CN102499726A - Close-distance minimally-invasive manipulator mechanism for nuclear magnetic resonance imaging environment - Google Patents

Close-distance minimally-invasive manipulator mechanism for nuclear magnetic resonance imaging environment Download PDF

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Publication number
CN102499726A
CN102499726A CN2011103523924A CN201110352392A CN102499726A CN 102499726 A CN102499726 A CN 102499726A CN 2011103523924 A CN2011103523924 A CN 2011103523924A CN 201110352392 A CN201110352392 A CN 201110352392A CN 102499726 A CN102499726 A CN 102499726A
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slide block
swing
platform
acupuncture
performance element
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姜杉
李巍
张震
冯文浩
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Tianjin University
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Tianjin University
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Abstract

The invention discloses a close-distance minimally-invasive manipulator mechanism for nuclear magnetic resonance imaging environment. The close-distance minimally-invasive manipulator mechanism comprises an operation stitch, three platforms and three execution units for realizing five degrees of freedom of the operation stitch, wherein the three execution units comprise a translation execution unit connected between a middle-layer platform and a lower-layer platform, a lifting execution unit between an upper-layer platform and the middle-layer platform and an acupuncture execution unit on the upper-layer platform, and the actions of the three execution units are independent from one another; the translation execution unit consists of two slide block swing-bar mechanisms, each slide block swing-bar mechanism is controlled by an air cylinder to realize the movement and swing of the middle-layer platform in a horizontal plane; the lifting execution unit consists of two sets of slide block swing-bar mechanisms, and each set of slide block swing-bar mechanisms is controlled by the air cylinder to realize the lifting and swing of the upper-layer platform in a vertical plane; and the translation execution unit and the lifting execution unit move together to adjust the spatial pose of the operation stitch, so that the final acupuncture operation is realized. The manipulator mechanism is accurate in positioning and high in flexibility and can shorten operation time greatly.

Description

The closely Wicresoft acupuncture manipulator mechanism that is used for the NMR-imaging environment
Technical field
The present invention relates to the mechanical front subject that intersects with medical science, relate in particular to a kind of acupuncture manipulator mechanism that is applied under the magnetic nuclear resonance environment.
Background technology
Current, the main method of operation on prostate is closely corpuscular radiation treatment of Wicresoft.Operation process is implanted prostate through acupuncture with radioactive particle, carries out local radiotherapy.And the acupuncture of usually manually carrying out operation, to face mostly low precision, can't realtime imaging shortcoming; For the track of planning in advance, also may be because of the moving and the stimulation of acupuncture of patient body for organ, and can't realize the effect estimated.
Assisting through robot arm or robot arm is the means that realize high accuracy acupuncture.In addition; NMR-imaging (MRI) is compared with traditional X ray, CT, can avoid the X-radiation to healthy cell, and good soft tissue resolving power and accurate geometrical property are arranged; Can lean out lesion region more accurately; Guaranteeing rational track optimizing, and more accurate to the judgement of lesion portion, to guarantee to implant the particle position precision.At present, also be not applicable to Wicresoft's acupuncture surgical apparatus under the NMR-imaging environment.
Summary of the invention
To above-mentioned prior art; The present invention provides a kind of closely Wicresoft acupuncture manipulator mechanism that is used for the NMR-imaging environment; The present invention can be implemented in the limited space precision that improves acupuncture operation under the NMR-imaging environment, in addition, Wicresoft of the present invention acupuncture mechanical hand not only accurate positioning, motility is good, wound surface is small; And can shorten operating time greatly, alleviated the misery of patient in operation process to a great extent.
In order to solve the problems of the technologies described above, the present invention is used for the technical scheme that the closely Wicresoft acupuncture manipulator mechanism of NMR-imaging environment is achieved and is: comprise an operation needle, three platforms and three performance elements that are used to realize five degree of freedom of said operation needle; Said three platforms comprise upper platform, middle level platform and lower floor's platform; Three performance elements comprise the translation performance element that is connected between said middle level platform and the said lower floor platform; Be connected in the lifting performance element between said upper platform and the said middle level platform; Be arranged on the acupuncture performance element on the said upper platform, the action of said three performance elements is separate; Wherein: said translation performance element is made up of two slide block swing-bar mechanisms; Each slide block swing-bar mechanism is controlled by a cylinder respectively; When one of them cylinder moving, realize the swing of said middle level platform in horizontal plane, when two cylinders are synchronized with the movement, realize middle level platform moving in horizontal plane, during said middle level platform is swung in vain and moved; Through the displacement of photoelectric encoder measurements and calculations cylinder piston, thereby realize closed loop feedback; Said lifting performance element is made up of two cover slide block swing-bar mechanisms, and every cover slide block swing-bar mechanism is arranged on the axial diverse location of operation needle, and every cover slide block swing-bar mechanism comprises the slide block swing-bar mechanism of two shared cylinder controls; This two covers slide block swing-bar mechanism is separate; When wherein a cover slide block swing-bar mechanism moves, realize the swing of said upper platform in vertical plane;, realize two cover slide block swing-bar mechanisms the up-down of said upper platform when being synchronized with the movement; Said upper platform through the displacement of photoelectric encoder measurements and calculations cylinder piston, thereby is realized closed loop feedback in swing and going up and down; Said acupuncture performance element comprises a supersonic motor and a leading screw slide block mechanism that is driven by this supersonic motor, said leading screw slide block mechanism drive operation needle operation needle axially on do the straight-line feed motion; The associated movement of said translation performance element and said lifting performance element is realized the adjustment of operation needle spatial pose, thereby operation needle is realized final acupuncture operation through slowly running of supersonic motor.
All parts that the present invention is used for the closely Wicresoft acupuncture manipulator mechanism of NMR-imaging environment all adopt high-strength engineering plastic polyformaldehyde (POM) manufacturing.
Compared with prior art, the invention has the beneficial effects as follows:
Translation performance element among the present invention and lifting performance element associated movement can realize entire mechanism about, about, tilt, wave the motion of four degree of freedom, thereby realize the adjustment of operation needle spatial pose; And, finally realize the acupuncture operation of operation needle through the slowly running of the supersonic motor in the acupuncture performance element.
Because the thrust of the cylinder piston in the acupuncture manipulator mechanism of the present invention in translation and the lifting performance element directly acts on the slide block center in the slide block swing-bar mechanism of associated; Its reasonable stress; Effectively anti-limited slip block distortion has further guaranteed the operation needle feed precision; The middle level platform adopts 4 supports, and promptly active fork and the passive fork together support middle level platform in the two cover slide block swing-bar mechanisms makes the motion of middle level platform more stable; The lifting performance element is arranged on the translation performance element, thereby has reduced to be positioned in the translation performance element the required thrust of cylinder of bottom, makes motion of mechanism more flexible.
The present invention can assist in the nuclear magnetic resonance spectrometer confined space and accomplish the acupuncture operation; Overcome the untimely drawback difficult of imaging effect in the operation process with trajectory planning; The greatly precision of the raising of degree operation, the successful property and the integrity of operation, thus opened up new way for NMR-imaging (MRI) guided robot assisted minimally invasive surgical operation.
Description of drawings
Fig. 1 is the structural perspective that the present invention is used for the closely Wicresoft acupuncture manipulator mechanism of NMR-imaging environment;
Fig. 2 is the front view of Wicresoft shown in Figure 1 acupuncture manipulator mechanism;
Fig. 3 is the vertical view of Wicresoft shown in Figure 1 acupuncture manipulator mechanism.
Among the figure:
Figure BDA0000106972530000031
The specific embodiment
Below in conjunction with the specific embodiment the present invention is done to describe in further detail.
As shown in Figure 1, a kind of closely Wicresoft acupuncture manipulator mechanism that is used for the NMR-imaging environment of the present invention comprises an operation needle 8, three platforms and three performance elements that are used to realize five degree of freedom of said operation needle.
Said three platforms comprise upper platform 17, middle level platform 10 and lower floor's platform 12; Three performance elements comprise the translation performance element that is connected between said middle level platform 10 and the said lower floor platform 12; Be connected in the lifting performance element between said upper platform 17 and the said middle level platform 10; Be arranged on the acupuncture performance element on the said upper platform 17, the action of said three performance elements is separate.
Said translation performance element is made up of two slide block swing-bar mechanisms; Each slide block swing-bar mechanism is controlled by a cylinder respectively; When cylinder moving in two cylinders 25,26, realize the swing of said middle level platform 10 in horizontal plane;, realize in two cylinders 25,26 middle level platform 10 moving in horizontal plane when being synchronized with the movement; Said middle level platform through photoelectric encoder 23,3 measurements that link to each other with cylinder piston 13,19 respectively and the displacement of calculating cylinder piston 13,19, thereby is realized closed loop feedback in swing and moving.
Said lifting performance element is made up of two cover slide block swing-bar mechanisms, and every cover slide block swing-bar mechanism is arranged on the axial diverse location of operation needle 8, and every cover slide block swing-bar mechanism comprises the slide block swing-bar mechanism that two shared cylinders are controlled; This two covers slide block swing-bar mechanism is separate; When wherein a cover slide block swing-bar mechanism moves, realize the swing of said upper platform 17 in vertical plane;, realize two cover slide block swing-bar mechanisms the up-down of said upper platform 17 when being synchronized with the movement; Said upper platform 17 through measuring and calculate the displacement of cylinder piston 22,24 respectively with cylinder piston 22,24 photoelectric encoders, thereby is realized closed loop feedback in swing and going up and down.
Said acupuncture performance element comprises a supersonic motor 6 and a leading screw slide block mechanism that is driven by this supersonic motor 6, said leading screw slide block mechanism drive operation needle 8 operation needle axially on do the straight-line feed motion.
The associated movement of said translation performance element and said lifting performance element is realized the adjustment of operation needle 8 spatial poses, thereby operation needle 8 is realized final acupuncture operation through slowly running of supersonic motor 6.
In the mechanism of the present invention all parts in addition all adopt high-strength engineering plastic polyformaldehyde (POM) manufacturing.
The working method that the present invention is used for the closely Wicresoft acupuncture manipulator mechanism of NMR-imaging environment below in conjunction with accompanying drawing.
Translational motion: as shown in figures 1 and 3; Translation performance element among the present invention is made up of two slide block swing-bar mechanisms; Each slide block swing-bar mechanism is controlled by a cylinder respectively; When one of them cylinder moving, realize the swing of said middle level platform 10 in horizontal plane, when two cylinders 25,26 are synchronized with the movement, realize middle level platform 10 moving in horizontal plane.That is: the cylinder 25 that links to each other with air pump through control; Move to line slideway 14 along X thereby make cylinder piston 13 promote slide block, and then realize the initiatively swing of fork 16, make 10 swings of middle level platform to reach; The displacement that photoelectric encoder 23 is measured cylinder piston 13 realizes closed loop feedback; Meanwhile; Through controlling the cylinder 26 that links to each other with air pump; Move to line slideway 1 along X thereby make cylinder piston 19 promote active sliding block 2, and then realize the initiatively swing of fork 20, to reach the swing of mechanism's middle level platform 10; The displacement that photoelectric encoder 3 is measured cylinder piston 19 realizes closed loop feedback.When two cylinder asynchronous movements, can realize the swing of middle level platform 10 in horizontal plane.
Lifting campaign: as depicted in figs. 1 and 2; The cylinder 5 that links to each other with air pump through control makes cylinder piston 22 promotion slide blocks move along line slideway; And then the swing of realization lifting fork 9, with the front portion lifting of axle to reach mechanism, photoelectric encoder 18 is through measuring the rotation of hinge; Calculate the displacement of cylinder piston 22, realize closed loop feedback.In like manner, the cylinder 27 that control links to each other with air pump makes cylinder piston 24 promote slide block along moving along guide rail, realizes the swing of lifting fork 4; To reach mechanism is the swing of axle with the rear portion; Photoelectric encoder 15 calculates the displacement of cylinder piston 24 through measuring the rotation of hinge, realizes closed loop feedback.When two cylinders are synchronized with the movement, can realize the interior lifting of vertical plane of upper platform 17; When two cylinder asynchronous movements, can realize the interior swing of vertical plane of upper platform 17.
Acupuncture campaign: through supersonic motor 6, make the leading screw 7 of leading screw slide block mechanism drive operation needle 8 motions, the needle point of operation needle 8 is passed in motion and power, thereby realized the acupuncture operation.
To sum up, acupuncture manipulator mechanism of the present invention is realized the adjustment of operation needle 8 spatial poses through the cooperation of above-mentioned translation and lifting campaign; Through the acupuncture campaign, finally realize the acupuncture operation.The advantage of acupuncture manipulator mechanism of the present invention is:
(1) each the slide block swing-bar mechanism among the present invention is controlled by cylinder, and the thrust of cylinder piston rod directly acts on the center of the slide block that is associated, reasonable stress, anti-limited slip block distortion;
(2) adopt 4 supports; Promptly two cover active forks and passive fork are fixed on lower floor's platform 12; Together support middle level platform 10; Make the motion of middle level platform 10 more stable, that is: the passive bar 11 ', 11 of two covers promotes slide block and moves the effect of realization supporting & stablizing respectively along X to line slideway 1 ', 14 ';
(3) the lifting performance element is arranged on the translation performance element, has reduced time required thrust of bottom cylinder, makes motion more flexible.
Although invention has been described for top combination figure; But the present invention is not limited to the above-mentioned specific embodiment, and the above-mentioned specific embodiment only is schematically, rather than restrictive; Those of ordinary skill in the art is under enlightenment of the present invention; Under the situation that does not break away from aim of the present invention, can also make a lot of distortion, these all belong within the protection of the present invention.

Claims (2)

1. a closely Wicresoft acupuncture manipulator mechanism that is used for the NMR-imaging environment comprises an operation needle, it is characterized in that,
Also comprise three platforms and three performance elements that are used to realize five degree of freedom of said operation needle;
Said three platforms comprise upper platform, middle level platform and lower floor's platform;
Three performance elements comprise the translation performance element that is connected between said middle level platform and the said lower floor platform; Be connected in the lifting performance element between said upper platform and the said middle level platform; Be arranged on the acupuncture performance element on the said upper platform, the action of said three performance elements is separate; Wherein:
Said translation performance element is made up of two slide block swing-bar mechanisms; Each slide block swing-bar mechanism is controlled by a cylinder respectively; When one of them cylinder moving, realize the swing of said middle level platform in horizontal plane, when two cylinders are synchronized with the movement, realize middle level platform moving in horizontal plane, during said middle level platform is swung in vain and moved; Through the displacement of photoelectric encoder measurements and calculations cylinder piston, thereby realize closed loop feedback;
Said lifting performance element is made up of two cover slide block swing-bar mechanisms, and every cover slide block swing-bar mechanism is arranged on the axial diverse location of operation needle, and every cover slide block swing-bar mechanism comprises the slide block swing-bar mechanism of two shared cylinder controls; This two covers slide block swing-bar mechanism is separate; When wherein a cover slide block swing-bar mechanism moves, realize the swing of said upper platform in vertical plane;, realize two cover slide block swing-bar mechanisms the up-down of said upper platform when being synchronized with the movement; Said upper platform through the displacement of photoelectric encoder measurements and calculations cylinder piston, thereby is realized closed loop feedback in swing and going up and down;
Said acupuncture performance element comprises a supersonic motor and a leading screw slide block mechanism that is driven by this supersonic motor, said leading screw slide block mechanism drive operation needle operation needle axially on do the straight-line feed motion;
The associated movement of said translation performance element and said lifting performance element is realized the adjustment of operation needle spatial pose, thereby operation needle is realized final acupuncture operation through slowly running of supersonic motor.
2. the closely Wicresoft acupuncture manipulator mechanism that is used for the NMR-imaging environment according to claim 1 is characterized in that, all parts all adopt high-strength engineering plastic polyformaldehyde (POM) manufacturing.
CN2011103523924A 2011-11-09 2011-11-09 Close-distance minimally-invasive manipulator mechanism for nuclear magnetic resonance imaging environment Pending CN102499726A (en)

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Cited By (7)

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Publication number Priority date Publication date Assignee Title
CN103330594A (en) * 2013-06-27 2013-10-02 苏州边枫电子科技有限公司 Auxiliary puncture needle feeding device driven by stepping motor
CN103385746A (en) * 2013-06-27 2013-11-13 苏州边枫电子科技有限公司 Auxiliary needle feeding device for puncture needle
CN103750908A (en) * 2014-02-10 2014-04-30 陈仕林 Movable needle inserting table
CN105640648A (en) * 2016-03-16 2016-06-08 北京理工大学 Pose mechanical-adjusting movable platform
CN110074865A (en) * 2016-11-01 2019-08-02 香港生物医学工程有限公司 For executing surgical robot that is minimally invasive and acting through natural cavity endoscopic surgery and system
CN110623712A (en) * 2019-11-04 2019-12-31 诸葛雪朋 Auxiliary device for thoracocentesis
CN114748143A (en) * 2022-04-20 2022-07-15 哈尔滨理工大学 Flexible needle puncture robot

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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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US5078140A (en) * 1986-05-08 1992-01-07 Kwoh Yik S Imaging device - aided robotic stereotaxis system
CN1288785A (en) * 2000-10-24 2001-03-28 深圳市金达科技实业有限公司 Flexible mechanism driven hydraulic balanced oscillating stock
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Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103330594A (en) * 2013-06-27 2013-10-02 苏州边枫电子科技有限公司 Auxiliary puncture needle feeding device driven by stepping motor
CN103385746A (en) * 2013-06-27 2013-11-13 苏州边枫电子科技有限公司 Auxiliary needle feeding device for puncture needle
CN103750908A (en) * 2014-02-10 2014-04-30 陈仕林 Movable needle inserting table
CN105640648A (en) * 2016-03-16 2016-06-08 北京理工大学 Pose mechanical-adjusting movable platform
CN105640648B (en) * 2016-03-16 2018-06-29 北京理工大学 A kind of pose mechanical conditioning type moveable platform
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CN110074865B (en) * 2016-11-01 2021-07-30 香港生物医学工程有限公司 Surgical robotic device and system for performing minimally invasive and transluminal endoscopic surgical actions
CN110623712A (en) * 2019-11-04 2019-12-31 诸葛雪朋 Auxiliary device for thoracocentesis
CN114748143A (en) * 2022-04-20 2022-07-15 哈尔滨理工大学 Flexible needle puncture robot

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Application publication date: 20120620