CN102727304A - Automatic needle-feeding mechanism of medical robot - Google Patents
Automatic needle-feeding mechanism of medical robot Download PDFInfo
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- CN102727304A CN102727304A CN201110082157XA CN201110082157A CN102727304A CN 102727304 A CN102727304 A CN 102727304A CN 201110082157X A CN201110082157X A CN 201110082157XA CN 201110082157 A CN201110082157 A CN 201110082157A CN 102727304 A CN102727304 A CN 102727304A
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Abstract
The invention relates to an automatic needle-feeding mechanism of a medical robot, which mainly comprises a support arm mechanism (1), a puncturing mechanism (2) and a puncture needle device clamping mechanism (3). The support arm mechanism (1) comprises a first end cover (11), a second end cover (12) and a box body (13), and a first transmission gear (14) and a second transmission gear (15) are arranged in the box body (13); an extending end of a rotating table (22) of the puncturing mechanism (2) is provided with a first bevel gear (23) and a second bevel gear (24) for engagement, the first bevel gear (25) and the second bevel gear (24) are integrated and are engaged for transmission; and the puncture needle device clamping mechanism (3) comprises a clamping box body (31), a rack (32), clamping teeth (33) and a chassis (34). The automatic needle-feeding mechanism of the invention has a simple structure, the surgical automation can be fully achieved, and the surgical safety and reliability can be realized. Moreover, the automatic needle-feeding mechanism is simple and easy to use, maintain and repair.
Description
Technical field
The present invention is based on the needling mechanism of microwave ablation robot, especially can realize the automatic needling mechanism of Medical Robot of automatic inserting needle.
Background technology
Domestic Tsing-Hua University, PLA General Hospital, Beijing Institute of Petrochemical Technology began the research that Municipal Commission of Science and Technology's project " exploitation of ultrasonic guidance liver tumor microwave ablation treatment machine robot system " carried out in cooperation from 2006, developed ultrasonic guidance microwave ablation treatment operation auxiliary machinery robot system at present.But at present medical robot is bulky, can't adapt to clinical limited operative space, does not possess clinical practice property, and this robot only possesses microwave electrodes pin automatic positioning function, and does not possess the automatic puncturing function.And the design of successful operation auxiliary robot will take into account the requirement of many aspects such as function, operative space, ease for operation, safety and reliability.On function, should be able under the ultrasonoscopy guiding, press the puncture path and setting target spot of planning, accomplish the functions such as clamping, location and automatic inserting needle of microwave electrodes pin.
Summary of the invention
According to background technology; The objective of the invention is to avoid the existing machinery needling mechanism can't realize the initiatively deficiency of inserting needle; Provide a kind of can closely cooperating to realize that the microwave electrodes pin is located automatically and the active needling mechanism of active inserting needle function, to satisfy the automatic needling mechanism of Medical Robot to the requirement of many aspects such as robot allomeric function, ease for operation, safety and reliability with the medical assistance robot.
To achieve these goals, the present invention realizes through following technical scheme:
The automatic needling mechanism of a kind of Medical Robot; Mainly by support arm mechanism (1); Puncture mechanism (2) and puncture needle device clamping device (3) are formed; Wherein: be connected with rotating shaft through spline between support arm mechanism (1) and puncture mechanism (2) and the puncture needle device clamping device (3), clamping puncture needle device clamping device (3) links to each other with support arm mechanism (1) front end, and has the puncture needle pin and press from both sides; Form support arm mechanism (1) by first end cap (11), second end cap (12) and casing (13); Be provided with first travelling gear (14) and second travelling gear (15) in the casing (13); First travelling gear (14) is connected with sprocket-type RCM mechanism, and second travelling gear (15) is connected with puncture mechanism (2); The external part of puncture mechanism (2) main body (21) side turntable (22) is equiped with first bevel gear (23); And mesh with second bevel gear (24); First gear (25) is an integral body with second bevel gear (24); First gear (25) and second gear (26) engaged transmission are provided with puncture needle (27) on second gear (26); Puncture needle device clamping device (3) is by clamping casing (31); Tooth bar (32); Folder tooth (33) is formed with underframe (34); And be connected with the front end of support arm mechanism (1), be provided with electromagnetic valve and spring in the clamping casing (31) and order about tooth bar (32) and seesaw tooth bar (32) and the folding of folder tooth (33) one ends engagement control folder tooth (33); In casing (13) and clamping casing (31), be provided with the circuit of the break-make of the control electromagnetic valve that is connected with operating board.
Owing to adopted technique scheme, the present invention to have the following advantages and effect:
1, the present invention can accomplish the inserting needle process through the active exercise of puncture mechanism after accomplish the location, realizes the automatization of operation, guarantees the safety of operation.
2, the clamping device of clamping puncture needle device of the present invention is a plastic, is prone to change safety and sanitation.
Description of drawings
Fig. 1 is a structure collectivity schematic perspective view of the present invention
Fig. 2 is support arm of the present invention mechanism sketch map
Fig. 3 is the present invention's structural scheme of mechanism that punctures.
The specific embodiment
By Fig. 1, Fig. 2 and Fig. 3 the automatic needling mechanism of a kind of Medical Robot is shown; Mainly by support arm mechanism 1; Puncture mechanism 2 forms with puncture needle device clamping device 3, wherein: form support arm mechanism 1 by first end cap 11, second end cap 12 and casing 13, be provided with first travelling gear 14 and second travelling gear 15 in the casing 13; First travelling gear 14 is connected with sprocket-type RCM (motion distal center) mechanism, and second travelling gear 15 is connected with puncture mechanism 2; The external part of puncture mechanism 2 main bodys, 21 side turntables 22 is equiped with first bevel gear 23; And with the engagement of second bevel gear 24; First gear 25 and second bevel gear 24 are an integral body, and first gear 25 and second gear, 26 engaged transmission are provided with puncture needle 27 on second gear 26; Puncture needle device clamping device 3 is by clamping casing 31; Tooth bar 32, folder tooth 33 is formed with underframe 34, and is connected with the front end of support arm mechanism 1; Be provided with electromagnetic valve and spring in the clamping casing 31 and order about tooth bar 32 and seesaw, tooth bar 32 and 33 foldings of folder tooth 33 1 ends engagement control folder tooth; In casing 13 and clamping casing 31, be provided with the circuit of the break-make of the control electromagnetic valve that is connected with operating board.
Distal center mechanism through the rear end during use carries out autonomous positioning; The position of adjustment inserting needle and path are to predefined position, and the location connects first travelling gear 14 and second travelling gear, 15 engaged transmission through motor after accomplishing, and drive the mechanism 2 that initiatively punctures and rotate; The adjustment in the needle point location that can accomplish microwave needle and inserting needle path links to each other with the distal center mechanism of leading portion; Motor is equipped with in its inside, and puncture action power and the control of completion in the puncture link are provided, and connects turntable 22 internal mechanisms through the drive mechanism in the main body 21 simultaneously; Rotate the inserting needle process simultaneously in puncture mechanism; Turntable 22 is adjusted direction in real time through the inner rotation device, makes 2 calibration location of puncture needle keep same track, keeps the direction of inserting needle to be consistent.Change the direction of power transmission simultaneously through the engaged transmission of first bevel gear 23 and second bevel gear 24, first gear 25 of second bevel gear 24 and column type is connected to whole and 26 engagements of second gear realize transmission of power, rotates inserting needle.After reaching assigned address, pass through the folding of the on-off control clamping device of circuit control battery valve.Final completion is inserting needle initiatively, and reaches expected result.
In addition, puncture needle device clamping device 3 is and the part of contact patients, for reaching the standard of health, must often change, and is consumable goods, considers Financial cost, uses plastic material.
Claims (5)
1. automatic needling mechanism of Medical Robot; Mainly by support arm mechanism (1); Puncture mechanism (2) and puncture needle device clamping device (3) are formed; It is characterized in that: be connected with rotating shaft through spline between support arm mechanism (1) and puncture mechanism (2) and the puncture needle device clamping device (3), clamping puncture needle device clamping device (3) links to each other with support arm mechanism (1) front end, and has the puncture needle pin and press from both sides.
2. the automatic needling mechanism of Medical Robot according to claim 1; It is characterized in that: described support arm mechanism (1) is made up of first end cap (11), second end cap (12) and casing (13); Be provided with first travelling gear (14) and second travelling gear (15) in the casing (13); First travelling gear (14) is connected with sprocket-type RCM mechanism, and second travelling gear (15) is connected with puncture mechanism (2).
3. the automatic needling mechanism of Medical Robot according to claim 1; It is characterized in that: the external part of described puncture mechanism (2) main body (21) side turntable (22) is equiped with first bevel gear (23); And mesh with second bevel gear (24); First gear (25) is an integral body with second bevel gear (24), and first gear (25) and second gear (26) engaged transmission are provided with puncture needle (27) on second gear (26).
4. the automatic needling mechanism of Medical Robot according to claim 1; It is characterized in that: described puncture needle device clamping device (3) is by clamping casing (31); Tooth bar (32), folder tooth (33) is formed with underframe (34), and is connected with the front end of support arm mechanism (1); Be provided with electromagnetic valve and spring in the clamping casing (31) and order about tooth bar (32) and seesaw, tooth bar (32) and the folding of folder tooth (33) one ends engagement control folder tooth (33); In casing (13) and clamping casing (31), be provided with the circuit of the break-make of the control electromagnetic valve that is connected with operating board.
5. the automatic needling mechanism of Medical Robot according to claim 1 is characterized in that: described puncture needle device clamping device (3) is a plastic material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110082157XA CN102727304A (en) | 2011-04-01 | 2011-04-01 | Automatic needle-feeding mechanism of medical robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110082157XA CN102727304A (en) | 2011-04-01 | 2011-04-01 | Automatic needle-feeding mechanism of medical robot |
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| CN102727304A true CN102727304A (en) | 2012-10-17 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201110082157XA Pending CN102727304A (en) | 2011-04-01 | 2011-04-01 | Automatic needle-feeding mechanism of medical robot |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108938062A (en) * | 2018-06-06 | 2018-12-07 | 四川大学华西第二医院 | A kind of obstetrics membrane breaking device |
| CN109480967A (en) * | 2017-09-12 | 2019-03-19 | 赛诺微医疗科技(北京)有限公司 | Operation puncturing executing agency and the surgery mechanical arm for using it |
| CN110236681A (en) * | 2019-07-18 | 2019-09-17 | 上海钛米机器人科技有限公司 | A kind of Needle-driven Robot and its mechanical arm inserting needle system |
| CN111529006A (en) * | 2020-05-20 | 2020-08-14 | 杨炳强 | Anesthesia injection device |
| CN111631753A (en) * | 2020-04-16 | 2020-09-08 | 中国科学院深圳先进技术研究院 | Ultrasonic imaging device |
| CN112203611A (en) * | 2018-04-13 | 2021-01-08 | 艾斯伊医疗技术公司 | Medical robot |
| CN115634025A (en) * | 2022-12-23 | 2023-01-24 | 真健康（北京）医疗科技有限公司 | Automatic puncture device for robot puncture operation |
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| CN1709205A (en) * | 2004-06-17 | 2005-12-21 | 冯威健 | Image tomograph puncture, biopsy and injection guide device |
| CN101111189A (en) * | 2005-02-01 | 2008-01-23 | 霍夫曼-拉罗奇有限公司 | Drive unit for medical devices |
| US20080146904A1 (en) * | 2005-04-08 | 2008-06-19 | Marcel Hunn | Device for positioning a probe in living tissue |
| CN202027713U (en) * | 2011-04-01 | 2011-11-09 | 北京石油化工学院 | Automatic needle-feeding mechanism of medical robot |
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| CN1662174A (en) * | 2002-04-19 | 2005-08-31 | 佩利坎技术公司 | Method and apparatus for body fluid sampling equipment |
| US20050096592A1 (en) * | 2003-10-31 | 2005-05-05 | James Carlyon | Safety shield |
| CN1709205A (en) * | 2004-06-17 | 2005-12-21 | 冯威健 | Image tomograph puncture, biopsy and injection guide device |
| CN101111189A (en) * | 2005-02-01 | 2008-01-23 | 霍夫曼-拉罗奇有限公司 | Drive unit for medical devices |
| US20080146904A1 (en) * | 2005-04-08 | 2008-06-19 | Marcel Hunn | Device for positioning a probe in living tissue |
| CN202027713U (en) * | 2011-04-01 | 2011-11-09 | 北京石油化工学院 | Automatic needle-feeding mechanism of medical robot |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109480967A (en) * | 2017-09-12 | 2019-03-19 | 赛诺微医疗科技(北京)有限公司 | Operation puncturing executing agency and the surgery mechanical arm for using it |
| CN109480967B (en) * | 2017-09-12 | 2021-02-19 | 赛诺微医疗科技(北京)有限公司 | Operation puncture actuating mechanism and operation mechanical arm adopting same |
| CN112203611A (en) * | 2018-04-13 | 2021-01-08 | 艾斯伊医疗技术公司 | Medical robot |
| CN108938062A (en) * | 2018-06-06 | 2018-12-07 | 四川大学华西第二医院 | A kind of obstetrics membrane breaking device |
| CN110236681A (en) * | 2019-07-18 | 2019-09-17 | 上海钛米机器人科技有限公司 | A kind of Needle-driven Robot and its mechanical arm inserting needle system |
| CN110236681B (en) * | 2019-07-18 | 2024-05-31 | 上海钛米机器人科技有限公司 | Puncture robot and needle insertion system for mechanical arm of puncture robot |
| CN111631753A (en) * | 2020-04-16 | 2020-09-08 | 中国科学院深圳先进技术研究院 | Ultrasonic imaging device |
| CN111529006A (en) * | 2020-05-20 | 2020-08-14 | 杨炳强 | Anesthesia injection device |
| CN115634025A (en) * | 2022-12-23 | 2023-01-24 | 真健康（北京）医疗科技有限公司 | Automatic puncture device for robot puncture operation |
| CN115634025B (en) * | 2022-12-23 | 2023-03-17 | 真健康（北京）医疗科技有限公司 | Automatic puncture device for robot puncture operation |
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Application publication date: 20121017 |