Puncture surgery robot system

Abstract

The invention provides a puncture surgery robot system. The puncture surgery robot system comprises a control assembly, a movable bearing table, an ultrasonic arm, an ultrasonic detection assembly anda puncture assembly, wherein the ultrasonic arm is provided with a first connecting end and a first working end; the ultrasonic detection assembly comprises an ultrasonic probe; the puncture assemblycomprises a pose adjusting mechanism, a needle inserting mechanism and a puncture needle; the pose adjusting mechanism is provided with a second connecting end and a second working end; the ultrasonic detection assembly is used for detecting a patient to be punctured and obtaining an ultrasonic imaging plane; the ultrasonic probe is connected to the first working end; the second connecting end isconnected to the first working end; the needle inserting mechanism is connected to the second working end; one end of the puncture needle is clamped on the needle inserting mechanism; and the centralaxis of the puncture needle is positioned in the ultrasonic imaging plane. By applying the technical scheme, the problems that in the prior art, a puncture surgery robot is large in size and structure and cannot be operated and moved within a small space range, and an ultrasonic probe and a puncture needle are difficult to flexibly coordinate and move are solved.

Description

technical field [0001] The invention belongs to the technical field of surgical robots, in particular to a puncture surgical robot system. Background technique [0002] Percutaneous puncture is widely used in interventional procedures such as tissue biopsy and tumor ablation. The accuracy of puncture has a great impact on the accuracy of biopsy and the effect of ablation surgery. Due to the characteristics of precision and stability of surgical robots, and the convenience and low cost 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, but at the same time, the ultrasound probe and the puncture needle must be able to be flexibly positioned freely. [0003] In the prior art, the article "Dual-robot ultrasound-guided needle placement: closing the planning-imaging-action loop" (network data)...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a puncture surgery robot system, which aims to solve the problem that the volume and structure of the puncture surgery robot in the prior art are bulky and cannot be operated and moved in a small space, and it is difficult to flexibly coordinate the movement of the ultrasonic probe and the puncture needle problem

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