Puncture robot system

Abstract

The invention relates to a puncture robot system. The puncture robot system comprises a robot; a puncture needle attached to the robot; the main control device is in communication connection with the robot, an operator is arranged on the main control device, and the operator is used for controlling the robot to drive the puncture needle to execute puncture operation; the computed tomography equipment is in communication connection with the main control device and used for scanning and at least outputting an image of the area where the puncture needle is located; the slave end force measuring piece is mounted on the puncture needle and is used for detecting puncture resistance when the puncture needle is inserted; the driving part is connected to the operator, the slave end force measuring part is in communication connection with the driving part, and the driving part is used for applying feedback resistance to the operator based on the puncture resistance; the main end force measuring piece is installed on the operator and used for detecting the feedback resistance, the main end force measuring piece is in communication connection with the driving piece, and the driving piece can conduct negative feedback adjustment on the feedback resistance based on the puncture resistance and the feedback resistance so as to reduce the difference value between the feedback resistance and the puncture resistance. The puncture robot system can improve the feedback precision of puncture resistance.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and in particular to a puncture robot system. Background Art

[0002] Puncture is a diagnostic and treatment technique in which a puncture needle is inserted into the patient's body cavity to extract secretions for testing, inject gas or contrast agent into the body cavity for contrast examination, or inject drugs into the body cavity. Currently, punctures are mostly guided by CT images. By observing the CT image, the operator can determine the position and direction of the puncture needle in the patient's body, so that the posture of the puncture needle can be adjusted in time to complete the puncture smoothly. Since CT scans are radioactive, it will cause great harm to the body if the doctor is in this environment for a long time. Therefore, when the puncture is completed with the help of CT image guidance, a robot is usually set up in the CT room, and the puncture needle is installed on the robot. The doctor remotely controls the robot through the operator outside the CT room to drive the puncture needle to complete the puncture. When the puncture needle is inserted, it will be subject to a certain puncture resistance. However, when the puncture is completed by remotely controlling the robot, because the doctor does not directly operate the puncture needle with his hands, the doctor cannot truly and intuitively feel the puncture resistance, which will have a certain impact on the accuracy of the puncture. Summary of the invention

[0003] Based on this, it is necessary to provide a puncture robot system so that the operator can feel the puncture resistance, thereby improving the puncture accuracy.

[0004] A puncture robot system, comprising:

[0005] robot;

[0006] A puncture needle, mounted on the robot;

[0007] A main control device, which is in communication connection with the robot, and is provided with an operator, and the operator is used to control the robot to drive the puncture needle to perform a puncture operation;

[0008] A computer tomography device, which is in communication with the main control device and is used to scan and at least output an image of the area where the puncture needle is located;

[0009] A force measuring piece at the slave end is installed on the puncture needle and is used to detect the puncture resistance of the puncture needle when the puncture needle is inserted;

[0010] A driving member connected to the operator, the slave-end force measuring member being in communication connection with the driving member, and the driving member being used to apply feedback resistance to the operator based on the puncture resistance;

[0011] The main-end force measuring member is installed on the operator and is used to detect the feedback resistance. The main-end force measuring member is communicatively connected with the driving member. The driving member can perform negative feedback adjustment on the output feedback resistance based on the size of the puncture resistance and the feedback resistance to reduce the difference between the feedback resistance and the puncture resistance.

[0012] In one embodiment, the driving member can perform negative feedback adjustment on the output feedback resistance based on the magnitude of the puncture resistance and the feedback resistance until the feedback resistance is equal to the puncture resistance.

[0013] In one embodiment, if the feedback resistance is smaller than the puncture resistance, the driving member is configured to increase the current to increase the output feedback resistance; if the feedback resistance is larger than the puncture resistance, the driving member is configured to reduce the current to reduce the output feedback resistance.

[0014] In one embodiment, a supporting member is further included, and the operator includes a slip ring, and the slip ring is configured to move along a preset direction so that the puncture needle performs a needle insertion operation. The supporting member is connected between the driving member and the slip ring, and the output power of the driving member is used to make the supporting member resist against the slip ring in the opposite direction of the preset direction to apply the feedback resistance to the slip ring.

[0015] In one embodiment, the main-end force measuring member includes a main-end pressure strain gauge, which is connected between the supporting member and the driving member. The output power is transmitted to the supporting member via the main-end pressure strain gauge so that the supporting member is supported against the slip ring. The main-end pressure strain gauge can be deformed under the output power, and the feedback resistance is measured based on the deformation.

[0016] In one of the embodiments, a transmission assembly is further included which is connected between the main-end pressure strain gauge and the driving member, and the output power is transmitted to the main-end pressure strain gauge via the transmission assembly.

[0017] In one embodiment, the transmission assembly includes a gear and a rack that mesh with each other, the gear is connected to the driving member, the rack is connected to the main-end pressure strain gauge, and the driving member causes the rack to abut against the main-end pressure strain gauge through the gear.

[0018] In one embodiment, the slave-end force measuring member includes a slave-end pressure strain gauge, which is connected between the robot and the puncture needle. When the puncture needle is in the needle insertion state, the slave-end pressure strain gauge is held by the puncture needle and deformed, and the puncture resistance is measured based on the deformation.

[0019] In one embodiment, the main control device includes a carrier plate, on which is carried a display that is communicatively connected to the computed tomography device, the display being used to display the scanned image, the operator being mounted on the carrier plate and the two being slidably connected, and the operator being able to slide relative to the carrier plate.

[0020] In one of the embodiments, the main control device includes a control module, and the robot, the computed tomography scanning equipment, the slave-end force measuring member, the driving member, and the master-end force measuring member are all communicatively connected to the control module.

[0021] The above-mentioned puncture robot system scans and outputs an image of the area where the puncture needle is located through a computer tomography device, so that the operator can determine the position and direction of the puncture needle and other information with the help of the scanned image. The slave end force measuring piece can detect the puncture resistance when the puncture needle is inserted, and the driving piece can apply feedback resistance to the operator based on the puncture resistance, so that the operator can intuitively feel the puncture resistance, so as to improve the puncture accuracy. At the same time, the main end force measuring piece can detect the feedback resistance applied to the operator, so that the driving piece can negatively feedback the output feedback resistance based on the size of the feedback resistance and the puncture resistance, so as to reduce the difference between the feedback resistance and the puncture resistance, thereby reducing the deviation between the feedback resistance and the puncture resistance and improving the feedback accuracy of the puncture resistance. In this way, the operator can intuitively see the position and direction of the puncture needle with the help of the scanned image, and can more accurately feel the puncture resistance, which helps the operator to more accurately control the robot to drive the puncture needle to puncture, thereby improving the puncture success rate and puncture efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 Schematic diagram of a puncture robot system in one embodiment of the present application.

[0023] Figure 2 This is a schematic diagram of a puncture robot system in another embodiment of the present application.

[0024] Figure 3 It is a front schematic diagram of a main control device in one embodiment of the present application.

[0025] Figure 4 It is a schematic diagram of the back side of the main control device in one embodiment of the present application.

[0026] Figure 5 It is a schematic diagram of components such as an operator, a main-end force measuring member, and a driving member in one embodiment of the present application.

[0027] Figure 6 It is a schematic diagram of a puncture needle, a slave end force measuring member and a robot in one embodiment of the present application.

[0028] Figure 7 Schematic diagram of the operation of the operator in one embodiment of the present application.

[0029] Figure 8 Schematic diagram of the positions of the operator, the operator mounting plate and the carrier plate in one embodiment of the present application.

[0030] Fig. 9 This is a schematic diagram of a handle in a retracted state in an embodiment of the present application.

[0031] Fig.10 FIG. 1 is a schematic diagram of a main control device in another embodiment of the present application.

[0032] Fig.11 This is a schematic diagram of the positions of the operating trolley and the electrical cabinet in one embodiment of the present application.

[0033] Reference numerals:

[0034] Robot 100, puncture end piece 110; puncture needle 210, fixing seat 211, slave end pressure strain gauge 220, radiation shield 230;

[0035] Main control device 300, operating trolley 310, bearing plate 311, zero position slot 3111, lifting structure 312, storage slot 3121, base 313, casters 314, floor brake 315, handle 316, pressure sensor 3161, pedal 317, operator 320, rocker 321, slip ring 322, CT display 331, puncture display 332, CT control panel 341, operator control panel 342, operator mounting plate 350, driving member 361, gear 362, rack 363, main end pressure strain gauge 364, abutting member 365, electrical cabinet 370;

[0036] Computer tomography equipment 400;

[0037] CT room 510 , local operation room 520 , and remote operation room 530 . DETAILED DESCRIPTION

[0038] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0039] In the description of the present application, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0040] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, if the term "plurality" appears, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0041] In this application, unless otherwise clearly specified and limited, if the terms "installed", "connected", "connected", "fixed" and the like appear, these terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0042] In the present application, unless otherwise clearly specified and limited, if there is a description that a first feature is "above" or "below" a second feature, etc., or similar descriptions appear, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0043] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. If an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only implementation method.

[0044] See also Figure 1 , Figure 5 and Figure 6 The puncture robot system provided in one embodiment of the present application includes a robot 100, a puncture needle 210, a main control device 300, a computer tomography device 400, a driving member 361, a slave-end force measuring member and a master-end force measuring member. The puncture needle 210 is installed on the robot 100, and the main control device 300 is connected to the robot 100 for communication. The main control device 300 is provided with an operator 320, and the operator 320 is used to control the robot 100 to drive the puncture needle 210 to perform a puncture operation. The computer tomography device 400 is connected to the main control device 300 for communication, and the computer tomography device 400 is used to scan and at least output an image of the area where the puncture needle 210 is located. Both the slave-end force measuring member and the master-end force measuring member are connected to the driving member 361 for communication. The slave-end force measuring member is installed on the puncture needle 210, and the slave-end force measuring member is used to detect the puncture resistance when the puncture needle 210 is inserted. The driving member 361 is connected to the operator 320, and the driving member 361 is used to apply feedback resistance to the operator 320 based on the puncture resistance. The main end force measuring member is installed on the operator 320 and is used to detect the feedback resistance. The driving member 361 can perform negative feedback adjustment on the output feedback resistance based on the magnitude of the puncture resistance and the feedback resistance to reduce the difference between the feedback resistance and the puncture resistance.

[0045] The puncture robot system scans and outputs an image of the area where the puncture needle 210 is located through the computer tomography device 400, so that the operator can determine the position and direction of the puncture needle 210 and other information with the help of the scanned image. The slave end force measuring member can detect the puncture resistance when the puncture needle 210 is inserted, and the driving member 361 can apply feedback resistance to the operator 320 based on the puncture resistance, so that the operator can intuitively feel the puncture resistance, so as to improve the puncture accuracy. At the same time, the main end force measuring member can detect the feedback resistance applied to the operator 320, so that the driving member 361 can negatively feedback the output feedback resistance based on the size of the feedback resistance and the puncture resistance, so as to reduce the difference between the feedback resistance and the puncture resistance, thereby reducing the deviation between the feedback resistance and the puncture resistance and improving the feedback accuracy of the puncture resistance. In this way, the operator can intuitively see the position and direction of the puncture needle 210 with the help of the scanned image, and can more accurately feel the puncture resistance, which helps the operator to more accurately control the robot 100 to drive the puncture needle 210 to puncture, thereby improving the puncture success rate and puncture efficiency.

[0046] Specifically, during the needle insertion process, the puncture needle 210 needs to pass through multiple layers of tissue cells, such as the surface skin and fat layer, and may also encounter hard areas such as bones. When the puncture needle 210 passes through these areas, the puncture resistance is different. Therefore, the operator can more accurately judge the current puncture state by intuitively feeling the size of the puncture resistance and combining it with the position of the puncture needle 210 in the scanned image, thereby more accurately adjusting the subsequent needle insertion operation, so that the puncture needle 210 can reach the lesion area more smoothly and efficiently. By improving the feedback accuracy of the puncture resistance in the manner of the embodiment of the present application, the operator's intuitive feeling can be more accurate, and the judgment based on this can be more accurate, thereby improving the puncture success rate and puncture efficiency.

[0047] See also Figure 1 and Figure 6 Specifically, the robot 100 includes a robot body and a puncture end piece 110. The robot body includes a plurality of joints connected in sequence. The puncture end piece 110 is mounted on the end joints, and the puncture needle 210 is mounted on the puncture end piece 110. The robot body can drive the puncture end piece 110 and the puncture needle 210 to swing to adjust the direction of the puncture needle 210. The driving structure in the puncture end piece 110 can drive the puncture needle 210 to extend or retract to achieve needle insertion or withdrawal.

[0048] See also Figure 5 and Figure 6 In some embodiments, if the feedback resistance is less than the puncture resistance, the driver 361 is configured to increase the current to increase the output feedback resistance; if the feedback resistance is greater than the puncture resistance, the driver 361 is configured to reduce the current to reduce the output feedback resistance.

[0049] Specifically, the puncture resistance information of the puncture needle 210 detected by the end force measuring member when the puncture needle 210 is inserted is transmitted back to the driving member 361, and the driving member 361 outputs the output power based on the puncture resistance, and the output power is finally applied to the operator 320, so that the operator holding the operator 320 can feel the feedback resistance, thereby intuitively simulating the puncture resistance. It can be understood that the current of the driving member 361 will affect its output power. The larger the current, the larger the output power. The magnitude of the output power is equal to the magnitude of the puncture resistance. In an ideal state, after the output power is transmitted to the operator 320, the magnitude of the feedback resistance applied to the operator 320 should be equal to the output power, that is, equal to the puncture resistance. However, since there may be force loss on the path of the output power transmitted to the operator 320, this may result in the feedback resistance finally applied to the operator 320 being less than the output power, that is, less than the puncture resistance. Or, in some other cases, it may also happen that the feedback resistance finally applied to the operator 320 is greater than the output power, that is, greater than the puncture resistance. Therefore, after comparing the feedback resistance and the puncture resistance, if the feedback resistance is less than the puncture resistance, the current of the driving member 361 can be increased to increase the output power, thereby increasing the feedback resistance, and reducing the difference between the feedback resistance and the puncture resistance through negative feedback regulation. If the feedback resistance is greater than the puncture resistance, the current of the driving member 361 can be reduced to reduce the output power, thereby reducing the feedback resistance, and reducing the difference between the feedback resistance and the puncture resistance through negative feedback regulation. In this way, the feedback resistance and the puncture resistance can be made as close as possible, so that the feedback resistance felt by the operator's hand can more realistically reflect the actual puncture resistance, which helps the operator to more accurately control the robot 100 to drive the puncture needle 210 to puncture, thereby improving the puncture success rate and puncture efficiency.

[0050] See also Figure 5 and Figure 6 In some embodiments, the driver 361 can perform negative feedback adjustment on the output feedback resistance based on the magnitude of the puncture resistance and the feedback resistance until the feedback resistance is equal to the puncture resistance.

[0051] Specifically, after comparing the feedback resistance and the puncture resistance, if the feedback resistance is less than the puncture resistance, the current of the driving member 361 can be increased to increase the output power, thereby increasing the feedback resistance, and reducing the difference between the feedback resistance and the puncture resistance through negative feedback regulation until the feedback resistance and the puncture resistance are equal. If the feedback resistance is greater than the puncture resistance, the current of the driving member 361 can be reduced to reduce the output power, thereby reducing the feedback resistance, and reducing the difference between the feedback resistance and the puncture resistance through negative feedback regulation until the feedback resistance and the puncture resistance are equal. In this way, the feedback resistance and the puncture resistance can be kept equal in real time, so that the feedback resistance felt by the operator's hand is more accurate, and the puncture success rate and puncture efficiency are further improved.

[0052] Of course, in other embodiments, negative feedback regulation may be used to keep the difference between the feedback resistance and the puncture resistance within a smaller range.

[0053] See also Figure 5 to Figure 6 In some embodiments, a supporting member 365 is further included. The operator 320 includes a slip ring 322. The slip ring 322 is configured to move along a preset direction so that the puncture needle 210 performs a needle insertion operation. The supporting member 365 is connected between the driving member 361 and the slip ring 322. The output power of the driving member 361 is used to make the supporting member 365 resist against the slip ring 322 in the opposite direction of the preset direction to apply feedback resistance to the slip ring 322.

[0054] Specifically, the operator 320 includes a slidingly connected rocker 321 and a slip ring 322, and the slip ring 322 can slide along the length direction of the rocker 321. The preset direction is the direction along the length direction of the rocker 321 and close to the driving member 361. When the slip ring 322 slides along the rocker 321 toward the side close to the driving member 361, the puncture end member 110 drives the puncture needle 210 to perform the needle insertion operation, and vice versa to perform the needle withdrawal operation. More specifically, the encoder on the side of the operator 320 can record the motion parameters of the operator 320 and transmit them to the encoder on the side of the puncture end member 110. The encoder on the side of the puncture end member 110 transmits the motion parameters to the drive structure in the puncture end member 110, and the drive structure drives the puncture needle 210 to move to perform the action corresponding to the slip ring 322. The output power of the driving member 361 is transmitted to the resisting member 365, so that the resisting member 365 resists against the slip ring 322 in the opposite direction of the preset direction, thereby preventing the operator from pushing the slip ring along the preset direction. In this way, the operator can feel the feedback resistance when pushing the slip ring 322 along the preset direction.

[0055] See also Figure 5 In some embodiments, the main-end force measuring piece includes a main-end pressure strain gauge 364, which is connected between the supporting piece 365 and the driving piece 361. The output power is transmitted to the supporting piece 365 through the main-end pressure strain gauge 364, so that the supporting piece 365 is supported against the slip ring 322. The main-end pressure strain gauge 364 can be deformed under the output power, and the feedback resistance is measured based on the deformation.

[0056] Specifically, one end of the abutting member 365 is fixedly connected to the slip ring 322, and the other end is fixedly connected to the main end pressure strain gauge 364, and the main end pressure strain gauge 364 is also connected to the driving member 361. The output power output by the driving member 361 abuts against the main end pressure strain gauge 364 in the opposite direction of the preset direction, and then abuts against the abutting member 365, and then abuts against the slip ring 322, so that the operator can feel the feedback resistance when pushing the slip ring 322 in the preset direction. When the output power abuts against the main end pressure strain gauge 364 in the opposite direction of the preset direction, the main end pressure strain gauge 364 will be deformed, thereby generating a corresponding electrical signal based on the deformation, and the electrical signal is transmitted to the control module, and the control module processes the electrical signal to obtain the feedback resistance.

[0057] See also Figure 5 In some embodiments, a transmission component connected between the main-end pressure strain gauge 364 and the driving member 361 is further included, and the output power is transmitted to the main-end pressure strain gauge 364 through the transmission component.

[0058] Specifically, the driving member 361 is a motor, and the rotational power outputted by the driving member 361 is converted into a linear output power by a transmission assembly and applied to the main end pressure strain gauge 364. In other embodiments, the driving member 361 can be a cylinder, a linear motor or an electric push rod, etc., which directly outputs the linear output power.

[0059] See also Figure 5 Furthermore, in some embodiments, the transmission assembly includes a gear 362 and a rack 363 that mesh with each other, the gear 362 is connected to the driving member 361, the rack 363 is connected to the main-end pressure strain gauge 364, and the driving member 361 causes the rack 363 to abut against the main-end pressure strain gauge 364 through the gear 362.

[0060] Specifically, the driving member 361 is a motor, and the gear 362 is connected to the output shaft of the motor. The rotational power is converted into a linear output power through a gear rack structure, and then applied to the main end pressure strain gauge 364. The motor only outputs positive rotational power, but its output shaft is actually reversed. Specifically, when the operator's hand starts to push the slip ring 322 to slide in the preset direction, the motor outputs positive rotational power, so that the gear 362 has a tendency to rotate forward, and the rack has a tendency to move in the opposite direction to the preset direction. In the process of the slip ring 322 sliding in the preset direction, the rack actually moves in the preset direction, and correspondingly, the gear 362 is also reversed, and the motor output shaft is also reversed.

[0061] In other embodiments, the transmission assembly may also be a structure such as a screw assembly that can achieve conversion between rotation and linear motion.

[0062] See also Figure 6In some embodiments, the slave-end force measuring member includes a slave-end pressure strain gauge 220, which is connected between the robot 100 and the puncture needle 210. When the puncture needle 210 is in the needle insertion state, the slave-end pressure strain gauge 220 is resisted by the puncture needle 210 and deformed, and the puncture resistance is measured based on the deformation.

[0063] Specifically, the slave end pressure strain gauge 220 is installed in the fixing seat 211 of the puncture needle 210 and connected between the puncture end piece 110 and the puncture needle 210. When the puncture needle 210 extends in the direction away from the puncture end piece 110, the needle insertion operation is performed. During the needle insertion process, the tissue cells apply puncture resistance in the opposite direction of the needle insertion direction to the puncture needle 210, so that the puncture needle 210 squeezes the slave end pressure strain gauge 220, and the slave end pressure strain gauge 220 is deformed, and a corresponding electrical signal is generated based on the deformation. The electrical signal is transmitted to the control module, and the control module processes the electrical signal to obtain the puncture resistance. The control module is connected to the drive member 361 in communication, and the master end pressure strain gauge 364 and the slave end pressure strain gauge 220 are both connected to the control module in communication. The control module compares the received feedback resistance with the puncture resistance, and judges and controls the drive member 361 to increase or decrease the current based on this.

[0064] See also Figure 6 In some embodiments, in order to reduce the radiation to the slave-end pressure strain gauge 220 and extend its service life, a radiation shield 230 is provided on the outer cover of the slave-end pressure strain gauge 220 .

[0065] See also Figures 5 to 7 In some embodiments, the specific operation mode of the operator 320 is described. As mentioned above, when the slip ring 322 slides along the rocker 321 toward the side close to the driving member 361, the puncture end member 110 drives the puncture needle 210 to perform the needle insertion operation, and vice versa to perform the needle withdrawal operation. When the rocker 321 rotates around the X-axis and / or the Y-axis, the puncture needle 210 swings to adjust the direction of the puncture needle 210, wherein the X-axis, the Y-axis and the aforementioned preset directions are perpendicular to each other. In the natural state, the operator 320 is braked by the brake, and the above three movements (movement of the slip ring 322 and rotation of the rocker 321) cannot occur. A button is provided on the slip ring 322, and the button must be pressed to release the brake and perform the above three movements. The rocker 321 can rotate around its own axis to adjust the direction of the button for the convenience of the operator.

[0066] The slip ring 322 mentioned above slides along the rocker 321 toward the side close to the driving member 361, which is the needle entry mode; the slip ring 322 slides along the rocker 321 toward the side away from the driving member 361, which is the needle withdrawal mode; the rocker 321 rotates around the X-axis and / or Y-axis, which is the direction adjustment mode.

[0067] In the embodiment of the present application, force feedback is performed only when the puncture needle 210 is in the needle insertion mode, and the corresponding component (such as the driving member 361) is in the on state. In the needle withdrawal or direction adjustment mode, this function cannot be used and the corresponding component is in the off state.

[0068] See also Figure 3 , Figure 4 and Figure 8 In some embodiments, the main control device 300 includes a carrier plate 311, on which is carried a display that is communicatively connected to the computed tomography device 400, and the display is used to display the scanned image. The operator 320 is installed on the carrier plate 311 and the two are slidably connected, and the operator 320 can slide relative to the carrier plate 311.

[0069] Specifically, the operator 320 is installed on the operator mounting plate 350 and the two are slidably connected. The operator mounting plate 350 is installed below the supporting plate 311. The operator mounting plate 350 extends along the length direction of the supporting plate 311. The operator 320 can slide to the left or right along the extension direction of the operator mounting plate 350, so that the operator can operate the operator 320 with both his left hand and his right hand, which is more convenient to use.

[0070] The system includes two displays, namely a CT display 331 and a puncture display 332, both of which are connected to the computer tomography device 400 and the control module. The CT display 331 is used to display the CT imaging results of the human body or animal, and the puncture display 332 is used to display the CT imaging of the puncture needle and the target area.

[0071] See also Figure 3 , Figure 4 and Figure 8 In some embodiments, the operator mounting plate 350 is mounted below the carrier plate 311 and the two are slidably connected. The carrier plate 311 is provided with a zero position slot 3111. The operator mounting plate 350 can slide along the width direction of the carrier plate 311 until the operator 320 enters the zero position slot 3111. Specifically, when the operator 320 does not need to be operated, the operator 320 can be returned to the zero position slot 3111 to prevent the operator 320 from being accidentally touched.

[0072] Preferably, a locking structure can be provided to lock the operator 320 or the operator mounting plate 350 so that the operator 320 can be stably maintained in the zero position slot 3111. When in use, the locking structure is first unlocked before the operator 320 or the operator mounting plate 350 can be moved. For example, the locking structure can include a hook and a through hole, one of which is provided on the carrier plate 311, and the other is provided on the operator 320 or the operator mounting plate 350, and the locking is achieved by hanging the hook on the through hole. Of course, other conventional locking structures are also possible.

[0073] See also Figure 3 , Figure 4 and Figure 8 In some embodiments, the main control device 300 includes two separate operation trolleys 310, and the two operation trolleys 310 have similar structures. Each operation trolley 310 includes a bearing plate 311, a lifting structure 312 and a base 313. In each operation trolley 310, one end of the lifting structure 312 is connected to the base 313, and the other end is connected to the bearing plate 311. The puncture display 332 and the CT display 331 are placed on the two bearing plates 311 respectively, and the display panels of the puncture display 332 and the CT display 331 can be lifted and lowered. A CT control panel 341 is also placed on the bearing plate 311 on which the CT display 331 is placed, and an operator control panel 342 is also placed on the bearing plate 311 on which the puncture display 332 is placed, and the aforementioned operator mounting plate 350 and the operator 320 are installed. Components such as a mouse and a keyboard are also placed on each bearing plate 311. The CT control panel 341 is used to operate the computer tomography device 400, including functions such as volume adjustment, bed moving, voice communication, etc. The operator control panel 342 is provided with control buttons of the operator 320, including a puncture end button, an emergency stop button, a mode knob, an indicator light, and the like.

[0074] The two operation trolleys 310 are separately arranged, so only one of the operation trolleys 310 or both operation trolleys 310 can be used as needed. For example, when only CT scanning is required without puncture, only the operation trolley 310 equipped with the CT display 331 can be used, and the operation trolley 310 equipped with the puncture display 332 can be transported and stored to avoid damage to the equipment due to misoperation. When puncture is required with the aid of CT scanning, the two operation trolleys 310 are used at the same time. In addition, the two operation trolleys 310 are separately arranged, and when puncture is performed with the aid of CT scanning, it is convenient for two operators to operate separately.

[0075] Preferably, a linear motor or an electric push rod or other components are provided in the lifting structure 312 to drive the corresponding supporting plate 311 to rise and fall so as to meet the use requirements of operators at different heights.

[0076] Preferably, in each operating trolley 310, casters 314 are also installed under the base 313, so that the operating trolley 310 can be moved and used more conveniently. Preferably, in each operating trolley 310, at least two of the casters 314 are electric power casters, which can provide driving force to reduce the difficulty of carrying in scenarios such as uphill carrying.

[0077] Preferably, in each operating trolley 310, a ground brake 315 is installed under the base 313. When the operating trolley 310 is moved into place, the motor drives the ground brake 315 to extend downward and support it on the ground, thereby suspending the caster 314 to stabilize the operating trolley 310 in the current position.

[0078] See also Figure 3 , Figure 4 , Figure 8 and Fig. 9 In some embodiments, a handle 316 is further provided on the lifting structure 312 , and an operator can carry the operating trolley 310 by the handle 316 .

[0079] Preferably, a pressure sensor 3161 is provided on the handle 316, and the pressure sensor 3161 can sense the force applied by the operator's hand to the handle 316. The greater the force, the greater the difficulty of carrying. If the force sensed exceeds the pressure threshold, the electric power caster is turned on to provide assistance for carrying and reduce the difficulty of carrying.

[0080] The lifting structure 312 is also provided with a pedal 317. When the lifting structure 312 is moved to the right place, the caster 314 can be locked by simply stepping on the pedal 317. The specific locking method is prior art and will not be described here. After locking the caster 314, the ground brake 315 is extended downward and supported on the ground in the above-mentioned manner.

[0081] Preferably, the lifting structure 312 is also provided with a storage slot 3121. After the transportation is completed, the handle 316 can be rotated downward to store it in the storage slot 3121, so as to reduce the space required and facilitate the operation of placing the trolley 310 against the wall. A return-to-zero damper is provided on the rotating shaft that is rotatably connected to the lifting structure 312. The return-to-zero damper can slowly and automatically return the handle 316 to the storage slot 3121 after the handle 316 is released.

[0082] See also Fig.10 In some embodiments, the main control device 300 includes only one operating trolley 310. Figure 3 The difference of the embodiment shown is that the operator 320, CT display 331, puncture display 332, CT control panel 341, operator control panel 342, and operator mounting plate 350 are all arranged on the supporting plate 311 of the operating trolley 310. Figure 3 The puncture operating system and the scanning operating system in the illustrated embodiment are integrated together.

[0083] See also Figure 3 , Fig.10 and Fig.11In some embodiments, the main control device 300 includes a control module, and the robot 100, the computed tomography device 400, the slave-end force measuring member, the driving member 361, and the master-end force measuring member are all communicatively connected to the control module.

[0084] Specifically, in some embodiments, the main control device 300 includes a separate operating trolley 310 and an electrical cabinet 370, and the control module is arranged in the electrical cabinet 370. For example, the operating trolley 310 includes a load-bearing plate 311, and the electrical cabinet 370 is arranged below the load-bearing plate 311. Separating the electrical cabinet 370 from the operating trolley 310 can facilitate the maintenance of the control module in the electrical cabinet 370, and the electrical cabinet 370 can be directly pulled out when maintenance is required. Alternatively, in other embodiments, the jacking structure 312 is hollow inside and is used to place the control module, that is, the control module is integrated into the operating trolley 310.

[0085] In addition, the above embodiments can be used with Fig.10 Similar to the embodiment shown, only one operating trolley 310 is provided; Figure 3 Similar to the illustrated embodiment, two separate operating trolleys 310 are provided.

[0086] See also Figure 1 In some embodiments, the robot 100 and the computer tomography device 400 are arranged in the CT room 510, and the main control device 300 is arranged in the local operation room 520, and the local operation room 520 and the CT room 510 are separated from each other. The operator remotely controls the robot 100 in the local operation room 520 to drive the puncture needle 210 to perform the puncture operation. Therefore, the operator will not be exposed to radiation due to being in the CT room 510 for a long time, which can reduce the harm to the operator's health.

[0087] See also Figure 2 In some embodiments, the robot 100 and the computer tomography device 400 are arranged in the CT room 510, and the main control device 300 is arranged in the local operation room 520, and the local operation room 520 and the CT room 510 are separated from each other. The main control device 300 is also arranged in the remote operation room 530, and the main control device 300 in the remote operation room 530 is in communication connection with the robot 100. The remote operation room 530 and the local operation room 520 can be located in two places respectively, for example, in different cities. The operator can remotely control the robot 100 in the local operation room 520 to drive the puncture needle 210 to perform the puncture operation, and can also remotely control the robot 100 in the remote operation room 530 to drive the puncture needle 210 to perform the puncture operation. In this way, surgical operations in a long-distance mode can be realized.

[0088] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0089] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. A puncture robot system, characterized in that: The puncture robot system comprises: Robot (100); A puncture needle (210), mounted on the robot (100); A main control device (300) is connected to the robot (100) for communication, and an operator (320) is provided on the main control device (300). The operator (320) is used to control the robot (100) to drive the puncture needle (210) to perform a puncture operation; A computer tomography device (400) is connected to the main control device (300) for scanning and outputting at least an image of the area where the puncture needle (210) is located; A slave end force measuring piece is mounted on the puncture needle (210) and is used to detect the puncture resistance of the puncture needle (210) when the puncture needle (210) is inserted; A driving member (361) connected to the operator (320), the slave-end force measuring member being in communication connection with the driving member (361), and the driving member (361) being used to apply feedback resistance to the operator (320) based on the puncture resistance; The main-end force measuring member is installed on the operator (320) and is used to detect the feedback resistance. The main-end force measuring member is communicatively connected with the driving member (361). The driving member (361) can negatively feedback-regulate the output feedback resistance based on the magnitude of the puncture resistance and the feedback resistance, so as to reduce the difference between the feedback resistance and the puncture resistance.

2. The puncture robot system according to claim 1, characterized in that: The driving member (361) can perform negative feedback adjustment on the output feedback resistance based on the magnitude of the puncture resistance and the feedback resistance until the feedback resistance is equal to the puncture resistance.

3. The puncture robot system according to claim 1, characterized in that: If the feedback resistance is smaller than the puncture resistance, the driving member (361) is configured to increase the current to increase the output feedback resistance; If the feedback resistance is greater than the puncture resistance, the driving member (361) is configured to reduce the current to reduce the output feedback resistance.

4. The puncture robot system according to any one of claims 1 to 3, characterized in that: The device also includes a supporting member (365), wherein the operator (320) includes a slip ring (322), and the slip ring (322) is configured to move along a preset direction so that the puncture needle (210) performs a needle insertion operation. The supporting member (365) is connected between the driving member (361) and the slip ring (322), and the output power of the driving member (361) is used to make the supporting member (365) resist against the slip ring (322) in the opposite direction of the preset direction, so as to apply the feedback resistance to the slip ring (322).

5. The puncture robot system according to claim 4, characterized in that: The main-end force measuring piece comprises a main-end pressure strain gauge (364), and the main-end pressure strain gauge (364) is connected between the abutting piece (365) and the driving piece (361). The output power is transmitted to the abutting piece (365) via the main-end pressure strain gauge (364), so that the abutting piece (365) abuts against the slip ring (322). The main-end pressure strain gauge (364) can be deformed under the action of the output power, and the feedback resistance is measured based on the deformation.

6. The puncture robot system according to claim 5, characterized in that: It also includes a transmission assembly connected between the main-end pressure strain gauge (364) and the driving member (361), and the output power is transmitted to the main-end pressure strain gauge (364) via the transmission assembly.

7. The puncture robot system according to claim 6, characterized in that: The transmission assembly comprises a gear (362) and a rack (363) meshing with each other, the gear (362) is connected to the driving member (361), the rack (363) is connected to the main-end pressure strain gauge (364), and the driving member (361) causes the rack (363) to abut against the main-end pressure strain gauge (364) via the gear (362).

8. The puncture robot system according to any one of claims 1 to 3, characterized in that: The slave-end force measuring member comprises a slave-end pressure strain gauge (220), and the slave-end pressure strain gauge (220) is connected between the robot (100) and the puncture needle (210). When the puncture needle (210) is in the needle insertion state, the slave-end pressure strain gauge (220) is pressed against by the puncture needle (210) to generate deformation, and the puncture resistance is measured based on the deformation.

9. The puncture robot system according to any one of claims 1 to 3, characterized in that: The main control device (300) comprises a carrier plate (311), on which a display is carried which is communicatively connected to the computer tomography device (400), and the display is used to display a scanned image. The operator (320) is mounted on the carrier plate (311) and the two are slidably connected, and the operator (320) can slide relative to the carrier plate (311).

10. The puncture robot system according to any one of claims 1 to 3, characterized in that: The main control device (300) comprises a control module, and the robot (100), the computer tomography device (400), the slave-end force measuring member, the driving member (361), and the master-end force measuring member are all communicatively connected to the control module.

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