技术领域Technical field
本发明医疗器械技术领域，具体为一种基于线驱动的连续体型前列腺活检机器人结构。The invention is in the technical field of medical devices, specifically a continuous prostate biopsy robot structure based on line drive.
背景技术Background technique
前列腺活检是前列腺癌早期诊断的重要手段，可提高前列腺癌诊断的可信度，减少误诊，避免误诊延误病情，为病人争取宝贵的治疗时间。而且，在上世纪80年代，由于前列腺特异性抗原(PSA)以及超声引导下经直肠和经会阴前列腺穿刺活检的广泛应用，这使得前列腺癌的检出率得到了较大的提升，而且还对穿刺的准确性和手术的便利性也有了很大的提升，所以在临床上，前列腺活检被普遍认为是诊断前列腺癌的黄金标准。Prostate biopsy is an important means for early diagnosis of prostate cancer. It can improve the credibility of prostate cancer diagnosis, reduce misdiagnosis, avoid misdiagnosis and delay in disease progression, and gain valuable treatment time for patients. Moreover, in the 1980s, due to the widespread use of prostate-specific antigen (PSA) and ultrasound-guided transrectal and transperineal prostate biopsy, the detection rate of prostate cancer has been greatly improved, and it has also improved the detection rate of prostate cancer. The accuracy of puncture and the convenience of surgery have also been greatly improved, so clinically, prostate biopsy is generally considered the gold standard for diagnosing prostate cancer.
人体在仰卧位时，前列腺垂直人体长度的水平方向最大值约为30mm，竖直最大尺寸约为40mm，沿人体长度方向尺寸约为25mm，前列腺上缘至耻骨联合上缘皮肤表面距离为57.7±6.9mm，前列腺下缘至会阴部皮肤表面距离为30.1±6.1mm；前列腺上下径为24.3±3.3mm。机器人在前列腺活检中的应用受到人体结构的限制，活检过程在患者两腿之间进行，手术空间狭小，限制了机器人的工作空间，为医生操作机器人进行活检增加了难度，增加了医生的学习成本，同时也增加了手术的风险。因此需要一种比普通的关节-连杆式机器人更加灵活的机器人来进行前列腺活检手术。When the human body is in the supine position, the maximum horizontal dimension of the prostate perpendicular to the length of the human body is approximately 30mm, the maximum vertical dimension is approximately 40mm, and the dimension along the length of the human body is approximately 25mm. The distance from the upper edge of the prostate to the upper edge of the pubic symphysis skin surface is 57.7± 6.9mm, the distance from the lower edge of the prostate to the perineal skin surface is 30.1±6.1mm; the upper and lower diameter of the prostate is 24.3±3.3mm. The application of robots in prostate biopsy is limited by the structure of the human body. The biopsy process is performed between the patient's legs. The surgical space is small, which limits the robot's working space. It makes it more difficult for doctors to operate the robot for biopsy and increases the doctor's learning costs. , and also increases the risk of surgery. Therefore, a robot that is more flexible than ordinary joint-link robots is needed to perform prostate biopsy surgery.
发明内容Contents of the invention
本发明的目的在于，针对现有关节-连杆式机器人无法适应前列腺活检狭小的手术空间的问题，公开了一种基于线驱动的连续体型前列腺活检机器人结构，包括：驱动线绕线轮、驱动舵机、底板、节点环、驱动电机、机架、连接板、丝杠、光学定位板、前挡板、活检针、电磁活检枪、滑块、活检枪快换件。所述的节点环之间可以通过螺栓进行连接，多个节点环连接后组成连续体型结构，可以实现多个自由度的运动。所述的节点环内部设有驱动线孔，驱动线孔内部穿有钢丝线作为驱动线，驱动线头部固定在最前端的节点环处，驱动线末端缠绕在驱动线绕线轮上，驱动舵机带动驱动线绕线轮转动，从而实现机械臂末端的运动。所述的电磁活检枪可以连接在滑块上实现前后运动，并且可以通过电信号来控制电磁活检枪的动作，使其可以切割组织。电磁活检枪通过活检枪快装件实现快速拆装，使得可以取下病人组织并且更换活检针。所述的驱动舵机共有四个，并且固定在底板上，驱动线绕线轮通过花键连接在驱动舵机输出轴上，使得可以通过控制驱动舵机的运动来控制连续体型机械臂的运动，从而控制末端的位姿。The purpose of the present invention is to solve the problem that the existing joint-link robot cannot adapt to the small surgical space of prostate biopsy. It discloses a continuous prostate biopsy robot structure based on wire drive, including: a drive wire winding wheel, a drive wire Servo, base plate, node ring, drive motor, frame, connecting plate, screw, optical positioning plate, front baffle, biopsy needle, electromagnetic biopsy gun, slider, biopsy gun quick-change parts. The node rings can be connected by bolts, and multiple node rings are connected to form a continuous structure, which can realize movement with multiple degrees of freedom. There is a drive wire hole inside the node ring, and a steel wire is threaded inside the drive wire hole as a drive wire. The head of the drive wire is fixed at the frontmost node ring, and the end of the drive wire is wound around the drive wire winding wheel. The steering gear drives the drive wire winding wheel to rotate, thereby realizing the movement of the end of the robotic arm. The electromagnetic biopsy gun can be connected to the slider to move forward and backward, and the action of the electromagnetic biopsy gun can be controlled through electrical signals so that it can cut tissue. The electromagnetic biopsy gun can be quickly disassembled and assembled through the biopsy gun quick-release parts, so that the patient's tissue can be removed and the biopsy needle can be replaced. There are four driving servos in total, and they are fixed on the base plate. The driving wire winding wheel is connected to the output shaft of the driving servos through splines, so that the movement of the continuous-type robotic arm can be controlled by controlling the movement of the driving servos. , thereby controlling the end position.
优选的，所述的连续体型机械臂的同一条驱动线上的相邻节点环之间套有弹簧，弹簧套在驱动线上，可以平衡部分机械臂和末端机构的重量，使得机械臂更加精准。并且采用两段连续体结构交错90°布置的方式，可以提高连续体机械臂的自由度，使其运动更加灵活。Preferably, springs are placed between adjacent node rings on the same driving line of the continuous type robotic arm. The springs are placed on the driving lines to balance the weight of part of the robotic arm and the end mechanism, making the robotic arm more accurate. . And the use of two sections of continuum structures staggered at 90° can increase the degree of freedom of the continuum manipulator and make its movement more flexible.
优选的，所述的线驱动活检机器人结构，在末端执行机构的前部安装有光学定位板，可以利用光学定位仪来实时采集光学定位板的位姿，可以将此位姿数据作为距离反馈，以此可以实现位姿闭环控制。Preferably, the wire-driven biopsy robot structure is equipped with an optical positioning plate in front of the end effector. The optical positioning instrument can be used to collect the position and posture of the optical positioning plate in real time, and this position and position data can be used as distance feedback. In this way, closed-loop control of posture can be achieved.
优选的，所述的线驱动活检机器人结构，在末端执行机构的后部安装有驱动电机，该电机采用伺服电机，由此可以得到穿刺针前进的距离，由此可以根据术前的CT/MRI图像来判断穿刺针是否是否到达病灶。Preferably, the wire-driven biopsy robot structure is equipped with a drive motor at the rear of the end effector. The motor adopts a servo motor, so that the advancement distance of the puncture needle can be obtained, and the distance forward can be obtained based on the preoperative CT/MRI The image is used to determine whether the puncture needle has reached the lesion.
本发明达到的技术效果如下：The technical effects achieved by the present invention are as follows:
1、连续体型机械臂可以完成末端穿刺机构位置和姿态的调整。1. The continuous-type robotic arm can adjust the position and posture of the end puncture mechanism.
2、驱动舵机带动驱动线绕线轮可以实现对连续体型机械臂的运动控制。2. The drive steering gear drives the drive wire winding wheel to realize motion control of the continuous-type robotic arm.
3、末端穿刺机构可以实现穿刺针的前进和后退运动，并且末端前部的光学定位板可以实时反馈末端的位姿。3. The terminal puncture mechanism can realize the forward and backward movement of the puncture needle, and the optical positioning plate in front of the terminal can provide real-time feedback on the position of the terminal.
附图说明Description of the drawings
图1是系统整体结构的示意图；Figure 1 is a schematic diagram of the overall structure of the system;
图2是节点环的结构的示意图；Figure 2 is a schematic diagram of the structure of a node ring;
图3是底板的结构的示意图；Figure 3 is a schematic diagram of the structure of the bottom plate;
图4是末端穿刺机构活检枪快装件的结构的示意图；Figure 4 is a schematic diagram of the structure of the biopsy gun quick-release component of the terminal puncture mechanism;
具体实施方式Detailed ways
下面结合附图，对本发明作详细的说明。The present invention will be described in detail below with reference to the accompanying drawings.
以下对本发明及其实施方式进行了描述，这种描述没有限制性，实际的实施方式并不The present invention and its embodiments are described below. This description is not limiting and the actual implementation is not
局限于此。总而言之如果本领域的普通技术人员受其启示，在不脱离本发明创造宗旨的情况下，不经创造性的设计出与该技术方案相似的结构方式及实施例，均应属于本发明的保护范围。Limited to this. In short, if a person of ordinary skill in the art is inspired by the invention and without departing from the spirit of the invention, can devise structural methods and embodiments similar to the technical solution without inventiveness, they shall all fall within the protection scope of the invention.
如图1所示，连续体型机械臂与末端穿刺机构采用连接板(7)进行连接，在末端穿刺机构的上表面开有螺纹孔，通过螺栓将连接板(7)与末端穿刺机构上表面进行连接，在连续体型机械臂末端开有螺纹孔，通过螺栓与连接板(7)进行连接。As shown in Figure 1, the continuous type robotic arm and the terminal puncture mechanism are connected by a connecting plate (7). A threaded hole is opened on the upper surface of the terminal puncture mechanism. The connecting plate (7) is connected to the upper surface of the terminal puncture mechanism through bolts. For connection, there is a threaded hole at the end of the continuous type robotic arm, which is connected to the connecting plate (7) through bolts.
如图1所示，在连续体机械臂两段的连接处的节点环需要单独设计成带有通孔的结构，由此可以保证两段连续体结构的连接。同样的，在连续体型机械臂和底板连接处的节点环也应这样设计，从而保证连接。As shown in Figure 1, the node ring at the connection between the two sections of the continuum manipulator needs to be designed separately as a structure with through holes, so as to ensure the connection of the two sections of the continuum structure. Similarly, the node ring at the connection between the continuous robot arm and the base plate should also be designed in this way to ensure the connection.
如图2所示，节点环上端沿着外壁有一对连接耳(401)，并且下端有一对向内凹的连接耳(403)，根据设计需要，连接耳(403)的外径需要小于连接耳(401)的内径。As shown in Figure 2, the upper end of the node ring has a pair of connecting ears (401) along the outer wall, and the lower end has a pair of inwardly concave connecting ears (403). According to design requirements, the outer diameter of the connecting ears (403) needs to be smaller than the connecting ears. (401) inner diameter.
如图2所示，节点环内壁的两个驱动线孔(402)的外径需要大于弹簧的外径，以此可以保证弹簧卡在驱动线孔处。As shown in Figure 2, the outer diameter of the two drive wire holes (402) on the inner wall of the node ring needs to be larger than the outer diameter of the spring, so as to ensure that the spring is stuck at the drive wire hole.
如图2所示，节点环(4)的相互连接采用螺栓连接，并且连接螺栓的长度应该适当，并且螺栓的螺帽应该在节点环里面，由此保证连接螺栓不能干扰到驱动线的运动。As shown in Figure 2, the node rings (4) are connected to each other by bolts, and the length of the connecting bolts should be appropriate, and the nuts of the bolts should be inside the node ring, thereby ensuring that the connecting bolts cannot interfere with the movement of the drive line.
如图3所示，连续体型机械臂固定位(302)需要满足一定的强度，以此来支撑连续体机械臂和穿刺末端的重量以及工作负载。As shown in Figure 3, the fixed position (302) of the continuous-type robotic arm needs to meet a certain strength to support the weight and workload of the continuous-type robotic arm and the puncture end.
如图4所示，活检枪快装件(14)的四个固定卡扣应该具有一定的弹性，并且卡扣尺寸应该适当，以此保证电磁活检枪可以取下和装上。As shown in Figure 4, the four fixing buckles of the biopsy gun quick-release part (14) should have a certain degree of elasticity, and the buckle size should be appropriate to ensure that the electromagnetic biopsy gun can be removed and installed.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310870942.4ACN116898490A (en) | 2023-07-16 | 2023-07-16 | A structure of continuous prostate biopsy robot based on wire drive |
| Application Number | Priority Date | Filing Date | Title |
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| CN202310870942.4ACN116898490A (en) | 2023-07-16 | 2023-07-16 | A structure of continuous prostate biopsy robot based on wire drive |
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| CN116898490Atrue CN116898490A (en) | 2023-10-20 |
| Application Number | Title | Priority Date | Filing Date |
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| CN202310870942.4APendingCN116898490A (en) | 2023-07-16 | 2023-07-16 | A structure of continuous prostate biopsy robot based on wire drive |
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| CN119548246A (en)* | 2024-08-23 | 2025-03-04 | 北京工业大学 | A bionic leech-adsorbed venipuncture robot |
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| CN119548246A (en)* | 2024-08-23 | 2025-03-04 | 北京工业大学 | A bionic leech-adsorbed venipuncture robot |
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