PLITEA NICOLAE,PÎSLĂ DOINA LIANA,VAIDA LIVIU CĂLIN,GHERMAN BOGDAN GEORGE,TUCAN PAUL GEORGE MIHAI
申请号：
RO201801017
公开号：
RO134189A2
申请日:
2018.12.03
申请国别(地区):
RO
年份:
2020
代理人:
摘要：
The invention relates to a parallel robot for laparoscopic treatment of unresectable liver tumors. According to the invention, the robot consists of two robotic modules (3 and 4) for guiding a hepatic ultrasound probe and for guiding a treatment needle, respectively each module having five mobility degrees and being placed on an aluminium frame (2) fixed on the patient's bed, where the first robotic module (3) consists of two parallel mechanisms (5 and 6), the first mechanism (5) having three mobility degrees and being used for positioning a hepatic ultrasound probe (7), the probe (7) being vertically positioned by actuating a gearmotor (9), the second mechanism (6) being a mechanism for orienting the hepatic ultrasound probe (7), the actuation being performed by means of some gearmotors (33 and 35), the second robotic module (4) consists of two parallel mechanisms (48 and 49), the first mechanism (48) having three mobility degrees and being used for positioning a treatment needle (50), the needle (50) being vertically positioned by actuating a gearmotor (77), the second mechanism (49) representing a mechanism for orienting the treatment delivery needle (50), the actuation being performed by means of some gearmotors (81 and 82).Invenţia se referă la un robot paralel pentru tratamentul laparoscopic la tumorilor hepatice neoperabile. Robotul conform invenţiei este alcătuit din două module (3 şi 4) robotice pentru ghidarea unei sonde ecografice hepatice şi, respectiv, pentru ghidarea unui ac de tratament, fiecare modul având câte cinci grade de mobilitate şi fiind dispuse pe un cadru (2) din aluminiu fixat pe patul unui pacient, primul modul (3) robotic este compus din două mecanisme (5 şi 6) paralele, primul mecanism (5) are trei grade de mobilitate şi prin intermediul lui este poziţionată o sondă (7) ecografică hepatică, poziţionarea sondei (7) în plan vertical fiind realizată prin acţionarea unui moto-reductor (9), al doilea mecanism (6) reprezintă un mecanism pentr
