Piston-cylinder mechanism to exercise interventions for needle insertion with the end-effector

摘要

The present invention relates to a needle insertion end effector for interventional procedures having a piston-cylinder movement mechanism, comprising: a lower plate; An upper plate, which is installed on the upper portion spaced apart from the lower plate and is equipped with a needle grip on one side; A rotating motor mounted on an upper portion of the lower plate; The crank is mounted on one side of the rotary motor, the other side is combined with the upper plate of the needle grip portion, the upper plate on which the needle grip is mounted according to the rotational direction of the rotating motor in the upper or lower direction. It is characterized by being made. According to the present invention, as well as providing a lightweight and miniaturized needle insertion end effector that inserts the movement mechanism of the automated end effector used in the interventional procedure using a robot with a piston movement mechanism, needle insertion is achieved at once. It is easy to insert the needle, and it is easy to control the insertion length.