Automatic puncture surgical robot for ultrasonic intervention and control method

Abstract

The invention relates to the medical instrument technology, and discloses an ultrasonic intervention automatic puncture surgical robot and a control method, and the ultrasonic intervention automatic puncture surgical robot comprises a needle feeding mechanism, a rotating mechanism, a probe clamping mechanism, a depth control mechanism and a force sensor mechanism; wherein the probe feeding mechanism is connected with the depth control mechanism through the rotating mechanism, the depth control mechanism is connected with the back surface of a main body substrate of the probe clamping mechanism, the front surface of the main body substrate is provided with a clamping piece of an ultrasonic probe, and the main body substrate is also fixedly provided with the force sensor mechanism; the rotating mechanism is used for adjusting the needle inserting angle of the needle inserting mechanism; the depth control mechanism is used for controlling the needle feeding mechanism to move in the vertical direction; a puncture needle which advances and retreats in a linear motion manner is arranged in the needle feeding mechanism, and the puncture needle is arranged on the coronal plane of the ultrasonic probe; the force sensor mechanism is used for measuring the force applied to the human tissue by the puncture needle. The invention aims to realize automation, precision and safety of the puncture operation and reduce the workload of doctors.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and in particular to an automatic puncture surgical robot with ultrasound intervention and a control method for the automatic puncture surgical robot. Background Art

[0002] In clinical medicine, ultrasound-guided puncture surgery is widely used in tumor sampling, catheter placement, and other interventional treatments. This surgery relies on ultrasound imaging technology to guide the puncture operation by acquiring images in real time. However, the existing ultrasound-guided puncture technology still has some limitations: (1) High reliance on doctor skills: Current ultrasound-guided puncture surgery requires doctors to manually adjust the position of the ultrasound probe and measure the puncture depth. This process is highly dependent on the doctor's experience and professional skills. During the operation, the doctor's tension and fatigue may lead to operational errors, which in turn affects the success rate and safety of the operation.

[0003] (2) Difficulty in keeping the puncture needle in the ultrasound plane: Despite the availability of ultrasound-guided devices, maintaining the puncture needle in the ultrasound plane remains a technical challenge. Existing puncture stands and support systems cannot effectively monitor whether the puncture needle is within the ultrasound imaging range, and lack real-time feedback to confirm the puncture depth and accuracy of the needle guide.

[0004] (3) Insufficient accuracy of the needle insertion angle: Due to the limitations of manual operation, the accuracy of the needle insertion angle is often difficult to guarantee. This will directly affect the success rate of puncture and increase the risk of damage to surrounding healthy tissues.

[0005] (4) Excessive workload on doctors: Existing technologies require doctors to manually push the puncture needle to the target location, which not only increases the operation time, but also increases the workload of doctors, which is bound to affect their work efficiency and overall surgical quality.

[0006] In the context of the rapid development of medical robots and automation systems, there is still a lack of automated solutions for ultrasound-guided puncture surgery. Most current technologies introduce auxiliary equipment to reduce the burden on doctors, but doctors are still required to perform manual operations in key steps. This not only leads to low operational efficiency, but may also cause misoperation under high pressure and fatigue, endangering patient safety.

[0007] The above contents are only used to assist in understanding the technical solution of the present application and do not constitute an admission that the above contents are prior art. Summary of the invention

[0008] The main purpose of this application is to provide an automatic puncture surgical robot with ultrasound intervention and a control method for the automatic puncture surgical robot, aiming to realize the automation, precision and safety of puncture surgery and reduce the workload of doctors.

[0009] To achieve the above-mentioned purpose, the present application provides an ultrasonically-interventional automatic puncture surgical robot, which is characterized by comprising: a needle insertion mechanism, a rotation mechanism, a probe clamping mechanism, a depth control mechanism and a force sensor mechanism; wherein the needle insertion mechanism is connected to the depth control mechanism via the rotation mechanism, the depth control mechanism is connected to the back side of a main body substrate of the probe clamping mechanism, a clamping piece of an ultrasonic probe is provided on the front side of the main body substrate, and a force sensor mechanism is also fixed on the main body substrate; The rotating mechanism is used to adjust the needle insertion angle of the needle insertion mechanism; The depth control mechanism is used to control the movement of the needle insertion mechanism in the vertical direction; The needle insertion mechanism is provided with a puncture needle that moves forward and backward in a linear manner, and the puncture needle is on the coronal plane of the ultrasound probe; The force sensor mechanism is used to measure the force applied by the puncture needle on human tissue.

[0010] To achieve the above-mentioned purpose, the present application also provides a control method of an automatic puncture surgical robot, wherein the automatic puncture surgical robot is the automatic puncture surgical robot with ultrasound intervention as described above; the control method of the automatic puncture surgical robot comprises: Based on the target position on the human tissue, the needle insertion angle and the needle insertion depth of the automatic puncture surgical robot are adjusted; and based on the ultrasonic probe, the position of the puncture needle is located, and the corresponding positioning image is output to the display device; Based on the force sensor mechanism, the force exerted by the puncture needle on the human tissue is measured; According to the measured force, the force applied by the puncture needle to the human tissue is adjusted.

[0011] The present application provides an automatic puncture surgical robot with ultrasound intervention and a control method for the automatic puncture surgical robot. The automatic puncture surgical robot with ultrasound intervention realizes the automation, precision and safety of puncture surgery by integrating a needle insertion mechanism, a rotation mechanism, a probe clamping mechanism, a depth control mechanism and a force sensor mechanism. It can automatically complete ultrasound scanning, effectively identify whether the puncture needle is in place, ensure the accuracy of the puncture needle's insertion angle and depth, realize contactless medical automation, and can greatly improve surgical accuracy, efficiency and safety, and reduce the workload of doctors; at the same time, it can also lower the threshold for surgical operations, help more doctors learn more abundant surgical procedures, and alleviate the problem of scarce medical resources. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 This is a front view of an automatic puncture surgery robot with ultrasound intervention in one embodiment of the present application; Figure 2 This is a rear view of an automatic puncture surgical robot for ultrasound intervention in one embodiment of the present application; Figure 3 A stereoscopic view from the upper oblique angle of an automatic puncture surgical robot with ultrasound intervention in one embodiment of the present application; Figure 4 This is a structural diagram of the needle insertion mechanism of the automatic puncture surgery robot with ultrasound intervention in one embodiment of the present application; Figure 5 A cross-sectional view of a needle insertion mechanism of an automatic puncture surgical robot for ultrasound intervention in one embodiment of the present application; Figure 6 A three-dimensional image of an automatic puncture surgical robot with ultrasound intervention in one embodiment of the present application from a rear oblique upper perspective; Figure 7 Schematic diagram of the control method steps of the automatic puncture surgical robot in one embodiment of the present application.

[0013] Description of reference numerals: 10. Needle insertion mechanism; 11. Needle insertion base plate; 12. Needle insertion power source; 13. Power mechanism; 14. Screw rod; 15. Movable block; 16. Front end clamping mechanism; 17. Rear end clamping mechanism; 18. Puncture needle; 20. Rotating mechanism; 21. Rotating substrate; 22. Rotating track base; 23. Rotating power source; 24. Rotating driving mechanism; 30. Probe clamping mechanism; 31. Front end clamping member; 32. Rear end clamping member; 33. Main substrate; 34. Ultrasonic probe; 40. Depth control mechanism; 41. Depth control base; 42. Trajectory module; 43. Linear power source; 44. Linear drive mechanism; 50. force sensor mechanism; 51. front end fixing module; 52. force sensor module; 53. rear end fixing module; 161. Upper clamping plate; 162. Lower clamping plate; 171. Fixing sleeve; 172. External component.

[0014] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0015] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0016] In addition, if the descriptions of "first", "second", etc. are involved in this application, they are only used for descriptive purposes (such as for distinguishing the same or similar features), and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in this field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0017] In one embodiment, an automatic puncture surgery robot for ultrasound intervention is provided, referring to Figures 1 to 4 The ultrasonic interventional automatic puncture surgical robot comprises: a needle insertion mechanism 10, a rotating mechanism 20, a probe clamping mechanism 30, a depth control mechanism 40 and a force sensor mechanism 50; wherein the needle insertion mechanism 10 is connected to the depth control mechanism 40 through the rotating mechanism 20, the depth control mechanism 40 is connected to the back of the main body substrate 33 of the probe clamping mechanism 30, the front of the main body substrate 33 is provided with a clamping piece of the ultrasonic probe 34, and the force sensor mechanism 50 is also fixed on the main body substrate 33; The rotating mechanism 20 is used to adjust the needle insertion angle of the needle insertion mechanism 10; The depth control mechanism 40 is used to control the movement of the needle insertion mechanism 10 in the vertical direction; The needle insertion mechanism 10 is provided with a puncture needle 18 that moves forward and backward in a linear manner, and the puncture needle 18 is on the coronal plane of the ultrasonic probe 34; The force sensor mechanism 50 is used to measure the force applied by the puncture needle 18 on human tissue.

[0018] In this embodiment, an automatic puncture surgical robot for ultrasound intervention is proposed, which integrates a variety of mechanical and sensor mechanisms to achieve automation and precise control of the puncture process. The automatic puncture surgical robot includes the following main components: a needle insertion mechanism 10, a rotation mechanism 20, a probe clamping mechanism 30, a depth control mechanism 40, and a force sensor mechanism 50. The following will describe each component and its function in detail: Needle insertion mechanism 10: responsible for controlling the linear motion of puncture needle 18 and realizing the advance and retreat operation of puncture needle 18. The puncture needle 18 is arranged in the needle insertion mechanism 10 and can move precisely along a linear track. The needle insertion mechanism 10 is connected to the depth control mechanism 40 through the rotating mechanism 20 to ensure that the motion path and depth of the puncture needle 18 are controllable.

[0019] Rotating mechanism 20: used to adjust the angle of the needle insertion mechanism 10, thereby changing the insertion angle of the puncture needle 18. The rotating mechanism 20 is mechanically connected to the needle insertion mechanism 10, and can achieve high-precision angle adjustment to ensure that the puncture needle 18 can accurately align with the target position.

[0020] Probe clamping mechanism 30: used to fix the ultrasonic probe 34 to ensure the stability of the ultrasonic probe 34 during the operation. The probe clamping mechanism 30 is provided with a main substrate 33, the front of the main substrate 33 is provided with a clamping piece for the ultrasonic probe 34, and the back of the main substrate 33 is connected to the depth control mechanism 40. The main substrate 33 serves as a structural support to ensure the stability of the entire system.

[0021] The coronal plane of the ultrasound probe 34 refers to a plane parallel to the long axis of the human body and longitudinally cuts the body in the front-to-back direction. This plane divides the human body into two parts from front to back, similar to splitting the human body in the coronal direction. In medical imaging, the coronal plane is used to display the front and back structures of the human body. In the automatic puncture surgery robot with ultrasound intervention, the correct placement of the ultrasound probe 34 is very important, that is, the puncture needle 18 must be kept on the coronal plane of the ultrasound probe 34 so that real-time visual feedback of the puncture path can be provided through ultrasound imaging. In this way, the physician or robot can accurately determine the path and depth of the puncture needle 18, thereby performing a safe and precise puncture operation.

[0022] Depth control mechanism 40: used to control the movement of the needle insertion mechanism 10 in the vertical direction, thereby adjusting the insertion depth of the puncture needle 18. The depth control mechanism 40 is connected to the back of the main body substrate 33 of the probe clamping mechanism 30 to ensure that the vertical movement of the puncture needle 18 can be accurately controlled.

[0023] Force sensor mechanism 50: used to measure the force applied by the puncture needle 18 on human tissue. The force sensor is fixed on the main substrate 33 and can monitor the force applied by the puncture needle 18 on human tissue in real time, avoiding damage and discomfort to the patient during the operation, and ensuring the safety and accuracy of the operation.

[0024] Optional, ultrasound-assisted automated puncture surgical robot workflow example: (1) Initial settings: preset the target position, needle insertion angle, and depth according to the surgical plan.

[0025] (2) Angle and depth adjustment: The angle of the needle insertion mechanism 10 is adjusted by the rotating mechanism 20 so that the puncture needle 18 is accurately aligned with the target position; the movement of the needle insertion mechanism 10 in the vertical direction is adjusted by the depth control mechanism 40 to ensure that the puncture needle 18 can reach the predetermined depth.

[0026] (3) Real-time monitoring: The ultrasonic probe 34 is used to acquire images in real time and monitor the position of the puncture needle 18; the force sensor mechanism 50 measures the force applied by the puncture needle 18 on the human tissue in real time.

[0027] (4) Automatic adjustment: Based on the force sensor data, the system automatically adjusts the force applied by the puncture needle 18 to ensure the safety and accuracy of the surgical procedure.

[0028] The needle insertion mechanism 10, the rotation mechanism 20, the probe clamping mechanism 30, the depth control mechanism 40 and the force sensor mechanism 50 all adopt high-precision mechanical design to ensure the stability and reliability of each component.

[0029] In addition, a control system (not shown in the figure) may be integrated into the automatic puncture surgical robot, or the robot may be controlled by a control system with which a communication connection is established.

[0030] Among them, the control system integrates advanced control algorithms, which can automatically adjust the operating status of each mechanism according to real-time data to achieve precise control.

[0031] Optionally, the force sensor mechanism 50 may also be integrated with data from other sensors (such as position sensors and angle sensors) to provide more comprehensive information support and ensure the accuracy and safety of the surgical procedure.

[0032] The automatic puncture surgical robot with ultrasound intervention can automatically adjust the probe position and depth control, reduce the doctor's manual operation, and reduce the risk of human error; it can also achieve precise position and depth control of the puncture needle 18 through high-precision sensors and control algorithms to ensure the success rate and safety of the operation. The force sensor monitors the force applied by the puncture needle 18 on the human tissue in real time, and the system automatically adjusts according to the data to ensure the safety and accuracy of the surgical process. This can automatically advance the puncture needle 18, reduce the doctor's workload, improve surgical efficiency, and enable them to focus more on the overall surgical strategy and patient safety.

[0033] In one embodiment, the ultrasonically intervened automatic puncture surgical robot realizes the automation, precision and safety of puncture surgery by integrating the needle insertion mechanism, the rotation mechanism, the probe clamping mechanism, the depth control mechanism and the force sensor mechanism. It can automatically complete ultrasonic scanning, effectively identify whether the puncture needle is in place, ensure the accuracy of the puncture needle insertion angle and depth, realize contactless medical automation, greatly improve the surgical accuracy, efficiency and safety, and reduce the workload of doctors; at the same time, it can also lower the threshold for surgical operations, help more doctors learn more abundant surgical procedures, and alleviate the problem of scarce medical resources.

[0034] In one embodiment, based on the above embodiment, referring to Figure 4 and Figure 5The needle insertion mechanism 10 further includes: a needle insertion base plate 11, a needle insertion power source 12, a power mechanism 13, a screw rod 14, a movable block 15, a front end clamping mechanism 16 and a rear end clamping mechanism 17; The front clamping mechanism 16 and the rear clamping mechanism 17 are used to clamp the puncture needle 18 front and back, and the rear clamping mechanism 17 is connected to the output end of the needle insertion power source 12 through the screw rod 14, and the screw rod 14 is also hinged with a movable block 15, and the front clamping mechanism 16 is fixed on the movable block 15; The power mechanism 13 is arranged parallel to and below the screw rod 14 and is fixed on the needle-entry base plate 11 ; the movable block 15 moves in the power mechanism 13 as the screw rod 14 rotates.

[0035] In this embodiment, the needle insertion substrate 11 serves as the base of the needle insertion mechanism 10 and is responsible for carrying and fixing other components.

[0036] The needle insertion power source 12 provides power for the needle insertion mechanism 10 to drive the advance and retreat operation of the puncture needle 18. The needle insertion power source 12 can be a servo motor, a cylinder, a hydraulic cylinder, etc., and the output end is connected to the screw rod 14 to realize the transmission and conversion of power.

[0037] The screw rod 14 is used as a transmission component to convert the rotational motion of the needle insertion power source 12 into the linear motion of the movable block 15, and drives the advancement and retraction of the puncture needle 18 through the movable block 15. The screw rod 14 is connected to the output end of the needle insertion power source 12, and the movable block 15 is hinged on the upper part. The linear motion of the puncture needle 18 is achieved by the rotation of the screw rod 14.

[0038] The movable block 15 is hinged on the screw rod 14 and moves in the power mechanism 13 as the screw rod 14 rotates. The front end clamping mechanism 16 is fixed on the movable block 15 , and the movement of the movable block 15 realizes the advance and retreat control of the puncture needle 18 .

[0039] Front end clamping mechanism 16: clamps the front end (i.e., the needle end) of the puncture needle 18 to ensure the stability and accuracy of the puncture needle 18 during movement. The front end clamping mechanism 16 is fixed to the movable block 15, and clamps the front end of the puncture needle 18 through a mechanical clamping device to ensure the stable movement of the puncture needle 18.

[0040] The rear end clamping mechanism 17 clamps the rear end (i.e. the tail end) of the puncture needle 18 to further enhance the movement stability of the puncture needle 18 .

[0041] Optionally, the power mechanism 13 can be fixed to the needle insertion base plate 11 by bolts; to save space, the screw rod 14 is installed above the power mechanism 13, and the screw rod 14 is arranged parallel to the power mechanism 13, one end of the screw rod 14 is connected to the output end of the needle insertion power source 12, and the other end of the screw rod 14 is connected to the rear end clamping mechanism 17.

[0042] Optionally, the movable block 15 is hinged on the screw rod 14. As the power of the needle insertion power source 12 is output, the movable block 15 hinged on the screw rod 14 is pushed forward as the screw rod 14 rotates. At the same time, the puncture needle 18 fixed by the front clamping mechanism 16 and the rear clamping mechanism 17 moves linearly along the power mechanism 13 to perform puncture. After the puncture is completed, when the needle needs to be withdrawn, the needle insertion power source 12 receives a retraction signal, and the screw rod 14 rotates in the opposite direction under the drive of the needle insertion power source 12. The movable block 15 on the screw rod 14 retracts, driving the puncture needle 18 to retract in the opposite direction, thereby realizing automatic needle withdrawal.

[0043] That is, the needle insertion power source 12 drives the screw rod 14 to rotate through the output end, and the rotation of the screw rod 14 drives the movable block 15 to move in the power mechanism 13, thereby realizing the linear motion of the puncture needle 18. The advance and retreat of the puncture needle 18 is controlled by the rotation of the screw rod 14, ensuring that the puncture needle 18 can accurately reach the predetermined target position and depth. The front clamping mechanism 16 and the rear clamping mechanism 17 ensure the stability and accuracy of the puncture needle 18 during the motion process.

[0044] In one embodiment, the needle insertion mechanism 10 achieves precise control of the puncture needle 18 through high-precision mechanical design and power transmission system, ensuring the success rate and safety of the operation. The front clamping mechanism 16 and the rear clamping mechanism 17 ensure the stability and accuracy of the puncture needle 18 during movement, reducing operational errors. In addition, the system can automatically adjust the advance and retreat of the puncture needle 18, reducing the doctor's manual operation and improving the efficiency and accuracy of the operation. At the same time, the real-time monitoring of the force sensor and ultrasonic imaging ensures the safety and accuracy of the surgical process. The system automatically adjusts the needle insertion force according to the data to ensure the safety and accuracy of the surgical process.

[0045] In one embodiment, based on the above embodiment, referring to Figure 5 The front end clamping mechanism 16 includes: an upper clamping plate 161 and a lower clamping plate 162; the upper clamping plate 161 fixes the head end of the puncture needle 18 on the lower clamping plate 162 through a fixing piece, and the lower clamping plate 162 is fixed on the movable block 15.

[0046] In this embodiment, the front clamping mechanism 16 includes an upper clamping plate 161 and a lower clamping plate 162. The lower clamping plate 162 can be fixed to the movable block 15 by bolts, and the upper clamping plate 161 fixes the head end of the puncture needle 18 to the lower clamping plate 162 by a fixing member (such as a bolt).

[0047] In this way, the front-end clamping mechanism 16 provides a stable and precise clamping method through the design of the upper clamping plate 161 and the lower clamping plate 162 to ensure that the puncture needle 18 maintains the correct position and posture during the insertion and withdrawal process, further improving the overall performance of the ultrasonic interventional automatic puncture surgical robot.

[0048] Optionally, the rear end clamping mechanism 17 includes: a fixing sleeve 171 and an external component 172 ; the fixing sleeve 171 is used to sleeve the rear end of the puncture needle 18 , and the external component 172 is used to press the fixing sleeve 171 .

[0049] The tail end of the puncture needle 18 is sleeved on the fixing sleeve 171 . As a sterile consumable product, the fixing sleeve 171 is a disposable component that can be removed at any time for use, which is simple and convenient. The fixing sleeve 171 can be pressed into the external component 172 .

[0050] The matching design of the fixing sleeve 171 and the external component 172 ensures the stability of the tail end of the puncture needle 18, avoids the shaking and deviation of the puncture needle 18 during the puncture process, and improves the accuracy and safety of the operation.

[0051] In one embodiment, based on the above embodiment, referring to Figure 3 and Figure 6 The rotating mechanism 20 includes: a rotating substrate 21, a rotating track base 22, a rotating power source 23 and a rotating driving mechanism 24; The needle insertion mechanism 10 and the rotation power source 23 are fixed on the rotating base plate 21, and the rotating base plate 21 is fixed on the rotating track base 22; the rotating track base 22 is arc-shaped, and the center of the circle is concentric with the insertion point of the puncture needle 18, so that the puncture needle 18 can rotate around the center of the rotating track base 22; The output end of the rotary power source 23 is connected to one end of the rotary drive mechanism 24 , and the other end of the rotary drive mechanism 24 is hinged on the rotary track base 22 .

[0052] In this embodiment, the rotating base plate 21 serves as the basic structure of the rotating mechanism 20, fixing the needle insertion mechanism 10 and the rotating power source 23. The rotating base plate 21 can be made of high-strength material, with sufficient rigidity to support the entire device and ensure stability during rotation.

[0053] Rotation track base 22: provides a rotation track for the puncture needle 18, so that the puncture needle 18 can rotate around a predetermined center point. The rotation track base 22 is designed in an arc shape, and its center is concentric with the insertion point of the puncture needle 18. The rotation track base 22 has high wear resistance, ensuring that it will not be worn or deformed during long-term use.

[0054] Rotational power source 23: provides power for the rotation mechanism 20, driving the rotation base plate 21 and the needle insertion mechanism 10 thereon to rotate. The rotational power source 23 can be a motor or a hydraulic system, and its output end is connected to the rotational drive mechanism 24 to transmit power.

[0055] Rotation drive mechanism 24: transmits the rotational motion of the rotational power source 23 to the rotating base plate 21 to achieve precise control of the rotation mechanism 20. The drive mechanism material has high strength and wear resistance to withstand the torque and reaction force generated during the rotation process.

[0056] Optionally, the rotating substrate 21 can be fixed to the rotating trajectory base 22 by a fastening piece, and the needle insertion mechanism 10 can be fixed to the rotating substrate 21 by bolts; the rotating trajectory base 22 is designed to be arc-shaped, and the center of the circle is concentrically arranged with the insertion point of the puncture needle 18, so that the puncture needle 18 can rotate around the center of the rotating trajectory base 22 and rotate at a certain angle α, that is, the puncture needle 18 can puncture at any angle within the rotation angle α; the rotating power source 23 can be fixed to the rotating substrate 21 by bolts, and the output end of the rotating power source 23 is connected to one end of the rotating drive mechanism 24, and the other end of the rotating drive mechanism 24 is hinged on the rotating trajectory base 22; through the power output of the rotating power source 23, the needle insertion mechanism 10 moves on the rotating trajectory base 22 around the center of the rotating trajectory base 22, thereby adjusting the needle insertion angle.

[0057] The design of the rotating mechanism 20 in this embodiment realizes the high-precision rotational movement of the puncture needle 18 around the predetermined center through the coordinated action of the rotating base plate 21, the rotating track base 22, the rotating power source 23 and the rotating drive mechanism 24, and supports the needle insertion adjustment of the corresponding angle. This design has significant advantages in improving the accuracy, stability and flexibility of surgical operations, and provides strong support for the overall performance improvement of the ultrasonic intervention automatic puncture surgical robot.

[0058] In one embodiment, based on the above embodiment, referring to Figure 3 , the clamping member includes: a front end clamping member 31 and a rear end clamping member 32; The front clamping piece 31 and the rear clamping piece 32 are both provided with grooves matching the ultrasonic probe 34 , and the front clamping piece 31 and the rear clamping piece 32 that clamp the ultrasonic probe 34 front and back are fixed to the front of the main substrate 33 by fixing pieces.

[0059] In this embodiment, the front clamp 31 and the rear clamp 32 are both provided with grooves that match the ultrasonic probe 34, so that the ultrasonic probe 34 can be fixed in the grooves. The front clamp 31 and the rear clamp 32 can be fixed to the front of the main substrate 33 by bolts, and by setting the thickness of the front clamp 31 and the rear clamp 32, the puncture needle 18 can be maintained on the coronal plane of the ultrasonic probe 34, which greatly improves the positioning accuracy. The front clamp 31 and the rear clamp 32 are detachably connected to adapt to different types of ultrasonic probes 34, that is, the clamp can be used with ultrasonic probes 34 from different manufacturers, and has a wide range of applications.

[0060] In one embodiment, based on the above embodiment, referring to Figure 2 and Figure 6 , the depth control mechanism 40 includes: a depth control base 41, a trajectory module 42, a linear power source 43 and a linear drive mechanism 44; The rotating mechanism 20 is fixed to one end of the depth control base 41, and the other end of the depth control base 41 is fixed to the track module 42; the linear power source 43 is fixed to the depth control base 41, and the output end of the linear power source 43 is connected to one end of the linear drive mechanism 44. The linear power source 43 provides power for the linear drive mechanism 44 , and the linear drive mechanism 44 is used to make the rotating mechanism 20 reciprocate linearly along the track module 42 .

[0061] In this embodiment, the depth control base 41 serves as the foundation and support part of the entire depth control mechanism 40 , connects other components, and bears forces in different directions. The rotation mechanism 20 is fixed to one end of the depth control base 41 , and the other end is fixed to the track module 42 .

[0062] Track module 42: provides a vertical motion track for the puncture needle 18 to ensure that the puncture operation can proceed smoothly.

[0063] Linear power source 43: Provides power to the linear drive mechanism 44 to drive its movement. The linear power source 43 is fixed to the depth control base 41 to ensure that no additional burden or displacement is generated during movement. The linear power source 43 can be an electric motor, pneumatic or hydraulic device, etc., and can be rotated according to specific application requirements.

[0064] Linear drive mechanism 44: used to convert the power provided by the linear power source 43 into mechanical motion to realize the linear reciprocating motion of the rotating mechanism 20. One end of the linear drive mechanism 44 is connected to the output end of the linear power source 43, and power transmission is realized through a transmission device (such as a rack and gear system).

[0065] Optionally, the depth control mechanism 40 is fixed on the back side of the main substrate 33; the rotating mechanism 20 can be fixed to one end of the depth control base 41 by bolts, and the other end of the depth control base 41 is fixed to the track module 42; the linear power source 43 can be fixed to the depth control base 41 by bolts, and the output end of the linear power source 43 is connected to one end of the linear drive mechanism 44.

[0066] Optionally, the linear drive mechanism 44 can be configured as a gear rack mechanism, the gear meshes with the rack, and the gear is fixed to the back of the main substrate 33. The linear power source 43 outputs power to drive the gear to move along the rack, and the rotating mechanism 20 fixed on the depth control base 41 reciprocates along the track module 42, thereby driving the needle insertion mechanism 10 to reciprocate along the parallel track module 42. That is, the depth control mechanism 40 can realize that the puncture needle 18 rotates around the center of the rotating track base 22 while moving linearly along the central axis of the probe.

[0067] In this way, precise control of the puncture needle 18 in two degrees of freedom, rotation and linear motion, is achieved. This composite motion capability enables the puncture needle 18 to more flexibly adapt to different surgical requirements, improving the accuracy and efficiency of the surgery. At the same time, the use of the rack and pinion mechanism simplifies the transmission structure, improves the stability and reliability of the overall mechanism, and provides strong support for the clinical application of the ultrasonic interventional automatic puncture surgical robot.

[0068] In one embodiment, based on the above embodiment, referring to Figure 3 and Figure 6 , the force sensor mechanism 50 includes a front-end fixing module 51, a force sensor module 52 and a rear-end fixing module 53; The force sensor module 52 is fixed between the front fixing module 51 and the rear fixing module 53 , and the rear fixing module 53 is fixed on the main substrate 33 .

[0069] In this embodiment, the force sensor module 52 is fixed between the front-end fixing module 51 and the rear-end fixing module 53 , and the rear-end fixing module 53 can be fixed on the main substrate 33 by bolts.

[0070] The force sensor mechanism 50 can measure the force applied by the automatic puncture mechanism to human tissue, thereby avoiding damage during the operation and discomfort to the patient.

[0071] Optionally, after receiving the data provided by the force sensor module 52, the control system can evaluate whether the force exerted by the puncture needle 18 on the human tissue is within a safe range. If the applied force exceeds a preset safety threshold, the control system can immediately issue an alarm and take corresponding measures (such as stopping puncture or adjusting the force) to prevent damage or discomfort to the patient.

[0072] In one embodiment, based on the above embodiment, the present application further proposes a control method for an automatic puncture surgical robot, wherein the automatic puncture surgical robot is an automatic puncture surgical robot with ultrasound intervention as described in the above embodiment; Figure 7 , the control method of the automatic puncture surgical robot includes: Step S10: adjusting the needle insertion angle and needle insertion depth of the automatic puncture surgical robot based on the target position on the human tissue; and locating the position of the puncture needle based on the ultrasonic probe, and outputting the corresponding positioning image to the display device; Step S20: measuring the force exerted by the puncture needle on the human tissue based on the force sensor mechanism; Step S30: adjusting the force applied by the puncture needle to the human tissue according to the measured force.

[0073] In this embodiment, the execution terminal of the embodiment may be an automatic puncture surgical robot, or other equipment or devices (such as a control system) that controls the automatic puncture surgical robot. The following description takes the execution terminal as an example of a control system integrated in the automatic puncture surgical robot.

[0074] As described in step S10, first, based on the target position set before the operation (such as the diseased tissue or the area where the interventional operation is required), the control system calculates and adjusts the insertion angle and insertion depth of the puncture needle 18. The target position can be obtained by an imaging device (such as an ultrasound probe 34), and combined with the patient's medical imaging data (the corresponding position can be marked by a doctor or operator), to determine the best puncture path and angle.

[0075] The control system adjusts the rotation mechanism 20 and the depth control mechanism 40 of the automatic puncture surgical robot according to the calculation results to ensure that the puncture needle 18 enters the human tissue at the correct angle and depth.

[0076] During the adjustment process, the system can make fine adjustments based on real-time feedback data (such as ultrasound images) to ensure the accuracy of needle insertion.

[0077] At the same time, the position of the puncture needle 18 is located in real time by the ultrasonic probe 34, and a corresponding positioning image is generated by acquiring the relative position relationship between the puncture needle 18 and the human tissue.

[0078] These positioning images will be output to the display device in real time so that medical staff can monitor the surgical process and ensure the accuracy and safety of the puncture operation.

[0079] As described in step S20, when the puncture needle 18 reaches the target position, the depth or force of the puncture needle 18 entering the human tissue is controlled by the needle insertion mechanism 10. At the same time, the force applied by the puncture needle 18 on the human tissue is measured by the force sensor mechanism 50 (such as the force sensor module 52 in the force sensor mechanism 50).

[0080] The force sensor module 52 converts the applied force into an electrical signal and feeds back the signal to the control system in real time.

[0081] After receiving the force data fed back by the force sensor, the control system analyzes and processes it to determine whether the currently applied force is within a safe range.

[0082] As described in step S30, the control system dynamically adjusts the force applied by the puncture needle 18 to the human tissue according to the force measurement result. If the measured force is too large, the system will reduce the applied force by adjusting the depth of the puncture needle 18 entering the human tissue (and appropriately withdrawing the needle if necessary) to avoid damage to the tissue.

[0083] On the contrary, if the force is within a safe range, the system can continue to insert the needle or maintain the current depth in the human tissue to ensure the smooth progress of the puncture process.

[0084] The adjustment of the needle insertion force can be a real-time feedback process. The control system can continuously monitor the force data and make dynamic adjustments as needed to ensure that the force applied during the entire operation is always within a safe range.

[0085] In this way, by precisely adjusting the needle insertion angle and depth, combined with real-time monitoring and adjustment of the force, the control method can significantly improve the accuracy and safety of the puncture surgery. The real-time feedback function provided by the force sensor mechanism 50 enables the control system to timely adjust the force applied to the human tissue, effectively avoiding damage caused by excessive force. In this way, not only can the force be monitored in real time, but it can also be dynamically adjusted as needed to ensure the protection of the patient during the operation and reduce discomfort and complications.

[0086] This control method can not only monitor and adjust the force applied to human tissue in real time, but also locate the position of the puncture needle 18 in real time through the ultrasonic probe 34 to ensure the accuracy and safety of the surgical procedure.

[0087] In one embodiment, based on the above embodiment, the control method of the automatic puncture surgical robot further includes: Adjust the insertion path of the puncture needle according to the real-time image information and tissue response of the human tissue.

[0088] In this embodiment, before the puncture needle 18 reaches the target position, the needle insertion angle and depth can be adjusted by adjusting the robot's rotation mechanism 20 and depth control mechanism 40 according to real-time image information and tissue response of the human tissue, thereby adjusting the needle insertion path of the puncture needle 18.

[0089] Optionally, the control system acquires image information of human tissue in real time through an ultrasonic probe 34 or other imaging equipment, and performs real-time analysis to identify key structures and lesion areas. For example, by identifying important structures such as blood vessels and nerves, the system can prevent these structures from being damaged during the puncture process.

[0090] During the puncture process, the control system monitors the response of the human tissue, including tissue deformation, bleeding, etc. Through the joint monitoring of the force sensor mechanism 50 and the ultrasonic probe 34, the data of the tissue response can be obtained in real time to ensure the protection of the tissue during the operation.

[0091] Based on the image information and tissue reaction data acquired in real time, the control system will dynamically adjust the robot's rotation mechanism 20 and depth control mechanism 40 to adjust the insertion angle and depth of the puncture needle 18 .

[0092] The rotation mechanism 20 is used to adjust the horizontal angle of the puncture needle 18 to ensure that the puncture needle 18 can avoid important structures and enter the target area along the best path. The depth control mechanism 40 is used to adjust the vertical depth of the puncture needle 18 to ensure that the puncture needle 18 can accurately reach the target position while avoiding being too deep or too shallow.

[0093] Before the puncture needle 18 reaches the target position, the control system will adjust the robot's rotation mechanism 20 and depth control mechanism 40 in real time according to real-time data and the preset path. During the adjustment process, the system will continuously compare the real-time image information and the preset target path to ensure that the puncture needle 18 accurately reaches the target position while avoiding damage to other human tissues and organs.

[0094] That is, through the dynamic adjustment of the rotating mechanism 20 and the depth control mechanism 40, the control system can accurately adjust the needle insertion path of the puncture needle 18 to ensure that the puncture needle 18 accurately enters the target area and avoids damage to important structures.

[0095] In some optional embodiments, the robot can also make personalized path adjustments based on the specific anatomical structure and tissue response of each patient, thereby improving the targeting and accuracy of the surgery.

[0096] Optionally, before the operation begins, the control system will initialize the puncture path and set the initial needle angle and depth based on the patient's imaging data and the operation plan. During the initialization process, the system will set multiple alternative paths to deal with unexpected situations that may occur during the operation.

[0097] After the operation begins, the control system adjusts the needle insertion angle and depth according to the actual situation, and before the puncture needle 18 reaches the target position, it obtains image information and tissue reaction data in real time, and dynamically adjusts the robot's rotation mechanism 20 and depth control mechanism 40.

[0098] When important structures are found around the target area, the control system will automatically correct the puncture path and ensure that the puncture needle 18 avoids these structures by adjusting the rotation mechanism 20 and the depth control mechanism 40.

[0099] When the puncture operation is completed, the control system can also record key data during the operation, including the needle insertion angle, needle insertion depth, applied force, needle insertion path, etc. These data can be used for subsequent analysis and optimization to improve the accuracy and safety of future operations.

[0100] To summarize, an ultrasonically intervened automatic puncture surgical robot and a control method for an automatic puncture surgical robot are provided in the embodiments of the present application. The ultrasonically intervened automatic puncture surgical robot realizes the automation, precision and safety of puncture surgery by integrating the needle insertion mechanism, the rotation mechanism, the probe clamping mechanism, the depth control mechanism and the force sensor mechanism. It can automatically complete ultrasonic scanning, effectively identify whether the puncture needle is in place, ensure the accuracy of the puncture needle insertion angle and depth, realize contactless medical automation, and can greatly improve the surgical accuracy, efficiency and safety, and reduce the workload of doctors; at the same time, it can also lower the threshold for surgical operations, help more doctors learn more abundant surgical procedures, and alleviate the problem of scarce medical resources.

[0101] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media provided in this application and used in the embodiments may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (SSRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0102] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, device, article or method including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, device, article or method. In the absence of further restrictions, an element defined by the sentence "includes a ..." does not exclude the presence of other identical elements in the process, device, article or method including the element.

[0103] The above description is only a preferred embodiment of the present application, and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly used in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. An automatic puncture surgery robot with ultrasound intervention, characterized in that: include: Needle insertion mechanism, rotation mechanism, probe clamping mechanism, depth control mechanism and force sensor mechanism; wherein the needle insertion mechanism is connected to the depth control mechanism via the rotation mechanism, the depth control mechanism is connected to the back of the main substrate of the probe clamping mechanism, the front of the main substrate is provided with a clamping piece of the ultrasonic probe, and the force sensor mechanism is also fixed on the main substrate; The rotating mechanism is used to adjust the needle insertion angle of the needle insertion mechanism; The depth control mechanism is used to control the movement of the needle insertion mechanism in the vertical direction; The needle insertion mechanism is provided with a puncture needle that moves forward and backward in a linear manner, and the puncture needle is on the coronal plane of the ultrasound probe; The force sensor mechanism is used to measure the force applied by the puncture needle on human tissue.

2. The ultrasonic interventional automatic puncture surgical robot according to claim 1, characterized in that: The needle insertion mechanism also includes: a needle insertion base plate, a needle insertion power source, a power mechanism, a screw rod, a movable block, a front end clamping mechanism and a rear end clamping mechanism; The front clamping mechanism and the rear clamping mechanism are used to clamp the puncture needle front and back, and the rear clamping mechanism is connected to the output end of the needle insertion power source through a screw rod, and a movable block is hinged on the screw rod, and the front clamping mechanism is fixed on the movable block; The power mechanism is arranged in parallel below the screw rod and fixed on the needle-entry base plate; the movable block moves in the power mechanism as the screw rod rotates.

3. The ultrasonic interventional automatic puncture surgical robot according to claim 2, characterized in that: The front end clamping mechanism comprises: an upper clamping plate and a lower clamping plate; the upper clamping plate fixes the head end of the puncture needle on the lower clamping plate through a fixing piece, and the lower clamping plate is fixed on the movable block.

4. The ultrasonic interventional automatic puncture surgery robot according to claim 2, characterized in that: The rear end clamping mechanism comprises: a fixing sleeve and an external component; the fixing sleeve is used to sleeve the rear end of the puncture needle, and the external component is used to press the fixing sleeve.

5. The ultrasonically-interventional automatic puncture surgical robot according to claim 1, characterized in that: The rotating mechanism comprises: a rotating substrate, a rotating track base, a rotating power source and a rotating driving mechanism; The needle insertion mechanism and the rotating power source are fixed on the rotating base plate, and the rotating base plate is fixed on the rotating track base; the rotating track base is arc-shaped, and the center of the circle is concentric with the puncture needle insertion point, so that the puncture needle can rotate around the center of the rotating track base; The output end of the rotary power source is connected to one end of the rotary drive mechanism, and the other end of the rotary drive mechanism is hinged on the rotary track base.

6. The ultrasonic interventional automatic puncture surgery robot according to claim 1, characterized in that: The clamping member comprises: a front-end clamping member and a rear-end clamping member; The front end clamping piece and the rear end clamping piece are both provided with grooves that match the ultrasonic probe, and the front end clamping piece and the rear end clamping piece that clamp the ultrasonic probe front and back are fixed to the front side of the main substrate through fixing pieces; the front end clamping piece and the rear end clamping piece are detachably connected to adapt to different types of ultrasonic probes.

7. The ultrasonically-interventional automatic puncture surgical robot according to claim 1, characterized in that: The depth control mechanism comprises: a depth control base, a trajectory module, a linear power source and a linear drive mechanism; The rotating mechanism is fixed to one end of the depth control base, and the other end of the depth control base is fixed to the track module; the linear power source is fixed to the depth control base, and the output end of the linear power source is connected to one end of the linear drive mechanism. The linear power source provides power to the linear drive mechanism, and the linear drive mechanism is used to make the rotating mechanism reciprocate linearly along the track module.

8. The ultrasonic interventional automatic puncture surgery robot according to claim 1, characterized in that: The force sensor mechanism comprises a front-end fixing module, a force sensor module and a rear-end fixing module; The force sensor module is fixed between the front-end fixing module and the rear-end fixing module, and the rear-end fixing module is fixed on the main substrate.

9. A control method for an automatic puncture surgical robot, characterized in that: The automatic puncture surgical robot is an ultrasonically intervened automatic puncture surgical robot according to any one of claims 1 to 8; the control method of the automatic puncture surgical robot includes: Based on the target position on the human tissue, the needle insertion angle and the needle insertion depth of the automatic puncture surgical robot are adjusted; and based on the ultrasonic probe, the position of the puncture needle is located, and the corresponding positioning image is output to the display device; Based on the force sensor mechanism, the force exerted by the puncture needle on the human tissue is measured; According to the measured force, the force applied by the puncture needle to the human tissue is adjusted.

10. The control method of the automatic puncture surgical robot according to claim 9, characterized in that: The control method of the automatic puncture surgical robot also includes: Adjust the insertion path of the puncture needle according to the real-time image information and tissue response of the human tissue.

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