Biopsy system

Abstract

The invention provides a biopsy system. The biopsy system comprises a frame body, a first fixing sleeve, a second fixing sleeve, a height recognition mechanism, a lateral recognition mechanism, a surface recognition mechanism, a controller, a three-axis mechanical arm and an automatic biopsy needle. The first fixed sleeve and the second fixed sleeve are configured for the trunk to pass through. And the height identification mechanism is used for establishing a Z-axis reference of the trunk. And the lateral recognition mechanism is used for establishing a Y-axis reference of the trunk. The surface recognition mechanism is used for establishing an X-axis reference of the trunk. The controller is electrically connected with the height recognition mechanism, the lateral recognition mechanism and the surface recognition mechanism and used for establishing a three-axis coordinate system. The three-axis mechanical arm is arranged on the frame body, electrically connected with the controller and configured to be controlled by the controller and drive the execution end of the three-axis mechanical arm to move to a preset coordinate based on the three-axis coordinate system. According to the technical scheme, the biopsy damaged position can be effectively determined, the biopsy operation precision is improved, and the operation success rate can be improved.

Description

Technical Field

[0001] This application relates to the field of biopsy surgery technology, and more specifically, to a biopsy system. Background Technology

[0002] In clinical practice, when doctors are unable to identify lesions using testing equipment such as X-ray machines or ultrasound, they usually choose to take samples of living tissue for testing. Currently, the testing equipment used in clinical practice is the biopsy needle.

[0003] Biopsy, short for "biopsy," is a pathological examination technique that requires the use of specialized equipment to take a portion of the lesion tissue (often the entire lesion is taken if it is small and located on the body surface) for pathological biopsy. This provides a definitive basis for developing a treatment plan, allowing for the clinical selection of appropriate surgery or other treatment measures.

[0004] In related technologies, medical personnel often use automated biopsy needles to perform biopsies on damaged tissues. The automated biopsy needle uses elastic force or other driving force to push the needle body so that the needle tip penetrates into the tissue and then brings out the lesion tissue to complete the biopsy.

[0005] However, during the biopsy procedure, the biopsy location is still determined manually by visual inspection, which can lead to errors in the biopsy location and affect the success rate of the procedure. Summary of the Invention

[0006] This application provides a biopsy system that can effectively determine the location of biopsy lesions, improve the accuracy of biopsy procedures, and increase the success rate of the procedure.

[0007] To achieve the above objectives, this application provides the following technical solutions: This application provides a biopsy system, including a frame, a first fixed sleeve, a second fixed sleeve, a height recognition mechanism, a lateral recognition mechanism, a surface recognition mechanism, a controller, a three-axis robotic arm, and an automated biopsy needle. The frame includes a work platform; the first fixed sleeve is fixed to the frame and extends through the frame along a first direction. The second fixed sleeve is fixed to the frame, and the first and second fixed sleeves are spaced apart along the first direction, extending through the frame and coaxially arranged. The first and second fixed sleeves are configured to allow the torso to pass through. The height recognition mechanism is disposed between the first and second fixed sleeves to establish a Z-axis reference for the torso. The lateral recognition mechanism is disposed on one side of the first and second fixed sleeves along a second direction to establish a Y-axis reference for the torso. The surface recognition mechanism is disposed on the side of the first and second fixed sleeves along a third direction and away from the work platform to establish an X-axis reference for the torso, with the first, second, and third directions perpendicular to each other. The controller is electrically connected to the height recognition mechanism, the lateral recognition mechanism, and the surface recognition mechanism to establish a three-axis coordinate system. The three-axis robotic arm is mounted on the frame and electrically connected to the controller. It is configured to be controlled by the controller and, based on the three-axis coordinate system, to move the actuator of the three-axis robotic arm to a preset coordinate. An automated biopsy probe is fixed to the actuator for performing biopsy procedures.

[0008] In the above scheme, before performing a biopsy, a 3D model of the patient's torso is created, and the coordinates of the biopsy site are determined based on the 3D model. This 3D model and coordinates are stored in the controller as data. During the biopsy, the patient's torso is fixed in a first and second fixing sleeve. A height recognition mechanism, a lateral recognition mechanism, and a surface recognition mechanism are used to model the patient's current position in the first and second fixing sleeves in real time. The controller calculates and determines the specific coordinates of the current real-time model, and recalculates the preset coordinates of the biopsy site based on the Z-axis, Y-axis, and X-axis references. Subsequently, the controller controls a three-axis robotic arm to move the automatic biopsy needle to the preset coordinates, and the operator activates the biopsy needle, thereby accurately completing the biopsy.

[0009] According to some embodiments of this application, the highly identifiable structure includes a bracket, a signal transmitter, and a signal receiver; The bracket is movably disposed along a third direction on the side of the first fixed sleeve facing the second fixed sleeve, and the signal transmitter is disposed on the side of the bracket facing the second fixed sleeve. The signal receiver is located on the side of the second fixed sleeve facing the first fixed sleeve, and the signal receiver includes multiple receiving terminals arranged along the third direction. Each receiving terminal is used to receive signals emitted by the signal transmitter at different height positions to establish a Z-axis reference.

[0010] In the above scheme, the signal transmitter is mounted on a support that is movable along a third direction, so that the height reference for signal transmission can be determined based on the torso surface, thereby sending a signal toward the corresponding receiving terminal to establish an accurate Z-axis reference.

[0011] According to some embodiments of this application, the bracket includes a body and legs disposed at both ends of the body. The side of the first fixing sleeve is provided with two guide rails arranged parallel to each other along a second direction. The guide rails extend along a third direction. The legs are slidably engaged with the corresponding guide rails by sliders. The body is used to contact the surface of the torso.

[0012] In the above scheme, the body can slide stably along a third direction by cooperating with two guide rails and two support legs, thereby providing stable support on the surface of the torso and establishing a Z-axis reference based on the surface of the torso.

[0013] According to some embodiments of this application, the signal transmitter includes a first signal transmitter and a second signal transmitter, wherein the first signal transmitter is disposed on one of the legs and the second signal transmitter is disposed on the other leg; The signal receiver includes a first signal receiver and a second signal receiver, which are arranged parallel to each other along a second direction on a second fixed sleeve, for receiving signals emitted by the first signal transmitter and the second signal transmitter, respectively.

[0014] In the above scheme, setting up two signal transmitters and two signal receivers can improve the accuracy of Z-axis reference establishment, which is conducive to improving the success rate of biopsy surgery.

[0015] According to some embodiments of this application, the lateral recognition mechanism includes a connecting rod and an image scanner. The two ends of the connecting rod are respectively connected to a first fixed sleeve and a second fixed sleeve. The connecting rod extends along a first direction. The image scanner is movably disposed on the connecting rod along the first direction and scans the torso to acquire image information of the torso in real time, thereby establishing a Y-axis reference.

[0016] According to some embodiments of this application, the surface recognition mechanism is an image acquisition mechanism, which is disposed above the working platform and is used to acquire image information located between the first fixed sleeve and the second fixed sleeve.

[0017] In the above scheme, when establishing the X-axis reference, the three-axis robotic arm can be driven to move to avoid obstacles. The image acquisition mechanism can acquire image information of the torso located between the first fixed sleeve and the second fixed sleeve. After receiving the image information, the controller compares it with the built-in three-dimensional model to determine the specific position of the torso currently located between the first fixed sleeve and the second fixed sleeve, and establishes the X-axis reference.

[0018] According to some embodiments of this application, a three-axis robotic arm includes a horizontal robotic arm, a vertical robotic arm, and a lateral robotic arm. The horizontal robotic arm is connected to the vertical robotic arm and is used to drive the vertical robotic arm to move along a first direction. The vertical robotic arm is connected to the lateral robotic arm and is used to drive the lateral robotic arm to move along a third direction. The lateral robotic arm is connected to an automated biopsy needle and is used to drive the automated biopsy needle to move along a second direction.

[0019] In the above scheme, the horizontal robotic arm, the vertical robotic arm, and the lateral robotic arm are all driven by lead screw motors to achieve high walking accuracy. Optionally, the slider of the lateral robotic arm can fix the automatic biopsy needle through connecting components, and the coordinate accuracy deviation caused by the connecting components can be eliminated by calculation.

[0020] According to some embodiments of this application, the tip of the automated biopsy needle is coated with a fluorescent coating; The biopsy system also includes a testing unit, which is used to collect location information of the fluorescent coating.

[0021] In the above scheme, the detection agency is used to acquire and collect the position information of the fluorescent coating and send the information to the controller to detect the current position status of the automatic biopsy needle in order to determine whether it has reached the preset coordinates.

[0022] According to some embodiments of this application, sponges are provided on the inner sides of both the first fixing sleeve and the second fixing sleeve.

[0023] According to some embodiments of this application, the biopsy system also includes a display electrically connected to the controller for displaying the coordinates of a three-axis coordinate system and an automated biopsy needle. Attached Figure Description

[0024] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is a top view of the biopsy system in some embodiments of this application; Figure 2 This is a front view of the biopsy system in some embodiments of this application; Figure 3 This is a schematic diagram of the first fixing sleeve in some embodiments of this application; Figure 4 This is a schematic diagram of the second fixing sleeve in some embodiments of this application; Figure 5 This is a schematic diagram of the tip of an automated biopsy needle in some embodiments of this application.

[0026] Icons: 100-Biopsy system; 10-Frame; 11-Working platform; 20-First fixing sleeve; 30-Second fixing sleeve; 40-Height recognition mechanism; 41-Bracket; 42-Signal transmitter; 43-Signal receiver; 50-Lateral recognition mechanism; 51-Connecting rod; 52-Image scanner; 60-Surface recognition mechanism; 70-Controller; 80-Three-axis robotic arm; 90-Automatic biopsy needle; 91-Fluorescent coating; 92-Detection mechanism. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0028] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0029] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0030] In the description of the embodiments of this application, it should be understood that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly placed when the product of this application is used, or the orientation or positional relationship commonly understood by those skilled in the art. They are only for the convenience of describing this application and simplifying the description, and are not intended to indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0031] In the description of the embodiments of this application, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0032] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other.

[0033] Please see Figures 1-4 , Figure 1 This is a top view of the biopsy system in some embodiments of this application. Figure 2 This is a front view of the biopsy system in some embodiments of this application. Figure 3 This is a schematic diagram of the first fixing sleeve in some embodiments of this application. Figure 4 This is a schematic diagram of the second fixing sleeve in some embodiments of this application.

[0034] This application provides a biopsy system 100, including a frame 10, a first fixed sleeve 20, a second fixed sleeve 30, a height recognition mechanism 40, a lateral recognition mechanism 50, a surface recognition mechanism 60, a controller 70, a three-axis robotic arm 80, and an automated biopsy needle 90. The frame 10 includes a work platform 11. The first fixed sleeve 20 is fixed to the frame 10 and extends through the frame in a first direction. The second fixed sleeve 30 is fixed to the frame 10. The first and second fixed sleeves 20 and 30 are spaced apart along the first direction and extend through the frame in the first direction. The first and second fixed sleeves 20 and 30 are coaxially arranged and configured for the torso to pass through. The height recognition mechanism 40 is disposed between the first and second fixed sleeves 20 and 30 and is used to establish a Z-axis reference for the torso. A lateral recognition mechanism 50 is disposed on one side of the first fixed sleeve 20 and the second fixed sleeve 30 along the second direction, for establishing the Y-axis reference of the torso. A surface recognition mechanism 60 is disposed on one side of the first fixed sleeve 20 and the second fixed sleeve 30 along the third direction and away from the work platform 11, for establishing the X-axis reference of the torso, with the first direction, the second direction, and the third direction being perpendicular to each other. A controller 70 is electrically connected to the height recognition mechanism 40, the lateral recognition mechanism 50, and the surface recognition mechanism 60, for establishing a three-axis coordinate system. A three-axis robotic arm 80 is disposed on the frame 10 and electrically connected to the controller 70, configured to be controlled by the controller 70 and based on the three-axis coordinate system, driving the execution end of the three-axis robotic arm 80 to move to a preset coordinate. An automatic biopsy needle 90 is fixed to the execution end for performing biopsy operations.

[0035] The frame 10 can be a table, which includes a work platform 11 and table legs supporting the work platform 11.

[0036] In some embodiments, the frame 10 can support a human body so that the torso of the human body can be fixed between the first fixing sleeve 20 and the second fixing sleeve 30.

[0037] In some embodiments, the first fixing sleeve 20 and the second fixing sleeve 30 are detachably connected to the work platform 11 and can be assembled by means of snap-fit ​​or other means, so that the first fixing sleeve 20 and the second fixing sleeve 30 are assembled after the human body is placed into the work platform 11, thereby fixing the torso.

[0038] The automated biopsy needle 90 can be any type of automated biopsy needle from related technologies, such as the fully automated biopsy needle from the TSK brand. After the three-axis robotic arm 80 moves the automated biopsy needle 90 to the preset coordinates, the operator can start the automated biopsy needle 90 to perform the biopsy operation. The Z-axis of the preset coordinates should take into account the extension length of the automated biopsy needle 90.

[0039] In the above scheme, before performing a biopsy, a three-dimensional model of the patient's torso is created, and the coordinates of the biopsy site are determined based on the three-dimensional model. This three-dimensional model and coordinates are stored as data in the controller 70. During the biopsy, the patient's torso is fixed in the first fixing sleeve 20 and the second fixing sleeve 30. The height recognition mechanism 40, the lateral recognition mechanism 50, and the surface recognition mechanism 60 are used to perform real-time modeling of the patient's current position in the first fixing sleeve 20 and the second fixing sleeve 30. The controller 70 calculates and determines the specific coordinates of the current real-time model, and recalculates the preset coordinates of the biopsy site based on the Z-axis, Y-axis, and X-axis references. Subsequently, the controller 70 controls the three-axis robotic arm 80 to move the automatic biopsy needle 90 to the preset coordinates, and the operator activates the biopsy needle, thereby accurately completing the biopsy.

[0040] According to some embodiments of this application, the height identification structure includes a bracket 41, a signal transmitter 42, and a signal receiver 43. The bracket 41 is movably disposed along a third direction on the side of the first fixed sleeve 20 facing the second fixed sleeve 30, and the signal transmitter is disposed on the side of the bracket 41 facing the second fixed sleeve 30. The signal receiver 43 is disposed on the side of the second fixed sleeve 30 facing the first fixed sleeve 20, and the signal receiver 43 includes a plurality of receiving terminals arranged along a third direction, each receiving terminal being used to receive signals emitted by the signal transmitter at different height positions to establish a Z-axis reference.

[0041] In some embodiments, the signal transmitter may be a linear laser transmitter. The signal receiver 43 may include a plurality of receivers, that is, a signal receiver 43 consisting of receiving terminals.

[0042] In the above scheme, the signal transmitter is mounted on a support 41 that is movable along a third direction, so that the height reference for signal transmission can be determined based on the surface of the torso, thereby sending a signal toward the corresponding receiving terminal to establish an accurate Z-axis reference.

[0043] According to some embodiments of this application, the bracket 41 includes a body and legs disposed at both ends of the body. The side of the first fixing sleeve 20 is provided with two guide rails arranged parallel to each other along a second direction. The guide rails extend along a third direction. The legs are slidably engaged with the corresponding guide rails by a slider. The body is used to contact the surface of the torso.

[0044] In the above scheme, the body can slide stably along a third direction by cooperating with two guide rails and two support legs, thereby providing stable support on the surface of the torso and establishing a Z-axis reference based on the surface of the torso.

[0045] According to some embodiments of this application, the signal transmitter includes a first signal transmitter and a second signal transmitter, with the first signal transmitter disposed on one of the legs and the second signal transmitter disposed on the other leg. The signal receiver 43 includes a first signal receiver 43 and a second signal receiver 43, which are disposed parallel to each other along a second direction on the second fixed sleeve 30, for receiving signals emitted by the first signal transmitter and the second signal transmitter, respectively.

[0046] In the above scheme, setting up two signal transmitters and two signal receivers 43 can improve the accuracy of Z-axis reference establishment, which is conducive to improving the success rate of biopsy surgery.

[0047] According to some embodiments of this application, the lateral recognition mechanism 50 includes a connecting rod 51 and an image scanner 52. The two ends of the connecting rod 51 are respectively connected to a first fixed sleeve 20 and a second fixed sleeve 30. The connecting rod 51 extends along a first direction. The image scanner 52 is movably disposed on the connecting rod 51 along the first direction and scans the torso to acquire image information of the torso in real time, thereby establishing a Y-axis reference.

[0048] In some embodiments, the image scanner 52 may be a laser scanning device for scanning the side of the torso to generate a lateral contour pattern. The controller 70 determines the image information currently located between the first fixed sleeve 20 and the second fixed sleeve 30 based on the lateral contour pattern of the three-dimensional model to establish a Y-axis reference.

[0049] According to some embodiments of this application, the surface recognition mechanism 60 is an image acquisition mechanism, which is disposed above the working platform 11 and is used to acquire image information located between the first fixed sleeve 20 and the second fixed sleeve 30.

[0050] In some embodiments, the image acquisition mechanism may be a camera.

[0051] In the above scheme, when establishing the X-axis reference, the three-axis robotic arm 80 can be driven to move to avoid obstacles. The image acquisition mechanism can acquire image information of the torso located between the first fixed sleeve 20 and the second fixed sleeve 30. After receiving the image information, the controller 70 compares it with the built-in three-dimensional model to determine the specific position of the torso currently located between the first fixed sleeve 20 and the second fixed sleeve 30, and establishes the X-axis reference.

[0052] According to some embodiments of this application, the three-axis robotic arm 80 includes a horizontal robotic arm, a vertical robotic arm, and a lateral robotic arm. The horizontal robotic arm is connected to the vertical robotic arm and is used to drive the vertical robotic arm to move along a first direction. The vertical robotic arm is connected to the lateral robotic arm and is used to drive the lateral robotic arm to move along a third direction. The lateral robotic arm is connected to an automated biopsy needle 90 and is used to drive the automated biopsy needle 90 to move along a second direction.

[0053] In the above scheme, the horizontal robotic arm, the vertical robotic arm, and the lateral robotic arm are all driven by lead screw motors to achieve high walking accuracy. Optionally, the slider of the lateral robotic arm can be fixed to the automatic biopsy needle 90 through connecting components, and the coordinate accuracy deviation caused by the connecting components can be eliminated by calculation.

[0054] According to some embodiments of this application, please refer to Figure 5 , Figure 5 This is a schematic diagram of the tip of the automated biopsy needle 90 in some embodiments of this application.

[0055] The tip of the automated biopsy needle 90 is coated with a fluorescent coating 91. The biopsy system 100 also includes a detection mechanism 92, which is used to acquire positional information of the fluorescent coating 91.

[0056] In some embodiments, the detection mechanism 92 can be an image acquisition mechanism that only identifies the fluorescent coating 91, such as a camera that only focuses on the fluorescent coating 91, and takes the Z-axis coordinate of the top cover fluorescent coating 91 to determine whether it has reached the Z-axis value in the preset coordinates.

[0057] In the above scheme, the detection mechanism 92 is used to acquire and collect the position information of the fluorescent coating 91 and send the information to the controller 70 to detect the current position status of the automatic biopsy needle 90, so as to determine whether it has reached the preset coordinates.

[0058] According to some embodiments of this application, sponges are provided on the inner sides of both the first fixing sleeve 20 and the second fixing sleeve 30.

[0059] According to some embodiments of this application, the biopsy system 100 also includes a display electrically connected to the controller 70 for displaying the coordinates of the three-axis coordinate system and the coordinates of the automated biopsy needle 90.

[0060] Please see Figures 1-5 This application provides a biopsy system 100 for auxiliary positioning in muscle biopsies. The biopsy system 100 includes a frame 10, a first fixing sleeve 20, a second fixing sleeve 30, a height recognition mechanism 40, a lateral recognition mechanism 50, a surface recognition mechanism 60, a controller 70, a three-axis robotic arm 80, and an automated biopsy needle 90.

[0061] The first fixing sleeve 20 and the second fixing sleeve 30 are fixed at intervals on the working platform 11 of the frame 10 to fix the patient's torso.

[0062] The height recognition mechanism 40 includes a bracket 41 movably disposed along a third direction on the side of the first fixed sleeve 20 facing the second fixed sleeve 30, a signal transmitter 42 fixed on the bracket 41, and a plurality of receiving terminals fixed to the second fixed sleeve 30 to form a multi-receiving signal receiver 43. The height of the bracket 41 is adjusted according to the undulation of the patient's torso so that the height reference for signal transmission can be determined based on the torso surface, thereby sending a signal toward the corresponding receiving terminal to establish an accurate Z-axis reference.

[0063] The lateral recognition mechanism 50 uses an image scanner 52 movably positioned along a first direction to acquire image information of the torso in real time in order to establish a Y-axis reference.

[0064] The surface recognition mechanism 60 is disposed above the work platform 11 so as to acquire image information between the first fixed sleeve 20 and the second fixed sleeve 30, determine the specific position of the torso currently located between the first fixed sleeve 20 and the second fixed sleeve 30, and establish an X-axis reference.

[0065] The controller 70 receives the established Z-axis, Y-axis, and X-axis references to control the three-axis robotic arm 80 to move the automatic biopsy needle 90.

[0066] For example, before performing a biopsy, a three-dimensional model of the patient's torso is created, and the coordinates of the biopsy site are determined based on the three-dimensional model. This three-dimensional model and coordinates are stored as data in the controller 70. During the biopsy, the patient's torso is fixed in the first fixing sleeve 20 and the second fixing sleeve 30. The height recognition mechanism 40, the lateral recognition mechanism 50, and the surface recognition mechanism 60 are used to create a real-time model of the patient's current position in the first fixing sleeve 20 and the second fixing sleeve 30. The controller 70 calculates and determines the specific coordinates of the current real-time model, and recalculates the preset coordinates of the biopsy site based on the Z-axis, Y-axis, and X-axis references. Subsequently, the controller 70 controls the three-axis robotic arm 80 to move the automatic biopsy needle 90 to the preset coordinates. During the movement of the automatic biopsy needle 90, the detection mechanism 92 acquires and collects the position information of the fluorescent coating 91 and sends this information to the controller 70 to detect the current position status of the automatic biopsy needle 90 to determine whether it has reached the preset coordinates, thus realizing a re-examination of the surgical position. Finally, the operator activates the biopsy needle to accurately complete the biopsy.

[0067] The above are merely preferred embodiments of this application and are not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A biopsy system, characterized by, The system comprises: a frame body comprising a work platform; a first fixed sleeve fixed to the frame body, the first fixed sleeve being through in a first direction; a second fixed sleeve fixed to the frame body, the first fixed sleeve and the second fixed sleeve being spaced apart along the first direction, the second fixed sleeve being through in the first direction, and the first fixed sleeve and the second fixed sleeve being coaxially arranged, the first fixed sleeve and the second fixed sleeve being configured to pass through a torso; a height identification mechanism arranged between the first fixed sleeve and the second fixed sleeve, for establishing a Z-axis reference of the torso; a lateral identification mechanism arranged on one side of the first fixed sleeve and the second fixed sleeve along a second direction, for establishing a Y-axis reference of the torso; a surface identification mechanism arranged on one side of the first fixed sleeve and the second fixed sleeve along a third direction and away from the work platform, for establishing an X-axis reference of the torso, the first direction, the second direction and the third direction being perpendicular to each other; a controller electrically connected with the height identification mechanism, the lateral identification mechanism and the surface identification mechanism, for establishing a three-axis coordinate system; a three-axis mechanical arm arranged on the frame body and electrically connected with the controller, configured to be controlled by the controller and based on the three-axis coordinate system, to drive a working end of the three-axis mechanical arm to move to a preset coordinate; an automatic biopsy needle fixed to the working end, for performing biopsy operation.

2. The biopsy system according to claim 1, wherein: the height identification mechanism comprises a bracket, a signal transmitter and a signal receiver; the bracket is movably arranged on one side of the first fixed sleeve facing the second fixed sleeve along the third direction, and the signal transmitter is arranged on one side of the bracket facing the second fixed sleeve; the signal receiver is arranged on one side of the second fixed sleeve facing the first fixed sleeve, and the signal receiver comprises a plurality of receiving terminals arranged along the third direction, each of the receiving terminals being configured to receive a signal emitted by the signal transmitter at a different height position to establish the Z-axis reference.

3. The biopsy system according to claim 2, wherein: the bracket comprises a body and a leg arranged at both ends of the body, the first fixed sleeve is provided with two guide rails arranged in parallel along the second direction, the guide rails extending along the third direction, the leg is slidably matched with the corresponding guide rail through a sliding block, and the body is configured to contact the surface of the torso.

4. The biopsy system according to claim 3, wherein: the signal transmitter comprises a first signal transmitter and a second signal transmitter, the first signal transmitter is arranged on one of the legs, and the second signal transmitter is arranged on the other leg. The signal receivers include a first signal receiver and a second signal receiver, which are arranged in parallel along a second direction on the second fixed sleeve and used for receiving signals emitted by the first signal emitter and the second signal emitter respectively.

5. The biopsy system according to claim 1, wherein, The lateral identification mechanism includes a connecting rod and an image scanner, two ends of the connecting rod are connected to the first fixed sleeve and the second fixed sleeve respectively, the connecting rod extends along the first direction, and the image scanner is movably arranged on the connecting rod along the first direction and scans the torso to obtain image information of the torso in real time, so as to establish a Y-axis reference.

6. The biopsy system according to claim 1, wherein, The surface identification mechanism is an image acquisition mechanism arranged above the working platform and used for acquiring image information between the first fixed sleeve and the second fixed sleeve.

7. The biopsy system according to claim 1, wherein, The three-axis mechanical arm includes a horizontal mechanical arm, a height mechanical arm and a transverse mechanical arm, the horizontal mechanical arm is connected to the height mechanical arm and used for driving the height mechanical arm to move along the first direction, the height mechanical arm is connected to the transverse mechanical arm and used for driving the transverse mechanical arm to move along the third direction, and the transverse mechanical arm is connected to the automatic biopsy needle and used for driving the automatic biopsy needle to move along the second direction.

8. The biopsy system according to claim 1, wherein, A tip of the automatic biopsy needle is coated with a fluorescent coating; The biopsy system further includes a detection mechanism used for collecting position information of the fluorescent coating.

9. The biopsy system according to claim 1, wherein, The inner sides of the first fixed sleeve and the second fixed sleeve are provided with sponges.

10. The biopsy system according to claim 1, wherein, The biopsy system further includes a display electrically connected to the controller and used for displaying the three-axis coordinate system and coordinates of the automatic biopsy needle.

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