CN104825231B - A kind of minimally invasive intervention operation robot of guided by magnetic resonance breast cancer and its control method - Google Patents

Abstract

The invention discloses a magnetic resonance guided minimally invasive interventional surgery robot for breast cancer and a control method thereof, comprising: a base, a first screw, a guide column, a second screw, a first mobile platform, a second mobile platform, and a fixing mechanism , the first transmission mechanism, the second transmission mechanism, the first drive mechanism, the second drive mechanism and the third drive mechanism, the first mobile platform is connected with the first screw rod transmission and moves along the Z-axis direction; the second mobile platform passes through The second transmission mechanism is connected to the second drive mechanism and is driven by the second drive mechanism to move along the Y-axis direction; the second screw rod is rotatably mounted on the second mobile platform; the fixing mechanism is used to fix the surgical execution part, the fixing mechanism It is installed on the second screw rod and moves along the X-axis direction. Through the present invention, the breast cancer tumor coordinate position obtained by the magnetic resonance imaging equipment can be accurately reached in the magnetic resonance imaging environment, so as to realize minimally invasive interventional surgery for breast cancer guided by the magnetic resonance scanning equipment.

Description

A magnetic resonance-guided minimally invasive interventional surgery robot for breast cancer and its control method

technical field

The invention relates to the technical field of medical experimental equipment, in particular to a magnetic resonance-guided minimally invasive interventional surgery robot for breast cancer and a control method thereof.

Background technique

In the past 20 years, with the development and progress of science and technology, the concept of "minimally invasive" has penetrated into various fields of clinical medicine, especially playing an important role in the treatment of breast cancer. Minimally invasive surgery is popular among patients for its advantages of small incision, fast recovery, no need for sutures, and short hospital stay. It can achieve or even exceed the therapeutic effect of standard surgery, and has fewer complications, so that breast-conserving treatment can be achieved.

During the implementation of minimally invasive surgery, in order to ensure the effect of surgery and the safety of patients, it is generally necessary to use imaging means to guide. At present, magnetic resonance imaging is mainly used for guidance in the implementation of minimally invasive surgery.

However, due to the limited imaging area of MRI equipment, it is difficult for clinicians to perform surgical operations, and robots are required for surgery. However, so far, there have been no relevant reports on breast cancer minimally invasive interventional surgery robots that can be used in magnetic resonance imaging equipment, and at the same time, no surgical robots with high precision have appeared on the market.

Contents of the invention

Based on the technical problems existing in the above-mentioned background technology, the present invention proposes a magnetic resonance-guided breast cancer minimally invasive interventional surgery robot and its control method, which can accurately reach the breast cancer tumor coordinate position obtained by the magnetic resonance imaging equipment in the magnetic resonance imaging environment , in order to realize minimally invasive interventional surgery for breast cancer guided by magnetic resonance scanning equipment.

The present invention proposes a minimally invasive interventional surgery robot for breast cancer guided by magnetic resonance, including: a base, a first screw, a guide column, a second screw, a first mobile platform, a second mobile platform, a fixing mechanism, a first transmission mechanism, a second transmission mechanism, a first drive mechanism, a second drive mechanism and a third drive mechanism, wherein:

The first screw rod and the guide column are installed on the base and arranged perpendicular to the base, the first screw rod is connected to the first drive mechanism through the first transmission mechanism, and the first drive mechanism drives the first screw rod to rotate; the first mobile platform It is connected with the first screw rod and set on the guide column, and drives the first mobile platform to move along the Z-axis direction along the guide column during the rotation of the first screw rod;

The second mobile platform is installed on the first mobile platform, the second mobile platform is connected to the second drive mechanism through the second transmission mechanism, and the second drive mechanism drives the second mobile platform to move in the Y-axis direction on the first mobile platform;

The second screw rod is installed on the second mobile platform, the second screw rod is connected with the third driving mechanism, and the third driving mechanism drives the second screw rod to rotate; the fixing mechanism is used to fix the surgical execution part, and the fixing mechanism is installed on the second On the screw rod, during the rotation process of the second screw rod, the fixing mechanism is driven to move along the X-axis direction along the second screw rod.

Preferably, the number of the first screw rods is two, and the two first screw rods are arranged opposite to each other on the base, and the two first screw rods are connected to the first drive mechanism through the first transmission mechanism and driven by the first drive mechanism synchronous rotation.

Preferably, the second moving platform is located between the two first screw rods.

Preferably, there are four guide posts, one guide post is arranged on both sides of each first screw rod, and the four guide posts occupy four vertices of the quadrilateral.

Preferably, the first transmission mechanism includes a first transmission gear A, a first transmission gear B, a first transmission track A and a first transmission track B, the first transmission gear A is fixedly connected to one of the first screw rods, and the first The transmission gear A is connected to the first drive mechanism through the first transmission track A; the first transmission gear B is fixedly connected to another first screw rod, and the first transmission gear B is connected to the first drive mechanism through the first transmission track B.

Preferably, the first drive mechanism is fixed on the base through the first motor base and is located between the two first screw rods. The first drive mechanism is provided with a first transmission gear C connected with the first drive track A and connected with the first drive track A. A transmission track B is connected to the first transmission gear D.

Preferably, the first driving mechanism is a first ultrasonic motor.

Preferably, the first mobile platform includes a first guide rail, a first beam, a second guide rail and a second beam, the first guide rail, the first beam, the second guide rail and the second beam are sequentially connected end to end to form a rectangular frame, and the two second beams A threaded rod respectively passes through the first crossbeam and the second crossbeam and is connected in transmission with them.

Preferably, the first mobile platform further includes four connecting blocks, the four connecting blocks are respectively located at the four corners of the rectangular frame, and the four connecting blocks are respectively slidably mounted on the four guide columns.

Preferably, the second mobile platform is slidably installed on the first guide rail and the second guide rail, the second mobile platform is connected to the second transmission mechanism, and the second transmission mechanism is connected to the second drive mechanism.

Preferably, the second transmission mechanism includes a second transmission gear A and a second transmission crawler, the second transmission gear A is installed on the first beam, and the second transmission gear A is connected to the second drive mechanism through the second transmission crawler; The drive crawler is fixedly connected with the second mobile platform.

Preferably, the second driving mechanism is fixed on the second beam through the second motor base, and the second driving mechanism is provided with a second transmission gear B connected with the second track.

Preferably, the second drive mechanism is a second ultrasonic motor.

Preferably, the third driving mechanism is a third ultrasonic motor, and the second screw rod is connected to the output shaft of the third ultrasonic motor.

Preferably, the base, the first screw, the guide column, the second screw, the first moving platform, the second moving platform, the fixing mechanism, the first transmission mechanism and the second transmission mechanism are all made of magnetically compatible materials;

Preferably, both the first motor base and the second motor base are 3D printed from synthetic resin materials.

Preferably, both the first screw rod and the second screw rod are made of titanium alloy material; the first transmission mechanism and the second transmission mechanism are both made of plastic material.

Preferably, the connecting block is 3D printed from synthetic resin.

Preferably, the guide post is made of titanium alloy material.

Preferably, the external dimensions of the base are 200mm×200mm×5mm, the external dimensions of the first ultrasonic motor are 70mm×70mm, the rated torque is 0.65N×m, the diameters of the second ultrasonic motor and the third ultrasonic motor are 46mm, and the rated The moments are all 0.15N×m.

The present invention also proposes a magnetic resonance-guided breast cancer minimally invasive interventional surgery robot system, including: a magnetic resonance scanning device and a surgical robot, the magnetic resonance scanning device is used to obtain the three-dimensional position coordinates of breast cancer tumors, and The three-dimensional position coordinates of the cancer tumor control the surgical robot to move in the X-axis direction, the Y-axis direction, and the Z-axis direction; the surgical robot is the magnetic resonance-guided minimally invasive interventional surgery robot for breast cancer described in items 1-8 of the rights.

The present invention also proposes a control method for a minimally invasive interventional surgery robot for breast cancer guided by magnetic resonance, including:

Scan the human body through magnetic resonance scanning equipment to determine the three-dimensional position coordinates of breast cancer tumors;

Make a difference between the initial three-dimensional position coordinates of the surgical robot and the three-dimensional position coordinates of the breast cancer tumor obtained by the magnetic resonance scanning equipment;

The action of the first driving mechanism is controlled by the obtained difference, the first driving mechanism drives the first transmission mechanism, the first transmission mechanism drives the first screw to rotate, and the first screw rotates to drive the first mobile platform to move along the Z-axis direction ;

The action of the second drive mechanism is controlled by the obtained difference, the second drive mechanism drives the second transmission mechanism to act, and the action of the second transmission mechanism drives the second mobile platform to move along the Y-axis direction on the first mobile platform; through the obtained difference control The third driving mechanism operates, the third driving mechanism drives the second screw rod to rotate, and the rotation of the second screw rod drives the fixing mechanism to move along the X-axis direction.

In the present invention, the surgical robot cooperates with the magnetic resonance scanning equipment, and the surgical robot realizes the precise movement of the surgical execution parts according to the coordinate guidance in the magnetic resonance imaging environment formed by the magnetic resonance scanning equipment; through the first transmission mechanism and the first The cooperation of the driving mechanism makes the first mobile platform move up and down along the Z-axis direction; through the cooperation of the second transmission mechanism and the second driving mechanism, the second mobile platform moves horizontally along the Y-axis direction on the first mobile platform; The mechanism fixes the surgical execution part, and cooperates with the second screw rod in the second mobile platform through the slide table in the fixing mechanism, and drives the fixing mechanism horizontally along the X-axis direction on the second mobile platform by using the third driving mechanism Movement; so as to realize the movement of the surgical execution part fixed on it in the X, Y, and Z three-axis directions, so that the surgical execution part can accurately reach the surgical target position for minimally invasive treatment.

During the puncture process, the three-dimensional position coordinates of the breast cancer tumor are obtained by the magnetic resonance imaging equipment as the target position of the operation. difference; through the difference obtained, the first driving mechanism, the second driving mechanism and the third driving mechanism are controlled to move in cooperation, so that the surgical execution component can accurately reach the surgical target position for minimally invasive treatment.

The present invention can be widely used in a three-dimensional stereotaxic positioning system for performing minimally invasive interventional surgery on breast cancer under the guidance of magnetic resonance scanning equipment, so as to realize minimally invasive interventional surgery for breast cancer under the guidance of magnetic resonance scanning equipment. It solves the problem that manual operation cannot be performed due to the limited imaging area of magnetic resonance imaging equipment, and provides a feasible solution for the stabilization, precision, convenience and intelligence of breast cancer minimally invasive surgery.

In summary, the materials selected for each component in the present invention are made of high-strength magnetically compatible materials, which not only have high mechanical strength, but also have non-ferromagnetic properties, so that the stereotaxic device can be applied to magnetic resonance systems . The invention guides and monitors the puncture process through magnetic resonance scanning imaging, is beneficial to clinical research on minimally invasive interventional surgery for breast cancer, and provides a good experimental platform for medical and life science research. Through actual research and testing, the present invention fully considers the characteristics of the open magnetic resonance apparatus, which is narrow in space and high in magnetic field strength, and the volume of the whole robot is small and flexible in operation. The whole movement of the present invention is carried out on the screw rod, and the controllable precision of the movement amount is high, which can well meet the precision requirement of breast cancer tumor treatment.

Description of drawings

Fig. 1 is a structural schematic diagram of a magnetic resonance-guided minimally invasive interventional surgery robot for breast cancer proposed by the present invention;

Fig. 2 is a partial schematic diagram 1 of a magnetic resonance-guided minimally invasive interventional surgery robot for breast cancer proposed by the present invention;

Fig. 3 is a partial schematic diagram II of a magnetic resonance-guided minimally invasive interventional surgery robot for breast cancer proposed by the present invention;

FIG. 4 is a partial schematic diagram III of a minimally invasive interventional surgery robot for breast cancer guided by magnetic resonance in the present invention.

detailed description

Below, the technical solution of the present invention will be described in detail through specific examples.

As shown in Figures 1-4, Figure 1 is a structural schematic diagram of a magnetic resonance guided breast cancer minimally invasive interventional surgery robot proposed by the present invention; Figure 2 is a magnetic resonance guided breast cancer minimally invasive interventional surgery robot proposed by the present invention Figure 3 is a partial schematic diagram of a magnetic resonance-guided breast cancer minimally invasive interventional surgery robot proposed by the present invention; Figure 4 is a partial schematic diagram of a magnetic resonance-guided breast cancer minimally invasive interventional surgery robot proposed by the present invention Diagram three.

In the present application, the X-axis direction, the Y-axis direction, and the Z-axis direction are orthogonal to each other, constituting a three-dimensional position coordinate system.

Referring to Figures 1-4, a magnetic resonance guided breast cancer minimally invasive interventional surgery robot and its control method proposed by the embodiment of the present invention include: a base 1, a first screw 2, a guide column 11, a second screw 12, The first mobile platform 3, the second mobile platform 4, the fixing mechanism 5, the first transmission mechanism 6, the second transmission mechanism 7, the first driving mechanism 8, the second driving mechanism 9 and the third driving mechanism 10, wherein:

The first screw mandrel 2 and the guide column 11 are all located on the base 1, and the quantity of the first screw mandrel 2 is two, and the two first screw mandrels 2 are relatively arranged on the base 1; A guide column 11 is respectively arranged on both sides of the threaded rod 2 .

The first transmission mechanism 6 includes a first transmission gear A, a first transmission gear B, a first transmission crawler A61 and a first transmission crawler B62; the first transmission gear A is fixedly connected to one of the two first screw mandrels 2 , the first transmission gear B is fixedly connected with another first screw mandrel 2; the first transmission track A61 is respectively connected with the first transmission gear A and the first driving mechanism 8; the first transmission track B62 is respectively connected with the first transmission gear B It is connected with the first driving mechanism 8.

The first driving mechanism 8 is the first ultrasonic motor, and the first ultrasonic motor is fixed on the base 1 by the first motor base 13 and is positioned between the two first screw mandrels 2; The first transmission gear C connected with the first transmission crawler belt A61 and the first transmission gear D connected with the first transmission crawler belt B62; the first driving mechanism 8 passes through the first transmission gear A, the first transmission gear B, the first transmission crawler belt A61 and The first transmission crawler belts B62 cooperate with each other to drive the two first screw mandrels 2 to rotate synchronously.

The first mobile platform 3 comprises a first guide rail 31, a first crossbeam 32, a second guide rail 33 and a second crossbeam 34; Connect sequentially to form a rectangular frame, and the connecting blocks 35 are respectively located at the four corners of the rectangular frame; the four connecting blocks 35 in the first mobile platform 3 are respectively sleeved on the four guide columns 11, and the first beam in the first mobile platform 3 32 and the second crossbeam 34 are connected to the two first screw rods 2 respectively, and during the rotation of the first screw rods 2 , the first moving platform 3 moves along the guide column 11 in the Z-axis direction.

The second transmission mechanism 7 includes a second transmission gear A and a second transmission crawler; the second transmission gear A is fixed on the bottom of the first beam 32; the second transmission crawler is connected with the second transmission gear A and the second driving mechanism 9 respectively.

The second driving mechanism 9 is a second ultrasonic motor, and the second ultrasonic motor is fixed on the second beam 34 by the second motor base 14; the output shaft of the second ultrasonic motor is provided with a second transmission gear connected with the second transmission crawler belt B15; the second ultrasonic motor drives the second transmission crawler for transmission.

The second mobile platform 4 is movably installed on the first guide rail 31 and the second guide rail 33 in the first mobile platform 3, and the second mobile platform 4 is connected with the second drive crawler belt; The mobile platform 4 moves in the Y-axis direction along the first guide rail 31 and the second guide rail 33 .

The second screw rod 12 is rotatably installed on the second moving platform 4 , and the second screw rod 12 is connected with the third driving mechanism 10 .

The third driving mechanism 10 is the third ultrasonic motor, and the third ultrasonic motor is fixedly installed on the second mobile platform 4; the output shaft of the third ultrasonic motor is connected with the second screw mandrel 12, and the third ultrasonic motor drives the second screw mandrel 12 turn.

The fixing mechanism 5 is used to fix the operation execution part, the operation execution part can be a puncture ablation needle, the fixing mechanism 5 is installed on the second screw rod 12, and the fixing mechanism 5 moves along the second screw rod 12 during the rotation process of the second screw rod 12 12 to move in the X-axis direction.

In addition, in order to improve the strength of the structure and reduce the cost and volume, in the present invention, the base 1, the first screw rod 2, the second screw rod 12, the first mobile platform 3, the second mobile platform 4, the fixing mechanism 5. Both the first transmission mechanism 6 and the second transmission mechanism 7 are made of magnetically compatible materials; both the first motor base and the second motor base are 3D printed from synthetic resin materials; the first screw rod 2 and the second wire rod The rod 12 is made of titanium alloy material; the first transmission mechanism 6 and the second transmission mechanism 7 are both made of plastic material; the connecting block 35 is made of synthetic resin 3D printing; the guide column 11 is made of titanium alloy material become.

The dimensions of the base 1 are 200×200×5mm; the dimensions of the first ultrasonic motor are 70×70mm, and the rated torque is 0.65N×m; the diameters of the second and third ultrasonic motors are both 46mm, and the rated torque is It is 0.15N×m.

The present invention makes the first mobile platform 3 move up and down along the Z-axis direction through the cooperation of the first transmission mechanism 6 and the first driving mechanism 8; through the cooperation of the second transmission mechanism 7 and the second driving mechanism 9, the second mobile platform 4 Move horizontally along the Y-axis direction on the first mobile platform 3; fix the surgical execution part through the fixing mechanism 5, and cooperate with the second screw rod 12 in the second moving platform 4 through the slide table in the fixing mechanism 5, and The third driving mechanism 10 is used to drive the fixing mechanism 5 to move horizontally along the X-axis direction on the second moving platform 4 ; thereby driving the movement of the operation performing component in the X, Y, and Z axes directions.

An embodiment of the present invention proposes a magnetic resonance-guided minimally invasive breast cancer interventional surgery robot system, including: a magnetic resonance scanning device and a surgical robot, the magnetic resonance scanning device is used to obtain the three-dimensional position coordinates of breast cancer tumors, and The three-dimensional position coordinates of the breast cancer tumor control the operation robot to move in the X-axis direction, the Y-axis direction and the Z-axis direction; the operation robot is the magnetic resonance-guided minimally invasive interventional operation robot for breast cancer.

An embodiment of the present invention proposes a control method for a robot for minimally invasive interventional surgery for breast cancer guided by magnetic resonance, including:

Scan the human body through magnetic resonance scanning equipment to determine the three-dimensional position coordinates of breast cancer tumors;

Make a difference between the initial three-dimensional position coordinates of the surgical robot and the three-dimensional position coordinates of the breast cancer tumor obtained by the magnetic resonance scanning equipment;

Control the action of the first drive mechanism 8 through the obtained difference, the first drive mechanism 8 drives the first transmission mechanism 6 to act, the action of the first transmission mechanism 6 drives the first screw mandrel 2 to rotate, and the first screw mandrel 2 rotates to drive the first mobile platform 3 Move along the Z axis;

The action of the second drive mechanism 9 is controlled by the obtained difference, the second drive mechanism 9 drives the second transmission mechanism 7 to act, and the action of the second transmission mechanism 7 drives the second mobile platform 4 to move along the Y-axis direction on the first mobile platform 3 ;

The action of the third driving mechanism 10 is controlled by the obtained difference, the third driving mechanism 10 drives the second screw rod 12 to rotate, and the rotation of the second screw rod 12 drives the fixing mechanism 5 to move along the X-axis direction.

During the puncture process, first fix the surgical execution part on the fixing mechanism 5; then obtain the three-dimensional position coordinates of the breast cancer tumor position through the magnetic resonance imaging equipment; The three-dimensional position coordinates of the breast cancer tumor are differenced; then the movement amount of the surgical robot to reach the target coordinates is calculated through the obtained difference, and the movement is realized through the driving of the first driving mechanism, the second driving mechanism and the third driving mechanism, so that the operation The executive components accurately reach the designated target for minimally invasive treatment.

The invention solves the current problem that manual operation cannot be performed due to the limited imaging area of magnetic resonance imaging equipment, and provides a feasible solution for the stabilization, precision, convenience and intelligence of breast cancer minimally invasive surgery.

The above is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto, any person familiar with the technical field within the technical scope disclosed in the present invention, according to the technical solution of the present invention Any equivalent replacement or change of the inventive concepts thereof shall fall within the protection scope of the present invention.

Claims (19)

1. a kind of minimally invasive intervention operation robot of guided by magnetic resonance breast cancer, it is characterised in that including：Base (1), the first screw mandrel (2), lead (11), the second screw mandrel (12), the first mobile platform (3), the second mobile platform (4), fixed mechanism (5), first Transmission mechanism (6), the second transmission mechanism (7), the first drive mechanism (8), the second drive mechanism (9) and the 3rd drive mechanism (10), wherein：

First screw mandrel (2) and lead (11) are arranged on base (1) and are arranged vertically with base (1), and the first screw mandrel (2) passes through First transmission mechanism (6) is connected with the first drive mechanism (8), and the first drive mechanism (8) drives the first screw mandrel (2) to be turned It is dynamic；First mobile platform (3) is connected and is sleeved on lead (11) with the first screw mandrel (2), is rotated in the first screw mandrel (2) During drive the first mobile platform (3) along lead (11) carry out Z-direction motion；

Second mobile platform (4) is arranged on the first mobile platform (3), and the second mobile platform (4) passes through the second transmission mechanism (7) It is connected with the second drive mechanism (9), the second drive mechanism (9) drives the second mobile platform (4) in the first mobile platform (3) Upper progress Y direction motion；

Second screw mandrel (12) is arranged on the second mobile platform (4), and the second screw mandrel (12) is connected with the 3rd drive mechanism (10), the Three drive mechanisms (10) drive the second screw mandrel (12) to be rotated；Fixed mechanism (5) is used for fixed operation execution unit, fixed machine Structure (5) is arranged on the second screw mandrel (12), and fixed mechanism (5) is driven in the second screw mandrel (12) rotation process along the second screw mandrel (12) X-direction motion is carried out；

The quantity of first screw mandrel (2) is two, and two first screw mandrels (2) are oppositely arranged on base (1), two first screw mandrels (2) it is connected by the first transmission mechanism (6) with the first drive mechanism (8) and synchronous axial system is driven by the first drive mechanism (8)； Second mobile platform (4) is located between two first screw mandrels (2).

2. the minimally invasive intervention operation robot of guided by magnetic resonance breast cancer according to claim 1, it is characterised in that lead (11) quantity is four, is respectively arranged a lead (11) in each first screw mandrel (2) both sides, four leads (11) account for According to four vertex positions of quadrangle.

3. the minimally invasive intervention operation robot of guided by magnetic resonance breast cancer according to claim 1 or 2, it is characterised in that the One transmission mechanism (6) includes the first travelling gear A, the first travelling gear B, the first driven pedrail A (61) and the first driven pedrail B (62), the first travelling gear A is fixedly connected with wherein one first screw mandrel (2), and the first travelling gear A passes through the first driven pedrail A (61) is connected with the first drive mechanism (8)；First travelling gear B is fixedly connected with another first screw mandrel (2), the first transmission Gear B is connected by the first driven pedrail B (62) with the first drive mechanism (8).

4. the minimally invasive intervention operation robot of guided by magnetic resonance breast cancer according to claim 3, it is characterised in that first drives Motivation structure (8) is fixed on base (1) by the first motor cabinet (13) and between two first screw mandrels (2), the first driving Mechanism (8) is provided with the first driven pedrail A (61) the first travelling gear C being connected and is connected with the first driven pedrail B (62) The first travelling gear D.

5. the minimally invasive intervention operation robot of guided by magnetic resonance breast cancer according to claim 4, it is characterised in that first drives Motivation structure (8) is the first supersonic motor.

6. the minimally invasive intervention operation robot of guided by magnetic resonance breast cancer according to claim 4, it is characterised in that first moves Moving platform (3) includes the first guide rail (31), first crossbeam (32), the second guide rail (33) and second cross beam (34), the first guide rail (31), first crossbeam (32), the second guide rail (33) and second cross beam (34) are sequentially connected with to form rectangular frame from beginning to end, two first Screw mandrel (2) is each passed through first crossbeam (32) and second cross beam (34) and is connected with it.

7. the minimally invasive intervention operation robot of guided by magnetic resonance breast cancer according to claim 6, it is characterised in that first moves Moving platform (3) also includes four contiguous blocks (35), and four contiguous blocks (35) are located at the corner of rectangular frame, four contiguous blocks respectively (35) it can be slidably mounted at respectively on four leads (11).

8. the minimally invasive intervention operation robot of guided by magnetic resonance breast cancer according to claim 6, it is characterised in that second moves Moving platform (4) can be slidably mounted on the first guide rail (31) and the second guide rail (33), the second mobile platform (4) and the second driver Structure (7) is connected, and the second transmission mechanism (7) is connected with the second drive mechanism (9).

9. the minimally invasive intervention operation robot of guided by magnetic resonance breast cancer according to claim 6, it is characterised in that second passes Motivation structure (7) includes the second travelling gear A, the second driven pedrail, and the second travelling gear A is arranged on first crossbeam (32), the Two travelling gear A are connected by the second driven pedrail with the second drive mechanism (9)；Second driven pedrail and the second mobile platform (4) it is fixedly connected.

10. the minimally invasive intervention operation robot of guided by magnetic resonance breast cancer according to claim 6, it is characterised in that second Drive mechanism (9) is fixed on second cross beam (34) by the second motor cabinet (14), and the second drive mechanism (9) is provided with and second Second travelling gear B (15) of driven pedrail connection.

11. the minimally invasive intervention operation robot of guided by magnetic resonance breast cancer according to claim 10, it is characterised in that second Drive mechanism (9) is the second supersonic motor.

12. the minimally invasive intervention operation robot of guided by magnetic resonance breast cancer according to any one of claim 1-2,10-11, Characterized in that, the 3rd drive mechanism (10) is the 3rd supersonic motor, the second screw mandrel (12) is defeated with the 3rd supersonic motor Shaft is connected.

13. the minimally invasive intervention operation robot of guided by magnetic resonance breast cancer according to claim 1 or 2, it is characterised in that bottom It is seat (1), the first screw mandrel (2), lead (11), the second screw mandrel (12), the first mobile platform (3), the second mobile platform (4), solid Determine mechanism (5), the first transmission mechanism (6) and the second transmission mechanism (7) to be made by magnetic compatible material.

14. the minimally invasive intervention operation robot of guided by magnetic resonance breast cancer according to claim 10, it is characterised in that first Motor cabinet (13) and the second motor cabinet (14) are formed by synthetic resin material 3D printing.

15. the minimally invasive intervention operation robot of guided by magnetic resonance breast cancer according to claim 1 or 2, it is characterised in that the One screw mandrel (2) and the second screw mandrel (12) are made by titanium alloy material；First transmission mechanism (6) and the second transmission mechanism (7) it is made by plastic material.

16. the minimally invasive intervention operation robot of guided by magnetic resonance breast cancer according to claim 7, it is characterised in that connection Block (35) is formed by synthetic resin 3D printing.

17. the minimally invasive intervention operation robot of guided by magnetic resonance breast cancer according to claim 1 or 2, it is characterised in that lead It is made to post (11) by titanium alloy material.

18. the minimally invasive intervention operation robot of guided by magnetic resonance breast cancer according to claim 12, it is characterised in that base (1) appearance and size is 200mm × 200mm × 5mm, and the appearance and size of the first supersonic motor is 70mm × 70mm, nominal force Square is 0.65N × m, and the diameter of the second supersonic motor and the 3rd supersonic motor is all 46mm, rated moment all for 0.15N × m。

19. a kind of minimally invasive intervention location of operation system of guided by magnetic resonance breast cancer, it is characterised in that including：Magnetic resonance imaging is set Standby and operating robot, the magnetic resonance imaging equipment is used to obtain breast cancer tumour three-dimensional location coordinates, and passes through acquisition Breast cancer tumour three-dimensional location coordinates control operating robot carries out X-direction, Y direction, Z-direction motion；The operation The minimally invasive intervention operation robot of guided by magnetic resonance breast cancer described in the artificial any one of claim 1-18 of machine.