Puncture robot

Abstract

The invention may provide a puncture robot that can precisely move a needle in the puncture direction by setting needle position in a CT gantry. Provided is a puncture robot comprising a puncture unit, puncture robot being configured such that: the puncture unit comprises a puncture needle, an arm unit, a frame unit, and a base unit; the frame unit comprises a first frame and a second frame that are each provided with an advancing and retracting shaft, and a connecting rod; the arm unit comprises an upper arm and a lower arm, with the puncture needle being mounted to be parallel to the advancing and retracting shaft; and the upper arm and the lower arm are advanced and retracted along the advancing and retracting shaft.

1 .- 9 . (canceled) 
     
     
         10 . A puncture robot comprising: a robot body; and a puncture unit attached to a moving end, the moving end being included in the robot body and movable in any direction,
 wherein the puncture unit includes:   an arm in which a puncture needle is attached to a leading end of the arm;   a frame to which a base end of the arm is attached; and   a base that supports the frame,   the frame includes a first frame, a second frame, and a connecting rod, each of the first frame and the second frame having a rectangular frame shape and having an advancing and retracting shaft extending in a vertical direction being provided inside of the frame, the connecting rod connecting the first frame and the second frame while the first frame and the second frame are opposite each other,   the arm holds the puncture needle attached in parallel to the advancing and retracting shafts, and includes an actuator in a middle portion of the arm for advancing and retracting the puncture needle in a puncture direction,   the puncture needle is advanced and retracted in a vicinity of a puncture region by advancing and retracting the upper arm and the lower arm along the advancing and retracting shafts, and   the puncture region is instantaneously punctured by instantaneously driving the actuator during a puncture operation of the puncture needle in the vicinity of the puncture region.   
     
     
         11 . The puncture robot according to  claim 10 , wherein in the arm, two sensors each constructed with a six-axis force sensor are provided in a middle portion of the arm while stacked. 
     
     
         12 . The puncture robot according to  claim 10 , wherein the arm includes a needle grip that grips the puncture needle at the leading end of the arm, and the needle grip is detachable with respect to the arm. 
     
     
         13 . The puncture robot according to  claim 11 , wherein the arm includes a needle grip that grips the puncture needle at the leading end of the arm, and the needle grip is detachable with respect to the arm. 
     
     
         14 . The puncture robot according to  claim 10 , wherein the needle grip is made of a resin material. 
     
     
         15 . The puncture robot according to  claim 11 , wherein the needle grip is made of a resin material. 
     
     
         16 . The puncture robot according to  claim 12 , wherein the needle grip is made of a resin material. 
     
     
         17 . The puncture robot according to  claim 13 , wherein the needle grip is made of a resin material.