A flexible cable-driven nuclear magnetic field compatible puncture positioning surgical robot

Abstract

The present invention relates to a flexible cable driven nuclear magnetic resonance compatible puncture positioning surgical robot, comprising a flexible cable driving module, a flexible cable, a guide wheel group, a lasso, a puncture rack, a ball wheel, a ball cover, a ball rack, a puncture needle, and a puncture needle clamp. The flexible cable driving module is centrally arranged at the far end of the nuclear magnetic resonance instrument. The flexible cable is led out of the flexible cable driving module and leads to the puncture rack in the nuclear magnetic resonance instrument, and then output from the ball wheel centering above the rack. The end of the output flexible cable is connected to the puncture needle clamp, and a puncture needle holder is fixed in the puncture needle clamp. The puncture needle has five degrees of freedom, three degrees of freedom of movement realize the spatial movement of the puncture needle, and the two degrees of freedom of rotation around its own axis realize the insertion of the puncture needle at various angles. In the nuclear magnetic resonance instrument, the device does not contain ferromagnetic materials. The puncture positioning surgical robot involved in the present invention is driven by a flexible cable and can realize the flexible cable centering output. The puncture needle has five degrees of freedom, and can realize kidney puncture and lung puncture.

Description

Technical Field

[0001] The present invention relates to a puncture positioning surgical robot, and in particular to a flexible cable driven nuclear magnetic field compatible puncture positioning surgical robot capable of working in a nuclear magnetic field environment. Background Art

[0002] Surgical robots are the most important category of medical robots. Compared with the manual operation of doctors in traditional surgery, the use of medical surgical robots has greatly improved the accuracy and controllability of surgery. Extensive research has been conducted on surgical robots at home and abroad. The United States has launched the world's most successful universal minimally invasive surgical robot system "Da Vinci" and "ZEUS" robotic surgical system, which can perform precise minimally invasive remote surgery. Tianjin University has developed a master-slave remote-operated minimally invasive laparoscopic surgical robot "Miaoshou" system, which can complete surgical operations such as cutting, separation, stripping, suturing, and knotting under the control of doctors.

[0003] In the current research on nuclear magnetic compatible puncture robots, a prostate puncture positioning robot (CN201821828818.2) uses spring force as a driving force to make the surgical process smooth and accurately positioned, and has a gravity compensation device to reduce the pressure impact on the base. The disadvantage is that the range of action is small and the puncture effect is not ideal. The puncture robot (CN201920095918.7) is a device driven by a six-degree-of-freedom mechanical arm. The robot occupies a large space and has high rigidity. The puncture robot driven by the soft cable has high requirements for the accuracy of the soft cable drive. How to ensure the accuracy of the soft cable motion control is the current research focus. Most of the currently known soft cable drive devices use rollers or guide wheels to guide or wind the soft cable, but the contact point between the soft cable and the roller or guide wheel will change, resulting in uncertainty in the driving point, which in turn affects the working accuracy of the puncture needle. How to achieve the centering output of the soft cable drive device in space is a technical problem solved by the present invention. A soft rope driving device with automatic rope collection function (CN109279457A) is provided. The soft rope is output vertically upward through a guide wheel. A large change in the output direction of the soft rope will generate a large friction.

[0004] At present, the structure of puncture robots is mostly rigid components, and the driving forms are roughly divided into electric, pneumatic and hydraulic. In the nuclear magnetic resonance environment, the puncture positioning robot driven by a flexible cable can effectively avoid electromagnetic interference. Compared with existing robots, it has the characteristics of small space, reasonable layout, large working space and excellent puncture effect. Summary of the invention

[0005] The purpose of the present invention is to propose a flexible cable-driven nuclear magnetic resonance compatible puncture positioning surgical robot in view of the fact that most of the existing robots have rigid components.

[0006] The present invention discloses a flexible cable driven nuclear magnetic resonance compatible puncture positioning surgical robot, comprising a flexible cable driving module 1, a flexible cable 2, a guide wheel group 3, a lasso 4, a puncture rack 5, a ball wheel 6, a ball cover 7, a ball rack 8, a puncture needle 9, and a puncture needle fixture 10. The flexible cable 2 is led out from the flexible cable driving module 1 located far away from the nuclear magnetic resonance instrument, and is passed into the guide wheel group 3 at the bottom of the puncture rack in the nuclear magnetic resonance instrument. The bottom of the lasso 4 is connected to the guide wheel group 3, and the upper part is connected to the ball wheel 6. The flexible cable 2 passing through the guide wheel group 3 is introduced into the lasso 4, and enters the ball through the reserved line entrance of the ball wheel 6. The six ball wheels 6 are wrapped by the ball cover 7 and the ball rack 8, and are constrained on the upper part of the puncture rack. The six ball wheels are evenly distributed at the center of each side of the hexagonal rack. The reverse extension line of the flexible cable 2 in the ball wheel 6 passes through the center of the ball, and the center position of the ball wheel 6 is fixedly constrained above the rack by the ball cover 7 and the ball rack 8, and the flexible cable is centered for output. The flexible cable 2 is led out from the outlet of the ball wheel 6, and the end of the flexible cable is connected to the puncture needle clamp 10, and the puncture needle 9 is fixed in the puncture needle clamp 10. The ends of the six flexible cables are staggered and connected to the upper and lower ends of the puncture needle clamp 10. Under the telescopic action of the flexible cable 2, the puncture needle 9 has three degrees of freedom of movement and two degrees of freedom of rotation except around its own axis.

[0007] The flexible rope 2 is wound around the flexible rope traction wheel 1-2, and the flexible rope traction wheel 1-2 is fastened to the D-type output shaft of the motor 1-3. The motor cover 1-1, the motor 1-3, and the motor box 1-4 are fastened together by bolts. The motor seat 1-5 seals the motor components in the motor box 1-4, and the motor cover 1-1 with a partial gap leads the flexible rope 2 out of the motor 1-3, and then the flexible rope 2 is introduced into the nuclear magnetic resonance apparatus through the hole left on the side of the motor box 1-4.

[0008] The guide wheel group 3 is symmetrically installed on both sides of the puncture frame 5, and each side has three high, medium and low guide wheel bases 3-4. The three soft ropes 2 led out by the soft rope driving module 1 enter the corresponding guide wheel base 3-4 in turn. The guide wheel base 3-4 is fixed to the bottom of the puncture frame 5. The guide wheel 3-3 is axially fixed on the plug bolt 3-1 by the washer 3-2, and the plug bolt 3-1 is installed in the guide wheel base. The top of the guide wheel base 3-4 is reserved for the lasso 4 line entry. The lasso port 3-5 is installed at the line entry.

[0009] The groove at the bottom of the ball rack 8 fits with the hexagonal side of the upper part of the puncture frame 5, and the side of the puncture frame 5 is embedded in the groove and fastened. Six ball racks 8 are evenly distributed at the center of each side of the hexagonal frame, and the ball cover 7 is fastened to the ball rack 8 to form a partially closed ball groove, which constrains the ball wheel 6 on the ball rack 8, and the unclosed part of the ball groove is the transmission space of the flexible cable 2.

[0010] The ball wheel 6 is composed of a side ball 6-1, an intermediate ball 6-2, a hemispherical body 6-10, a grating sensor 6-3, a grating code disk 6-4, a porcelain eye 6-5, an outlet guide wheel 6-6, a sleeve 6-7, a spindle 6-8, a bearing 6-9, an inlet guide wheel 6-12, a flexible rope 2, a lasso port 6-13, a washer 6-14, a plug bolt 6-15, and a nut 6-11. The ball part of the ball guide wheel is composed of a side ball 6-1, an intermediate ball 6-2, and a hemispherical body 6-10, and the three parts of the ball are fastened together by plug bolts 6-15, nuts 6-11, fastening bolts and corresponding nuts. The inlet guide wheel 6-12 and the washers 6-14 on both sides are installed near the inlet port through plug bolts 6-15 and nuts 6-11. The outlet guide wheel 6-6, the two side sleeves 6-7, and the grating code disk 6-4 are installed on the spindle 6-8. The integral shaft assembly is installed near the outlet. The two sides of the spindle 6-8 are supported by bearings 6-9, and the bearings 6-9 are installed in the bearing holes of the multi-segment sphere. The outlet guide wheel 6-6 drives the spindle 6-8 to rotate. The spindle 6-8 fixes the grating code disk 6-4 in the direction of the side sphere. The grating sensor 6-3 in the side sphere 6-1 measures the rotation speed of the spindle 6-8. The lasso port 6-13 and the porcelain eye 6-5 are clamped between the middle sphere 6-2 and the hemisphere 6-10.

[0011] Six ball wheels 6 are installed on the hexagonal bracket at the top of the puncture frame 5. The six ball wheels 6 have two positions, namely, a high outlet position ball wheel 6-1-1 and a low outlet position ball wheel 6-1-2. The high outlet position ball wheel 6-1-1 is connected to the upper end of the puncture needle clamp 10, and the low outlet position ball wheel 6-1-2 is connected to the lower end of the puncture needle clamp 10. The puncture needle 9 is fixed in the puncture needle clamp 10. The ball wheels 6 with different positions are staggered and installed at the center of each side of the hexagonal frame. By changing the length of the puncture needle clamp 10, the telescopic range of the puncture needle 9 can be changed.

[0012] The flexible rope 2 enters the ball wheel 6 from the lasso port 6-13, and is output from the porcelain eye 6-5 along the tangent of the inlet guide wheel 6-12, the common tangent of the inlet guide wheel 6-12 and the outlet guide wheel 6-6, and the tangent of the outlet guide wheel 6-6. The reverse extension line of the output direction of the flexible rope 2 passes through the center of the ball, and the position of the center of the ball is constrained and fixed. The flexible rope 2 is output at the center, and the position of the center of the ball is the theoretical fixed point during kinematic analysis.

[0013] Compared with the prior art, the present invention has the following beneficial effects:

[0014] (1) In the present invention, when the ball wheel follows the rotation of the flexible cable, the reverse extension line of the flexible cable output direction always passes through the center of the ball. The position of the center of the ball is the theoretical fixed point in the kinematic analysis, which provides a fixed driving point for the kinematic analysis of the parallel flexible cable robot;

[0015] (2) The present invention has a function of variable rope output direction. The ball wheel rotates following the change of the rope transmission direction, which can make the rope output smoothly and avoid friction between the rope and the output point of the driving mechanism;

[0016] (3) The ball cover and the ball rack in the present invention are used to constrain the ball wheels. The six ball wheels are arranged in a staggered manner at the center of each side of the hexagonal top of the puncture frame according to the height of the outlet. The reasonable layout of the ball wheels saves the space occupied by the robot;

[0017] (4) In the present invention, a notch is left on the opposite side of the keyway of the flexible cable traction wheel. By tightening the notch with bolts and nuts, the flexible cable traction wheel and the motor output shaft can be closely matched. The through hole on the surface of the flexible cable traction wheel can be used to fix the initial end of the flexible cable to prevent the flexible cable from falling off the traction wheel. The flexible cable traction wheel is designed with a spiral groove to guide the arrangement of the flexible cable, so that the flexible cable can be tightly and neatly wound when the cable is collected, and the arrangement is regular, avoiding the occurrence of rope compression and rope entanglement.

[0018] (5) In the present invention, the transmission process of the soft cable from the guide wheel group to the ball wheel is borne by the lasso, and the rotation of the ball wheel can drive the lasso to rotate, thereby avoiding interference during the transmission of the soft cable and making the movement more flexible;

[0019] (6) The cable drive module of the present invention is installed in a centralized manner on a platform away from the MRI machine, thereby avoiding electromagnetic interference of the entire device. Except for the cable drive module, the remaining materials are all non-ferromagnetic materials, thereby avoiding electromagnetic interference and ensuring a safe surgical environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a working diagram of a flexible cable-driven nuclear magnetic field-compatible puncture positioning surgical robot;

[0021] Figure 2 This is the overall assembly diagram of a flexible cable-driven MRI-compatible puncture positioning surgical robot;

[0022] Figure 3 This is an exploded diagram of a flexible cable drive module of a flexible cable driven nuclear magnetic field compatible puncture positioning surgical robot;

[0023] Figure 4 This is a schematic diagram of the structure of a flexible cable traction wheel of a flexible cable-driven nuclear magnetic compatible puncture positioning surgical robot;

[0024] Figure 5 This is a schematic diagram of the structure of a guide wheel assembly of a flexible cable-driven nuclear magnetic field-compatible puncture positioning surgical robot;

[0025] Figure 6 This is an exploded view of a guide wheel assembly of a flexible cable-driven nuclear magnetic field-compatible puncture positioning surgical robot;

[0026] Figure 7This is an exploded diagram of the assembly of the ball wheel and puncture rack of a flexible cable-driven nuclear magnetic compatible puncture positioning surgical robot;

[0027] Figure 8 This is an exploded view of a ball wheel of a flexible cable-driven nuclear magnetic compatible puncture positioning surgical robot;

[0028] Fig. 9 This is an assembly diagram of a flexible cable-driven nuclear magnetic field-compatible puncture positioning surgical robot measurement device;

[0029] Fig.10 This is a diagram of the routing of the soft cable inside the ball wheel of a soft cable-driven nuclear magnetic compatible puncture positioning surgical robot;

[0030] Fig.11 This is the schematic diagram of the centering output of the soft cable inside the ball wheel of the nuclear magnetic compatible surgical puncture positioning robot driven by the soft cable;

[0031] Fig.12 This is an assembly diagram of a ball wheel and puncture needle of a flexible cable-driven nuclear magnetic compatible puncture positioning surgical robot;

[0032] Fig.13 It is a schematic top view of a puncture rack of a flexible cable-driven nuclear magnetic field-compatible puncture positioning surgical robot;

[0033] Fig.14 It is a schematic diagram of the assembly of a flexible cable and a puncture needle fixture of a flexible cable-driven nuclear magnetic compatible puncture positioning surgical robot;

[0034] In the figure: 1-flexible cable driving module; 2-flexible cable; 3-guide wheel assembly; 4-lasso; 5-puncture rack; 6-ball wheel; 7-ball cover; 8-ball rack; 9-puncture needle; 10-puncture needle clamp; 11-nuclear magnetic resonance imaging device; 12-patient. DETAILED DESCRIPTION

[0035] Combined with Figure 1 , Attachment Figure 2 , the present invention is further described:

[0036] The present invention mentions a flexible cable driven nuclear magnetic resonance compatible puncture positioning surgical robot, comprising a flexible cable driving module 1, a flexible cable 2, a guide wheel group 3, a lasso 4, a puncture frame 5, a ball wheel 6, a ball cover 7, a ball frame 8, a puncture needle 9, a puncture needle clamp 10, a nuclear magnetic resonance apparatus 11, and a patient 12.

[0037] The three flexible cables 2 are led out from the flexible cable driving module 1 far away from the nuclear magnetic resonance apparatus, and the three flexible cables 2 are arranged in high, medium and low and input to the guide wheel group 3 in parallel, and pass through the lasso 4 installed on the top of the guide wheel group 3 to the line entry of the ball wheel 6. The ball wheel 6 is constrained in the hexagonal upper part of the puncture frame 5 by the spherical space formed by the ball cover 7 and the ball rack 8. The six ball wheels 6 are evenly distributed at the center of each side of the hexagonal frame. The six output flexible cables 2 are staggered and connected to the upper and lower end points of the puncture needle clamp 10, and a puncture needle 9 is fixed in the puncture needle clamp 10.

[0038] Combined with Figure 3 , the present invention is further described:

[0039] The flexible rope 2 is wound around the flexible rope traction wheel 1-2 with a spiral groove, and the flexible rope traction wheel 1-2 is fastened to the D-shaped shaft of the motor 1-3. The motor cover 1-1, the motor 1-3, and the motor box 1-4 are fastened. The motor box 1-4 and the motor seat 1-5 enclose the three motors 1-3 in the box, and the flexible rope 2 is led out through the outlet of the motor cover 1-1 and the outlet of the motor box 1-4 in turn.

[0040] Combined with Figure 4 , the present invention is further described:

[0041] The rope traction wheel 1-2 has a notch on the opposite side of the keyway, which is used to fit tightly with the motor output shaft; the rope traction wheel 1-2 has a hub hole on the side, and a through hole on the surface, which is connected to one of the hub holes, and the initial end of the rope 2 passes through the through hole and emerges from the hub hole, and is knotted and fixed on the side of the rope traction wheel 1-2. The rope traction wheel 1-2 has a spiral groove on the surface, and the groove diameter is the same as the rope 2 diameter, which is used to guide the rope 2 to arrange and avoid rope entanglement and rope compression.

[0042] Combined with Figure 5 , Attachment Figure 6 , the present invention is further described:

[0043] The three flexible cables 2 are input into the guide wheel group 3 at the bottom of the puncture rack 5 in the nuclear magnetic resonance apparatus, and the three flexible cables 2 pass through the three guide wheel bases 3-4 of high, medium and low in sequence. The guide wheel base 3-4 is fixed at the bottom of the puncture rack 5, and a plug bolt 3-1, a guide wheel 3-3, and a gasket 3-2 are installed inside the guide wheel base 3-4. The guide wheel 3-3 outputs the flexible cable 2 input parallel to the bottom surface of the puncture rack 5 vertically, and the flexible cable output port located at the guide wheel base 3-4 is installed with a lasso port 3-5, which is connected to the lasso 4, and the flexible cable 2 in the guide wheel group is introduced into the lasso 4.

[0044] Combined with Figure 7 , the present invention is further described:

[0045] The ball wheel 6 is constrained by a partially enclosed spherical groove formed by the ball rack 8 and the ball cover 7, and the ball rack 8 and the ball cover 7 are tightly connected to wrap the ball wheel 6 therein. The square groove left at the bottom of the ball rack 8 fits with the hexagonal side of the upper bracket of the puncture rack 5, and the two are tightly connected to fix the ball rack above the puncture rack 5. Six ball wheels 6 are evenly distributed at the center of each side of the hexagonal rack.

[0046] Combined with Figure 8 , Attachment Fig. 9 , Attachment Fig.10 , Attachment Fig.11 The present invention is further described as follows:

[0047] The ball wheel 6 is composed of a side ball 6-1, an intermediate ball 6-2, a hemispherical body 6-10, a grating sensor 6-3, a grating code disk 6-4, a ceramic eye 6-5, an outlet guide wheel 6-6, a sleeve 6-7, a spindle 6-8, a bearing 6-9, an inlet guide wheel 6-12, a flexible rope 2, a lasso port 6-13, a washer 6-14, a plug bolt 6-15, and a nut 6-11. The ball part of the ball wheel 6 is composed of a side ball 6-1, an intermediate ball 6-2, and a hemispherical body 6-10, and the three parts of the ball are fastened together by plug bolts 6-15, nuts 6-11, fastening bolts and corresponding nuts. The inlet guide wheel 6-12, the outlet guide wheel 6-6, the ceramic eye 6-5, and the lasso port 6-13 are sandwiched between the intermediate ball 6-2 and the hemispherical body 6-10. Washers 6-14 are installed on both sides of the inlet guide wheel 6-12, and the inlet guide wheel 6-12 can move with the ball wheel 6 and rotate around its own axis by matching the plug bolts 6-15 and the corresponding nuts 6-11. The inlet guide wheel 6-12 can move with the ball wheel 6 and rotate around its own axis. The outlet guide wheel 6-6, the shaft sleeves 6-7 on both sides, and the grating code disk 6-4 are installed on the mandrel 6-8. The outlet guide wheel 6-6 is fixed to the mandrel 6-8 through the internal top screw, and the middle sphere 6-2 and the hemisphere 6-10 clamp the shaft assembly. The shaft assembly is supported by the bearings 6-9 on both sides, and the bearings 6-9 are respectively installed in the bearing holes of the two hemispheres. The end of the mandrel 6-8 in the direction of the side sphere is connected to the grating code disk 6-4, and the mounting groove and positioning hole of the grating sensor 6-3 are left in the side sphere. The monitoring area of ​​the grating sensor 6-3 is directly opposite to the grating code disk 6-4. When the length of the flexible cable 2 changes, the flexible cable 2 drives the outgoing wire guide wheel 6-6 to rotate, the grating code disk 6-4 is installed on the end face of the spindle 6-8 in the direction of the side sphere, and a grating sensor 6-3 is installed in the side sphere 6-1. The grating sensor 6-3 measures the output speed and output length of the flexible cable 2. When the transmission direction of the flexible cable 2 changes, the flexible cable 2 drives the ball wheel 6 to rotate, and the lasso 4 rotates with the ball wheel 6.

[0048] The flexible cable 2 is introduced into the ball wheel 6 from the lasso port 6-13, and is transmitted to the outlet guide wheel 6-6 along the tangent direction of the inlet guide wheel 6-12. The flexible cable 2 is output from the porcelain eye 6-5 after passing through the outlet guide wheel 6-6, and the reverse extension line of the output flexible cable 2 passes through the ball center. The exposed space formed by the ball rack 8 and the ball cover 7 is the input and output range of the flexible cable 2. When the flexible cable 2 output by the ball wheel 6 rotates upward, the outlet guide wheel 6-6 and the porcelain eye 6-5 inside the ball 6 rotate upward, and the ball wheel also rotates upward. By analogy, when the output flexible cable direction rotates, the ball wheel also rotates accordingly.

[0049] The flexible cable 2 enters from the inlet of the ball wheel 6, along the tangent of the inlet guide wheel 6-12, the common tangent of the inlet guide wheel 6-12 and the outlet guide wheel 6-6, and the tangent of the outlet guide wheel 6-6, and then outputs from the outlet. The reverse extension line of the outlet direction of the flexible cable 2 always passes through the center of the ball. The center position of the ball wheel 6 is constrained by the ball cover 7 and the ball rack 8 and fixed above the puncture frame 5, and the flexible cable 2 is output in a centered manner.

[0050] Combined with Fig.12 , Attachment Fig.13 , Attachment Fig.14 , the present invention is further described:

[0051] The flexible cable 2 is introduced into the ball wheel 6 at the upper part of the puncture frame 5 through the lasso 4, and then led out from the outlet of the ball wheel 6. The ball wheel 6 is divided into a high outlet ball wheel 6-1-1 and a low outlet ball wheel 6-1-2 according to the outlet angle of the flexible cable. The two ball wheels are staggered at the center of each side of the hexagonal bracket. The flexible cable 2 led out of the high outlet ball wheel 6-1-1 is connected to the upper end of the puncture needle clamp 10, and the flexible cable 2 led out of the low outlet ball wheel 6-1-1 is connected to the lower end of the puncture needle clamp 10. The puncture needle 9 is fixed in the puncture needle clamp 10. By selecting a puncture needle clamp 10 of a suitable length, the advance and retreat range of the puncture needle 9 can be changed.

[0052] The movement of the puncture needle 9 and the puncture needle clamp 10 is driven by the force provided by the soft cable 2. The three soft cables output by the ball wheel 601, the ball wheel 603, and the ball wheel 605 are connected to the upper end of the puncture needle clamp. When the three soft cables are contracted, the puncture needle clamp 10 drives the puncture needle 9 to move downward to complete the needle insertion operation; the three soft cables output by the ball wheel 602, the ball wheel 604, and the ball wheel 606 are connected to the lower end of the puncture needle clamp. When the three soft cables are contracted, the puncture needle clamp 10 drives the puncture needle 9 to move upward to complete the needle withdrawal operation; when the soft cables output by the ball wheel 601, the ball wheel 602, and the ball wheel 603 are contracted at the same time, the top end of the puncture needle clamp 10 tilts toward the ball wheel 602, so that the needle insertion angle of the puncture needle 9 can be changed.

[0053] The present invention is a flexible cable driven nuclear magnetic resonance compatible puncture positioning surgical robot, and its various functions are implemented as follows:

[0054] Centering output function: the inlet guide wheel 6-12 and the outlet guide wheel 6-6 are installed in the middle of two hemispheres of the ball guide wheel 6. The flexible cable 2 is output from the porcelain eye 6-5 clamped in the middle of the two hemispheres. The output flexible cable 2 is tangent to the outlet guide wheel 6-6 and the extension line always passes through the center of the ball. The center position of the ball wheel 6 is constrained by the ball cover 7 and the ball rack 8 and fixed above the puncture rack 5. The center of the ball wheel 6 can be regarded as the driving point of the flexible cable, providing a theoretical fixed point for the kinematic analysis of the parallel flexible cable robot.

[0055] Variable rope output direction function: During the motor driving process, the direction of the soft rope 2 output at the porcelain eye 6-5 changes, which will drive the ball wheel 6 to rotate accordingly, and the incoming wire guide wheel 6-12 and the outgoing wire guide wheel 6-6 clamped between the two hemispheres of the ball guide wheel 6 will also move accordingly. The direction of the porcelain eye 6-5 is consistent with the output direction of the soft rope 2, so that the soft rope 2 is smoothly output from the porcelain eye 6-5 under the guidance of the outgoing wire guide wheel 6-6, avoiding the friction between the soft rope 2 and the driving mechanism, and realizing the variable rope output direction function of this mechanism;

[0056] Puncture positioning function driven by flexible cables: six flexible cables 2 are respectively output from six ball wheels 6 above the puncture frame 5, and the six ball wheels 6 are evenly distributed at the center of each side of the hexagonal bracket. The six flexible cables 2 are staggeredly connected to the upper and lower end points of the puncture needle clamp 10. A puncture needle 9 is fixed in the puncture needle clamp 10. Under the drive of the flexible cables 2, the two degrees of freedom of movement perpendicular to the axial direction of the puncture needle can complete the movement of the puncture needle position, the degree of freedom of movement along the axial direction of the puncture needle can complete the puncture action, and the two degrees of rotation freedom perpendicular to the axial direction of the puncture needle can complete the change of the needle insertion angle during surgery, thereby realizing the puncture positioning function of the mechanism driven by flexible cables. When performing a renal puncture operation, the relative position of the puncture rack 5 and the bed of the nuclear magnetic resonance instrument is adjusted so that the center of the puncture rack 5 is roughly located directly above the human abdominal cavity, the height is appropriately lowered, and the angle of the puncture needle 9 is adjusted to adapt to the position of the kidney in the human abdominal cavity. The six ball wheels 6 are evenly distributed at the center of each side of the hexagonal rack to ensure the stability of the puncture needle 9 during movement. When there are certain individual differences in the position of the kidney or it is necessary to avoid surrounding important tissues during the puncture process, the puncture needle 9 can be accurately aligned with the target puncture point of the kidney for puncture by controlling the five degrees of freedom of the puncture needle 9; During lung puncture, the relative position of the puncture frame 5 and the bed of the nuclear magnetic resonance instrument is adjusted so that the center of the puncture frame 5 is roughly located above the human chest cavity, the height is appropriately raised, and the angle of the puncture needle 9 is adjusted to adapt to the position of the lung in the human chest cavity. The six ball wheels 6 are evenly distributed at the center of each side of the hexagonal frame to ensure the stability of the puncture needle during movement. Since the lung tissue is relatively loose and there are important blood vessels and trachea structures around it, by controlling the five degrees of freedom of the puncture needle 9, it can avoid important structures and accurately puncture the lung lesion site, thereby realizing the kidney puncture and lung puncture functions of the mechanism.

[0057] The above are only some preferred examples of the present invention. Any technician familiar with the field can modify the technical solutions described above or modify them into equivalent technical solutions. Therefore, any simple modification or equivalent replacement based on the technical solutions of the present invention shall fall within the scope of protection required by the present invention.

Claims

1. A flexible cable driven nuclear magnetic resonance compatible puncture positioning surgical robot, comprising a flexible cable drive module, a flexible cable, a guide wheel group, a lasso, a puncture rack, a ball wheel, a ball cover, a ball rack, a puncture needle, and a puncture needle clamp, wherein the devices in the nuclear magnetic resonance apparatus are all made of non-ferromagnetic materials, and characterized in that: After the flexible cable is led out from the flexible cable driving module far away from the nuclear magnetic resonance apparatus, it leads to the puncture frame in the nuclear magnetic resonance apparatus, and reaches the inside of the ball wheel above the puncture frame after passing through the guide wheel group and the lasso. The ball wheel is composed of a side sphere, an intermediate sphere, a hemisphere, a grating sensor, a grating code disk, a porcelain eye, an outlet guide wheel, a bushing, a spindle, a bearing, an inlet guide wheel, a gasket, a plug bolt, and a nut. The inlet guide wheel and the gasket are installed in the ball near the flexible cable inlet through the plug bolts, the outlet guide wheel, the bushing, the bearing and the grating code disk are installed on the spindle, and the overall shaft assembly is installed near the flexible cable outlet. After the flexible cable enters the ball wheel from the lasso port, it passes through the inlet guide wheel and the outlet guide wheel, and is output from the porcelain eye at the outlet. In the ball wheel, the flexible cable entering from the inlet is cut along the inlet guide wheel The wire, the common tangent line of the wire-in guide wheel and the wire-out guide wheel, the tangent line of the wire-out guide wheel, and then output from the wire outlet. The reverse extension line of the wire-out direction always passes through the center of the ball wheel. The ball wheel is constrained by the ball cover and the ball rack above the puncture frame, and the ball wheel can only rotate in a centered manner. The wire-out direction of the flexible cable always passes through the centering of the ball wheel. The flexible cable is output in a centered manner at the ball wheel. The wire-in direction and the wire-out direction of the flexible cable are parallel, reducing the pressure of the ball wheel on the ball cover and the ball rack. The six ball wheels are evenly distributed at the center of each side of the hexagonal frame. The ends of the six flexible cables output from the ball wheel are alternately connected at intervals to the upper and lower ends of the puncture needle clamp. A puncture needle is fixed in the puncture needle clamp. Driven by the flexible cable, the puncture needle has three degrees of freedom of movement and two degrees of freedom of rotation perpendicular to the axis direction of the puncture needle.

2. According to claim 1, a flexible cable driven nuclear magnetic compatible puncture positioning surgical robot is characterized in that: When the length of the flexible cable changes, the flexible cable drives the wire guide wheel to rotate. The grating code disk is installed on the end face of the spindle in the direction of the side sphere. A grating sensor is installed in the side sphere. The grating sensor measures the output speed and output length of the flexible cable. When the transmission direction of the flexible cable changes, the flexible cable drives the ball wheel to rotate, and the lasso rotates with the ball wheel.

3. The flexible cable driven nuclear magnetic compatible puncture positioning surgical robot according to claim 1, characterized in that: The base of the puncture frame is fastened to the nuclear magnetic resonance apparatus. The upper part of the puncture frame is hexagonal. Six ball wheels are evenly distributed at the center of each side of the hexagonal frame. Six flexible cables output from the ball wheels are staggered and connected to the upper and lower ends of the puncture needle clamp at intervals. A puncture needle is fixed in the puncture needle clamp. The puncture needle has three degrees of freedom of movement and two degrees of rotational freedom perpendicular to the axis direction of the puncture needle.

4. The flexible cable driven nuclear magnetic compatible puncture positioning surgical robot according to claim 1, characterized in that: The motors of the entire flexible cable drive module are centrally arranged on a platform far away from the magnetic resonance imaging apparatus. The six motors in the flexible cable drive module are divided into two motor groups. The three motors are fixed in the box by means of a motor box and a motor cover. The flexible cable traction wheel is fixed on the motor output shaft. The motor shell is sleeved on the outside of the flexible cable traction wheel. There are spiral grooves on the flexible cable traction wheel. The flexible cable is evenly wound on the flexible cable traction wheel. The flexible cable passes through the gaps on the motor shell and the motor box and goes out of the flexible cable drive module.

5. The flexible cable driven nuclear magnetic compatible puncture positioning surgical robot according to claim 1, characterized in that: The three motors of a motor group are arranged in high, middle and low positions. The three flexible ropes led out from the motor group are output in parallel to the corresponding high, middle and low guide wheel bases. The guide wheel base is installed at the bottom of the puncture frame in the nuclear magnetic resonance apparatus. Guided by the wire wheel, the flexible rope enters the lasso installed above the base, and then reaches the inside of the ball wheel through the lasso.

6. The flexible cable driven nuclear magnetic compatible puncture positioning surgical robot according to claim 1, characterized in that: One end of the lasso is stuck on the top of the guide wheel base, and the other end is clamped by the groove reserved inside the ball wheel. The lasso leads the flexible cable from the bottom of the puncture frame into the ball wheel. The routing of the flexible cable in the puncture frame no longer depends on the guide wheel, and the lasso can rotate with the ball wheel.

7. The flexible cable driven nuclear magnetic compatible puncture positioning surgical robot according to claim 1, characterized in that: By changing the relative position of the puncture frame and the MRI machine, the surgical robot can perform kidney puncture and lung puncture on the patient. The two degrees of freedom of movement perpendicular to the axis of the puncture needle can complete the movement of the puncture needle position, the degrees of freedom of movement along the axis of the puncture needle can complete the puncture action, and the two degrees of rotational freedom perpendicular to the axis of the puncture needle can complete the change of the needle insertion angle during surgery. By changing the length of the puncture needle clamp, the telescopic range of the puncture needle can be changed.

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