DESIGN AND PERFORMANCE EVALUATION OF PASSIVE INTERLOCKING POSTURE ADJUSTMENT MECHANISM FOR TRANSRECTAL ULTRASOUND PROBE

摘要

In the current prostate biopsy procedure, it is necessary for the doctor to hold the ultrasonic probe during the entire process. This increases the fatigue degree of the doctor, and the motion of the ultrasonic probe is more likely to cause damage to the anus of the patient. A medical device that can assist doctors in prostate scans and biopsy puncture devices was developed. We focused on the passive interlocking transrectal ultrasonic probe posture adjustment mechanism. Based on the posture adjustment mechanism, a passive interlocking transrectal ultrasound probe position and posture adjustment mechanism capable of assisting the doctor in prostate scanning and puncture intervention was designed. The passive interlocking posture adjustment mechanism with a seven-degree-of-freedom (DOF) interlocking mechanism was designed and can meet the requirements of doctors. The physical prototype of the passive interlocking transrectal ultrasonic probe posture adjustment mechanism was developed and commissioned. The locking torque and braking torque of the mechanism were measured. The results showed that the ultrasonic probe can achieve reliable locking and effectively meet the operation requirements.