A kind of prostate biopsy robotTechnical field
The invention belongs to medical instruments fields, are related to a kind of prostate biopsy robot, and in particular to a kind of magnetic resonance(MRI) and/or CT guidance probe-type prostate biopsy robot.
Background technique
Prostate cancer falls ill second in global malignant tumour, has been in male tumor first in the U.S..In recent years IState's prostate-cancer incidence rises year by year.Unlike other tumours, prostate cancer more stoves in prostate gland are dispersed in pointCloth, the iconographies such as CT, MRI means cannot be made a definite diagnosis, and making a definite diagnosis for it is required to aspiration biopsy of prostatic gland.Physical examination screening prostate-specificProperty antigen (PSA) raised gerontal patient, there are about 20%-30% puncture be diagnosed as prostate cancer.China's prostate cancer in 2015New cases 60300, it means that China current year ten thousand people of about 20-30 receives aspiration biopsy of prostatic gland.Prostate gland is mostMajor diameter is about 3.5-5.5cm, this just determines that the target organ of puncture limits to very much, is punctured to and is dispersed in this narrow rangeThe lesion of distribution needs to puncture precision high.Current most of units still manually puncture, and reduce leakage by increasing point of punctureExamine rate.Aspiration biopsy of prostatic gland is mostly that the system of 12 needles punctures at present.Nonetheless, the cancerous tissue of some patientss still is not obtainedIt takes, as the continuation of PSA significantly increases, it is also necessary to secondary puncture.Therefore, with the Needle-driven Robot of precision navigation positioning functionResearch and development be necessary.
Can percutaneous puncture robot smoothly complete task, the ability and puncture path depending on navigator fix lesionPlanning.In practical applications, the Body Position Change of human body or respiratory movement etc. can make lesion spatial position change.It is existingThe navigation positional device of some percutaneous puncture robot applications has optical alignment and electromagnetic location etc., places electromagnetism in specific positionOr optical sensor, several pieces of locators are put as reference, by survey calculation lesion and respectively in patient body-surface or specific positionThe distance of locator positions it in the position of three-dimensional space, designs puncture path.This is to the biggish organ of volume or diseaseStove is easier to realize, but prostate average external volume only has 40ml, and is dispersed in and is distributed in tumor tissues therein and is even moreIt is very little.The positioning device for being placed on body surface can breathe, and small offset occurs under the influence of mobile or puncture movement.ThisOutside, check that the position for obtaining image is different from position when puncture.The lesion localization that these factors can be such that original image guides existsPuncture needle fails before reaching lesion.To overcome the problems, such as displacement, when neurology department positions lesion in this way before operation of opening cranium,It needs patient to hammer into skull across scalp with several nibbed screws on skull fixed frame under general anesthesia to be fixed, damage is veryGreatly.And prostate biopsy is operated under local anaesthesia, is not suitable for this fixing means, and when MRI is checked is horizontal position, when puncture isLithotomy position, amplitude of fluctuation are very big.So the navigation and positioning of prostate biopsy need to break through original Design Thinking.
Prostate biopsy robot applies ultrasonic guidance more at present, punctures for system.The puncture of magnetic resonance guiding in real timeIt is high to the material requirements of pricking device, it is difficult to make.And it needs to design large-scale magnetic resonance tool, occupies great spaceAnd personnel depaly, it is difficult universal on a large scale.Can enough ultrasonic guiding in real time puncture and micro- with magnetic resonance (MRI) identificationThe method of small lesion has become a hot topic of research, and the fusion that this method is known as MRI image guidance punctures.Its principle is to puncturePreceding progress prostate MRI scan generates faultage image, shows the lesions position of each level, and transrectal ultrasonography guidance is worn when puncturePricker punctures,, can be by this according to the prostate diameter and profile of ultrasound display in some level of ultrasonic scanning to prostateA level is shown as MRI image simultaneously, thus can substantially judge lesion in the spatial position of prostate, then ultrasonic guidance is wornPricker is punctured to this direction.Its advantages are the MRI advantage high to prostate cancer diagnosis susceptibility to be utilized, and breachPuncture can be completed in limitation of the MRI to stab material, common metal needle.
Although the fusion piercing method of MRI image guidance increases the specific aim to prostate lesion, in clinical applicationWhen there are still very big difficulties.
1. it is very long to complete good accurately image co-registration time-consuming, because without apparent object of reference, when determining fusion levelThe prostate diameter or general shape in certain level that can only be shown according to color ultrasound and MRI image are to determine whether at two kinds of imagesIn same level.And each level requires adjustment again, it is quite time-consuming.
2. image merges completely, difficulty is big, and puncture precision is limited.It is along cephalocaudal axis when because of patient's row MRI tomoscanIt carries out, each cross-section image is all vertical with this axis, this axis and the angle of position posture and bed when detection have correlation.And when puncturing, human body is difficult to be completely recovered to position posture when row MRI is checked, and the advance and retreat of per rectum color ultrasound can not be along originalThe axis come is completed, this section for resulting in the sectoring plane of color ultrasound to be formed when being difficult completely along MRI scan carries out, diseaseIt the position that stove is shown may be in the slightly forward or square later of actual horizon.
3. breathing, posture, position cause lesion offset that can not perceive and control.Prostate is located at pelvic cavity, though position is oppositeFixed, but still have certain mobility, when puncture, needs lithotomy position to complete, compared with dorsal position when row MRI is checked, prostate positionCertain variation can be had by setting.When this results in color ultrasound guiding in real time, former MRI image is deviated with prostate physical location, is puncturedWhen there is error.
Summary of the invention
To overcome the above problem in existing prostate biopsy technology, we visualize a kind of completely new puncture thinking.Through having been invented a kind of prostate biopsy robot to largely studying and testing repeatedly, especially a kind of magnetic resonance, CT are guidedProbe-type prostate biopsy robot can be applied to prostate and precisely puncture with system puncture to make a definite diagnosis prostate cancer.Specifically, the present invention includes following technical solution.
A kind of prostate biopsy robot comprising: prefastening removable probe, probe fixing frame have range unitSuch as TCP (Tool Center Pint, tool center point) the fixed point manipulation multi-freedom robot of graduated scale, computer controlPlatform, wherein
The prefastening removable probe is whole in a tubular form, along from prostate end of probe to the direction at pretensioning operation endSuccessively include water pocket or umbrella anchoring device and the water pocket or the tube body of umbrella anchoring device airtight connection, be set in tube bodyOn clamp-press type fixed ring, pre-tighten screw, positioned at clamp-press type fixed ring and pre-tighten screw between tube wall water injection pipe andDrainage tube, is provided with a multi-joint chain structure in the tube body, which includes series of identical or essentially identicalHollow segment, the non-metallic fibers silk across these segments, non-metallic fibers silk one end (i.e. top) are visited near prostateThe segment for surveying end is fixedly connected, and the other end is fixedly connected with screw is pre-tightened, and the tube body is soft tube body, preferably silicone tube or creamSebific duct；
The probe fixing frame include three ends be connected by universal shaft, can relatively rotate with respect to each other connecting rod, thusThe angle of adjustable three connecting rods is used wherein the top of two connecting rod, that is, first connecting rods and second connecting rod is respectively equipped with pedestalIn shoring anterior superior spine, the top of third connecting rod is equipped with openable and closable card slot or snap ring, for grasping fixed probe；
TCP fixed point manipulation multi-freedom robot include as main part cabinet body, be connected and fixed on the cabinetRanging mechanical arm and mechanical arm is punctured, is provided at the position for being located at range finder tool arm on the cabinet body and respectively comes with the vertical of scaleTo sliding slot and horizontal concrete chute, ranging mechanical arm is moved up and down along sliding slot；The ranging mechanical arm canIt stretches relative to cabinet body, and is marked with flexible scale, the ranging mechanical arm other end (i.e. front end) in the part close to cabinet bodyLocating rod equipped with protractor and for being connected and fixed probe, locating rod can be rotated using protractor central point as axis；InstituteMultifreedom motion can be carried out by stating puncture mechanical arm, and front end is for being connected and fixed puncture needle；
The computer console is connected with TCP fixed point manipulation multi-freedom robot (is electrically connected or communicates companyConnect), sectional analysis and 3D reconstruction are carried out for inputting MRI image, plans inserting needle route and needle track distribution, and be provided with handle useThe posture and movement of mechanical arm are punctured in control.
In a preferred embodiment, it is provided with scale on above-mentioned probe, for showing that probe enters the depth of human bodyDegree, the scale can be set on inboard wall of tube body, also can be set on each segment.These scales or graduation indication can be withIt is printed on inboard wall of tube body or segment, can also be formed when these carriers form, for example can be set on each segment topThere is small protrusion to be used to refer to scale.
The shape of segment in above-mentioned chain structure is preferably cylindrical body.
Preferably, the material of each segment in above-mentioned chain structure be plastics or other non-metallic rigid materials such asCarbon fibre material, the fiber filament are carbon fiber or nylon yarn.
Above-mentioned clamp-press type fixed ring is preferably provided at the rear end of tube body, can slide along tube body and be securable to appointing for tube bodyMeaning is a bit.
In a preferred embodiment, the outer diameter of above-mentioned silicone tube is suitable with catheter, outer likeness in form catheter.
In one embodiment, the material of above-mentioned water pocket or umbrella anchoring device is latex, be may expand after water filling.
Above-mentioned drainage tube communicates with the outside world, for guiding water and/or urine to flow out.
Surface positioned at the pedestal on above-mentioned first connecting rod and second connecting rod top covers viscose glue, is used for and anterior superior spine surfaceAdhering skin.
Optionally, above-mentioned probe fixing frame is made of plastics or organic glass.
In a preferred embodiment, above-mentioned ranging mechanical arm can be located at cabinet body top, and puncturing mechanical arm can be withPositioned at cabinet body lower part.
Above-mentioned puncture mechanical arm includes more than two arms, such as two arms, mutually hinged.
Preferably, the puncture mechanical arm is a 6DOF mechanical arm.
Above-mentioned puncture mechanical arm front end is equipped with needle propeller and percussion lock for manipulating puncture needle.
In a preferred embodiment, above-mentioned prostate biopsy robot is under magnetic resonance (MRI) and/or CT guidanceIt carries out lesion localization and 12 dot system of prostate punctures.
Above-mentioned computer console adjusts the posture of each mechanical arm by data line, and virtual any in settable spacePoint, making puncture mechanical arm front end, no matter which kind of posture is directed at this point.
Optionally, it can be guided with MRI or multi-parameter MRI when above-mentioned prostate biopsy robot is precisely punctured for lesion,System can be guided when puncturing with MRI or CT.
The present invention changes the prostate biopsy detection thinking of the prior art, the spy walked in prostate using urethraPoint puts the prefastening probe with scale as object of reference in urethra, and when loosening, probe is flexibility, and outer likeness in form is commonly ledUrinary catheter is preset in urethra before MRI inspection, and MRI pre-tightens this probe when checking, probe then forms angle and shape is fixed, suitableThe L shape rod-like structure for answering urethra traveling lies down after fixing this probe as mark using a certain fixed point of pelvis and carries out MRI inspection.It checks after terminating to obtain image, loosen probe, patient move freely the operating room of puncture, in the position for facilitating puncture (as cutStone position) probe is pre-tightened, angle when restoring to MRI to check, prostate position and state and MRI image are fitted when making to puncture.In advanceThe end connection TCP of compact form probe is around a Needle-driven Robot.Scale is had due to pre-tightening probe, passes through each quarter shown on MRIThe space length of degree and suspicious lesions can calculate needle track.
This novel probe formula prostate biopsy robot can be used probe as object of reference after carrying out magnetic resonance examinationBy algorithm calculate lesion three-dimensional coordinate and its with the positional relationship of puncture needle, adjust needle track in real time, pass through 6DOFIt punctures mechanical arm and adjusts puncture needle posture, can be punctured to lesion in all angles.Ultrasonic guiding in real time is not needed, is not neededIt is merged again with ultrasound image with magnetic resonance image, meanwhile, probe can also play the effect of fixed prostate, keep whole process time savingIt is laborsaving, it is more accurate.
Compared with prior art, beneficial effects of the present invention are as follows:
1, the fusion of existing multi-modality images is punctured and is reduced to single mode and precisely punctures by the present invention.
2, using probe as object of reference accurate calculation lesion spatial position.
3, prostate is anchored to specific position in pelvis by probe, and can make the complete position of prostate by adjusting probe posturePosition when MRI is checked, when the being automatically performed inspection and position of the when of puncture are fitted.
4, the drawing anchoring of probe can overcome lesion caused by soft tissue deformation mobile, guarantee the accuracy punctured.
5, TCP pinpoints Manipulation of the machine people technology maturation, for the lesions position calculated, can multiple degrees of freedom around puncturing.Without constantly adjusting puncture needle under guiding in real time.
6, the full intellectualized operation of the present apparatus relies on doctor's technology extremely low.When precisely being punctured for lesion can with MRI orMulti-parameter MRI guidance, system, which punctures, to be guided with MRI or CT.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of a prostate biopsy robotic embodiment according to the present invention；
Fig. 2 is a structural schematic diagram when probe embodiments according to the present invention are in relaxed state；
Fig. 3 is the pre- next structural schematic diagram of probe shown in Fig. 2；
Fig. 4 is the structural schematic diagram of a probe fixing frame embodiment according to the present invention；
Fig. 5 is the structural schematic diagram of a multi-freedom robot embodiment according to the present invention；
Fig. 6 is the positive schematic diagram of multi-freedom robot main part shown in display Fig. 5；
Fig. 7 is the schematic diagram shown after probe merging urethra；
Fig. 8 is the schematic diagram for showing probe merging urethra and pre- next linking probe fixed frame；
Fig. 9 is to show probe merging urethra and pre- next cooperation schematic diagram with probe fixing frame；
Figure 10 is to show probe merging urethra and pre- next top view with probe fixing frame cooperation；
Figure 11 is to show that probe is placed in the schematic diagram that urethra and pre- next lithotomy position connection Needle-driven Robot are punctured；
Figure 12 is to show that the pre- next robot of probe is imaged on the schematic diagram for losing shape face and positioning lesion by prostate MRI；
Figure 13 is to show that the pre- next robot of probe is imaged on the schematic diagram that coronal-plane positions lesion by prostate MRI.
Specific embodiment
Below in conjunction with attached drawing, technical solution of the present invention is described.Obviously, described embodiment is only this ShenPlease a part of embodiment, rather than whole embodiment；And structure shown in the drawings is only schematical, notRepresent material object.It should be noted that those of ordinary skill in the art are obtained all based on these embodiments in the present inventionOther embodiments shall fall in the protection scope of this application.
Prostate biopsy robot (abbreviation robot) of the invention is alternatively referred to as probe-type prostate biopsy robot,Using probe as object of reference accurate calculation lesion spatial position；And it is guided, existing multi-modality images can be melted with MRI and CTSuitable thorn is reduced to single mode and precisely punctures, and realizes intelligent operation.
For the sake of description simplicity, " prefastening removable probe " is referred to as " probe " sometimes herein, they are indicatedIdentical meaning, may be used interchangeably.Sometimes the main part of robot is referred to as " main body " or " cabinet body ", they indicate identicalMeaning, may be used interchangeably.
Herein, term " TCP fixed point manipulation multi-freedom robot ", " multi-freedom robot " and " TCP fixed point behaviourMan-controlled mobile robot " indicates identical meaning, may be used interchangeably.
Herein, term " preceding (end) " or " top " indicate probe along from prostate end of probe to the side at pretensioning operation endTo or from human body to the positional relationship in the direction outside human body or the direction upstream from human body to robot body, but simultaneouslyIt does not mean that and must be directed towards a certain fixed-direction in actual installation practice, just to show the positional relationship between all partsOr connection relationship.Similarly, term " rear (end) ", " end ", " upper (side) ", "lower" etc. do not constitute absolute spatial relationship limitIt makes, only a kind of concept of relative position.This is that those skilled in the art can understand.
Prostate biopsy robot
Referring to Fig. 1, prostate biopsy robot 10 of the invention specifically includes that probe 1, and probe fixing frame 2 has rangingTCP (Tool Center Pint, tool center point) the fixed point manipulation multi-freedom robot 3 of device such as graduated scale, calculatesMachine console 4.These component parts are described as follows respectively.
Probe 1
As shown in Figures 2 and 3, probe 1 of the invention is a kind of prefastening removable probe, integrally in a tubular form, alongIt successively include water pocket or umbrella anchoring device 11 and the water pocket or umbrella from prostate end of probe to the direction at pretensioning operation endThe tube body 12 of 11 airtight connection of anchoring device, the clamp-press type fixed ring 13 being set on tube body 12 pre-tighten screw 14, are located at card pressureFormula fixed ring 13 and the water injection pipe 15 and drainage tube 16 for pre-tightening 12 side wall of tube body between screw 14.
A multi-joint chain structure 17 is provided in the tube body 12, which includes series of identical or basic phaseHollow segment 171 together, the non-metallic fibers silk 172 across these segments 171,172 one end of non-metallic fibers silk (i.e. top)It is fixedly connected near the segment of prostate end of probe 171, the other end is fixedly connected with screw 14 is pre-tightened.
When specifically used, probe 1 is inserted into human body from urethra, as shown in Figure 7.In order to increase subject to the equipmentAdaptability and detection compliance, the material and body-sensing of tube body 12 should be same or similar with catheter, and the preferably described tube body 12 isSoft tube body, preferably silicone tube or emulsion tube.
In a preferred embodiment, be provided with scale (not shown) on above-mentioned probe 1, for show probe 1 intoEnter the depth of human body, the scale can be set on 12 inner wall of tube body, also can be set on each segment 171.These are carvedDegree or graduation indication can be printed on 12 inner wall of tube body or segment 171, can also be formed when these carriers form, such asSmall protrusion can be equipped on each 171 top of segment be used to refer to scale.
The shape of segment 171 in above-mentioned chain structure 17 is preferably cylindrical body.
The material of each segment 171 in chain structure 17 is plastics or other non-metallic rigid materials such as carbon fiber materialMaterial, fiber filament 172 are carbon fiber or nylon yarn.
Clamp-press type fixed ring 13 is preferably provided at the rear end of tube body 12, as shown in Figures 2 and 3, can slide along tube body 12And it is securable to any point of tube body 12.
It is preferred that the outer diameter of tube body 12 is suitable with common catheter, outer likeness in form catheter.
The material of water pocket or umbrella anchoring device 11 is latex, be may expand after water filling.
Drainage tube 16 communicates with the outside world, for guiding water and/or urine to flow out.
The present invention can be with accurate calculation lesion spatial position as object of reference by probe 1.Prostate is anchored to bone by probe 1Specific position in basin, and prostate can be made to be fully located at position when MRI is checked by adjusting 1 posture of probe, it is automatically performed inspectionPosition fitting when looking into and when puncturing.Obviously, the drawing anchoring of probe 1 can overcome lesion caused by soft tissue deformation mobile, protectDemonstrate,prove the accuracy punctured.
Probe fixing frame 2
Referring to fig. 4 and Figure 10, but probe fixing frame 2 includes that several, preferably three ends by universal shaft 21 are connected thatThis connecting rod 22-23 relatively rotated, so as to adjust the angle of three connecting rod 22-23.Wherein two connecting rods 22 are the first companyThe top of bar 22 and second connecting rod 22 is respectively equipped with pedestal 24, for shoring the anterior superior spine of subject；Third connecting rod 23Top is equipped with openable and closable card slot or snap ring 231, for grasping fixed probe 1.
Surface positioned at the pedestal 24 on 22 top of first connecting rod 22 and second connecting rod can cover viscose glue, for before iliumThe bonding of spine surface skin.
Probe fixing frame 2 is preferably made of plastics or organic glass.
Multi-freedom robot 3
As shown in Fig. 1, Fig. 5 and Fig. 6, TCP fixed point manipulation multi-freedom robot 3 of the invention includes as main partCabinet body 31, the ranging mechanical arm 32 being fastened on cabinet body 31 and mechanical arm 33 is punctured, is being located at ranging on the cabinet body 31The position of mechanical arm 32 is provided with the longitudinal chute 321 and horizontal concrete chute 322 for respectively coming with scale, so that ranging mechanical arm 32 canTo move up and down along sliding slot 321,322.The ranging mechanical arm 32 can stretch relative to cabinet body 31, andIt is marked with flexible scale 323 close to the part of cabinet body 31,32 other end of ranging mechanical arm (i.e. front end) is equipped with protractor 324 and usesIn the locating rod 325 for being connected and fixed probe 1, locating rod 325 can be rotated using 324 central point of protractor as axis.Puncture machineTool arm 33 can carry out multifreedom motion, and front end is for being connected and fixed puncture needle 5.
Ranging mechanical arm 32 can be located at 31 top of cabinet body, and 31 lower part of cabinet body can be located at by puncturing mechanical arm 33.
Puncturing mechanical arm 33 includes more than two arms, mutually hinged, can be with multiple degrees of freedom capable of expansion and contraction, is preferably puncturedMechanical arm 33 is a 6DOF mechanical arm.
33 front end of mechanical arm is punctured equipped with needle propeller and the percussion lock 331 for manipulating puncture needle 5.
Computer console 4
Referring to Fig. 1, Fig. 5 and Figure 11, computer console 4 is connected with multi-freedom robot 3, for inputting MRI figureAs carrying out sectional analysis and 3D reconstruction, inserting needle route and needle track distribution are planned, and it is (not shown) for controlling survey to be provided with handlePosture and movement away from mechanical arm 32 and puncture mechanical arm 33.
Computer console 4 can be with the connection of multi-freedom robot 3 to be electrically connected and/or communication connection.
Computer console 4 adjusts the posture of each mechanical arm 32,33 by data line, and virtual any in settable spacePoint, making puncture 33 front end of mechanical arm, no matter which kind of posture is directed at this point.
In a preferred embodiment, prostate biopsy robot 10 magnetic resonance (MRI) and/or CT guidance under intoRow lesion localization and 12 dot system of prostate puncture.
Prostate biopsy robot 10 can be guided when precisely puncturing for lesion with MRI or multi-parameter MRI, when system puncturesIt can be guided with MRI or CT.
Use embodiment
State when relaxation after probe 1 is placed in patient's urethra is shown referring to Fig. 7-13, Fig. 7, Fig. 8 shows that probe 1 is pre-Next state, Fig. 9 and Figure 10 show the mated condition of probe 1 Yu probe fixing frame 2, and Figure 11 shows that patient's lithotomy position connectsBy the situation that robot 10 punctures, Figure 12 shows that robot 10 is imaged on the original lost shape face and position lesion by prostate MRIReason, Figure 13 show that robot 10 is imaged on the principle that coronal-plane positions lesion by prostate MRI.
When using robot 10 of the invention, prefastening positioning probe 1 is placed in first in the urethra of patient, such as Fig. 7 instituteShow, step is identical as self retaining catheter.At this time patient can free walker go to MRI inspection chamber, receive MRI scan at any time.When inspectionPatient's horizontal position after filling the water 10 milliliters to water pocket 11 by water injection pipe 15, is tightened and pre-tightens screw 14.At this point, prefastening positioning is visited1 shape of needle becomes fixed approximate L shape, as shown in Fig. 3, Fig. 8 and 9.Before pedestal 24 in probe fixing frame 2 is pasted on iliumUpper spine surface skin adjusts the angle of first connecting rod 22 and second connecting rod 22 according to patient size, third connecting rod 23 is holded up, and usesThe snap ring 231 on its top blocks probe 1, and adjustment angle makes probe 1 be in patient's midline position.Then, along prefastening probe 1Slide downward clamp-press type fixed ring 13 squeezes from penis distal end to proximal segment, tightens fixed ring 13 after reaching certain limit and markScale.In this way, prostate can be made to be fixed between water pocket 11 and fixed ring 13.
After inspection, probe fixing frame 2 to be dismantled, unclamps prefastening probe 1, probe 1 reverts to soft urinary catheter structure,As shown in fig. 7, patient can free walker go to and puncture room and puncture at any time, or even can carry out another day.When puncture, patient cuts stonePosition installs probe fixing frame 2 by abovementioned steps and pre-tightens probe 1, fixed ring 13 tightened by former scale, by Needle-driven Robot 3Ranging mechanical arm 32 carries out positioning conciliation, so that locating rod 325 is aimed at 1 top of prefastening probe and pre-tightens at screw 14, and connects solidDetermine probe 1.
The MRI image shown by computer picture, according to probe 1 when checking in the angle of horizontal plane and the angle in mistake shape faceVernier range mechanical arm 32 and locating rod 325 are spent, the relationship of prefastening probe 1 and prostate, pelvis is made to be completely recovered to MRI inspectionState when looking into.It can be closed at this time according to the three-dimensional coordinate that the relative position of lesion and probe 1 generates lesion and prefastening probe 1System, and then fixed point puncture is carried out according to the positional relationship guiding puncture mechanical arm 33 of probe 1 and ranging mechanical arm 32.TCP machineAfter people determines target point, matrix template can be not necessarily to from 360 degree of any entry point around a puncture.If MRI image is without visible diseaseStove then carries out 12 dot system punctures, and computer console synthesizes 3-D image after can analyzing MRI faultage image, in stereo-pictureIt is settable uniform 12 points upper, then it can easily carry out forefront glandular system puncture.
The multi-modality images fusion of the prior art is punctured and is reduced to single mode by prostate biopsy robot 10 of the inventionPrecisely puncture.Since TCP pinpoints 3 technology maturation of Manipulation of the machine people, for the lesions position calculated, can multiple degrees of freedom around bringing out into the openThorn, without constantly adjusting puncture needle under guiding in real time.It is important that prostate biopsy robot 10 of the invention realizesIntelligent operation relies on doctor's technology extremely low.It can be guided with MRI or multi-parameter MRI when precisely being punctured for lesion, systemPuncturing can be guided with MRI or CT.
Herein, the terms "include", "comprise" or any other variant thereof is intended to cover non-exclusive inclusion, fromAnd to include the process, method, article or equipments of a series of elements not only to include those elements, but also including not brightThe other element really listed, or further include for elements inherent to such a process, method, article, or device.Do not havingIn the case where more limitations, the element that is limited by sentence "including a ...", it is not excluded that include the element process,There is also other identical or equivalent elements in method, article or equipment.
Prostate biopsy robot provided herein is described in detail above, it is used herein specifically aThe principle and implementation of this application are described for example, the application's that the above embodiments are only used to help understandMethod and inventive concept；At the same time, for those skilled in the art, according to the thought of the application, in specific embodimentAnd there will be changes in application range, in conclusion the contents of this specification should not be construed as limiting the present application.