Electromagnetic force feedback puncture operation auxiliary device and robot puncture system

Abstract

The invention discloses an electromagnetic force feedback puncture operation auxiliary device, comprising a processor, a puncture needle device and a force feedback control device; wherein the puncture needle device comprises a puncture needle and an electric cylinder; the body of the puncture needle is connected to the slide block of the electric cylinder; a force sensor is disposed on the slideblock and is used for detecting a resistance signal of the puncture needle when the puncture needle is inserted; the driving end of the electric cylinder and the output end of the force sensor are electrically connected with the processor; the force feedback control device includes a handle and an electromagnetic brake; the handle is connected to the brake shaft of the electromagnetic brake and isprovided with an angular displacement sensor for detecting the rotation angle displacement angle of the handle; and the output ends of the electromagnetic brake and the angular displacement sensor are electrically connected to the processor. The electromagnetic force feedback puncture operation auxiliary device can realize the force feedback of the puncture needle during the needle insertion process in order that a surgeon can conveniently control the force of the puncture needle during the needle insertion process, thereby facilitating the provision of a virtual real surgical environment andreducing a risk of the puncture operation.

Description

technical field [0001] The invention relates to the field of automation technology, in particular to an electromagnetic force feedback puncture operation auxiliary device and a robot puncture system. Background technique [0002] At present, puncture surgery is a kind of minimally invasive surgery, such as percutaneous renal puncture, percutaneous neurosurgical puncture, percutaneous orthopedic puncture, etc., and is used to establish an artificial channel into the body cavity. In the puncture operation, the puncture needle mainly penetrates the body wall at the incision of the patient's skin and enters the body cavity. Usually, the doctor needs to hold the puncture needle and apply a large puncture operation force to overcome the resistance of puncturing and cutting the tissue. As well as the resistance of expanding and swelling tissues, since the doctor's manual puncture needs to be performed with the help of an X-ray machine, the doctor will be exposed to X-rays, and the ...

AI Technical Summary

Problems solved by technology

[0005] The embodiment of the present invention provides an electromagnetic force feedback puncture surgery auxiliary device and a robot puncture system to solve the technical problem that the existing puncture surgery robot cannot feed back the force of the puncture needle during needle insertion to the surgeon, thereby effectively Accurately realize the force feedback of the puncture needle during the needle insertion process, which is convenient for the surgeon to grasp the force of the puncture needle during the needle insertion process, which is conducive to providing a virtual and real surgical environment and reducing the risk of puncture surgery

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