CN114343794A - Alignment apparatus, alignment system, alignment method, computer device, and storage medium - Google Patents

Abstract

The invention relates to an alignment device, system, method, computer equipment, and storage medium, comprising a first-level motion part, a second-level motion part, a third-level motion part, a fourth-level motion part, a fifth-level motion part, and a second-level motion part. It is assembled on the first-level motion part, and can reciprocate along the first-level linear guide trajectory; the third-level motion part is movably assembled on the second-level motion part, and can reciprocate along the second-level linear guide trajectory; the fourth-level motion part is movable It is assembled on the third-level motion part, and can rotate along the axis of the third-level rotation reference axis. The reference axis is configured to serve as a motion reference for the end effector. The above-mentioned alignment device clearly defines the motion cooperation relationship between the moving parts at all levels, and can provide a precise needle insertion posture for the puncture needle, instead of a doctor's manual puncture operation.

Description

Alignment device, system, method, and computer equipment, storage medium

technical field

The present invention relates to the technical field of medical equipment, and in particular, to an alignment device, system, method, computer equipment, and storage medium.

Background technique

Lung puncture (mostly percutaneous lung puncture) is a pleural puncture of the visceral layer of the pleural cavity into the lung, which is used for the diagnosis and differential diagnosis of peripheral lung lesions or diffuse lung lesions. Lung puncture has high requirements on the operation of the doctor. During the operation, the doctor is required to be careful, serious and fast, and the time should be shortened as much as possible. The patient should also cooperate closely. The breathing should be stable and no coughing. Positioning to improve the success rate of puncture. The current lung puncture procedure is as follows: CT to locate the lesion, the doctor observes the image, the first puncture, CT rescan, the doctor adjusts the puncture angle, CT rescan... Repeat the operation until the scan result shows that the needle insertion angle can penetrate into the lesion and avoid the bone, Blood vessels, etc., and finally puncture the needle until the center of the lesion.

However, in the current puncture operation process, it can be clearly found that the influence of human factors is greater. Since the monitor and CT are usually not in the same room, the doctor needs to observe the approximate angle of needle insertion in the outdoor compartment, and then return to the operating room to perform the needle insertion operation. After the needle is inserted, it is necessary to frequently run in the two rooms, and then according to the repeated CT scan images, the needle insertion angle that needs to be adjusted after the needle is memorized, and the doctor's judgment of the space angle is used to make continuous adjustments. Therefore, the doctor's spatial memory ability and hand control ability are very demanding during the whole operation. When the doctor is tired or inexperienced, it will lead to repeated adjustments, so that the patient is repeatedly exposed to CT radiation, causing physical harm to the patient.

SUMMARY OF THE INVENTION

Based on this, it is necessary to provide an alignment device, system, method, computer equipment, and storage medium for the problem that the needle insertion operation of the puncture operation cannot be adjusted quickly and accurately.

The present invention provides an alignment device comprising:

a first-level motion part, the first-level motion part has a first-level linear guide trajectory;

a secondary motion part, which is movably assembled on the primary motion part and can reciprocate along the primary linear guide track; the secondary motion part has a secondary linear guide track;

A tertiary motion part is movably assembled on the secondary motion part, and can reciprocate along the secondary linear guide track, and the tertiary motion part has a tertiary rotation reference axis;

A fourth-stage moving part is movably assembled on the third-stage moving part and can rotate along the three-stage rotation reference axis, and the fourth-stage moving part has a fourth-stage rotation reference axis;

The fifth-stage movement part is movably assembled on the fourth-stage movement part, and can rotate along the fourth-stage rotation reference axis, the fifth-stage movement part has a fifth-stage rotation reference axis, and the fifth-stage movement part is configured to drive the end effector to rotate along the five-stage rotational reference axis.

In one embodiment, the secondary linear guide track and the primary linear guide track are perpendicular to each other; and/or the tertiary rotation reference axis and the secondary linear guide track are parallel to each other; and/or , the fourth-level rotation reference axis and the third-level rotation reference axis are perpendicular to each other; and/or, the fifth-level rotation reference axis and the fourth-level rotation reference axis are perpendicular to each other.

In one of the embodiments, the plane on which the third-level rotation reference axis and the second-level linear guide track are co-located is parallel to the first-level linear guide track; and/or,

The second-level linear guide trajectory, the third-level rotation reference axis and the fourth-level rotation reference axis are co-located in the same plane; and/or,

The plane on which the third-level rotation reference axis and the fourth-level rotation reference axis are co-located is perpendicular to the fifth-level rotation reference axis.

In one of the embodiments, the primary motion part includes:

first-class frame;

A primary linear drive mechanism is provided on the primary frame body, and the primary linear drive mechanism is configured to form the primary linear guide track.

In one embodiment, the secondary motion part includes:

secondary frame;

The secondary linear drive mechanism is arranged on the secondary frame body, the secondary linear drive mechanism is movably assembled with the primary linear drive mechanism along the primary linear guide track, and the secondary linear drive mechanism is is configured to form the secondary linear guide track.

In one of the embodiments, the primary motion part further includes:

The first-level guide rail mechanism is arranged on the first-level frame body and is parallel to the first-level linear drive mechanism.

In one embodiment, the secondary motion part further includes:

The secondary guide rail mechanism is arranged on the secondary frame body and is parallel to the secondary linear drive mechanism. Both the secondary guide rail mechanism and the secondary linear drive mechanism are along the primary linear guide track and The primary linear drive mechanism and the primary guide rail mechanism are movably assembled together.

In one embodiment, the primary motion part further includes a primary connection frame, the secondary motion part further includes a secondary connection frame, and both the primary linear drive mechanism and the primary guide rail mechanism are connected with the The primary connection frame is connected, the secondary linear drive mechanism and the secondary guide rail mechanism are both connected with the secondary connection frame, and the primary connection frame is connected with the secondary connection frame.

In one embodiment, the first-level connecting frame is a U-shaped frame, and the first-level connecting frame is sleeved on the first-level guide rail mechanism and connected with the first-level linear drive mechanism at the same time; and/or, The secondary connection frame is a U-shaped frame, and the secondary connection frame is sleeved on the secondary guide rail mechanism and connected with the secondary linear drive mechanism at the same time.

In one embodiment, the tertiary motion part includes:

A tertiary bracket, the tertiary bracket is arranged on the secondary bracket;

A tertiary rotator is disposed on the tertiary bracket, and the tertiary rotator is configured to drive the 4th-level moving part to rotate along the tertiary rotation reference axis.

In one of the embodiments, the four-level motion part includes:

A four-stage support, the fourth-stage support is drivingly connected with the output end of the three-stage rotator;

A fourth-stage rotator is arranged on the fourth-stage support, and the fourth-stage rotator is configured to drive the fifth-stage moving part to rotate along the fourth-stage rotation reference axis.

In one embodiment, the five-level motion part includes:

Five-stage support, the fifth-stage support is drivingly connected with the output end of the fourth-stage rotator;

A fifth-stage rotator is arranged on the fifth-stage support, and the fifth-stage rotator is configured to drive the end effector to rotate along the fifth-stage rotation reference axis.

In one embodiment, the five-level motion part further includes:

a bracket link, one end of the bracket link is connected with the fifth-stage bracket, and the other end of the bracket link is configured to be used for articulating the first position of the end effector and used to form a rotation with the fifth-stage bracket Synchronous reference axis parallel to the reference axis;

A crank, one end of the crank is drivingly connected with the output end of the fifth-stage rotator, the crank is configured to rotate along the fifth-stage rotation reference axis under the driving of the fifth-stage rotator ;

A transmission link, one end of which is hinged with the other end of the crank, the other end of the transmission link being configured for articulating a second position of the end effector.

In one embodiment, the length of the bracket link and the transmission link are equal, and the distance between the first position and the second position is equal to the length of the crank.

In one embodiment, the tertiary motion part further includes a tertiary connection frame, the quaternary motion part further includes a quaternary connection frame, and one end of the tertiary connection frame is connected to the tertiary rotation through a bearing The other end of the three-stage connecting frame is connected to the three-stage support, one end of the four-stage connecting frame is connected to the output end of the three-stage rotator, and the other end of the four-stage connecting frame is connected to the output end of the three-stage rotator. The quaternary bracket.

In one embodiment, the tertiary connection frame is a U-shaped frame, the quaternary connection frame is a U-shaped frame, and one end of the quaternary connection frame is located in the U-shaped recess of the tertiary connection frame, The quaternary driver is located in the U-shaped recess of the quaternary connection frame.

In one embodiment, the tertiary motion part further includes:

A cantilever connecting frame, the cantilever connecting frame includes connecting parts at both ends and a support part located in the middle of the two connecting parts, the two connecting parts are respectively connected with the output end of the four-stage bracket and the three-stage rotator connect.

In one embodiment, the alignment device further comprises:

The end effector is used to be movably assembled on the fifth-stage moving part, and can be fixed and rotated along the fifth-stage rotation reference axis, or fixed along a synchronous reference axis parallel to the fifth-stage rotation reference axis. Shaft turns.

In one embodiment, the alignment device further comprises:

An optical marker component is fixed on the end effector, the optical marker component is configured to provide an optical feedback signal.

In one embodiment, the alignment device further comprises:

A needle holder is secured to the end effector, the needle holder is configured for mounting a puncture needle.

In one embodiment, the needle holder comprises:

needle holder;

At least three positioning rollers, the positioning rollers are rotatably assembled on the needle holder through a rotating shaft bracket, a plurality of the positioning rollers are relatively enclosed to form a needle holding space, and the needle holding space is configured for installing a puncture needle ; At least one of the rotating shaft brackets is elastically assembled with the needle holder through an elastic member, so as to carry the positioning roller on it to elastically approach or move away from the needle holding space, so as to form elastic clamping for the puncture needle.

In one embodiment, the needle holder comprises:

a fixing plate, which is provided with a first needle-accommodating groove;

A movable plate, one end of the movable plate is rotatably assembled on one end of the fixed plate, and the other end of the movable plate is snap-connected with the other end of the fixed plate; the movable plate is provided with a second needle accommodating groove, The first needle accommodating groove is matched with the second needle accommodating groove to hold the puncture needle.

In one embodiment, the alignment device further comprises:

A mobile device, on which the primary motion part is disposed.

The present invention also provides an alignment system, the alignment system comprising:

a medical imaging device configured to acquire a biological image of a target object;

The alignment device is configured to perform a puncturing operation according to the biological image.

The present invention also provides a method for using the alignment system, comprising the following steps:

establishing a biological coordinate system of the target object and a navigational coordinate system of the alignment device according to the biological image;

establishing a mapping relationship between the biological coordinate system and the navigation coordinate system;

An alignment path is generated according to the mapping relationship, the alignment path being configured for introducing the alignment device.

The present invention also provides a computer device, comprising a memory, a processor, and a computer program stored on the memory and executable by the processor, the processor implementing the steps of the alignment method when the processor executes the computer program.

The present invention also provides a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, implements the steps of the alignment method.

The above-mentioned alignment device clearly defines the specific motion benchmarks and motion modes in the first-level motion part, the second-level motion part, the third-level motion part, the fourth-level motion part and the fifth-level motion part, and at the same time clearly defines the adjacent level. The movement coordination relationship between the moving parts enables stable and precise coordination between the moving parts at all levels, which can provide a precise needle insertion posture for the puncture needle, instead of the doctor's manual puncture operation.

Description of drawings

1 is a perspective view of an internal mechanism of an alignment device provided by an embodiment of the present invention;

Fig. 2 is an exploded view of the internal mechanism of the alignment device as shown in Fig. 1;

Fig. 3 is the front view of the internal mechanism of the alignment device as shown in Fig. 2;

Figure 4 is a side view of the internal mechanism of the alignment device shown in Figure 2;

Fig. 5 is the top view of the internal mechanism of the alignment device as shown in Fig. 2;

6 is an exploded view of an alignment device provided by an embodiment of the present invention;

Figure 7 is a front view of the alignment device shown in Figure 6;

Figure 8 is a side view of the alignment device shown in Figure 6;

Figure 9 is a top view of the alignment device as shown in Figure 6;

10 is a front view of an alignment device provided by an embodiment of the present invention;

11 is a top view of an alignment device provided by an embodiment of the present invention;

12 is an exploded view of a first-level movement part and a second-level movement part provided by an embodiment of the present invention;

Fig. 13 is the front view of the primary motion part and the secondary motion part as shown in Fig. 12;

Figure 14 is a side view of the primary movement part and the secondary movement part as shown in Figure 12;

Figure 15 is a top view of the primary movement part and the secondary movement part as shown in Figure 12;

16 is a perspective view of a three-level motion part and a fourth-level motion part provided by an embodiment of the present invention;

FIG. 17 is a front view of the three-stage movement part and the fourth-stage movement part as shown in FIG. 16;

FIG. 18 is a perspective view of a third-level motion part and a fourth-level motion part provided by another embodiment of the present invention;

Figure 19 is a front view of the three-stage movement part and the fourth-stage movement part as shown in Figure 18;

20 is a perspective view of a five-level motion part provided by an embodiment of the present invention;

Fig. 21 is the front view of the five-stage motion part as shown in Fig. 20;

22 is a perspective view of an end effector provided by an embodiment of the present invention;

23 is a three-dimensional assembly view of a needle holder provided by an embodiment of the present invention;

Figure 24 is a top view of the needle holder shown in Figure 23;

25 is a perspective view of a needle holder provided by another embodiment of the present invention;

26 is a three-dimensional assembly diagram 1 of a mobile device provided by an embodiment of the present invention;

FIG. 27 is a three-dimensional assembly view 2 of a mobile device according to an embodiment of the present invention.

reference number

100, first-level exercise part; 200, second-level exercise part; 300, third-level exercise part; 400, fourth-level exercise part; 500, fifth-level exercise part; 600, end effector; 700, optical marking part; 800, holding Needle device; 900, mobile device;

101. First-level linear guide trajectory; 102. Second-level linear guide trajectory; 103. Third-level rotary reference axis; 104. Fourth-level rotary reference axis; 105. Fifth-level rotary reference axis; 106. Synchronization reference axis;

110, first-level frame body; 120, first-level linear drive mechanism; 130, first-level guide rail mechanism; 140, first-level connecting frame;

210, secondary frame body; 220, secondary linear drive mechanism; 230, secondary guide rail mechanism; 240, secondary connecting frame;

310, three-stage bracket; 320, three-stage rotator; 330, three-stage connecting frame; 340, cantilever connecting frame;

410, four-stage bracket; 420, four-stage rotator; 430, four-stage connecting frame;

510, five-stage bracket; 520, five-stage rotator; 530, bracket connecting rod; 540, crank; 550, transmission connecting rod;

810, needle holder; 820, positioning roller; 830, shaft bracket; 840, elastic piece; 850, fixed plate; 860, movable plate; 870, first needle-accommodating groove; 880, second needle-accommodating groove.

Detailed ways

In order to make the above objects, features and advantages of the present invention more clearly understood, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without departing from the connotation of the present invention. Therefore, the present invention is not limited by the specific embodiments disclosed below.

In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", " Back, Left, Right, Vertical, Horizontal, Top, Bottom, Inner, Outer, Clockwise, Counterclockwise, Axial , "radial", "circumferential" and other indicated orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying the indicated device or Elements must have a particular orientation, be constructed and operate in a particular orientation and are therefore not to be construed as limitations of the invention.

In addition, the terms "first" and "second" are only used for descriptive purposes, and should not be construed as indicating or implying relative importance or implying the number of indicated technical features. Thus, a feature delimited with "first", "second" may expressly or implicitly include at least one of that feature. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise expressly and specifically defined.

In the present invention, unless otherwise expressly specified and limited, the terms "installed", "connected", "connected", "fixed" and other terms should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection , or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between the two elements, unless otherwise specified limit. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

In the present invention, unless otherwise expressly specified and limited, a first feature "on" or "under" a second feature may be in direct contact between the first and second features, or the first and second features indirectly through an intermediary touch. Also, the first feature being "above", "over" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is level higher than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature has a lower level than the second feature.

It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or an intervening element may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are for the purpose of illustration only and do not represent the only embodiment.

Referring to FIG. 1 to FIG. 11 , an embodiment of the present invention provides an alignment device, which is suitable for assisting medical puncture equipment to perform alignment operations during the puncture process, so that the puncture process can be accurate The alignment device includes: a first-level motion part 100, a second-level motion part 200, a third-level motion part 300, a fourth-level motion part 400, and a fifth-level motion part 500, and the five-level motion parts together constitute a possible A robot structure for realizing five-axis flexible motion, wherein the primary motion part 100 has a primary linear guide track 101, and the secondary motion part 200 is movably assembled on the primary motion part 100, and can move along the primary motion part 100. The secondary linear guide track 101 reciprocates, the secondary motion part 200 has a secondary linear guide track 102, and the tertiary motion part 300 is movably assembled on the secondary motion part 200 and can be guided along the secondary straight line The track 102 reciprocates, the tertiary motion part 300 has a tertiary rotation reference axis 103 , and the fourth stage motion part 400 is movably assembled on the tertiary motion part 300 and can be fixed along the tertiary rotation reference axis 103 . When the shaft rotates, the fourth-stage movement part 400 has a fourth-stage rotation reference axis 104, and the fifth-stage movement part 500 is movably assembled on the fourth-stage movement part 400 and can rotate along the fourth-stage rotation reference axis 104. , the fifth-level motion part 500 has a fifth-level rotation reference axis 105 , and the fifth-level motion part 500 is configured to drive the end effector 600 to rotate along the fifth-level rotation reference axis 105 .

In one embodiment, the secondary linear guide track 102 and the primary linear guide track 101 can be controlled to be perpendicular to each other, and the tertiary rotation reference axis 103 and the secondary linear guide track 102 are parallel to each other, so The fourth-level rotation reference axis 104 and the third-level rotation reference axis 103 are perpendicular to each other, and the fifth-level rotation reference axis 105 and the fourth-level rotation reference axis 104 are perpendicular to each other.

Further, the plane on which the third-level rotation reference axis 103 and the second-level linear guide track 102 are located can be controlled to be parallel to the first-level linear guide track 101 , which can be called the first-stage reference control. At the same time, the second-stage linear guide track 102, the third-stage rotary reference axis 103 and the fourth-stage rotary reference axis 104 can be controlled to be in the same plane, which can be called the second-stage reference control. At the same time, when the plane where the third-level rotation reference axis 103 and the fourth-level rotation reference axis 104 are located is perpendicular to the fifth-level rotation reference axis 105, it can be called the third-stage reference control.

Wherein, the first-stage reference control, the second-stage reference control and the third-stage reference control can be combined arbitrarily to form a complete reference control, especially when the third-stage rotary reference axis 103 and the second-stage linear guide track 102 are located together The plane and the first-level linear guide track 101 are parallel to each other, the second-level linear guide track 102, the third-level rotation reference axis 103 and the fourth-level rotation reference axis 104 are in the same plane, and the three When the plane where the first-level rotation reference axis 103 and the fourth-level rotation reference axis 104 are located is perpendicular to the fifth-level rotation reference axis 105, the linear guide trajectories and the rotation reference axes of the five-level motion parts are in absolute terms. The parallel state can be called the standard control state.

In this standard control state, the five-level motion parts can respectively form standard motions on the X-axis, Y-axis and Z-axis of the three-dimensional space, which can be controlled by a relatively clear and simple control logic. However, the linear guide trajectories and the rotation reference axes of the five-level motion parts can also form an adaptive angular match, for example, the adjacent or non-adjacent linear guide trajectories or the rotation reference axes have a relatively certain non-uniformity. At a vertical angle, the movement formed by the five-level moving parts in the three-dimensional space does not completely move along the X-axis, Y-axis and Z-axis of the three-dimensional space, which can provide a better movement of the alignment device in the three-dimensional space. There are many possibilities, and at the same time, more complicated logic control is required to realize motion control. Those skilled in the art can realize the above-mentioned angle control through certain coordinate conversion according to actual needs, which is not limited here.

In the above-mentioned alignment device that can realize five-axis flexible motion, the specific motion reference and motion mode of each level are clearly defined, and at the same time, the motion cooperation relationship between the motion parts of adjacent levels is clearly defined. In order to make the first-level motion part 100 and the second-level motion part 200 perform linear motions that are perpendicular to each other, when the first-level linear guide track 101 of the first-level motion part 100 is set to be consistent with the horizontal direction, the first-level motion can be used. The part 100 and the secondary motion part 200 realize the linear movement of the alignment device in the horizontal direction and the vertical direction, thereby forming a preliminary spatial positioning for the alignment device, covering the whole range of the lung. In cooperation with the linear motion of the first-level motion part 100 and the second-level motion, the third-level motion part 300, the fourth-level motion part 400 and the fifth-level motion part 500 can form a coordinated three-dimensional space rotary motion. On the basis of this, more detailed and precise posture positioning is achieved, allowing the puncture needle to be inserted at various precise postures and angles. Therefore, the alignment device clearly defines the specific motion benchmarks and motion modes at all levels, so that stable and precise coordination and cooperation between the motion parts at all levels can be formed, and the puncture needle can be provided with a precise needle insertion posture instead of a doctor. The manual puncture operation can avoid the frequent correction of the puncture angle and path by the doctor, shorten the operation time and reduce the pain of the patient.

Referring to FIG. 12 to FIG. 15 , in one embodiment, the primary motion part 100 includes a primary frame body 110 and a primary linear drive mechanism 120 . On the whole basis, the first-level linear drive mechanism 120 is disposed on the first-level frame body 110 , and the first-level linear drive mechanism 120 is configured to form the first-level linear guide track 101 . The secondary motion part 200 includes a secondary frame body 210 and a secondary linear drive mechanism 220. The secondary frame body 210 can be used as the overall basis of the secondary motion part 200, and the secondary linear drive mechanism 220 is arranged on the secondary frame. On the body 210, the secondary linear driving mechanism 220 is movably assembled with the primary linear driving mechanism 120 along the primary linear guiding track 101, and the secondary linear driving mechanism 220 is configured to form the secondary linear driving mechanism 220. Stage linear guide track 102 . Therefore, through the assembly relationship formed by the primary frame body 110, the primary linear drive mechanism 120, the secondary frame body 210, and the secondary linear drive mechanism 220 and the mutually perpendicular linear motion state, it is possible to realize the alignment device in the two mutual The vertical direction moves linearly, thereby forming the preliminary spatial positioning of the alignment device.

Both the primary linear drive mechanism 120 and the secondary linear drive mechanism 220 may adopt a screw drive mechanism such as a lead screw nut mechanism (also known as a ball screw mechanism). The lead screw nut structure includes a lead screw and a nut, and the nut and the lead screw are threadedly connected , when the lead screw rotates, it can drive the nut to move linearly, that is, convert the rotational motion into linear motion, and then use the converted linear motion to form a first-level linear guide track 101 or a second-level linear guide track 102, and at the same time, it is used to drive the lead screw to rotate. The components can use various types and types of motors and other rotators. Therefore, the secondary linear driving mechanism 220 is movably assembled with the primary linear driving mechanism 120 along the primary linear guiding track 101 , or the nut of the secondary linear driving mechanism 220 and the primary linear driving mechanism 120 can also be used. The two nuts are driven and connected, and after the two nuts are connected, the secondary linear drive mechanism 220 can be linearly reciprocated relative to the primary linear drive mechanism 120 along the primary linear guide track 101 . In addition, the primary linear drive mechanism 120 and the secondary linear drive mechanism 220 can also be replaced by other linear drive mechanisms capable of forming linear motion, such as a mechanism composed of an electronically controlled sliding rail and an electronically controlled sliding block, which can also actively complete the pairing of a linear motion. The formation of the primary linear guide track 101 or the secondary linear guide track 102 is not limited here.

The first-level moving part 100 further includes a first-level guide rail mechanism 130 . The first-level guide rail mechanism 130 is disposed on the first-level frame body 110 and is parallel to the first-level linear drive mechanism 120 . The secondary motion part 200 further includes a secondary guide rail mechanism 230 . The secondary guide rail mechanism 230 is arranged on the secondary frame body 210 and is parallel to the secondary linear drive mechanism 220 . The secondary guide rail mechanism 230 Both the primary linear drive mechanism 220 and the primary linear drive mechanism 220 are movably assembled together with the primary linear drive mechanism 120 and the primary guide rail mechanism 130 along the primary linear guide track 101 . The primary guide rail mechanism 130 and the secondary guide rail mechanism 230 are the mechanisms that cooperate with the primary linear drive mechanism 120 and the secondary linear drive mechanism 220, and can form a primary linear guide in the primary linear drive mechanism 120 and the secondary linear drive mechanism 220. On the basis of the trajectory 101 or the secondary linear guide trajectory 102, the corresponding linear motion is passively assisted, and the linear motion can be ensured smoothly by passively assisting the guidance. The first-level guide rail mechanism 130 and the second-level guide rail mechanism 230 may be formed by the cooperation of a mechanical slide rail and a sliding block, and the sliding block can move along the sliding rail to assist the smooth progress of the linear motion.

In the above assembly, the primary guide rail mechanism 130 , the secondary guide rail mechanism 230 , the primary linear drive mechanism 120 and the secondary linear drive mechanism 220 can be directly assembled or indirectly assembled according to the overall mechanism matching structure of the alignment device. The corresponding positional relationship can be adjusted flexibly. For example, the primary motion part 100 further includes a primary connection frame 140, the secondary motion part 200 further includes a secondary connection frame 240, the primary linear drive mechanism 120 and the The primary rail mechanism 130 is connected to the primary connection frame 140 , the secondary linear drive mechanism 220 and the secondary rail mechanism 230 are both connected to the secondary connection frame 240 , and the primary connection frame 140 is connected to the secondary connecting frame 240 .

The primary connection frame 140 and the secondary connection frame 240 can also be set to suitable structural shapes in order to satisfy the overall mechanism matching structure of the alignment device. For example, the primary connection frame 140 is a U-shaped frame, and the primary connection frame 140 is sleeved on the first-level guide rail mechanism 130 and connected with the first-level linear drive mechanism 120 at the same time. The secondary guide rail mechanism 230 is connected to the secondary linear drive mechanism 220 at the same time. Besides, the primary connection frame 140 and the secondary connection frame 240 may also have other regular or irregular shapes, and the specific shapes are not limited.

Referring to FIGS. 16 to 19 , the tertiary moving part 300 includes a tertiary bracket 310 and a tertiary rotator 320 . The tertiary frame can be used as the overall basis of the tertiary moving part 300 , and the tertiary bracket 310 is provided with On the secondary bracket, a tertiary rotator 320 is provided on the tertiary bracket 310, and the tertiary rotator 320 is configured to form the tertiary rotation reference axis 103 and to drive the The fourth-stage moving part 400 rotates fixedly along the third-stage rotation reference axis 103 . The fourth-stage moving part 400 includes a fourth-stage support 410 and a fourth-stage rotator 420. The fourth-stage frame can be used as the overall basis of the fourth-stage moving part 400. The output of the fourth-stage support 410 and the third-stage rotator 320 Drive connection, the quaternary bracket 410 is configured to rotate along the tertiary rotation reference axis 103 under the driving of the tertiary rotator 320, and the quaternary rotator 420 is arranged on the quaternary bracket At 410 , the fourth-stage rotator 420 is configured to form the fourth-stage rotation reference axis 104 and to drive the fifth-stage moving part 500 to rotate along the fourth-stage rotation reference axis 104 . The fifth-stage moving part 500 includes a fifth-stage support 510 and a fifth-stage rotator 520. The fifth-stage frame can be used as the overall basis of the fifth-stage moving part 500. The output of the fifth-stage support 510 and the fourth-stage rotator 420 Drive connection, the fifth-stage support 510 is configured to rotate along the fourth-stage rotation reference axis 104 under the drive of the fourth-stage rotator 420, and the fifth-stage rotator 520 is arranged on the fifth-stage support At 510 , the fifth-stage rotator 520 is configured to form the fifth-stage rotation reference axis 105 and to drive the end effector 600 to rotate along the fifth-stage rotation reference axis 105 .

At this time, the three-stage motion part 300, the fourth-stage motion part 400, and the fifth-stage motion part 500, which are sequentially driven and connected, can be formed according to the three-stage rotary reference axis 103, the fourth-stage rotary reference axis 104, and the fifth-stage rotary reference axis 105 formed in sequence. The coordinated three-dimensional space rotation control movement, on the basis of the initial space positioning, then realizes more detailed and precise posture positioning, allowing the puncture needle to be inserted into the needle at various precise postures and angles, and providing accurate feeding for the puncture needle. Needle posture, replacing the doctor's manual puncture operation. The three-stage rotator 320, the fourth-stage rotator 420, and the fifth-stage rotator 520 may adopt various types and types of motors, or may provide various types of components for rotational driving as the rotational driving components.

Referring to FIGS. 20 and 21 , the fifth-stage moving part 500 further includes a bracket link 530, a crank 540, and a transmission link 550. One end of the bracket link 530 is connected to the fifth-stage bracket 510, and the The other end of the bracket link 530 is configured for articulating the first position of the end effector 600 and for forming a synchronous reference axis 106 parallel to the fifth-order rotation reference axis 105, and one end of the crank 540 is connected to the The output end of the fifth-stage rotator 520 is drivingly connected, the crank 540 is configured to rotate along the fifth-stage rotation reference axis 105 under the driving of the fifth-stage rotator 520, and the transmission link One end of 550 is hinged with the other end of the crank 540, and the other end of the transmission link 550 is configured to be used for the second position of the hinged end effector 600, wherein the bracket link 530 and the transmission link 550 The lengths are equal, and the distance between the first position and the second position is equal to the length of the crank 540 . It can be seen that the bracket link 530, the crank 540, the transmission link 550, and the end effector 600 that can be assembled on the bracket link 530 and the transmission link 550 constitute a four-bar linkage.

The four-bar linkage mechanism has the effect of re-engraving the rotary motion, and can reproduce the synchronous reference axes 106 parallel to each other according to the fifth-level rotation reference axis 105, so that after the end effector 600 is assembled on the fifth-level motion part 500, it can follow the synchronization The reference axis 106 rotates and pushes the end effector 600 to realize the "nodding" function. Using this four-bar linkage mechanism, the actual position of the end effector 600 can be changed to a position other than the position where the fifth-stage rotary reference axis 105 is located, but the rotation reference formed by the fifth-stage rotary reference axis 105 can still be reproduced, avoiding the fifth-stage drive having Metal structures, such as motors, cause interference during CT angiography, which also simplifies the calculation difficulty on the control algorithm side.

In the above-mentioned assembly, the third-level motion part 300 and the fourth-level motion part 400 can be directly assembled or indirectly assembled according to the overall mechanism matching structure of the alignment device, and the corresponding positional relationship can be flexibly adjusted. For example, see FIG. 16 and FIG. As shown in 17, the three-stage moving part 300 further includes a three-stage connecting frame 330, the fourth-stage moving part 400 further includes a four-stage connecting frame 430, and one end of the three-stage connecting frame 330 is connected to the three-stage connecting frame 330 through a bearing. The other end of the third-stage connecting frame 330 is connected to the third-stage support 310, and one end of the fourth-stage connecting frame 430 is connected to the output end of the third-stage rotator 320. The other end of the stage connecting frame 430 is connected to the fourth stage bracket 410 .

The tertiary connection frame 330 and the quaternary connection frame 430 can also be set to suitable structural shapes in order to satisfy the overall mechanism matching structure of the alignment device. For example, the tertiary connection frame 330 is a U-shaped frame, and the quaternary connection frame 430 is a U-shaped frame, one end of the quaternary connection frame 430 is located in the U-shaped depression of the tertiary connection frame 330 , and the quaternary driver is located in the U-shaped depression of the quaternary connection frame 430 . Besides, the tertiary connection frame 330 and the quaternary connection frame 430 may also have other regular or irregular shapes, and the specific shapes are not limited.

In another embodiment, as shown in FIG. 18 and FIG. 19 , the three-stage moving part 300 may further include a cantilever connecting frame 340 , and the cantilever connecting frame 340 includes connecting parts at both ends and two connecting parts at the two connecting parts. In the middle support part, the two connecting parts are respectively connected with the output ends of the four-stage support 410 and the three-stage rotator 320 . The two connecting parts may be in a state of being perpendicular to each other, and the supporting part in the middle may connect the two connecting parts at any angle or form.

When the tertiary motion part 300 and the quaternary motion part 400 are assembled relative to each other, the indirect connection part formed by the tertiary connection frame 330 and the quaternary connection frame 430, or the independent cantilever connection frame 340, both serve as the tertiary motion part 300 and the fourth-grade motion part 300. It is an intermediate part in the stage moving part 400 that connects the upper and lower parts, so it needs to have sufficient force and torque bearing capacity. When the third-stage movement part 300 and the fourth-stage movement part 400 are assembled with the indirect connection parts formed by the third-stage connecting frame 330 and the fourth-stage connecting frame 430 , the mechanical properties can provide excellent performance and meet the design requirements. When an independent cantilever connecting frame 340 is used to assemble the third-stage movement part 300 and the fourth-stage movement part 400 , the structure can be simplified and the assembly friendliness can be achieved to a large extent.

Referring to FIG. 22 , the alignment device includes an end effector 600 , a first-level motion part 100 , a second-level motion part 200 , a third-level motion part 300 , a fourth-level motion part 400 , and a fifth-level motion part of the entire alignment device. The coordinated movement of 500 is ultimately to control the actual posture of the end effector 600 and realize the puncture operation through the end effector 600 . The stage rotation reference axis 105 is fixed for rotation, or is rotated along a synchronous reference axis 106 parallel to the fifth stage rotation reference axis 105 .

In order to accurately determine the position of the end effector 600, the alignment device includes an optical marking member 700 fixed on the end effector 600, and the optical marking member 700 is configured to provide an optical feedback signal . The optical marking components 700 can use optical navigation balls such as reflective balls, and the number of the optical marking components 700 can be selected according to requirements, for example, the number of optical marking components 700 can be four, five, six, etc., in order to provide more calibration references , the optical marking component 700 can perform a "nodding" operation with the end effector 600 of the alignment device, so as to calculate the position of the puncture needle based on data such as the position and attitude of the end effector 600 . The alignment device can be pre-calibrated, and the function of pre-calibration is to make the alignment device calculate the movement position under system control, match the position provided by the optical feedback signal of the optical marking component 700, and then compensate the error through an algorithm.

In the actual working process, a biological coordinate system covering the lesion can be established by taking biological images (such as CT pictures), and at the same time, a navigation coordinate system can be established according to the optical feedback signal of the optical marking component 700. Since the alignment device and the optical marking component 700 fixed, so the position of the alignment device can be determined in the navigation coordinate system. When the CT picture is taken, the optical marking component 700 follows the CT bed (the bed and the lesion are relatively stationary) and enters the CT room. According to the position of the optical marking component 700 on the CT picture, the mapping of the biological coordinate system and the navigation coordinate system can be established inside the system. Therefore, through the algorithm, the optimal alignment path and angle for puncturing from the current position of the robot are calculated, and the alignment device is urged to move to the vicinity of the puncture point with the optimal plan, and the angle of the end effector 600 is adjusted to prepare for puncturing.

The puncture needle can be directly or indirectly assembled on the end effector 600, for example, as shown in FIG. 23 and FIG. 24, the alignment device includes a needle holder 800, and the needle holder 800 is fixed on the end effector 600, The needle holder 800 is configured for mounting a puncture needle. The needle holder 800 can take various forms, and the puncture needle can be mounted with an appropriate degree of tightening, such as absolute tightening or relatively adjustable tightening, as required. When the alignment device controls the end effector 600 to change the posture, the needle holder 800 can carry the puncture needle to keep synchronization with the end effector 600, and perform a corresponding movement in space.

For example, the needle holder 800 includes a needle holder 810 and at least three positioning rollers 820. The positioning rollers 820 are rotatably assembled on the needle holder 810 through a rotating shaft bracket 830, and a plurality of the positioning rollers 820 are relatively surrounding A needle holding space is formed in combination, and the needle holding space is configured to install a puncture needle; at least one of the rotating shaft brackets 830 is elastically assembled with the needle holding frame 810 through an elastic member 840 to carry the positioning roller 820 thereon to elastically The needle-holding space is close to or away from the needle-holding space to form elastic clamping for the puncture needle. At this time, the puncture needle can be installed in the needle-holding space in a relatively elastic and fixed manner.

The number of the positioning rollers 820 and the number of the rotating shaft brackets 830 that can be elastically assembled on the needle holder 810 can be matched accordingly, so as to satisfy the elastic clamping of the puncture needle. For example, the needle holder 800 may have four positioning rollers 820 , and the four positioning rollers 820 are divided into two pairs, wherein the rotating shaft brackets 830 of a pair are elastically assembled with the needle holder 810 through elastic members 840 . At this time, the puncture needle can pass through the needle holding space between the four positioning rollers 820, and is elastically clamped by a pair of elastically assembled positioning rollers 820, so that the puncture needle is neither too loose nor too loose when the needle is lowered. Will be too tight, adaptive real-time dynamics.

For another example, as shown in FIG. 25, the needle holder 800 includes a fixed plate 850 and a movable plate 860. The fixed plate 850 is provided with a first needle receiving groove 870, and one end of the movable plate 860 is rotatably assembled on the On one end of the fixed plate 850, the other end of the movable plate 860 is snap-connected to the other end of the fixed plate 850; It is correspondingly matched with the second needle containing groove 880 for holding the puncture needle. The first needle accommodating groove 870 and the second needle accommodating groove 880 can be correspondingly set according to the shape and thickness of the puncture needle, and the rotating assembly of the movable plate 860 and the fixed plate 850 can be realized by a pin, etc., and the snap connection It can form a tiny variable that compresses the puncture needle to realize the locking of the puncture needle, and only needs to toggle the buckle to open and close.

In addition, the needle holder 800 can also adopt other types of structures. Various types of needle holders 800 can use irregular bosses to match the corresponding concave holes on the end effector 600. The slight interference fit between the holes enables the needle holder 800 to be firmly installed on the end effector 600, and the irregular bosses can limit the needle holder 800 to avoid rotation.

The primary motion part 100 and the secondary motion part 200 of the alignment device can use mechanisms such as mechanical arms, and the tertiary motion part 300, the fourth motion part 400, and the fifth motion part 500 can use a rotating shaft type mechanism. The upper can be similar in shape to a pistol, and a relatively slender end arm extends from a relatively sturdy mechanical arm (the primary motion part 100 or the secondary motion part 200 ) to drive the movement of the end effector 600 . Moreover, the alignment device may adopt a casing adapted to the corresponding structures of the primary motion part 100, the secondary motion part 200, the tertiary motion part 300, the fourth motion part 400 and the fifth motion part 500 and the structures formed by connection, The material of the casing is not limited, and those skilled in the art can set the specific shape and material of the casing according to requirements, which are not limited herein.

In one of the embodiments, as shown in FIG. 26 and FIG. 27 , the alignment device includes a moving device 900 , and the first-level moving part 100 is disposed on the moving device 900 . The mobile device 900 can be a mobile device such as a dedicated medical trolley. When the patient is lying on the CT bed, the alignment device can not only be fixed beside the CT bed, but also can be installed on the mobile device 900 to move with the CT bed. , enter the CT machine with the patient for scanning.

The present invention also provides an alignment system, the alignment system includes a medical imaging device and the alignment device, the medical imaging device is configured to acquire a biological image of a target object, and the alignment device is is configured to perform a puncturing operation according to the biological image. When performing a specific puncture operation, the location of the lesion can be located first by relying on the medical image captured by CT, and the alignment path can be selected according to the human tissue and the location of the lesion. The alignment device with the puncture needle and the needle holder 800 enters the CT together with the patient, re-shoots the medical image, uses the medical image to confirm the position and posture of the puncture needle, and adjusts the end effector 600 so that the position and posture of the puncture needle are aligned with the The path is consistent, and finally a precise puncture is performed. The needle threading path is the path confirmed and locked by the alignment device.

The present invention also provides a method for using the alignment system, comprising the following steps: establishing a biological coordinate system of a target object and a navigation coordinate system of the alignment device according to a biological image; establishing the biological coordinate system and the The mapping relationship of the navigation coordinate system; an alignment path is generated according to the mapping relationship, and the alignment path is configured to be used for introducing the alignment device, thereby realizing the puncturing operation. Among them, the target object is a patient, and the patient includes a living body such as a human body or an animal, and a biological image such as a medical image such as a CT image captured by a CT. In this method, a biological coordinate system covering the lesion can be established by using the captured biological image (such as a CT image). At the same time, the navigation coordinate system is established according to the optical feedback signal of the optical marking component 700. Since the alignment device is fixedly connected with the optical marking component 700, the position of the alignment device can be determined in the navigation coordinate system. When the CT picture is taken, the optical marking component 700 follows the CT bed (the bed and the lesion are relatively stationary) and enters the CT room. According to the position of the optical marking component 700 on the CT picture, the mapping of the biological coordinate system and the navigation coordinate system can be established inside the system. Therefore, through the algorithm, the optimal alignment path for puncturing from the current position of the robot is calculated, and the alignment device is urged to move to the vicinity of the puncture point with the optimal solution, and the angle of the end effector 600 is adjusted to achieve accurate puncture. The method can help improve the stability of the doctor when operating the needle, and provide path guidance and locking, reducing the possibility of mistakes.

The present invention also provides a computer device comprising a memory, a processor and a computer program stored on the memory and executable by the processor, the processor implementing the steps of the alignment method when the processor executes the computer program.

The present invention also provides a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, implements the steps of the alignment method.

The technical features of the above-described embodiments can be combined arbitrarily. For the sake of brevity, all possible combinations of the technical features in the above-described embodiments are not described. However, as long as there is no contradiction between the combinations of these technical features, All should be regarded as the scope described in this specification.

The above-mentioned embodiments only represent several embodiments of the present invention, and the descriptions thereof are specific and detailed, but should not be construed as a limitation on the scope of the invention patent. It should be pointed out that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can also be made, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention should be subject to the appended claims.

Claims (27)

1. An alignment device, characterized in that the alignment device comprises: a first-level motion part, the first-level motion part has a first-level linear guide trajectory; a secondary motion part, which is movably assembled on the primary motion part and can reciprocate along the primary linear guide track; the secondary motion part has a secondary linear guide track; A tertiary motion part is movably assembled on the secondary motion part, and can reciprocate along the secondary linear guide track, and the tertiary motion part has a tertiary rotation reference axis; A fourth-stage moving part is movably assembled on the third-stage moving part and can rotate along the three-stage rotation reference axis, and the fourth-stage moving part has a fourth-stage rotation reference axis; The fifth-stage movement part is movably assembled on the fourth-stage movement part, and can rotate along the fourth-stage rotation reference axis, the fifth-stage movement part has a fifth-stage rotation reference axis, and the fifth-stage movement part The utility model is configured to drive the end effector to rotate along the five-stage rotational reference axis. 2 . The alignment device according to claim 1 , wherein the second-level linear guide track and the first-level linear guide track are perpendicular to each other; and/or, the third-level rotation reference axis and the two The linear guide trajectories of the stages are parallel to each other; and/or, the reference axis of rotation of the fourth stage and the reference axis of rotation of the third stage are perpendicular to each other; and/or the reference axis of rotation of the fifth stage and the reference axis of rotation of the fourth stage are perpendicular to each other . 3. The alignment device according to claim 2, wherein the plane on which the three-level rotation reference axis and the second-level linear guide track are co-located is parallel to the first-level linear guide track; and/or , The second-level linear guide trajectory, the third-level rotation reference axis and the fourth-level rotation reference axis are co-located in the same plane; and/or, The plane on which the third-level rotation reference axis and the fourth-level rotation reference axis are co-located is perpendicular to the fifth-level rotation reference axis. 4. The alignment device according to claim 1, wherein the primary movement part comprises: first-class frame; A primary linear drive mechanism is provided on the primary frame body, and the primary linear drive mechanism is configured to form the primary linear guide track. 5. The alignment device according to claim 4, wherein the secondary moving part comprises: secondary frame; The secondary linear drive mechanism is arranged on the secondary frame body, the secondary linear drive mechanism is movably assembled with the primary linear drive mechanism along the primary linear guide track, and the secondary linear drive mechanism is is configured to form the secondary linear guide track. 6. The alignment device according to claim 5, wherein the first-stage moving part further comprises: The first-level guide rail mechanism is arranged on the first-level frame body and is parallel to the first-level linear drive mechanism. 7. The alignment device according to claim 6, wherein the secondary moving part further comprises: The secondary guide rail mechanism is arranged on the secondary frame body and is parallel to the secondary linear drive mechanism. Both the secondary guide rail mechanism and the secondary linear drive mechanism are along the primary linear guide track and The primary linear drive mechanism and the primary guide rail mechanism are movably assembled together. 8 . The alignment device according to claim 7 , wherein the primary moving part further comprises a primary connecting frame, the secondary moving part further comprises a secondary connecting frame, and the primary linear driving mechanism and the first-level guide rail mechanism is connected with the first-level connecting frame, the second-level linear drive mechanism and the second-level guide rail mechanism are both connected with the second-level connecting frame, and the first-level connecting frame is connected to the first-level connecting frame. The secondary connection frame is connected. 9 . The alignment device according to claim 8 , wherein the first-stage connecting frame is a U-shaped frame, and the first-stage connecting frame is sleeved on the first-stage guide rail mechanism and is simultaneously connected with the first-grade guide rail mechanism. 10 . and/or, the secondary connection frame is a U-shaped frame, and the secondary connection frame is sleeved on the secondary guide rail mechanism and connected with the secondary linear drive mechanism at the same time. 10. The alignment device according to claim 5, wherein the three-stage moving part comprises: A tertiary bracket, the tertiary bracket is arranged on the secondary bracket; A tertiary rotator is disposed on the tertiary bracket, and the tertiary rotator is configured to drive the 4th-level moving part to rotate along the tertiary rotation reference axis. 11. The alignment device according to claim 10, wherein the four-stage moving part comprises: A four-stage support, the fourth-stage support is drivingly connected with the output end of the three-stage rotator; A fourth-stage rotator is arranged on the fourth-stage support, and the fourth-stage rotator is configured to drive the fifth-stage moving part to rotate along the fourth-stage rotation reference axis. 12. The alignment device according to claim 11, wherein the five-level motion part comprises: Five-stage support, the fifth-stage support is drivingly connected with the output end of the fourth-stage rotator; A fifth-stage rotator is arranged on the fifth-stage support, and the fifth-stage rotator is configured to drive the end effector to rotate along the fifth-stage rotation reference axis. 13. The alignment device according to claim 12, wherein the five-level motion part further comprises: a bracket link, one end of the bracket link is connected with the fifth-stage bracket, and the other end of the bracket link is configured to be used for articulating the first position of the end effector and used to form a rotation with the fifth-stage bracket Synchronous reference axis parallel to the reference axis; A crank, one end of the crank is drivingly connected with the output end of the fifth-stage rotator, the crank is configured to rotate along the fifth-stage rotation reference axis under the driving of the fifth-stage rotator ; A transmission link, one end of which is hinged with the other end of the crank, the other end of the transmission link being configured for articulating a second position of the end effector. 14. The alignment device according to claim 13, wherein the length of the bracket link and the transmission link are equal, and the distance between the first position and the second position is equal to the length of the crank. 15. The alignment device according to claim 12, wherein the tertiary moving part further comprises a tertiary connecting frame, the fourth-stage moving part further comprises a quaternary connecting frame, and the third-stage connecting frame has a One end is connected to the output end of the three-stage rotator through a bearing, the other end of the three-stage connecting frame is connected to the three-stage support, and one end of the four-stage connecting frame is connected to the output end of the three-stage rotator, The other end of the quaternary connecting frame is connected to the quaternary bracket. 16 . The alignment device according to claim 15 , wherein the tertiary connection frame is a U-shaped frame, the quaternary connection frame is a U-shaped frame, and one end of the quaternary connection frame is located in the In the U-shaped recess of the tertiary connection frame, the quaternary driver is located in the U-shaped recess of the quaternary connection frame. 17. The alignment device according to claim 12, wherein the three-stage motion part further comprises: A cantilever connecting frame, the cantilever connecting frame includes connecting parts at both ends and a support part located in the middle of the two connecting parts, the two connecting parts are respectively connected with the output end of the four-stage bracket and the three-stage rotator connect. 18. The alignment device according to any one of claims 1-17, wherein the alignment device further comprises: The end effector is used to be movably assembled on the fifth-stage moving part, and can be fixed and rotated along the fifth-stage rotation reference axis, or fixed along a synchronous reference axis parallel to the fifth-stage rotation reference axis. Shaft turns. 19. The alignment device of claim 18, wherein the alignment device further comprises: An optical marker component is fixed on the end effector, the optical marker component is configured to provide an optical feedback signal. 20. The alignment device of claim 18, wherein the alignment device further comprises: A needle holder is secured to the end effector, the needle holder is configured for mounting a puncture needle. 21. The alignment device of claim 20, wherein the needle holder comprises: needle holder; At least three positioning rollers, the positioning rollers are rotatably assembled on the needle holder through a rotating shaft bracket, a plurality of the positioning rollers are relatively enclosed to form a needle holding space, and the needle holding space is configured for installing a puncture needle ; At least one of the rotating shaft brackets is elastically assembled with the needle holder through an elastic member, so as to carry the positioning roller on it to elastically approach or move away from the needle holding space, so as to form elastic clamping for the puncture needle. 22. The alignment device of claim 20, wherein the needle holder comprises: a fixing plate, which is provided with a first needle-accommodating groove; A movable plate, one end of the movable plate is rotatably assembled on one end of the fixed plate, and the other end of the movable plate is snap-connected with the other end of the fixed plate; the movable plate is provided with a second needle accommodating groove, The first needle accommodating groove is matched with the second needle accommodating groove to hold the puncture needle. 23. The alignment device of claim 18, wherein the alignment device further comprises: A mobile device, on which the primary motion part is disposed. 24. An alignment system, characterized in that the alignment system comprises: a medical imaging device configured to acquire a biological image of a target object; The alignment device of any one of claims 1-23, the alignment device being configured to perform a puncturing operation based on the biological image. 25. A method of alignment, comprising the steps of: Establish the biological coordinate system of the target object and the navigation coordinate system of the alignment device according to the biological image; establishing a mapping relationship between the biological coordinate system and the navigation coordinate system; An alignment path is generated according to the mapping relationship, the alignment path being configured for introducing the alignment device. 26. A computer device comprising a memory, a processor and a computer program stored on the memory and executable by the processor, wherein the processor implements the alignment of claim 25 when executing the computer program steps of the method. 27. A computer-readable storage medium on which a computer program is stored, wherein when the computer program is executed by a processor, the steps of the alignment method of claim 25 are implemented.

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