Puncture robot and needle insertion system for mechanical arm of puncture robot

Abstract

The invention discloses a puncture robot and a needle insertion system for a mechanical arm of the puncture robot. The system comprises a needle body arranged on the mechanical arm; the mechanical arm comprises a clamping base and a middle-segment clamping part, and the clamping base is provided with a first pressure detection device; a control device controls the mechanical arm to drive the needle body to conduct corresponding action according to a pressure signal of the first pressure detection device. The middle-segment clamping part sleeves the middle segment of the needle body so as to clamp the needle body, the situation is avoided that the needle body is bent and deformed when subjected to resistance of the muscle and tissue of the human body, the rigidity of the needle body is improved, and the errors of a puncture path from a needle tip to the middle segment of the needle body are reduced, so that puncture is more accurate; the first pressure detection device is arranged on a clamping base and used for detecting the forward pressure of the needle body, when the needle body comes across the visceral organ or organs in the needle insertion process, the control device controls the mechanical arm to drive the needle body to conduct a corresponding action, and the needle insertion path of the needle body is adjusted in time, so that the needle body effectively avoids the visceral organ or organs.

Description

technical field [0001] The present invention relates to the technical field of medical devices, more specifically, to a needle insertion system for a mechanical arm, and to a puncture robot including the needle insertion system for a mechanical arm. Background technique [0002] The manipulator arm of the puncture robot mostly uses a 5 or 6 degree of freedom high-precision manipulator as the needle holding mechanism. The needle holding mechanism can fix the ordinary puncture needle shell or the flexible needle shell, and can fix the ordinary puncture needle shell or the flexible needle shell by adjusting the degree of freedom of the needle insertion tendency, the needle insertion angle, and the needle insertion movement degree of freedom. The needle shell moves toward the target point along the planned path. There are various styles of robotic arms, including flexible robotic arms, multi-degree-of-freedom robotic arms supported by arc-shaped fixed seats, and so on. Its mai...

AI Technical Summary

Problems solved by technology

[0004] In view of this, the first object of the present invention is to provide a needle insertion system for a mechanical arm to solve the problem of insufficient rigidity of the puncture needle during the needle insertion process of the existing needle insertion system, and the flexible deformation of the puncture needle itself, which leads to relatively large needle insertion offset. Major and other issues

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