Automated Precision Lung Puncture System

Abstract

The present invention discloses an automated and precise lung puncture system, characterized by comprising a main body, with an operating space in the middle for puncture operations. The main body is equipped with a puncture needle robotic arm for holding and manipulating the puncture needle and a syringe robotic arm for holding the syringe, distributed around the operating space. A level is provided on the outer wall of the main body for measuring the tilt angle of the main body. The puncture needle robotic arm, syringe robotic arm, and level are connected to a main control module circuit located within the main body. The robotic system disclosed in this invention can reduce operation time, decrease the physical and psychological burden on patients, improve the efficiency and safety of the entire surgical process, reduce human error and intraoperative complications, and is suitable for the diagnosis and treatment of pulmonary nodules and other lung diseases.

Description

Technical Field

[0001] This utility model relates to a system for high-precision lung puncture positioning in medical surgery, belonging to the field of medical device technology. Background Technology

[0002] Advances in computed tomography (CT) technology have greatly enhanced its ability to diagnose pulmonary nodules, especially ground-glass opacities (GGOs), at an early stage. These nodules may be a manifestation of early-stage lung cancer and carry a potential risk of malignancy. Although CT can identify these small nodules at an early stage, precise localization and complete resection of these lesions during surgery remains a significant challenge. In current surgical practice, the occult nature of GGOs (especially after deflation of lung tissue) makes them difficult to detect effectively, often requiring surgeons to extend the resection area. This not only increases surgical risks but also has long-term effects on the patient's lung function.

[0003] Furthermore, while CT-guided puncture localization technology achieves more precise nodule resection and effectively reduces damage to normal lung tissue by injecting tissue glue near the nodule for localization, its application still has limitations. Current procedures rely heavily on manual skill and operator experience, and the accuracy and repeatability during the procedure are limited. Even slight errors during injection can lead to inaccurate glue placement, thus affecting the surgical outcome.

[0004] Currently, there is a lack of robotic systems on the market capable of performing this operation automatically. Therefore, its development has significant clinical demand and broad market prospects. Summary of the Invention

[0005] The purpose of this invention is to provide a simple lung puncture robot for assisting surgery.

[0006] To achieve the above objectives, the present invention discloses an automated and precise lung puncture system, characterized in that it includes a main body, the central part of which is an operating space for performing puncture operations. The main body is equipped with a puncture needle robotic arm for holding and operating a puncture needle and a syringe robotic arm for holding a syringe, which are distributed around the operating space. A level for measuring the tilt angle of the main body is provided on the outer wall of the main body. The puncture needle robotic arm, the syringe robotic arm, and the level are connected to the main control module circuit located inside the main body.

[0007] Preferably, there are two puncture needle robotic arms, namely puncture needle robotic arm one and puncture needle robotic arm two, which hold the upper and lower parts of the puncture needle respectively.

[0008] Preferably, there are two syringe robotic arms, namely syringe robotic arm one and syringe robotic arm two. The front end of syringe robotic arm one is a syringe for injecting tissue glue, and the front end of syringe robotic arm two is a syringe for injecting dexamethasone.

[0009] Preferably, the main body has a U-shaped structure, and the first puncture needle robotic arm, the second puncture needle robotic arm, the first syringe robotic arm, and the second syringe robotic arm are the four corners of the main body, respectively. The first puncture needle robotic arm and the second puncture needle robotic arm are located on one diagonal of the main body, and the first syringe robotic arm and the second syringe robotic arm are located on the other diagonal of the main body.

[0010] Preferably, the front end of the puncture needle robotic arm is a robotic claw or a hollow spherical structure. A flexible material layer is provided on the inner wall of the spherical structure, and a through hole in the middle of the flexible material layer is used to insert the puncture needle and to make an interference fit with the puncture needle.

[0011] Preferably, the front end of the syringe robotic arm is a mechanical gripper used only for holding the syringe, or the front end of the syringe robotic arm is a mechanical gripper used for holding and operating the syringe, or the syringe is directly disposed at the front end of the syringe robotic arm.

[0012] Preferably, the body is fixed to the patient's body with strong adhesive tape.

[0013] Preferably, the main body is fixedly connected to the slider via a universal joint. The slider is mounted on the vertical displacement mechanism, the vertical displacement mechanism is mounted on the horizontal displacement mechanism, the horizontal displacement mechanism is mounted on the AGV trolley, and the vertical displacement mechanism, the horizontal displacement mechanism, and the AGV trolley are connected to the main control module circuit.

[0014] Preferably, the main control module includes a control unit, which is connected to the puncture needle robotic arm and the syringe robotic arm circuit via a robotic arm drive and control circuit. The control unit is also connected to the level circuit, the wireless communication unit, the horizontal displacement mechanism drive circuit, the vertical displacement mechanism drive circuit, and the AGV trolley. The horizontal displacement mechanism drive circuit and the vertical displacement mechanism drive circuit are respectively connected to the horizontal displacement mechanism and the vertical displacement mechanism circuit. An external intelligent terminal connects to the control unit via the wireless communication unit for wireless data communication, or an external display unit connected to the first wireless communication unit connects to the control unit via the wireless communication unit and a remote control connected to the second wireless communication unit for wireless data communication.

[0015] Preferably, the main control module includes a control unit, which is connected to the puncture needle robotic arm and the syringe robotic arm circuit via a robotic arm drive and control circuit. The control unit is also connected to a level circuit and a wireless communication unit. An external smart terminal connects to the control unit via the wireless communication unit for wireless data communication, or an external display unit connected to wireless communication unit one connects to the control unit via wireless communication unit two and a remote control connected to wireless communication unit two.

[0016] This invention provides an automated lung puncture robot that offers higher operational precision, better repeatability, and lower operational risk. Furthermore, the robotic system can reduce operation time, decrease the physical and psychological burden on patients, and improve the efficiency and safety of the entire surgical procedure, reducing human error and intraoperative complications. It is suitable for the diagnosis and treatment of pulmonary nodules and other lung diseases.

[0017] Compared with existing technical solutions, this utility model has the following specific advantages:

[0018] 1) Reduced tissue damage: Automated needle insertion reduces physical damage to the patient's muscles and lung tissue, significantly reducing the risk of tissue damage and surgical complications such as pneumothorax and bleeding compared to manual operation; 2) Enhanced surgical safety: In the event of serious complications, such as pleural reaction, the robotic system can rapidly inject dexamethasone via a fourth robotic arm, effectively controlling the inflammatory response and preventing the condition from worsening, thereby improving surgical safety; 3) Easy to operate: The design of the remote control and electronic display screen makes the operation more convenient and intuitive. Doctors can remotely control the insertion and removal of needles, reducing the complexity of operation and the doctor's workload. 4) Improved surgical efficiency: Automated needle insertion and injection processes reduce surgical time and improve the overall efficiency of the surgical procedure, which is especially important for emergency surgeries, allowing for faster handling of emergencies; 5) Reduce patient burden: Reduces pain during surgery and recovery time after surgery, reduces the physical and psychological burden on patients, and improves the overall treatment experience; 6) Versatility and adaptability: This system is applicable to various types and sizes of pulmonary nodules, and has high versatility and adaptability, which can meet the personalized treatment needs of different patients; 7) Reduced reliance on surgeon experience: The automation features of this invention reduce the reliance on the surgeon's personal skills and experience, increasing the standardization of the procedure. Through precise machine operation, even less experienced physicians can perform high-precision procedures, thereby improving the overall quality and reliability of medical services. Attached Figure Description

[0019] Figure 1 is a schematic structural diagram of an implemented automatic precise lung puncture system; Figure 2 is a schematic structural diagram of a holding part; Figure 3 is a schematic diagram of the needle insertion of a puncture needle; Figure 4 is a circuit block diagram of an automatic precise lung puncture system in Implementation 1; Figure 5 is another circuit block diagram of an automatic precise lung puncture system in Implementation 1; Figure 6 is a schematic structural diagram of an implemented automatic precise lung puncture system in Implementation 2; Figure 7 is a circuit block diagram of an automatic precise lung puncture system in Implementation 2; Figure 8 is another circuit block diagram of an automatic precise lung puncture system in Implementation 2. Specific implementation manners

[0020] The following further elaborates the present utility model in conjunction with specific embodiments. It should be understood that these embodiments are only used to illustrate the present utility model and not to limit the scope of the present utility model. In addition, it should be understood that after reading the content taught by the present utility model, those skilled in the art can make various changes or modifications to the present utility model, and these equivalent forms also fall within the scope defined by the appended claims of this application.

[0021] Embodiment 1 As Figure 1 shown, an automatic precise lung puncture system disclosed in this embodiment includes a "mouth"-shaped body 1. The middle part of the body 1 is an operation space 1-1 for performing lung puncture operations. Four corners of the body 1 are respectively provided with a robotic arm 1 2, a robotic arm 2 3, a robotic arm 3 4, and a robotic arm 4 5. Among them, the robotic arm 1 2 and the robotic arm 3 4 are used for the operation of the puncture needle 6 and are located on the first diagonal of the body 1. The robotic arm 2 3 is used for the operation of the syringe 1 7, and the robotic arm 4 5 is used for the operation of the syringe 2 8. In this embodiment, the syringe 1 7 is used for tissue glue (in this embodiment, the syringe 1 7 is a 1-ml syringe and has an auxiliary injection function, speed: 0.15 ml / s). The syringe 2 8 is an emergency syringe (in this embodiment, the syringe 2 8 is a 5-ml syringe filled with 10 mg of dexamethasone, which is used to deal with emergencies. When a pleural reaction occurs, dexamethasone can be immediately injected to quickly reduce the inflammatory reaction and prevent the deterioration of the condition), and is only used when needed. And the robotic arm 2 3 and the robotic arm 4 5 are located on the other diagonal 2 of the body 1.

[0022] The front end of robotic arm 2 is a gripper 2-1, used to grip the lower part of the puncture needle 6. The gripper 2-1 can be a mechanical claw capable of gripping the puncture needle 6. The gripper 2-1 can also be, for example... Figure 2 The structure shown includes a spherical structure 2-1-1 with a central through hole. A flexible material layer 2-1-2 (e.g., a rubber layer) is provided on the inner wall of the hole of the spherical structure 2-1-1. The puncture needle 6 passes through the through hole in the middle of the flexible material layer 2-1-2. The gripping part 2-1 holds the puncture needle 6 by utilizing the friction between the puncture needle 6 and the flexible material layer 2-1-2.

[0023] The front end of robotic arm 3 (4) is a gripper 2 (4-1) for holding the upper part of the puncture needle 6. Similar to gripper 1 (2-1), gripper 2 (4-1) can be a mechanical claw capable of holding the puncture needle 6. Gripper 2 (4-1) can also be, for example... Figure 2 The structure shown will not be described in detail here.

[0024] To simplify the structure, those skilled in the art can design only one robotic arm for operating the puncture needle 6, that is, use one robotic arm to replace the aforementioned robotic arm 2 and robotic arm 4. However, if only one robotic arm is used to operate the puncture needle 6, the internal organs of the human body will create resistance to the puncture needle 6, causing the puncture needle 6 to shift, thus deviating from its predetermined trajectory. When two robotic arms are used to operate the puncture needle 6, the movement trajectory of the puncture needle 6 can be limited by the gripping part 2-1 at the front end of robotic arm 2. In this case, a preferred embodiment is that the gripping part 2-1 at the front end of robotic arm 2 is... Figure 2 In the structure shown, the gripping part 2 4-1 at the front end of the robotic arm 3 4 is a mechanical claw; another preferred embodiment is that the gripping part 2-1 at the front end of the robotic arm 1 2 and the gripping part 2 4-1 at the front end of the robotic arm 3 4 are both... Figure 2 The structure shown is such that the friction between the flexible material layer 2-1-2 in the gripping part 2-1 and the puncture needle 6 is less than the friction between the flexible material layer 2-2 in the gripping part 2-1 and the puncture needle 6; another preferred embodiment is that the gripping part 2-1 at the front end of the robotic arm 2 and the gripping part 2-1 at the front end of the robotic arm 3 4 are both mechanical claws, but the gripping force of the gripping part 2-1 on the puncture needle 6 is less than the gripping force of the gripping part 2-2 on the puncture needle 6.

[0025] Syringe 7 and / or syringe 8 can be directly fixed to the front end of robotic arm 5 and / or robotic arm 3, in which case the injection operation of syringe 7 and / or syringe 8 is performed manually by a relevant person. Alternatively, the front end of robotic arm 5 and / or robotic arm 3 can simply be a mechanical gripper for holding syringe 7 and / or syringe 8, in which case the injection operation of syringe 7 and / or syringe 8 is also performed manually by a relevant person. The front end of robotic arm 5 and / or robotic arm 3 can also be a mechanical gripper for holding and operating the injection action (e.g., a three-finger gripper, where two fingers hold syringe 7 and / or syringe 8, and the remaining finger operates the injection action).

[0026] In this embodiment, the body 1 is fixed to the target part of the patient's body by strong adhesive 11.

[0027] In this embodiment, a preferred implementation is that a level 9 is provided on the side wall of the main body 1. Combined with... Figure 3 When the main body 1 is fixed at different parts of the patient's body, the plane 1-1 where the main body 1 is located is not parallel to the plane 10 where the CT examination table is located. Therefore, the angle between the plane 1-1 where the main body 1 is located and the plane 10 where the CT examination table is located can be measured by the level 9. Thus, the insertion angle of the puncture needle 6 can be adjusted by using robotic arms 2 and 4, so that the insertion direction of the puncture needle 6 is perpendicular to the plane 1-1 where the main body 1 is located. Figure 3 As shown by the dotted lines, because there is an angle between the plane 1-1 where the main body 1 is located and the plane 10 where the CT examination table is located, the insertion direction of the puncture needle 6, as shown by the dotted lines, is not perpendicular to the plane 1-1 where the main body 1 is located. Therefore, it is necessary to use robotic arms 1-2 and 3-4 to adjust the insertion angle of the puncture needle 6 so that the insertion direction of the puncture needle 6 is perpendicular to the plane 1-1 where the main body 1 is located. Figure 3 As shown by the solid line in the image.

[0028] like Figure 4As shown, in a preferred embodiment, robotic arms 2, 3, 4, and 5, along with the level 9, are connected to a main control module circuit located inside the main body 1. The main control module further includes a main control unit, which is connected to the level 9 circuit. The main control unit is also connected to robotic arms 2, 3, 4, and 5 circuits via drive and control circuits for robotic arms 1, 2, 3, and 4, respectively. The main control module also includes a wireless communication unit connected to the main control unit. An external smart terminal device (e.g., a smartphone, touchscreen, PC) establishes wireless communication with the main control module via wireless communication unit 2, in conjunction with wireless communication unit 1. This allows the smart terminal device to control the movements of robotic arms 2, 3, 4, and 5, and to obtain data from the level 9 and feedback from robotic arms 2, 3, 4, and 5.

[0029] like Figure 5 As shown, another preferred implementation in this embodiment is to not use a smart terminal device, but instead to set up a separate remote control and display unit. The remote control and display unit respectively establish wireless communication with the main control module through their respective wireless communication unit two, in conjunction with wireless communication unit one. In this case, the remote control can control robotic arms 1 (2), 2 (3), 3 (4), and 4 (5), while the display unit can display the level 9 and the data fed back by robotic arms 1 (2), 2 (3), 3 (4), and 4 (5). In this embodiment, the purpose of setting up a remote control and a display unit is as follows: During the CT-guided puncture positioning operation, the patient is located in the CT room, while the technician in the operating room operates the equipment in the CT room. Medical staff perform the CT-guided puncture positioning operation on the patient in the CT room. At this time, the technician in the operating room can use the remote control to operate robotic arms 1-2, 2-3, 3-4, and 4-5 under the instructions given by the medical staff. Meanwhile, the medical staff in the CT room can use the display unit to view the movement of robotic arms 1-2, 2-3, 3-4, and 4-5 in real time and give further operation instructions to the technician in the operating room. At the same time, the display unit can also obtain the data of the level 9 in real time, thereby giving the corresponding instructions to the technician in the operating room to adjust the needle insertion angle.

[0030] The use of the automated and precise lung puncture system disclosed in this embodiment may include the following steps: ①Preoperative preparation: • Communicate thoroughly with the patient, explaining the surgical procedure and potential risks.

[0031] • Ensure the patient understands all the information before signing the informed consent form to formally obtain permission for surgery.

[0032] ②Preoperative assessment: • Develop a detailed puncture plan based on the patient's most recent CT scan results.

[0033] • Determine and fix the patient's optimal position to ensure puncture accuracy.

[0034] ③ Device positioning: • Fix the main body 1 to the corresponding part of the patient and use CT for secondary positioning to accurately locate the target area.

[0035] ④ Syringe preparation: • Prepare syringe 7 and syringe 8 containing specific therapeutic fluids (such as tissue glue, dexamethasone, etc.).

[0036] ⑤ Equipment parameter settings: • Set the angle, depth, and volume of injected fluid for the puncture needle on the display unit.

[0037] ⑥ Perform the puncture: • Use a remote control to perform automatic needle insertion, ensuring the puncture needle accurately reaches the predetermined position.

[0038] ⑦ Location confirmed: • Perform a CT scan to confirm the exact location of the puncture needle.

[0039] • If the positional deviation is large, adjust the equipment parameters and repeat the operation until the puncture needle is correctly positioned near the lesion (approximately 0.5 cm).

[0040] ⑧ Tissue glue injection: • Manually remove the needle core and connect the syringe to the needle.

[0041] • The control device injects tissue glue into the lung target.

[0042] 9. Needle removal: • After the injection is completed, control robotic arm 2 and robotic arm 4 to perform the needle removal operation.

[0043] ⑩ Postoperative examination: • Perform a second CT scan to ensure the tissue glue is injected in the correct location.

[0044] • Once it is confirmed that there are no complications, the surgery is declared complete.

[0045] Example 2 like Figure 6As shown, the difference between the automated precision lung puncture system disclosed in this embodiment and Embodiment 1 is that the main body 1 is not fixed to the patient, but is fixedly connected to the slider 12 via a universal joint (not shown in the figure). The slider 12 is mounted on the vertical displacement mechanism 13, which drives the slider 12 and the main body 1 to move up and down. The vertical displacement mechanism 13 is mounted on the horizontal displacement mechanism 14, which drives the vertical displacement mechanism 13 and the main body 1 to move forward and backward. The horizontal displacement mechanism 14 is fixed to the AGV trolley 15. The vertical displacement mechanism 13, the horizontal displacement mechanism 14, and the AGV trolley 15 are connected to the main control module circuit located inside the main body 1. Figure 7 , Figure 8 As shown, in this embodiment, the main control module circuit also includes a vertical displacement mechanism drive circuit and a horizontal displacement mechanism drive circuit. The control unit is connected to the vertical displacement mechanism 13 and the horizontal displacement mechanism 14 circuits respectively through the vertical displacement mechanism drive circuit and the horizontal displacement mechanism drive circuit. Simultaneously, the control unit is also connected to the AGV vehicle 15 circuit. In this embodiment, the vertical displacement mechanism 13, the horizontal displacement mechanism 14, and the AGV vehicle 15 can be controlled via a smart terminal or a remote control, and the data fed back by the vertical displacement mechanism 13, the horizontal displacement mechanism 14, and the AGV vehicle 15 can be viewed via a smart terminal or a display unit. Other structures and working principles of this embodiment are the same as in Embodiment 1, and will not be repeated here.

[0046] The systems disclosed in Embodiments 1 and 2 above are used to automate the needle insertion process, thereby reducing the uncertainty and potential errors in manual operation. Furthermore, the systems disclosed in Embodiments 1 and 2 above, through automation, reduce the workload of physicians, shorten surgical preparation time, and improve the overall safety and success rate of surgery. By achieving these goals, the system provided by this invention is expected to significantly improve the therapeutic effect of lung surgery while maximizing the protection of the patient's normal lung tissue and avoiding unnecessary damage.

Claims

1. An automated and precise lung puncture system, characterized in that, The device includes a main body, with an operating space in the middle for puncture operations. The main body is equipped with a puncture needle robotic arm for holding and operating the puncture needle and a syringe robotic arm for holding the syringe. The puncture needle robotic arm and the syringe robotic arm are distributed around the operating space. A level is provided on the outer wall of the main body for measuring the tilt angle of the main body. The puncture needle robotic arm, the syringe robotic arm, and the level are connected to the main control module circuit located inside the main body.

2. The automated precision lung puncture system as described in claim 1, characterized in that, There are two puncture needle robotic arms, namely puncture needle robotic arm one and puncture needle robotic arm two, which hold the upper and lower parts of the puncture needle respectively.

3. The automated precision lung puncture system as described in claim 2, characterized in that, There are two syringe robotic arms, namely syringe robotic arm one and syringe robotic arm two. The front end of syringe robotic arm one is syringe one for injecting tissue glue, and the front end of syringe robotic arm two is syringe two for injecting dexamethasone.

4. The automated precision lung puncture system as described in claim 3, characterized in that, The main body has a square-shaped structure. The first puncture needle robotic arm, the second puncture needle robotic arm, the first syringe robotic arm, and the second syringe robotic arm are the four corners of the main body. The first puncture needle robotic arm and the second puncture needle robotic arm are located on one diagonal of the main body, and the first syringe robotic arm and the second syringe robotic arm are located on the other diagonal of the main body.

5. The automated precision lung puncture system as described in claim 1, characterized in that, The front end of the puncture needle robotic arm is a mechanical claw or a hollow spherical structure. A flexible material layer is provided on the inner wall of the spherical structure. The through hole in the middle of the flexible material layer is used to insert the puncture needle and to make an interference fit with the puncture needle.

6. The automated precision lung puncture system as described in claim 1, characterized in that, The front end of the syringe robotic arm is a mechanical gripper used only for holding the syringe, or the front end of the syringe robotic arm is a mechanical gripper used for holding and operating the syringe, or the syringe is directly disposed at the front end of the syringe robotic arm.

7. The automated precision lung puncture system as described in claim 1, characterized in that, The main body is fixed to the patient's body with strong adhesive tape.

8. The automated precision lung puncture system as described in claim 1, characterized in that, The main body is fixedly connected to the slider via a universal joint. The slider is mounted on the vertical displacement mechanism, the vertical displacement mechanism is mounted on the horizontal displacement mechanism, and the horizontal displacement mechanism is mounted on the AGV trolley. The vertical displacement mechanism, the horizontal displacement mechanism, and the AGV trolley are connected to the main control module circuit.

9. The automated precision lung puncture system as described in claim 1, characterized in that, The main control module includes a control unit, which is connected to the puncture needle robotic arm and the syringe robotic arm circuit via a robotic arm drive and control circuit. The control unit is also connected to a level circuit, a wireless communication unit, a horizontal displacement mechanism drive circuit, a vertical displacement mechanism drive circuit, and the AGV trolley. The horizontal displacement mechanism drive circuit and the vertical displacement mechanism drive circuit are respectively connected to the horizontal displacement mechanism and the vertical displacement mechanism circuit. An external intelligent terminal connects to the control unit via the wireless communication unit for wireless data communication, or an external display unit connected to wireless communication unit one connects to the control unit via the wireless communication unit and a remote control connected to wireless communication unit two.

10. The automated precision lung puncture system as described in claim 1, characterized in that, The main control module includes a control unit, which is connected to the puncture needle robotic arm and the syringe robotic arm circuit via a robotic arm drive and control circuit. The control unit is also connected to a level circuit and a wireless communication unit. An external smart terminal can wirelessly communicate with the control unit via the wireless communication unit, or an external display unit connected to wireless communication unit one can wirelessly communicate with the control unit via wireless communication unit two.

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