| 摘要 |
PURPOSE:To automatically operate a biopsy needle, observing the CT image information, by installing a jig feeding mechanism for shifting a needle-shaped jig in the axial direction and an oscillation mechanism for turning the jig feeding mechanism installed at the top edge part of the following link of a link mechanism. CONSTITUTION:A stick-in part 2 is shifted on a supposed spherical surface having a prescribed radius by a body part 1, and the axis direction of a biopsy needle is changed by the stick-in part 2, and further shifted in parallel to the axis direction. Accordingly, a link mechanism 16 is arranged on a turntable 13. Further, the link mechanism 16 is turned, together with the turntable 13, by a stepping motor 14, having a rotary shaft L as axis. Accordingly, the position of the top edge part of a link 165 can be controlled in the supposed spherical surface, having one point on the revolution axis L as center, by controlling each revolution quantity of the stepping motor 14 and a servomotor 18. The direction of the axis of the biopsy needle 3 can be directed in free direction within an angular range which is set, centering around the top edge part of the link 165 as an approximate center. |
