WO2021196633A1 - Surgical robot system for performing puncture - Google Patents

Abstract

Disclosed is a surgical robot system for performing a puncture, comprising a control assembly, a movable bearing table (10), an ultrasound arm (20), an ultrasound detection assembly (30) and a puncture assembly (40), wherein the ultrasound arm (20) has a first connecting end (21) and a first working end (22); the ultrasound detection assembly (30) comprises an ultrasound probe (31); the puncture assembly (40) comprises a posture adjustment mechanism (41), a needle insertion mechanism (42) and a puncture needle (43); the posture adjustment mechanism (41) has a second connecting end and a second working end; the ultrasound detection assembly (30) is used for performing detection for a patient to be punctured and for obtaining an ultrasound imaging plane; the ultrasound probe (31) is connected to the first working end (22), the second connecting end is connected to the first working end (22), and the needle insertion mechanism (42) is connected to the second working end; and one end of the puncture needle (43) is clamped onto the needle insertion mechanism (42), and the central axis of the puncture needle (43) is located in the ultrasound imaging plane. The use of this technical solution solves the problem that a surgical robot for performing a puncture in the prior art is bulky in size and structure and cannot be operated and moved in the range of a small space, thus making it difficult to achieve flexible coordination to move the ultrasound probe (31) and the puncture needle (43).

Description

A puncture surgery robot system Technical field

The invention belongs to the technical field of surgical robots, and in particular relates to a puncture surgical robot system.

Background technique

Percutaneous puncture is widely used in interventional operations such as tissue biopsy and tumor ablation. The accuracy of puncture has a huge impact on the accuracy of biopsy and the effect of ablation surgery. Due to the accuracy and stability of surgical robots, as well as the convenience and low-cost characteristics of ultrasound imaging, ultrasound-guided puncture surgical robots have received more and more attention. Clinically, during the ultrasound-guided puncture operation, the puncture needle and the ultrasound probe are confined to a small area and space range, but at the same time, the ultrasound probe and the puncture needle must be able to be flexibly positioned freely.

In the prior art, the article "Dual-robot “Ultrasound-guided needle placement: closing the planning-imaging-action loop” (Internet information) introduces a puncture surgery robot, which uses two seven-degree-of-freedom active manipulators to hold the ultrasound probe and the puncture needle respectively to achieve ultrasound-guided Automatic puncture operation. However, the solution of using two robotic arms to separately hold the ultrasound probe and puncture needle results in a very large robot itself, and there is not enough space to cause the two robotic arms to collide with each other. The article "An ultrasound-driven Needle-insertion robot for percutaneous cholecystostomy" (Internet data) introduces a puncture surgery robot, which uses a five-degree-of-freedom passive arm to hold the ultrasound probe and a two-degree-of-freedom active arm to hold the puncture needle, of which the two-degree-of-freedom active arm is installed At the end of the five-degree-of-freedom passive arm, although the spatial arrangement of the two arms is solved, the five-degree-of-freedom passive arm cannot realize the automatic adjustment of the ultrasound probe. The two-degree-of-freedom active arm causes the needle entry point to be unique and cannot be adjusted, which cannot meet the needs of the puncture needle. The need for flexible positioning.

technical problem

The purpose of the present invention is to provide a puncture surgical robot system, which aims to solve the problem of the bulky structure of the puncture surgical robot in the prior art, which cannot be operated and moved in a small space, and it is difficult to flexibly coordinate the movement of the ultrasound probe and the puncture. Needle problem.

Technical solutions

In order to achieve the above objective, the technical solution adopted by the present invention is: a puncture surgical robot system, including: a control component; a mobile bearing platform, the control component is arranged on the mobile bearing platform; an ultrasonic arm, the ultrasonic arm has a first connecting end and a second A working end, the first connecting end is connected to the moving bearing platform, the ultrasonic arm is electrically connected with the control assembly to control the movement trajectory of the first working end; the ultrasonic detecting assembly, the ultrasonic detecting assembly is used to detect the patient to be punctured and obtain the ultrasound imaging plane , The ultrasonic detection component includes an ultrasonic probe and an ultrasonic imager, the ultrasonic probe is connected to the first working end, the ultrasonic probe transmits data to the ultrasonic imager, the ultrasonic imager is electrically connected with the control component; the puncture component, the puncture component includes the posture The adjustment mechanism, the needle insertion mechanism and the puncture needle. The posture adjustment mechanism has a second connection end and a second working end. The second connection end is connected to the first working end, and the needle insertion mechanism is connected to the second working end. The mechanism is electrically connected with the control assembly to control the feeding work of the needle insertion mechanism, one end of the puncture needle is clamped on the needle insertion mechanism, the central axis of the puncture needle is located in the ultrasound imaging plane, and the posture adjustment mechanism is electrically connected with the control assembly A control posture adjustment mechanism is used to adjust the relative position between the puncture needle and the patient's surgical site to be punctured.

Further, the ultrasonic detection assembly further includes: a first optical positioner, the first optical positioner is installed on the first working end; a second optical positioner, the second optical positioner is installed on the second working end; the first optical The positioner and the second optical positioner position the first working end and the second working end through the optical positioning system, and the optical positioning system is electrically connected to the control component; the first optical positioner converts the ultrasound imaging plane to the optical positioning system to establish In the physical space coordinate system, the site to be punctured and the puncture needle point determine the first and second position coordinates in the physical space coordinate system, and the second optical positioner converts the plane of the central axis of the puncture needle to physical space coordinates System, the second optical positioner feeds back the third position coordinates of the puncture needle tip in the physical space coordinate system in real time, the control component controls the pose adjustment mechanism to adjust the puncture needle according to the first position coordinates and the second position coordinates, and according to the third position Real-time coordinate feedback whether the puncture needle deviates from the planned puncture trajectory formed by the connection of the first position coordinate and the second position coordinate and whether it accurately punctures the surgical site to be punctured.

Further, the posture adjustment mechanism includes: a connecting rod structure, the first end of the connecting rod structure is rotatably connected to the first working end; a first driver, the first driver is electrically connected to the control assembly, and the first driver drives the connecting rod The first end of the structure rotates relative to the first working end; the slide rail seat, the slide rail seat is rotatably connected to the second end of the connecting rod structure, and the needle entry mechanism is installed on the slide rail seat; the second driver, the second driver Electrically connected with the control assembly, the second driver drives the sliding rail seat to rotate relative to the second end of the connecting rod structure.

Further, the connecting rod structure includes: a first rod member, the first end of the first rod member is rotatably connected to the first working end; the second rod member, the first end of the second rod member is rotatably connected to On the second end of the first rod, the slide rail seat is rotatably connected to the second end of the second rod; the third driver, the third driver is electrically connected to the control assembly, and the third driver drives the second rod The first end of the rod rotates relative to the second end of the first rod.

Further, the needle feed mechanism includes a linear feed structure, the linear feed structure includes a sliding block and a fourth driver, the sliding rail seat is provided with a straight sliding groove, the sliding block is slidably installed in the straight sliding groove, and the fourth driver is installed On the slide rail seat, the fourth driver is electrically connected to the control assembly, and the fourth driver drives the slider to slide in the straight chute; the puncture needle mounting seat, the puncture needle mounting seat is connected to the slider, and one end of the puncture needle is installed Clamp on the puncture needle mounting seat.

Further, the needle insertion mechanism further includes a rotating motor, the rotating motor is connected to the slider, the puncture needle mounting base is connected to the power output end of the rotating motor, and the rotating motor is electrically connected to the control assembly. During the puncture operation, When the puncture needle is bent, the control assembly controls the rotating motor to drive the puncture needle to rotate.

Further, the needle insertion mechanism further includes a force sensor, which is connected to the power output end of the rotating electric machine, the force sensor is electrically connected to the control assembly, and the puncture needle mounting seat is connected to the force sensor.

Further, a puncture needle guide is provided on the slide rail seat, and the other end of the puncture needle passes through the puncture needle guide.

Further, the control assembly includes a control host and a display, the mobile bearing platform is provided with an installation space and a table, the control host is installed in the installation space, the display is installed on the table, the display, the ultrasonic arm, the ultrasonic imager, the posture adjustment mechanism, and the The needle mechanism and the optical positioning system are respectively electrically connected with the control host.

Further, the fourth driver includes a stepping motor and a ball screw pair, the stepping motor is connected to the slide rail seat, the ball screw of the ball screw pair is coaxially connected with the rotating shaft of the stepping motor, and the ball screw pair is located in a straight slide In the groove, the sliding block is connected to the nut of the ball screw pair.

Beneficial effect

The present invention has at least the following beneficial effects:

The puncture surgery robot system of the present invention connects the ultrasonic arm, the posture adjustment mechanism, and the needle insertion mechanism in sequence, so that the puncture needle can move freely in a relatively small space and realize flexible coordinated positioning, which is rationally designed The mechanical composition of the robot system makes the volume of the robot system smaller, and the structure arrangement is more compact and miniaturized. Because the ultrasonic probe and the puncture needle are respectively installed on the first working end of the ultrasonic arm and the needle insertion mechanism, they are moving in the process There is no collision of motion interference, and the whole process of puncture surgery is intelligently and automatically controlled through control components, so that the puncture operation can be completed more quickly, accurately and safely.

Description of the drawings

In order to more clearly describe the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are merely of the present invention. For some embodiments, for those of ordinary skill in the art, other drawings may be obtained based on these drawings without creative labor.

Fig. 1 is a schematic diagram of an assembly of a puncture surgical robot system according to an embodiment of the present invention;

2 is a schematic diagram of the assembly of the mobile carrying platform of the puncture surgery robot system according to the embodiment of the present invention;

3 is a schematic diagram of the assembly of an ultrasonic arm and an ultrasonic detection component of the puncture surgical robot system according to an embodiment of the present invention;

Fig. 4 is a schematic diagram of the assembly of the puncture assembly of the puncture surgical robot system according to the embodiment of the present invention.

Among them, the reference signs in the figure:

10. Mobile bearing platform; 11. Wheel; 12. Push handle; 13. Table top; 20. Ultrasonic arm; 21. First connection end; 22. First working end; 30. Ultrasonic detection assembly; 31. Ultrasonic probe; 32 , The first optical positioner; 33, the second optical positioner; 40, puncture assembly; 41, posture adjustment mechanism; 411, connecting rod structure; 4111, first rod member; 4112, second rod member; 412, sliding Rail seat; 4121, puncture needle guide; 42, needle feeding mechanism; 421, linear feed structure; 4211, slider; 4212, fourth driver; 422, puncture needle mounting seat; 423, rotating motor; 424, force sensor ; 43. Puncture needle.

Embodiments of the present invention

The embodiments of the present invention are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals indicate the same or similar elements or elements with the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary, and are intended to explain the present invention, but should not be construed as limiting the present invention.

In the description of the present invention, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", The orientation or positional relationship indicated by "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, not It indicates or implies that the pointed device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention.

In addition, the terms "first", "second", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Thus, the features defined with "first", "second", etc. may explicitly or implicitly include one or more of these features. In the description of the present invention, "plurality" means two or more than two, unless otherwise specifically defined.

In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and other terms should be understood in a broad sense, for example, it can 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, and it can be the internal communication of two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above-mentioned terms in the present invention can be understood according to specific situations.

As shown in Figures 1 to 4, the embodiment of the present invention provides a puncture surgery robot system. The medical staff can apply the puncture surgery robot system to perform an automatic and intelligent surgery process on the patient. The robot system has good motion stability and surgery. The implementation process is more stable, and the robot system controls the puncture needle 43 to reach the patient's surgical site to be punctured more accurately. Specifically, the puncture surgical robot system includes a control assembly (not shown), a mobile carrier 10, an ultrasonic arm 20, an ultrasonic detection assembly 30, and a puncture assembly 40, wherein the ultrasonic arm 20 has a first connecting end 21 and a first working end. At end 22, the ultrasonic detection assembly 30 includes an ultrasonic probe 31 and an ultrasonic imager (not shown), the puncture assembly 40 includes a posture adjustment mechanism 41, a needle insertion mechanism 42, and a puncture needle 43, and the posture adjustment mechanism 41 has a second connecting end And the second working end. When assembling and forming the puncture surgical robot, the control assembly is set on the mobile carrying table 10, the first connecting end 21 is connected to the mobile carrying table 10, and the ultrasonic arm 20 is an active mechanical arm with six degrees of freedom in space (that is, the ultrasonic arm 20 itself realizes the flexible movement of six degrees of freedom in space by designing multiple connecting joints, and each joint position is equipped with a corresponding power source device, through the coordinated work of each power source device, thereby autonomously generating motion power), ultrasonic arm 20 is electrically connected to the control component to control the movement trajectory of the first working end 22. The ultrasonic detection component 30 is used to detect the patient to be Observe the ultrasound imaging plane presented in real time during the process of scanning the patient by the ultrasound detection assembly 30, so as to determine the patient's surgical site to be punctured), the ultrasound probe 31 is connected to the first working end 22, and the ultrasound probe 31 transmits the scan data to the ultrasound imager , The ultrasound imager is electrically connected to the control component, the patient is directly ultrasound scanned through the ultrasound probe 31 and the ultrasound imaging plane is presented in real time. The second connection end is connected to the first working end 22, and the needle insertion mechanism 42 is connected to the second working end. At the end, the needle insertion mechanism 42 is electrically connected with the control assembly to control the feeding operation of the needle insertion mechanism 42. One end of the puncture needle 43 is clamped on the needle insertion mechanism 42, and the central axis of the puncture needle 43 is located in the ultrasound imaging plane. The needle feeding mechanism 42 drives the puncture needle 43 to move along its own central axis and generates a propelling force, thereby puncturing into the patient's surgical site to be punctured. The posture adjustment mechanism 41 is electrically connected with the control assembly to control the posture adjustment mechanism 41 to adjust the puncture The relative position between the needle 43 and the patient's surgical site to be punctured.

Medical staff apply the puncture surgery robot system provided by the present invention to perform puncture surgery operations on the patient. At this time, the patient only needs to lie down according to the corresponding lying position, and then the medical staff starts the puncture surgery robot system and controls the ultrasonic arm through the control component 20 actions to drive the ultrasound probe 31 to move flexibly in space to perform ultrasound scanning on the patient, presenting the patient’s ultrasound imaging plane in real time. When the medical staff determines the ultrasound imaging plane during the scanning process, the medical staff controls the component The ultrasonic arm 20 is controlled to stop moving, and the ultrasonic probe 31 is maintained at the position of the determined ultrasonic imaging plane. Then, the posture adjustment mechanism 41 is controlled by the control component, so as to adjust the puncture needle 43 to a proper position and needle insertion posture relative to the patient's surgical site to be punctured (that is, the puncture needle point and the edge of the puncture needle 43 for the puncture operation). The puncture posture connecting the needle entry point and the target point to be punctured). Then, the needle feeding mechanism 42 is controlled by the control assembly to drive the puncture needle 43 to move, and the puncture needle 43 punctures the patient's surgical site to be punctured.

In the puncture surgery robot system of the present invention, the ultrasonic arm 20, the posture adjustment mechanism 41, and the needle insertion mechanism 42 are sequentially connected and arranged in sequence, so that the puncture needle 43 can move in a relatively small space to realize flexible coordinated positioning. Reasonably design the mechanical composition of the robot system, so that the volume of the robot system becomes smaller, the structure arrangement is more compact and miniaturized, because the ultrasonic probe 31 and the puncture needle 43 are respectively installed on the first working end 22 and the needle insertion mechanism 42 of the ultrasonic arm 20 Therefore, there is no movement interference between the two collisions during the movement, and the entire puncture operation is intelligently and automatically controlled by the control component, so that the puncture operation can be completed more quickly, accurately and safely.

As shown in Figure 1, Figure 3 and Figure 4, the ultrasonic detection assembly 30 also includes a first optical positioner 32 and a second optical positioner 33. By pre-writing a program algorithm in the control assembly, the first optical The positioner 32 and the second optical positioner 33 cooperate with each other. In this embodiment, the first optical positioner 32 is installed on the first working end 22, and the first optical positioner 32 is electrically connected to the control assembly through an optical positioning system (the optical positioning system is the first optical positioner 32 and The second optical positioner 33 is connected together for use, so that the position data detected by the two are converted and unified into the same physical space coordinate system). In this way, during the ultrasonic scanning of the patient by the ultrasonic probe 31, the first optical positioner The device 32 can feed back the position of the ultrasonic probe 31 in real time (that is, the first optical positioner 32 positions the first working end 22 and transmits the positioning data to the optical positioning system). The second optical positioner 33 is installed on the second working end. The second optical positioner 33 is electrically connected to the control assembly through the optical positioning system. Similarly, the second optical positioner 33 can feed back the pose adjustment mechanism 41 in real time. Adjust the position of the puncture needle 43, and finally adjust the puncture needle 43 to the most reasonable puncture needle point and needle insertion posture for the puncture operation (that is, the second optical positioner 33 positions the second working end and positions it Data is transmitted to the optical positioning system). During the puncture operation on the patient, the first optical positioner 32 converts the ultrasound imaging plane to the physical space coordinate system established by the optical positioning system, and uses the physical space coordinate system to determine the position coordinates of each position point in the ultrasound imaging plane, thereby obtaining The first position coordinates and the puncture needle point are determined in the physical space coordinate system of the site to be punctured and the second position coordinates are determined in the physical space coordinate system. At the same time, the second optical positioner 33 locates the plane of the central axis of the puncture needle 43. Converted to the physical space coordinate system. When the pose adjustment mechanism 41 drives the puncture needle 43 to move, the second optical positioner 33 feeds back the third position coordinates of the puncture needle 43 in the physical space coordinate system in real time, and the control component is based on the first The position coordinates and the second position coordinates control the pose adjustment mechanism 41 to adjust the puncture needle 43. Through the coordinated work between the first optical positioner 32 and the second optical positioner 33, the puncture needle 43 can be flexibly moved accurately and quickly. Reach the starting position of the puncture operation (the puncture needle point) and the needle posture (the direction of the connection between the puncture needle point and the surgical site to be punctured), so that the puncture operation can be performed more accurately.

As shown in FIG. 4, specifically, the posture adjustment mechanism 41 includes a link structure 411, a first driver (not shown), a sliding rail seat 412, and a second driver (not shown). In the specific design, the first end of the connecting rod structure 411 is rotatably connected to the first working end 22, the slide rail seat 412 is rotatably connected to the second end of the connecting rod structure 411, and the needle insertion mechanism 42 is installed on the slide rail seat. 412. At this time, the connecting rod structure 411 and the sliding rail seat 412 constitute a mechanical arm that drives the puncture needle 43 to move to adjust the relative position of the puncture needle 43 with respect to the patient's surgical site to be punctured. The arm 20 is the main arm, and the two work in coordination to realize the flexible and coordinated movement of the ultrasound probe 31 and the puncture needle 43 in space. The first driver is electrically connected to the control assembly, the first driver drives the first end of the link structure 411 to rotate relative to the first working end 22, the second driver is electrically connected to the control assembly, and the second driver drives the slide rail seat 412 to face each other. Rotating at the second end of the link structure 411, similar to the ultrasonic arm 20, the robotic arm (the jib) composed of the link structure 411 and the slide rail base 412 is also an active robotic arm, so that it can be intelligently integrated through the control components. Automatic control to achieve the purpose of automatic puncture operation.

Wherein, the connecting rod structure 411 may be composed of two rods, or may be composed of multiple rods.

When the connecting rod structure 411 is composed of two rods, the connecting rod structure 411 includes a first rod 4111, a second rod 4112, and a third driver (not shown). The first end of the first rod 4111 can be It is rotatably connected to the first working end 22, the first end of the second rod 4112 is rotatably connected to the second end of the first rod 4111, and the slide rail seat 412 is rotatably connected to the second rod 4112 At this time, a three-bar mechanical arm (jib) is formed between the first rod 4111, the second rod 4112 and the slide rail seat 412 at this time. In this three-bar mechanical arm, the first rod 4111 rotates in a first plane relative to the second rod 4112, the slide rail seat 412 rotates in a second plane relative to the second rod 4112, and the first plane Parallel to the second plane. The third driver is electrically connected to the control assembly. The third driver drives the first end of the second rod 4112 to rotate relative to the second end of the first rod 4111. In this way, the three-bar mechanical arm is relative to the first working end 22 With three degrees of freedom of movement, the puncture needle 43 can be moved more flexibly and accurately to the starting position and needle insertion posture of the puncture operation.

When the connecting rod structure 411 is composed of multiple rods, the assembly and connection between the rods is similar to the case where the connecting rod structure 411 is composed of two rods. Each additional rod is formed to form a jib The degree of freedom of movement is increased by one degree of freedom, so that the puncture needle 43 can be moved more flexibly and accurately to the starting position and needle insertion posture of the puncture operation (of course, this also requires a more complicated program for the control process to be written in the control component algorithm).

As shown in Figure 4, the needle feeding mechanism 42 in the puncture surgical robot system includes a linear feeding structure 421 and a puncture needle mounting seat 422. The linear feeding structure 421 includes a sliding block 4211 and a fourth driver 4212. The driver 4212 drives the slider 4211 to move. The sliding rail seat 412 is provided with a straight sliding groove, and the sliding block 4211 is slidably installed in the straight sliding groove. During the specific assembly, a guide groove is provided on the groove wall of the straight sliding groove, and a matching protrusion is provided on the sliding block 4211 , The matching protrusion is inserted into the guide groove, and the slider moves along the straight chute to achieve a stable guiding effect. The fourth driver 4212 is installed on the slide rail seat 412, the fourth driver 4212 is electrically connected to the control assembly, and the fourth driver 4212 drives the slider 4211 to slide in the straight sliding groove. The puncture needle mounting seat 422 is connected to the slider 4211, and one end of the puncture needle 43 is clamped on the puncture needle mounting seat 422. In this way, the control assembly intelligently and automatically controls the feeding work of the puncture needle 43. At this time, the control assembly controls the fourth driver 4212 to drive the slider 4211 to move, and the puncture needle mounting seat 422 moves synchronously with the slider 4211, and drives the puncture needle 43 to move slowly. Under the thrust of the puncture needle mounting seat 422, the puncture needle 43 is slowly fed in a straight line for puncture (this method is a direct advancement method for puncturing, and the puncture needle 43 is slowly fed for puncture, so that the puncture needle 43 is fed along a straight line to the target position of the puncture operation ).

Preferably, the fourth driver 4212 includes a stepping motor and a ball screw pair, the stepping motor is connected to the slide rail base 412, the ball screw of the ball screw pair is coaxially connected with the rotating shaft of the stepping motor, and the ball screw pair is located at In the straight chute, the sliding block 4211 is connected to the nut of the ball screw pair.

In the process of feeding the puncture needle 43, since the puncture needle 43 is relatively slender, it is easy to bend during the feeding process. Once the puncture needle 43 is bent during the feeding process, if the position of the puncture needle 43 is not adjusted and the feeding is continued, As a result, the puncture needle 43 cannot accurately reach the patient's surgical site to be punctured, resulting in failure of the puncture operation. Therefore, in order to ensure that the puncture needle 43 can accurately reach the patient's surgical site to be punctured during the feeding process, the needle insertion mechanism 42 further includes a rotating motor 423, the rotating motor 423 is connected to the slider 4211, and the puncture needle mounting seat 422 is connected to On the power output end of the rotating motor 423, the rotating motor 423 is electrically connected to the control assembly. During the puncture operation, when the puncture needle 43 is bent, the control assembly controls the rotating motor 423 to drive the puncture needle 43 to rotate (this way is propelling The feed method combined with rotation for puncture). In the puncture surgical robot system of the present invention, in fact, the bending direction of the puncture needle 43 is still controllably adjusted on the ultrasound imaging plane, that is, in the ultrasound imaging plane, the fourth driver 4212 drives the puncture needle 43 to move in a straight line. During the feeding process, when the puncture needle 43 is bent, the control component controls the fourth driver 4212 to pause feeding, and then controls the rotating motor 423 to drive the puncture needle 43 to rotate 180° (in each puncture, the position reached by the puncture belongs to the human body The internal organs, therefore, limit the number of rotations of the puncture needle 43 in each puncture process to 1-2 times, not more than 2 times), and then control the fourth driver 4212 to drive the puncture needle 43 to continue feeding.

Further, the needle insertion mechanism 42 also includes a force sensor 424, which is used to detect the puncture force of the puncture needle 43 during the feeding process, so as to monitor the safety of the puncture operation, and keep the puncture speed appropriate to reduce the number of patients in the puncture operation. The pain suffered. Specifically, the force sensor 424 is connected to the power output end of the rotating electric machine 423, and the force sensor 424 is electrically connected to the control component to transmit the puncture force data detected by the force sensor 424 to the control component, and then the control component is intelligent and Automatically control the implementation process of puncture surgery. Then connect the puncture needle mounting seat 422 to the force sensor 424. In this way, with the slider 4211 as the mounting stand, the rotary motor 423, the force sensor 424, the puncture needle mounting seat 422 and the puncture needle 43 are connected in sequence, and, The extension direction of the puncture needle 43 is consistent with the connection direction of the rotating motor 423, the force sensor 424, and the puncture needle mounting seat 422 (the central axes of the rotating motor 423, the force sensor 424, and the puncture needle mounting seat 422 are on the same straight line ).

In this embodiment, as shown in FIG. 4, a puncture needle guide 4121 is provided on the slide rail seat 412, and the other end of the puncture needle 43 passes through the puncture needle guide 4121. In this way, the puncture needle 43 can be guided when the fourth driver 4212 drives the puncture needle 43 to move and advance to the target position of the puncture operation, which ensures the accuracy of the movement direction of the puncture needle 43.

Specifically, the control component includes a control host (not shown) and a display (not shown). In the present invention, the control host can be a PC host, or a control board integrated with an MCU, or it can be in the prior art There is no specific restriction on the control module with control calculation function. The mobile bearing table 10 is provided with an installation space (not shown) and a table 13, that is, the main body of the mobile bearing table 10 is constituted by a box body, the control host is installed in the installation space, and the display is installed on the table 13 (the control host is Stably placed in the hollow space of the box, the display is set on the outside of the top of the box, and a through hole is opened on the top of the box to pass through the transmission cable to connect the control host and the display), the display, the ultrasonic arm 20. The ultrasonic imager, the posture adjustment mechanism 41, the needle insertion mechanism 42, and the optical positioning system are respectively electrically connected to the control host.

During the puncture operation of the patient by the medical staff using the puncture surgery robot system, the ultrasound imaging plane obtained in real time during the scanning process of the ultrasound probe 31 and the process of feeding and puncturing the puncture needle 43 are displayed on the display in real time. It will also monitor the operation data during the puncture operation in real time, such as the depth of the puncture feed, the speed of the feed movement, the detection data of the force sensor 424, etc., so as to facilitate the medical staff to monitor the progress of the puncture operation in real time.

In order to facilitate the medical staff to move the puncture surgical robot system conveniently, therefore, wheels 11 are provided on the bottom of the mobile carrying table 10. In the present invention, at least three wheels are provided on the bottom of the mobile carrying table 10 of the puncture surgical robot system. Preferably, as shown in FIG. 1, four wheels 11 are provided at the bottom of the mobile bearing platform 10 in this embodiment, and each wheel 11 has a 360° steering function. In addition, each wheel 11 has a 360° steering function. With a locking function, the puncture surgery robot system is stably parked during the puncture operation. Further, a push handle 12 is provided on the side of the table 13 of the mobile carrying table 10, and the medical staff can easily move the puncture surgery robot system through the push handle 12.

The above descriptions are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modification, equivalent replacement and improvement made within the spirit and principle of the present invention shall be included in the protection of the present invention. Within range.

Claims (10)

A puncture surgery robot system is characterized in that it comprises: Control component A mobile bearing platform, the control component is arranged on the mobile bearing platform; An ultrasonic arm, the ultrasonic arm has a first connecting end and a first working end, the first connecting end is connected to the moving bearing platform, and the ultrasonic arm is electrically connected to the control assembly to control the second The movement track of the working end; Ultrasonic detection component, the ultrasound detection component is used to detect the patient to be punctured and obtain an ultrasound imaging plane, the ultrasound detection component includes an ultrasound probe and an ultrasound imager, the ultrasound probe is connected to the first working end, the The ultrasound probe transmits data to the ultrasound imager, and the ultrasound imager is electrically connected to the control component; A puncture assembly, the puncture assembly includes a posture adjustment mechanism, a needle insertion mechanism and a puncture needle, the posture adjustment mechanism has a second connecting end and a second working end, and the second connecting end is connected to the first working end. At the end, the needle feeding mechanism is connected to the second working end, the needle feeding mechanism is electrically connected to the control assembly to control the feeding work of the needle feeding mechanism, and one end of the puncture needle is installed Clamped on the needle insertion mechanism, the central axis of the puncture needle is located in the ultrasonic imaging plane, and the posture adjustment mechanism is electrically connected with the control assembly to control the posture adjustment mechanism to adjust the puncture The relative position between the needle and the patient's surgical site to be punctured. The puncture surgery robot system according to claim 1, wherein the ultrasonic detection assembly further comprises: A first optical positioner, the first optical positioner is installed on the first working end; A second optical positioner installed on the second working end; The first optical positioner and the second optical positioner position the first working end and the second working end through a shared optical positioning system, and the optical positioning system and the control assembly are electrically connected to each other. connect; The first optical positioner converts the ultrasound imaging plane to the physical space coordinate system established by the optical positioning system, and the surgical site to be punctured and the puncture needle point determine the first position coordinates and the coordinates in the physical space coordinate system. The second position coordinate, the second optical positioner converts the plane where the central axis of the puncture needle is located to the physical space coordinate system, and the second optical positioner feedbacks that the puncture needle tip is in the physical space in real time The third position coordinate in the coordinate system, the control component controls the pose adjustment mechanism to adjust the puncture needle according to the first position coordinate and the second position coordinate, and real-time feedback according to the third position coordinate Whether the puncture needle deviates from the planned puncture trajectory formed by the connection of the first position coordinates and the second position coordinates, and whether the puncture needle accurately punctures the surgical site to be punctured. The puncture surgery robot system according to claim 1 or 2, wherein the posture adjustment mechanism comprises: A connecting rod structure, the first end of the connecting rod structure is rotatably connected to the first working end; A first driver, the first driver is electrically connected with the control assembly, and the first driver drives the first end of the connecting rod structure to rotate relative to the first working end; A slide rail seat, the slide rail seat is rotatably connected to the second end of the connecting rod structure, and the needle insertion mechanism is installed on the slide rail seat; The second driver is electrically connected with the control assembly, and the second driver drives the sliding rail seat to rotate relative to the second end of the connecting rod structure. The puncture surgical robot system according to claim 3, wherein the connecting rod structure comprises: A first rod, the first end of the first rod is rotatably connected to the first working end; The second rod member, the first end of the second rod member is rotatably connected to the second end of the first rod member, and the slide rail seat is rotatably connected to the first rod member of the second rod member. On the two ends A third driver, the third driver is electrically connected with the control assembly, and the third driver drives the first end of the second rod to rotate relative to the second end of the first rod. The puncture surgery robot system according to claim 4, wherein the needle insertion mechanism comprises: The linear feeding structure includes a sliding block and a fourth driver, the sliding rail seat is provided with a straight sliding groove, and the sliding block is slidably installed in the straight sliding groove, and the fourth A driver is installed on the slide rail seat, the fourth driver is electrically connected to the control assembly, and the fourth driver drives the slider to slide in the straight slide groove; A puncture needle mounting seat, the puncture needle mounting seat is connected to the slider, and one end of the puncture needle is clamped on the puncture needle mounting seat. The puncture surgical robot system according to claim 5, wherein the needle insertion mechanism further comprises: A rotating electric machine, the rotating electric machine is connected to the slider, the puncture needle mounting base is connected to the power output end of the rotating electric machine, the rotating electric machine is electrically connected to the control assembly, and the puncture operation is performed In the process, when the puncture needle is bent, the control assembly controls the rotating motor to drive the puncture needle to rotate. The puncture surgery robot system according to claim 6, wherein the needle insertion mechanism further comprises: The force sensor is connected to the power output end of the rotating electric machine, the force sensor is electrically connected to the control assembly, and the puncture needle mounting seat is connected to the force sensor. The puncture surgery robot system according to claim 3, wherein: A puncture needle guide is provided on the slide rail seat, and the other end of the puncture needle passes through the puncture needle guide. The puncture surgery robot system according to claim 2, wherein: The control assembly includes a control host and a display, the mobile bearing platform is provided with an installation space and a table, the control host is installed in the installation space, the display is installed on the table, the display, the The ultrasonic arm, the ultrasonic imager, the posture adjustment mechanism, the needle insertion mechanism, and the optical positioning system are respectively electrically connected to the control host. The puncture surgery robot system according to claim 5, wherein: The fourth driver includes a stepping motor and a ball screw pair, the stepping motor is connected to the slide rail seat, and the screw rod of the ball screw pair is coaxially connected with the rotating shaft of the stepping motor, The ball screw pair is located in the straight sliding groove, and the sliding block is connected to the nut of the ball screw pair.