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专利名称: 一种机器人辅助斜尖柔性针穿刺系统
其他题名: Robot-assisted oblique tip flexible needle puncture system
作者: 韩建达; 赵新刚; 霍本岩
所属部门: 机器人学研究室
专利权人: 中国科学院沈阳自动化研究所
专利代理: 沈阳科苑专利商标代理有限公司 21002
专利国别: 中国
专利类型: 实用新型
专利状态: 有效
摘要: 本实用新型涉及一种机器人辅助斜尖柔性针穿刺系统,光纤力传感器通过光纤连接数据采集卡,数据采集卡连接计算机的输入接口;C型臂设置于穿刺现场,与计算机的输入接口连接;三维电磁定位传感器设置于柔性针针尖的凹槽中,与计算机的输入接口连接,计算机的输出接口通过信号线连接控制器的输入端,控制器的输出端连接穿刺平台。本实用新型能够实时获得针尖位置,实时获得针尖受力,根据组织变形对穿刺策略进行在线修正,保证斜尖柔性针能够绕过不可穿刺区域,准确到达病灶,将穿刺过程置于医生的监控下,保证穿刺手术的安全。
英文摘要: The utility model relates to a robot-assisted oblique tip flexible needle puncture system. An optical fiber force sensor is connected with a data collection card through optical fibers, the data collection card is connected with an input interface of a computer, a C-type arm is arranged in the puncture site and connected with the input interface of the computer, a three-dimensional electromagnetic positioning sensor is arranged in a groove in a flexible needle tip and connected with the input interface of the computer, an output interface of the computer is connected with the input end of a controller through a signal line, and the output end of the controller is connected with a puncture platform. According to the robot-assisted oblique tip flexible needle puncture system, the needle tip position can be obtained in a real-time mode, the needle tip stress can be obtained in a real-time mode, on-line correction can be carried out on the puncture strategy according to metaplasia, the phenomenon that an oblique tip flexible needle can bypass the non-puncture area and accurately reach the nidus is ensured, the puncture process is monitored by a doctor, and the safety of a puncture operation is ensured.
是否PCT专利:
申请日期: 2013-06-27
公开日期: 2013-12-18
授权日期: 2013-12-18
专利申请号: CN201320377340.7
公布/公告号: CN203341820U
语种: 中文
产权排序: 1
内容类型: 专利
URI标识: http://ir.sia.cn/handle/173321/14180
Appears in Collections:机器人学研究室_专利

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