision, good transmission linearity and adjustable torque.

Contents of the invention

In order to solve the technical problems in the known technology, the present invention provides a nuclear magnetic compatible surgical robot based on wire transmission, which has the advantages of high precision, good transmission linearity and adjustable torque.

The technical solution adopted by the present invention to solve the technical problems in the known technology is: a wire-driven NMR compatible surgical robot, characterized in that it includes a base, a lifting part, a deflection part and an acupuncture part; the acupuncture The part is installed on the deflection part, the deflection part is installed on the lifting part, and the lifting part is installed on the base; the acupuncture part, the deflection part and the lifting part are all made of wire transmission structure.

The lifting part is a left-right symmetrical structure, which includes a left-right symmetrical front sliding bottom plate, a rear sliding bottom plate, a front fixed bottom plate and a rear fixed bottom plate, and the left side structure of the lifting part includes lifting restraining rods arranged in sequence from top to bottom , a front lift arm, a rear lift arm, a front guide post and a rear guide post; the front end of the lift restraining rod is connected with the upper end of the front lift arm through a connecting rod, and the lower end of the front lift arm is connected with the front sliding base plate The left end is affixed, the front sliding bottom plate is slidably connected to the front guide post, the upper end of the front guide post is affixed to the left front corner of the top plate, and the lower end of the front guide post is affixed to the left end of the front fixed bottom plate; The rear end of the lifting constraint rod is hinged to the upper end of the rear lifting arm, the lower end of the rear lifting arm is fixedly connected to the left end of the rear sliding bottom plate, and the rear sliding bottom plate is slidably connected to the rear guide column. The upper end of the rear guide post is affixed to the left rear corner of the top plate, the lower end of the rear guide post is affixed to the left end of the rear fixed base plate; the middle part of the front sliding base plate is threadedly connected to the front lifting screw, so The lower end of the front lifting screw is supported on the base through a bearing, the upper end of the front lifting screw is supported on the top plate through a bearing, and the middle part of the rear sliding bottom plate is threadedly connected with the rear lifting screw. The lower end of the rear lifting screw is supported on the base through a bearing, the upper end of the rear lifting screw is supported on the top plate through a bearing, and the front lifting screw and the rear lifting screw are wound with Raise the drive wire.

The deflection part includes a front deflection mechanism, a rear deflection mechanism and a deflection platform; both the front deflection mechanism and the rear deflection mechanism are provided with a deflection wire transmission mechanism; the deflection wire transmission mechanism includes a The deflection lead screw between them, the deflection lead screw is provided with a guide frame that is rotationally connected with it, the guide frame is provided with a nut guide groove, and a deflection nut that is slidably connected with it is provided in the nut guide groove, The deflection screw nut is threadedly connected to the deflection lead screw, and a deflection transmission wire is wound on the deflection lead screw;

The front deflection mechanism also includes a suspender fixed under the deflection nut of the corresponding deflection wire transmission mechanism, the suspender is provided with a pin shaft fixed to it, and the pin shaft is provided with a hinge connected to it in rotation. frame;

The rear deflection mechanism also includes a suspension frame fixed below the deflection wire nut of the corresponding deflection wire transmission mechanism, and two ends of the inner side of the lower frame of the suspension frame are provided with two equal-length deflection connecting rods that are rotationally connected with it, The outer ends of the two deflection links are provided with deflection restraint rods that are rotationally connected to them, and the lower frame of the suspension frame, two deflection link rods of equal length and one deflection restraint rod form a parallelogram structure A deflection platform is provided between the hinged frame and the restraining rod, the front end of the deflected platform is fixedly connected to the hinged frame, and the rear end of the deflected platform is hinged to the middle part of the deflected restraining rod.

The acupuncture part includes two support frames fixedly connected to both ends of the deflection platform respectively, and an acupuncture lead screw is supported between the two support frames. Needle needles, the upper end of the acupuncture needles is provided with a protruding slider, the slider is slidingly connected to a guide groove in the middle of a guide plate, and the two ends of the guide plate are respectively fixed on the two On the support frame, the acupuncture transmission wire is wound on the acupuncture screw, and a puncture needle is fixedly connected to the acupuncture nut, and the puncture needle traverses through the suspension rod.

The advantages and positive effects of the present invention are: in the actual application process, the wire transmission greatly expands the optional range of the robot's drive, the ordinary motor drive that cannot be selected in the existing mechanism can be applied in the wire transmission mechanism, and the ordinary motor is more efficient It is easy to realize high-precision control and output variable torque; compared with the selection of pneumatic drive in the existing mechanism, the linearity of the wire transmission is good, which effectively overcomes the hysteresis phenomenon in the pneumatic drive, and also provides conditions for improving the accuracy of acupuncture surgery; In addition, the wire drive places the driving element outside the mechanism body, making the design of the mechanism body more compact, effectively solving the problem of limited surgical space in the MRI environment.

Description of drawings

Fig. 1 is the overall structure schematic diagram of the present invention;

Fig. 2 is a structural schematic diagram of the lifting part of the present invention;

Fig. 3 is a structural schematic diagram of the deflection part of the present invention;

Fig. 4 is the structural schematic diagram that suspender of the present invention is connected with hinged frame;

Fig. 5 is a schematic diagram of the structure of the acupuncture part of the present invention.

In the figure: 1. Base, 2. Rear fixed base plate, 3. Fixed plate, 4. Front fixed base plate, 5. Front guide post, 6. Rear guide post, 7. Front lifting screw, 8. Rear lifting screw, 9 , front sliding bottom plate, 10, front lifting arm, 11, rear sliding bottom plate, 12, rear lifting arm, 13, top plate, 14, connecting rod, 15, lifting restraining rod, 16, first wire guide bush, 17, front deflection Mechanism, 18, rear deflection mechanism, 19, deflection platform, 20, deflection screw, 21, guide frame, 22, deflection nut, 23, second wire guide sleeve, 24, suspension rod, 25, hinged frame, 26, Pin shaft, 27, hanging frame, 28, deflection connecting rod, 29, deflection restraining rod, 30, support frame, 31, acupuncture lead screw, 32, acupuncture nut, 33, guide plate, 34, third wire guide Set, 35, puncture needle.

detailed description

In order to further understand the invention content, characteristics and effects of the present invention, the following examples are given, and detailed descriptions are as follows in conjunction with the accompanying drawings:

Please refer to Figures 1 to 5, a wire-driven NMR compatible surgical robot, including a base 1, a lifting part, a deflection part and an acupuncture part; the acupuncture part is installed on the deflection part, and the deflection part The lifting part is installed on the lifting part, and the lifting part is installed on the base; the acupuncture part, the deflection part and the lifting part all adopt a wire transmission structure.

In this embodiment, the above-mentioned lifting part is a left-right symmetrical structure, which includes a left-right symmetrical front sliding bottom plate 9, a rear sliding bottom plate 11, a front fixed bottom plate 4, and a rear fixed bottom plate 2, and the left side structure of the lifting part includes from The lifting restraint rod 15, the front lifting arm 10, the rear lifting arm 12, the front guide post 5 and the rear guide post 6 arranged in sequence from top to bottom; The lower end of the front lifting arm 10 is fixedly connected with the left end of the front sliding base plate 9, the front sliding base plate 9 is slidably connected with the front guide post 5, the upper end of the front guide post 5 is fixedly connected with the left front corner of the top plate 13, and the lower end of the front guide post 5 is fixed with the front guide post 5. The left end of the base plate 4 is fixedly connected; the rear end of the lifting restraint rod 15 is hinged with the upper end of the rear lifting arm 12, and the lower end of the rear lifting arm 12 is fixedly connected with the left end of the rear sliding base plate 11, and the rear sliding base plate 11 is connected with the rear guide column 6 Slidingly connected, the upper end of the rear guide post 6 is affixed to the left rear corner of the top plate 13, and the lower end of the rear guide post 6 is affixed to the left end of the rear fixed base plate 2; the middle part of the front sliding base plate 9 is threaded with the front lifting screw 7, The lower end of the front lifting screw 7 is supported on the base 1 by bearings, the upper end of the front lifting screw 7 is supported on the top plate 13 by bearings, the middle part of the rear sliding bottom plate 11 is threaded with the rear lifting screw 8, and the rear lifting screw 8 The lower end of the lower end is supported on the base 1 through a bearing, and the upper end of the rear lifting screw 8 is supported on the top plate 13 through a bearing, and a lifting transmission wire is wound on the front lifting screw 7 and the rear lifting screw 8, and the lifting transmission wire is worn. Inside the first wire guide sleeve 16 , the first wire guide sleeve 16 is fixed on the fixed plate 3 , one end of the above-mentioned connecting rod 14 is hinged to the lifting restraining rod 15 , and the other end is hinged to the front lifting arm 10 .

In this embodiment, the deflection part includes a front deflection mechanism 17 , a rear deflection mechanism 18 and a deflection platform 19 . The front deflection mechanism 17 and the rear deflection mechanism 18 are all provided with a deflection wire transmission mechanism, and the deflection wire transmission mechanism includes a deflection lead screw 20 supported between the two lifting restraint rods 15, and the deflection lead screw 20 is provided with The guide frame 21 that is rotatably connected with it, the guide frame 21 is provided with a nut guide groove, and a deflection nut 22 slidingly connected with it is arranged in the nut guide groove, and the deflection nut 22 is threadedly connected to the deflection screw 20 Above, the deflection transmission wire is wound on the deflection screw 20 , and the deflection transmission wire is installed in the second wire guide sleeve 23 , and the second wire guide sleeve 23 is fixed on the guide frame 21 . The front deflection mechanism 17 also includes a suspender 24 fixed below the deflection nut 22 of the corresponding deflection wire transmission mechanism. The lower end of the suspender 24 is provided with a pin shaft 26 affixed thereto. There is a hinged frame 25 connected to it in rotation; the rear deflection mechanism 18 also includes a suspension frame 27 fixed below the deflection wire nut 22 of the corresponding deflection wire transmission mechanism, and the inner two ends of the lower frame of the suspension frame 27 are provided with There are two equal-length deflection links 28 that are rotationally connected with them, and the outer ends of the two deflection links 28 are provided with deflection restraining rods 29 that are rotationally connected with them. The deflection link 28 and a deflection constraint rod 29 form a parallelogram structure for compensating the degree of freedom of the deflection part. A deflection platform 19 is arranged between the hinge frame 25 of the front deflection mechanism 17 and the deflection constraint rod 29 of the rear deflection mechanism 18, and the front end of the deflection platform 19 is fixedly connected with the hinge frame 25 of the front deflection mechanism 17 , the rear end of the deflection platform 19 is hinged to the middle part of the deflection restraining rod 29 of the rear deflection mechanism 18 .

In this embodiment, the acupuncture part includes two support frames 30 fixedly connected to the two ends of the deflection platform 19 respectively, and an acupuncture lead screw 31 is supported between the two support frames 30, and the acupuncture lead screw 31 is provided with There is an acupuncture nut 32 threadedly connected with it, and the upper end of the acupuncture nut 32 is provided with an outwardly protruding slider, and the slider is slidably connected with a guide groove in the middle of a guide plate 33, and the two ends of the guide plate 33 They are respectively fixed on the two supporting frames 30, and the acupuncture screw 31 is wound with an acupuncture transmission wire, and the acupuncture transmission wire is installed in the third wire guide sleeve 34, and the third wire guide sleeve 34 is fixed on the guide plate 33. Above, the puncture needle 35 is fixedly connected to the acupuncture nut 32 , and the puncture needle 35 traverses through the suspension rod 24 .

Working principle of the present invention:

The surgical robot is placed between the patient's legs prior to surgery. As shown in Fig. 1, one end marked 27 in this figure is the front end of the robot, and the front end will face the lesion during the operation. During surgery, the puncture direction should be adjusted before inserting the needle. Obtain patient site information from the corresponding surgical image navigation system, and adjust the corresponding robot posture in real time. The adjustment is divided into two directions, that is, the adjustment of the vertical pitch angle in the vertical direction and the left and right deflection angle adjustment in the horizontal direction.

The adjustment of the vertical pitch angle in the vertical direction includes the adjustment of two degrees of freedom, and the adjustment of the two degrees of freedom is completed by the lifting part. As shown in Figure 2, the two remote motors respectively drive the front lifting screw 7 and the rear lifting screw 8 to rotate through the lifting transmission wire in the first wire guide bush 16, and the rotation of the front lifting screw 7 and the rear lifting screw 8 passes through the wire The transmission of the bar nut pair and the guidance of the guide columns 5 and 6 drive the front sliding base plate 9 and the rear sliding base plate 11 to move up and down respectively, and the front lifting arm 10 and the rear lifting arm 12 fixed on the sliding base plate will also move up and down respectively. At the same time, the lifting restraint rod 15 that is rotationally connected with the rear lifting arm 12 and the connecting rod 14 will realize up and down translation or pitching motion. When the two remote motors rotate in the same direction and at the same speed, through the above-mentioned transmission process, the lifting restraint rod 15 will realize up and down translation, otherwise, the lifting restraint rod 15 will realize up and down pitching motion. As shown in Figure 3, since the deflection part as a whole forms a rotational connection with the two ends of the lifting constraint rod 15 of the lifting part through the front deflection mechanism 17 and the rear deflection mechanism 18 respectively, so the deflection part is supported on the upper part of the lifting part as a whole, and will be constrained with the lifting. The rod 15 realizes up and down translation or up and down pitching, and achieves the purpose of adjusting the up and down pitch angle in the vertical direction.

The attitude adjustment in the horizontal direction also includes the adjustment of two degrees of freedom. The adjustment of these two degrees of freedom is realized by the deflection part. The deflection lead screw 20 in the mechanism 17 and the rear deflection mechanism 18 rotates, and the rotation of the deflection lead screw 20 passes through the transmission of the lead screw nut pair and the guidance of the guide frame 21, which drives the deflection screw nut 22 to move left and right. The suspension rod 24 and the suspension frame 27 in the rear deflection mechanism will also realize left and right translation respectively, and along with the left and right translation of the suspension rod 24 and the suspension frame 27, the deflection platform 19 will realize the left and right translation or left and right deflection. When the two remote motors rotate in the same direction and at the same speed, the deflection platform 19 will realize left and right translation through the above transmission process, otherwise, the deflection platform 19 will realize left and right deflection, thereby achieving the purpose of adjusting the left and right deflection angles in the horizontal direction.

After the posture adjustment is completed, puncture and needle insertion are performed to realize the fifth degree of freedom. As shown in Fig. 5, the puncture needle 35 with medical radioactive particles is fixed on the acupuncture thread mother 32, and protrudes from the front end of the robot through the small hole on the suspender 24 in Fig. 4, and a remote motor passes through the third wire guide sleeve 34 The acupuncture transmission wire in the needle drives the acupuncture screw 31 to rotate, and the rotation of the acupuncture screw 31 is driven by the transmission of the screw nut pair and the guidance of the guide plate 33 to drive the acupuncture screw nut 32 and the puncture needle 35 installed thereon. Translational movement back and forth, so as to achieve the puncture of the lesion into or out of the needle.

Although the preferred embodiments of the present invention have been described above in conjunction with the accompanying drawings, the present invention is not limited to the above-mentioned specific embodiments. The above-mentioned specific embodiments are only illustrative and not restrictive. Those of ordinary skill in the art Under the enlightenment of the present invention, people can also make many forms without departing from the purpose of the present invention and the scope of protection of the claims, and these all belong to the protection scope of the present invention.

Claims (3)

1. A NMR compatible surgical robot based on wire drive, characterized in that it comprises a base, a lifting part, a deflection part and an acupuncture part; the acupuncture part is installed on the deflection part, and the deflection part is installed on the On the lifting part, the lifting part is installed on the base; the acupuncture part, the deflection part and the lifting part all adopt a wire transmission structure; The lifting part is a left-right symmetrical structure, which includes a left-right symmetrical front sliding bottom plate, a rear sliding bottom plate, a front fixed bottom plate and a rear fixed bottom plate, and the left side structure of the lifting part includes lifting restraining rods arranged in sequence from top to bottom , a front lift arm, a rear lift arm, a front guide post and a rear guide post; the front end of the lift restraining rod is connected with the upper end of the front lift arm through a connecting rod, and the lower end of the front lift arm is connected with the front sliding base plate The left end is affixed, the front sliding bottom plate is slidably connected to the front guide post, the upper end of the front guide post is affixed to the left front corner of the top plate, and the lower end of the front guide post is affixed to the left end of the front fixed bottom plate; The rear end of the lifting constraint rod is hinged to the upper end of the rear lifting arm, the lower end of the rear lifting arm is fixedly connected to the left end of the rear sliding bottom plate, and the rear sliding bottom plate is slidably connected to the rear guide column. The upper end of the rear guide post is affixed to the left rear corner of the top plate, the lower end of the rear guide post is affixed to the left end of the rear fixed base plate; the middle part of the front sliding base plate is threadedly connected to the front lifting screw, so The lower end of the front lifting screw is supported on the base through a bearing, the upper end of the front lifting screw is supported on the top plate through a bearing, and the middle part of the rear sliding bottom plate is threadedly connected with the rear lifting screw. The lower end of the rear lifting screw is supported on the base through a bearing, the upper end of the rear lifting screw is supported on the top plate through a bearing, and the front lifting screw and the rear lifting screw are wound with Raise the drive wire. 2. The NMR compatible surgical robot based on wire transmission according to claim 1, wherein the deflection part comprises a front deflection mechanism, a rear deflection mechanism and a deflection platform; the front deflection mechanism and the rear deflection mechanism are all provided with A deflection wire transmission mechanism; the deflection wire transmission mechanism includes a deflection screw supported between the two lifting restraint rods, the deflection screw is provided with a guide frame connected to it in rotation, and the guide frame is provided with Nut guide groove, the nut guide groove is provided with a deflection nut slidingly connected with it, the deflection nut is threadedly connected to the deflection lead screw, and a deflection transmission wire is wound on the deflection lead screw; The front deflection mechanism also includes a suspender fixed under the deflection nut of the corresponding deflection wire transmission mechanism, the suspender is provided with a pin shaft fixed to it, and the pin shaft is provided with a hinge connected to it in rotation. frame; The rear deflection mechanism also includes a suspension frame fixed below the deflection wire nut of the corresponding deflection wire transmission mechanism, and two ends of the inner side of the lower frame of the suspension frame are provided with two equal-length deflection connecting rods that are rotationally connected with it, The outer ends of the two deflection links are provided with deflection restraint rods that are rotationally connected to them, and the lower frame of the suspension frame, two deflection link rods of equal length and one deflection restraint rod form a parallelogram structure , a deflection platform is provided between the hinge frame and the deflection restraint rod, the front end of the deflection platform is fixedly connected to the hinge frame, and the rear end of the deflection platform is hinged to the middle part of the deflection restraint rod . 3. The wire-driven NMR-compatible surgical robot according to claim 2, wherein the acupuncture part comprises two support frames fixed respectively at both ends of the deflection platform, and one of the two support frames is An acupuncture screw is supported between them, and an acupuncture nut threadedly connected with the acupuncture screw is provided. The upper end of the acupuncture nut is provided with an outwardly protruding slider, and the slider is connected with a guide plate. The guide groove in the middle is slidingly connected, the two ends of the guide plate are fixedly connected to the two support frames respectively, the acupuncture transmission wire is wound on the acupuncture screw, and the needle punch is fixed on the needle screw nut. a needle, the piercing needle traverses through the boom.