Puncture surgery robot system

Abstract

The invention belongs to the technical field of medical robots, and particularly relates to a puncture surgery robot system. The CT bed is provided with the multi-axis movement mechanism, the multi-axis movement mechanism comprises an X-axis linear guide rail mechanism, a Y-axis linear guide rail mechanism, a Z-axis linear guide rail mechanism and a tail end executing mechanism, a cantilever structure in the tail end executing mechanism is connected with the Z-axis linear guide rail mechanism, and a first rotating shaft arranged in the tail end executing mechanism is connected with a second rotating shaft through an output connecting rod. The axis where the first rotating shaft is located and the axis where the second rotating shaft is located are arranged in a crossed mode. The method has the advantages that the positioning error is smaller than or equal to 0.3 mm, and the angle adjusting precision reaches 0.1 degree; non-coplanar puncture paths of anatomical structures such as lungs and livers are adapted; 180-degree horizontal rotation and + / -90-degree pitching adjustment are achieved, the movement space limitation of a parallel structure is broken through, and the device is compatible with obese patients and special body positions such as side lying and prone lying; target point coordinates are fitted in real time through CT images, the motion trail of the robot is dynamically corrected, the manual calibration frequency is reduced, and the operation efficiency is greatly improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of medical robots, and in particular relates to a puncture surgery robot system. Background Art

[0002] Radiographically guided puncture procedures require extremely high positioning accuracy (submillimeter level) and operational flexibility (multi-dimensional posture adjustment). Conventional puncture robots currently utilize a serial single- or dual-axis structure, capable of only linear or simple planar puncture trajectories. Their limited three-dimensional path planning capabilities make them inadequate for non-coplanar punctures of complex lesions. Furthermore, due to arm joint play and transmission wear, errors accumulate exponentially with arm length, leading to end-positioning errors reaching millimeter levels, far exceeding the clinically acceptable range (≤0.5mm). Furthermore, existing systems lack real-time image feedback and force sensing capabilities. They cannot be linked to CT equipment for real-time calibration of target displacement (e.g., lack a mechanism for matching the laser positioner with the image coordinate system), necessitating multiple surgical interruptions for manual adjustments, prolonging the procedure and increasing radiation exposure. Furthermore, the lack of resistance monitoring makes it easy for the needle tip to contact blood vessels or bone, leading to loss of depth control or deviation from the correct direction, increasing the risk of complications. While some parallel robots offer high rigidity, their limited range of motion makes them difficult to accommodate obese patients or complex body positions such as side- or prone recumbent, significantly limiting their clinical applicability. Summary of the Invention

[0003] The technical problem to be solved by the present invention is: to overcome the shortcomings of the existing technology. The present invention provides a puncture surgical robot system, which aims to solve the problems of insufficient positioning accuracy, poor flexibility and lack of real-time feedback of existing puncture robots, and realize high-precision puncture under CT image guidance.

[0004] The technical solution adopted by the present invention to solve its technical problem is: A puncture surgical robot system includes a CT bed and a multi-axis motion mechanism. The multi-axis motion mechanism is installed on the CT bed. The multi-axis motion mechanism includes an X-axis, Y-axis, and Z-axis linear guide mechanism and an end actuator. The cantilever structure in the end actuator is connected to the Z-axis linear guide mechanism. The rotating axis 1 provided in the end actuator is connected to the rotating axis 2 through an output connecting rod. The axis of the rotating axis 1 and the axis of the rotating axis 2 are arranged in a cross state.

[0005] Compared with the prior art, the present invention adopting the above technical solution has the following advantages: 1. The X, Y, and Z three-axis linear guide mechanism works together with the first and second rotation axes to form a three-dimensional Cartesian coordinate system and dual-degree-of-freedom posture adjustment. The positioning error is ≤0.3mm and the angle adjustment accuracy is 0.1°. This solves the path planning limitations and error accumulation problems of traditional single / dual-axis structures and can adapt to non-coplanar puncture paths in complex anatomical structures such as the lungs and liver. 2. Large travel and flexible adaptation: The cantilever structure combined with a three-axis guide rail covers a wide range of anatomical areas (e.g., from the chest wall to paraspinal lesions), achieving 180° horizontal rotation and ±90° pitch adjustment, breaking through the motion space limitations of the parallel structure and being compatible with obese patients and special positions such as side-lying and prone sleeping. 3. Real-time dynamic calibration: Use CT images to fit target coordinates in real time, dynamically correct the robot's motion trajectory, reduce the frequency of manual calibration, and significantly improve surgical efficiency.

[0006] The preferred embodiment of the present invention is: The cantilever structure in the end actuator is connected to the Z-axis slide, the rotation center line of the rotating shaft 1 in the end actuator is arranged parallel to the Y-axis, the rotating shaft 1 is connected to the rotating shaft 2 through the output connecting rod, the rotating shaft 1 is equipped with a rotating motor 1, and the rotating shaft 2 is equipped with a rotating motor 2; the rotating shaft 2 is equipped with an end actuator through an L-shaped output rod.

[0007] The Y-axis linear guide in the Y-axis linear guide mechanism is arranged along the length direction of the CT bed through the Y-axis support frame. The Y-axis linear guide is equipped with a Y-axis drive motor through a first support. The Y-axis drive motor is connected to the Y-axis lead screw, and the Y-axis lead screw is equipped with a Y-axis slide.

[0008] The two ends of the X-axis linear guide in the X-axis straight guide mechanism are connected to the Y-axis slides on both sides of the CT bed through the X-axis support frames on both sides thereof. The X-axis linear guide is equipped with an X-axis drive motor through a second support. The X-axis drive motor is connected to the X-axis lead screw. The axis of the X-axis lead screw is arranged parallel to the front and rear width direction of the CT bed. The X-axis slide is installed on the X-axis lead screw, and the Z-axis support frame is installed on the X-axis slide.

[0009] The Z-axis linear guide in the Z-axis linear guide mechanism is installed on the Z-axis support frame, and the Z-axis linear guide is equipped with a Z-axis drive motor through a third support. The Z-axis drive motor is connected to the Z-axis screw, and a Z-axis slide is installed on the Z-axis screw. The axis of the Z-axis screw is arranged perpendicular to the horizontal plane; the cantilever in the end actuator is installed on the Z-axis slide.

[0010] The robot system is equipped with an integrated laser locator, which is linked to the CT image and the projection image marks the puncture path.

[0011] The first rotation axis rotates horizontally around the Y axis in the range of 0-180 degrees, and the second rotation axis rotates around the X axis by ±90 degrees.

[0012] The cantilever structure is made of carbon fiber composite material. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention.

[0014] Figure 2 This is a state diagram when the present invention is used in conjunction with a CT machine.

[0015] Figure 3 It is the front view of the present invention.

[0016] Figure 4 It is a top view of the present invention.

[0017] Figure 5 It is a side view of the present invention. DETAILED DESCRIPTION

[0018] The following is a further detailed description with reference to the accompanying drawings and embodiments: In the figure, CT bed 1, Y-axis support frame 2, Y-axis lead screw 3, Y-axis linear guide 4, Y-axis slide 5, first support 6, Y-axis drive motor 7, vertical rod 8, X-axis support frame 9, X-axis linear guide 10, X-axis lead screw 11, X-axis slide 12, X-axis drive motor 13, second support 14, Z-axis drive motor 15, Z-axis support frame 16, third support 17, Z-axis linear guide 18, Z-axis lead screw 19, Z-axis slide 20, cantilever structure 21, rotary motor 1 22, rotary axis 1 23, output connecting rod 24, rotary motor 2 25, L-shaped output rod 26, end effector 27, rotary axis 2 28, patient 29, CT machine 30; In this embodiment, a multi-axis motion mechanism is installed on the CT bed 1 connected to the main control system. The multi-axis motion mechanism includes an X-axis, Y-axis, and Z-axis linear guide mechanism and an end actuator. The cantilever structure 21 in the end actuator is connected to the Z-axis linear guide mechanism. The rotation axis 1 23 provided in the end actuator is connected to the rotation axis 2 28 through an output connecting rod 24. The axis of the rotation axis 1 23 and the axis of the rotation axis 2 28 are arranged in a cross state.

[0019] The cantilever structure 21 in the end actuator is connected to the Z-axis slide 20. The rotation center line of the rotating shaft 1 23 in the end actuator is arranged parallel to the Y-axis. The rotating shaft 1 23 is connected to the rotating shaft 2 28 through the output connecting rod 24. The rotating shaft 1 23 is equipped with a rotating motor 1 22, and the rotating shaft 2 28 is equipped with a rotating motor 2 25; the rotating shaft 2 28 is equipped with an end actuator 27 through an L-shaped output rod 26.

[0020] The Y-axis linear guide 4 in the Y-axis linear guide mechanism is arranged along the length direction of the CT bed 1 through the Y-axis support frame 2. The Y-axis linear guide 4 is equipped with a Y-axis drive motor 7 through a first support 6. The Y-axis drive motor 7 is connected to the Y-axis screw 3, and the Y-axis screw 3 is equipped with a Y-axis slide 5.

[0021] The two ends of the X-axis linear guide 10 in the X-axis straight guide mechanism are connected to the Y-axis slide 5 on both sides of the CT bed 1 through the X-axis support frames 9 and the vertical rods 8 on both sides thereof. The X-axis linear guide 10 is equipped with an X-axis drive motor 13 through a second support 14. The X-axis drive motor 13 is connected to an X-axis lead screw 11. The axis of the X-axis lead screw 11 is arranged parallel to the front-to-back width direction of the CT bed 1. The X-axis slide 12 is installed on the X-axis lead screw 11, and the Z-axis support frame 16 is installed on the X-axis slide 12.

[0022] The Z-axis linear guide 18 in the Z-axis linear guide mechanism is installed on the Z-axis support frame 16. The Z-axis linear guide 18 is equipped with a Z-axis drive motor 15 through a third support 17. The Z-axis drive motor 15 is connected to a Z-axis screw 19. A Z-axis slide 20 is installed on the Z-axis screw 19. The axis of the Z-axis screw 19 is arranged perpendicular to the horizontal plane; the Z-axis slide 20 is equipped with a cantilever structure 21 in the end actuator; the cantilever structure 21 is made of carbon fiber composite material.

[0023] It is preferable that the maximum size of the space occupied by the upper and lower ends of the Z-axis linear guide mechanism is conducive to passing through the annular space of the CT machine 30.

[0024] In the robot system, an integrated laser locator (placed on the end effector 27) is installed. The integrated laser locator is linked with the CT image, and the projection marks the puncture path.

[0025] This embodiment is applied to interventional treatment, which includes but is not limited to interventional treatments such as tumor biopsy and ablation.

[0026] In this embodiment, the X-axis linear guide rail 10 , the Y-axis linear guide rail 4 , and the Z-axis linear guide rail 18 are arranged perpendicular to each other to form a three-dimensional Cartesian coordinate system.

[0027] The Y-axis drive motor 1 drives the Y-axis screw 3 to connect and drive the Y-axis slide 5 to move back and forth along the length direction of the CT bed 1; the X-axis drive motor 13 drives the X-axis slide 12 to move back and forth along the width direction of the CT bed 1 through the X-axis screw 11; the Z-axis drive motor 15 drives the Z-axis slide 120 to move back and forth along the up and down direction of the CT bed 1 through the Z-axis screw 19.

[0028] One end of the cantilever structure 22 is fixedly connected to the Z-axis slide 20, and the other end of the cantilever structure 22 is connected to the rotating shaft 23. The rotating shaft 23 is driven by the rotating motor 21, and the rotating shaft 23 rotates around the Y axis. The rotating shaft 23 is connected to the Z-axis slide 20 through the output connecting rod 24 (as shown in FIG. Figure 1 As shown in FIG, an L-shaped structure is provided on the rotating shaft 26, which is driven by a rotating motor 25. The rotating shaft 23 rotates horizontally around the Y axis within a range of 0-180 degrees, and the rotating shaft 28 rotates in pitch by ±90 degrees around the X axis.

[0029] The working stages of this embodiment are as follows: 1. Preoperative planning: Patient 27 lies supinely on CT bed 1. CT scanner 30 obtains three-dimensional imaging data of the lesion and imports it into the main control system. The doctor sets the coordinates and path of the puncture target through the operating system. The system automatically calculates the movement distances of the X-axis slide 12, Y-axis slide 5, and Z-axis slide 20 in the X / Y / Z three-axis linear guide mechanism, as well as the rotation axis 1 23 and the rotation axis 2 26, based on an inverse kinematics algorithm, to assist the doctor in determining the needle insertion point and angle. The rotation radius of rotation axis 1 23 and rotation axis 2 26 are equal, and their axes intersect at a point, allowing for better angle control.

[0030] 2. Positioning stage: 1) Y-axis movement: The Y-axis drive motor 7 is started, and its output shaft drives the Y-axis lead screw 3 to rotate through the coupling. The lead screw nut pair converts the rotational motion into the forward and backward movement of the Y-axis slide 5 (in the Y-axis direction), so that the entire X / Z-axis linear guide mechanism moves along the length direction of the CT bed 1, and the cantilever structure 22 is initially positioned above the surface area of ​​the patient 29 corresponding to the lesion.

[0031] 2) X-axis movement: After the Y-axis positioning is completed, the X-axis drive motor 13 drives the X-axis screw 11 to rotate, driving the X-axis slide 12 to move horizontally left and right along the X-axis linear guide 10, adjusting the lateral position of the cantilever structure 21 in the horizontal plane so that the end of the cantilever structure 21 is close to the puncture point.

[0032] 3) Z-axis movement: Finally, the Z-axis drive motor 15 controls the Z-axis lead screw 19 to rotate in the Z direction, and the Z-axis slide 20 vertically rises and falls along the Z-axis linear guide 18, sending the end effector 27 at the end of the cantilever structure 21 to a position 5-10 cm away from the skin surface and pausing, completing the three-dimensional spatial positioning.

[0033] 3. Posture adjustment stage: 1) Horizontal rotation adjustment: Rotary motor 1 22 drives rotary motor 2 25 and end effector 27 to rotate around the Y-axis through output connecting rod 24, so that the puncture direction of end effector 27 is consistent with the horizontal angle planned in the CT machine 30 image (with an accuracy of 0.1°).

[0034] 2) Pitch angle adjustment: The rotary motor 25 directly drives the end effector 27 to pitch around the X-axis to adjust the angle between the puncture needle and the skin surface (range ±90°) to ensure that the puncture path is consistent with the sagittal or coronal plane of the CT scan.

[0035] 4. Puncture execution stage: After confirming that the posture is correct, the doctor performs the puncture surgery according to the preset path (planning algorithm).

[0036] The above description is merely a preferred embodiment of the present invention and does not limit the present invention in any way. Any person skilled in the art may make equivalent changes or modifications based on the above disclosure without departing from the scope of the present invention, and such changes or modifications shall be within the scope of protection of the present invention.

Claims

1. A puncture surgery robot system, comprising a CT bed and a multi-axis motion mechanism, characterized in that: The multi-axis motion mechanism is installed on the CT bed, and the multi-axis motion mechanism includes an X-axis, Y-axis, and Z-axis linear guide mechanism and an end actuator. The cantilever structure in the end actuator is connected to the Z-axis linear guide mechanism. The rotating axis 1 provided in the end actuator is connected to the rotating axis 2 through an output connecting rod. The axis of the rotating axis 1 and the axis of the rotating axis 2 are arranged in a cross state.

2. The puncture surgical robot system according to claim 1, characterized in that: The cantilever structure in the end actuator is connected to the Z-axis slide, the rotation center line of the rotating shaft 1 in the end actuator is arranged parallel to the Y-axis, the rotating shaft 1 is connected to the rotating shaft 2 through the output connecting rod, the rotating shaft 1 is equipped with a rotating motor 1, and the rotating shaft 2 is equipped with a rotating motor 2; the rotating shaft 2 is equipped with an end actuator through an L-shaped output rod.

3. The puncture surgical robot system according to claim 1, characterized in that: The Y-axis linear guide in the Y-axis linear guide mechanism is arranged along the length direction of the CT bed through the Y-axis support frame. The Y-axis linear guide is equipped with a Y-axis drive motor through a first support. The Y-axis drive motor is connected to the Y-axis lead screw, and the Y-axis lead screw is equipped with a Y-axis slide.

4. The puncture surgical robot system according to claim 1, characterized in that: The two ends of the X-axis linear guide in the X-axis straight guide mechanism are connected to the Y-axis slides on both sides of the CT bed through the X-axis support frames on both sides thereof. The X-axis linear guide is equipped with an X-axis drive motor through a second support. The X-axis drive motor is connected to the X-axis lead screw. The axis of the X-axis lead screw is arranged parallel to the front and rear width direction of the CT bed. The X-axis slide is installed on the X-axis lead screw, and the Z-axis support frame is installed on the X-axis slide.

5. The puncture surgical robot system according to claim 1, characterized in that: The Z-axis linear guide in the Z-axis linear guide mechanism is installed on the Z-axis support frame, and the Z-axis linear guide is equipped with a Z-axis drive motor through a third support. The Z-axis drive motor is connected to the Z-axis screw, and a Z-axis slide is installed on the Z-axis screw. The axis of the Z-axis screw is arranged perpendicular to the horizontal plane; the cantilever structure in the end actuator is installed on the Z-axis slide.

6. The puncture surgical robot system according to claim 1, characterized in that: The maximum size of the space occupied by the upper and lower ends of the Z-axis linear guide mechanism is preferably convenient for passing through a CT machine.

7. The puncture surgical robot system according to claim 1, characterized in that: The robot system is equipped with an integrated laser locator, which is linked to the CT image and the projection image marks the puncture path.

8. The puncture surgical robot system according to claim 1, characterized in that: The first rotation axis rotates horizontally around the Y axis in the range of 0-180 degrees, and the second rotation axis rotates around the X axis by ±90 degrees.

9. The puncture surgical robot system according to claim 1, characterized in that: The cantilever structure is made of carbon fiber composite material.

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