Body-insertion device

A body-insertion device for a body, comprising:

• a frame comprising a pair of posts and a horizontal bar, the pair of posts being spaced apart from each other in a transverse direction of the body in a body placing unit, and the horizontal bar extending in the transverse direction between the pair of posts;
• an image acquisition unit configured to acquire to an image of the body in the body placing unit;
• a first moving unit for moving the image acquisition unit, the first moving unit comprising a first guide extending in a 1-1 direction and being fixed at a first guide fixing portion of the horizontal bar;
• an insertion unit comprising a needle which is configured to be inserted into the body in the body placing unit;
• and
• a second moving unit for moving the insertion unit, the second moving unit comprising a second guide extending in a 2-1 direction and being fixed at a second guide fixing portion of the horizontal bar, wherein the second guide fixing portion of the horizontal bar is positioned apart from the first guide fixing portion in a longitudinal direction of the body in the body placing unit,
• wherein the first moving unit further comprises a 1-1 module for moving the image acquisition unit in the 1-1 direction and which is connected to the horizontal bar through a first fixing portion, a 1-2 module for moving the image acquisition unit in a 1-2 direction, and a 1-3 module for moving the image acquisition unit in a 1-3 direction and which is connected to the 1-1 module and the 1-2 module,
• wherein the second moving unit further comprises a 2-1 module for moving the insertion unit in the 2-1 direction and which is connected to the horizontal bar, a 2-2 module for moving the insertion unit in a 2-2 direction, and a 2-3 module for moving the insertion unit in a 2-3 direction,
• wherein the 1-1 module is configured to slidably connect to the first guide, and the 1-2 module comprises a third guide extending in the 1-2 direction and to which the image acquisition unit is connected,
• wherein the 1-1 module comprises a pair of spaced first pulleys, a first timing belt which extends between the first pulleys according to the 1-1 direction, a first driving unit configured to rotate the first pulleys, and a first connecting portion of the first timing belt to which the 1-3 module is connected,
• wherein the 1-2 module further comprises a pair of spaced second pulleys, a second timing belt which extends between the pair of pulleys according to the 1-2 direction, a second driving unit configured to rotate the second pulleys, a first body portion to which the 1-3 module is connected,
• wherein the third guide is provided in the first body portion,
• wherein the 1-3 module comprises an output shaft which is connected to the first body portion, and a third driving unit configured to rotate the output shaft,
• wherein the 2-1 module comprises a first movable member which moves in the 2-1 direction and is connected to the 2-2 module, the 2-2 module comprises a second movable member which moves in the 2-2 direction and is connected to the 2-3 module, and the 2-3 module comprises a third movable member connected to the insertion unit,
• wherein the 2-1 module further comprises a first screw extending in the 2-1 direction, the first movable member configured to move along the first screw when the first screw rotates, a second body portion, and a fourth driving unit,
• wherein the 2-2 module further comprises a second screw extending in the 2-3 direction, the second movable member configured to move along the second screw when the second screw rotates, a third body portion, a fifth driving unit, and a first fixing portion to which the first movable member is fixed,
• wherein the 2-3 module further comprises a third screw extending in the 2-3 direction, a third movable member, a fourth body portion, a second fixing portion to which the second movable is fixed, a sixth driving unit, and a fourth guide which extends along the 2-3 direction and is provided at the fourth body portion, and
• wherein the image acquisition unit comprises an ultrasound probe, a photoacoustic imaging device, or a time of flight (ToF) sensor comprising a near-infrared light emitting diode for recognizing the position coordinate of light reflected from the inside of the body.