A bed-fixed flexible cable-driven puncture surgical robot

Abstract

The present invention relates to a bed-fixed flexible cable-driven puncture surgical robot, comprising a driving module, a transmission module, a guide module, a puncture device, an initial positioning fixture, a puncture positioning fixture, and a frame. The driving module is installed at the tail of a nuclear magnetic resonance bed, and six driving ropes output from the driving module lead from the two sides, the top, and the bottom of the nuclear magnetic resonance bed to the nuclear magnetic resonance apparatus. The ropes pass through the transmission module and the guide module and are connected to the puncture device. The frame is located inside the nuclear magnetic resonance apparatus. The six guide modules are arranged in a regular hexagon on the frame, and the six ropes output from the six guide balls are staggered and connected to the upper and lower ends of the puncture device. Two initial positioning fixtures constrain the initial position of the puncture needle to be located in the center of the frame, and the puncture positioning fixture constrains the puncture needle to puncture at a specified position. The present invention solves the problems of drive compatibility and space compatibility in a nuclear magnetic resonance environment by externalizing the driving module and the rope transmission, and realizes the adjustment of the puncture needle posture by a parallel flexible cable mechanism.

Description

Technical Field

[0001] The present invention relates to the field of medical robots, and in particular to a puncture surgery robot used in a nuclear magnetic resonance environment. Background Art

[0002] With the help of MRI, doctors can identify tumors, inflammation, necrotic lesions and other lesions in the patient's body, which is very helpful for the diagnosis of various diseases of the nervous system, chest, abdomen and limbs. During the puncture operation, due to the small space inside the MRI machine, multiple scans are required to determine whether the puncture is accurate, and the puncture operation must be completed outside the MRI machine. This process greatly increases the complexity of the operation, and has high requirements for the doctor's surgical experience, which prolongs the time of unnecessary surgery and reduces the success rate of the operation.

[0003] At present, in the research of nuclear magnetic compatible puncture robots in China, a breast biopsy device based on supine nuclear magnetic compatible (CN 207886219 U) adopts a double fork mechanism for positioning and puncturing, which not only realizes the full range of interventional treatment of bilateral breast tissue in the supine position, but also reduces the space occupied by the device. The disadvantage is that the overall device adopts a series structure, and the overall accuracy and output force are low during the operation. A nuclear magnetic compatible surgical robot based on wire transmission (CN103417303A) solves the problems of drive compatibility and space compatibility in the nuclear magnetic environment by using wire conduction and external motor. The disadvantage is that the surgical action area is small and complex operations cannot be performed.

[0004] At present, in order for puncture robots to perform stable and accurate puncture work in a nuclear magnetic resonance environment, it is necessary to solve the problems of drive compatibility, material compatibility and space compatibility. In terms of drive compatibility, the current robot drive can be divided into motor drive, hydraulic drive and pneumatic drive. Hydraulic drive is prone to leakage and is not suitable for a neat surgical environment. Pneumatic drive is not suitable for precise surgical operations due to control hysteresis. The ferromagnetic material of the motor will affect the imaging in the nuclear magnetic resonance apparatus, so an external motor can be used as an effective solution to drive compatibility; in terms of space compatibility, due to the relatively narrow nuclear magnetic resonance space, the robot layout is required to be compact. Compared with traditional rigid component drive, rope transmission has the advantages of high precision and small space occupancy. In terms of material compatibility, ferromagnetic materials will affect nuclear magnetic resonance imaging, and ferromagnetic materials are prone to danger in a strong magnetic field environment, so the robot components inside the nuclear magnetic resonance apparatus should be made of non-ferromagnetic materials. Summary of the invention

[0005] The purpose of the present invention is to address the compatibility issues of existing robots working in a nuclear magnetic resonance environment and to propose a bed-fixed flexible cable-driven puncture surgical robot.

[0006] The present invention mentions a bed-fixed flexible cable-driven puncture surgical robot, comprising a rope 1, a drive module 2, a transmission module 3, a guide module 4, a frame 5, a puncture device 6, an initial positioning fixture 7, and a puncture positioning fixture 8. The drive module 2 is installed at the tail of the nuclear magnetic resonance bed, and the drive rope 1 output from the drive module 2 passes through the transmission module 3 and then reaches the guide module 4. The guide module 4 is arranged in a regular hexagon above the frame 5. The ends of the six ropes 1 output from the guide module 4 are staggered and connected to the upper and lower ends of the puncture device 6. Two initial positioning fixtures 7 are installed on the frame 5, and the semicircular clamps at the ends of the two clamps jointly constrain the initial position of the puncture device 6 in the center of the frame 5. The puncture positioning fixture 8 is installed on the supporting leg of the frame 5, and the joint angle is adjusted so that the end puncture hole is opposite to the puncture position. The puncture device 6 passes through the puncture hole, and the puncture device performs puncture under the constraint of the puncture hole.

[0007] The driving module 2 is fixed to the tail end of the nuclear magnetic bed through the two supporting arms of the motor box 2-1. The end of the rope 1 is wound around the pulley 2-2. The pulley 2-2 is fixed to the output shaft of the motor 2-3. The motor 2-3 is installed in the motor box 2-1. The rope 1 is output from the driving module 2.

[0008] The output rope 1 passes through the transmission module 3 and leads to the frame 5 inside the nuclear magnetic resonance machine. Four ropes are symmetrically distributed on both sides according to the central axis of the nuclear magnetic bed, leading to the double-layer wire pulley 3-1 installed at the tail of the nuclear magnetic bed. The two groups of ropes originally perpendicular to the bed surface lead to the inside of the nuclear magnetic resonance machine from different heights; the fifth rope passes through the high-layer wire pulley 3-2 installed on the nuclear magnetic bed and leads to the inside of the nuclear magnetic resonance machine. The sixth rope is installed at the low-layer wire pulley 3-3 at the bottom of the nuclear magnetic bed and leads to the head of the nuclear magnetic bed along the wire channel at the bottom of the bed. The tails of the six driving ropes 1 leading to the nuclear magnetic bed are installed with a male connector 3-4-1, and the head end of the rope for pulling the puncture device 6 is installed with a female connector 3-4-2. The male connector 3-4-1 and the female connector 3-4-2 are connected by threads to form a connecting buckle 3-4 to connect the ropes from the driving module 2 to the puncture device 6.

[0009] The frame 5 is installed inside the nuclear magnetic resonance apparatus, and the four supporting legs at the bottom are fastened to the nuclear magnetic resonance bed. The rope 1 output from the driving module 2 leads to the frame 5 from the two ends, the upper side and the bottom of the nuclear magnetic resonance bed respectively, and then enters the guide ball 4-2 installed above the frame 5. The four ropes leading to the bottom of the frame 5 first pass through the square wire pulley 3-5 and the guide wheel 3-6 installed on the four supporting legs of the frame, and lead to the guide module 4 along the frame supporting legs, and then pass through the wire pulley on the support frame 4-1, and the rope enters from the wire entrance of the guide ball.

[0010] The rope from the bottom of the MRI bed to the head direction, after reaching the head of the MRI bed, passes through the lower wire pulley 3-3, and the direction of the rope originally parallel to the bed surface is changed to the direction perpendicular to the bed, and then reaches the upper wire pulley 3-2, and the direction is changed to be parallel to the bed surface, and enters the guide ball through the wire pulley installed on the support frame 4-1.

[0011] The output from the driving module 2 is directly connected to the rope of the high-level wire pulley 3-2, and the output direction is changed to be parallel to the bed surface direction through the high-level wire pulley 3-2 to lead to the inside of the nuclear magnetic resonance apparatus, and then enters the guide ball through the wire pulley on the support frame 4-1.

[0012] The guide module 4 is composed of a support frame 4-1, a guide ball 4-2, and a ball cover 4-3. The interior of the guide ball 4-2 is composed of an inlet porcelain eye 4-2-1, an outlet porcelain eye 4-2-2, and a hemispherical body 4-2-3. The inlet porcelain eye 4-2-1 is installed at the entrance of the ball center, and the outlet porcelain eye 4-2-2 is installed at the exit of the spherical surface. The two hemispherical bodies 4-2-3 are closed to form a sphere with a spherical sector-shaped gap. The two porcelain eyes are installed in the internal groove formed by the two hemispherical bodies 4-2-3. The rope 1 enters from the spherical sector-shaped gap of the guide ball 4-2, passes through the inlet porcelain eye 4-2-1 at the center of the ball, and is output from the outlet porcelain eye 4-2-2 at the spherical surface. The output direction of the rope 1 passes through the center of the ball. The support frame 4-1 is fixed on the frame 5. The spherical groove formed by the upper part of the support frame 4-1 and the ball cover 4-3 constrains the ball center of the guide ball 4-2 to a fixed position. The guide ball 4-2 rotates in a centered manner. When the guide ball 4-2 rotates, the length of the rope 1 between the wire wheel on the support frame 4-1 and the outlet porcelain eye 4-2-2 remains unchanged. Six guide balls 4-2 are arranged in a regular hexagonal position above the frame 5, and the six ropes 1 output from the guide balls 4-2 are staggered and connected to the upper and lower ends of the puncture device 6.

[0013] The puncture device 6 consists of a puncture needle 6-1, a puncture needle fixing cap 6-2, a support rod 6-3, and an end cap 6-4, wherein the puncture needle 6-1 passes through the puncture needle fixing cap 6-2, the tail end of the puncture needle 6-1 fits with the lower end of the support rod 6-3, the puncture needle fixing cap 6-2 and the lower end of the support rod 6-3 are fastened by threads, the puncture needle 6-1 is fixed to the lower end of the support rod 6-3, the rope output from the three interval guide balls is connected to the groove between the puncture needle fixing cap 6-2 and the support rod 6-3 through the rope buckle at the end; the end cap 6-4 is fixed to the upper part of the support rod 6-3 by threads, the rope output from the other three interval guide balls is connected to the groove between the end cap 6-4 and the support rod 6-3 through the rope buckle at the end, the six ropes 1 output from the guide ball 4-2 are staggered and connected at the upper and lower ends of the puncture device 6, and the puncture device 6 has three degrees of freedom of movement and two degrees of rotational freedom except for rotation around the axis.

[0014] Two initial positioning fixtures 7 are installed at the center of the long opposite sides of the quadrilateral frame 5. The semicircular clamps at the ends of the two fixtures jointly constrain the initial position of the puncture device 6 in the center of the frame 5. The puncture positioning fixture 8 is installed on the supporting leg of the frame 5 and has two joint rotation degrees of freedom. The joint angle is adjusted so that the end puncture hole is opposite to the puncture position. The puncture device 6 passes through the puncture hole and completes the puncture under the constraint of the puncture hole.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] (1) In the present invention, the guide ball always rotates with the follower rope under the centering constraints of the support frame and the ball cover, and the output direction of the rope always passes through the center of the guide ball. The center position of the ball is used as the position driving fixed point for the kinematic analysis of the parallel robot.

[0017] (2) The present invention uses motor drive and rope drive, and utilizes the stability of motor output and the good linearity of rope. Compared with the hydraulic and pneumatic drives of other robots, it avoids the hysteresis phenomenon of pneumatic drives during surgical operations and the problem of hydraulic cylinder leakage polluting the environment, thereby ensuring the reliability of the robot equipment during the operation and solving the current robot drive compatibility problem in the nuclear magnetic resonance environment.

[0018] (3) The present invention utilizes an external drive module and a guide system. The drive module is installed at the rear end of the MRI bed and cooperates with a variety of wire wheels to complete the rope drive. The guide system is arranged in a regular hexagon above the frame. The output ropes are staggered and connected to the upper and lower ends of the puncture device. Relying on a simple structural design, the puncture needle can achieve five-degree-of-freedom movement, saving the space occupied by the robot, facilitating the completion of complex surgical operations in a narrow environment, and solving the current space compatibility problem of robots in MRI environments.

[0019] (4) The initial positioning fixture and puncture positioning fixture designed in the present invention, the initial positioning fixture ensures that the initial position of the puncture device is located in the center of the frame, and the puncture positioning fixture constrains the puncture device to stably insert the needle according to the specified position, thereby ensuring the surgical positioning accuracy during the entire surgical operation.

[0020] (5) The robot materials in the nuclear magnetic resonance apparatus of the present invention are all made of engineering plastics, which avoids the imaging and safety problems caused by ferromagnetic materials to the greatest extent and solves the compatibility problem of robot materials in the current nuclear magnetic resonance environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a working schematic diagram of a bed-fixed flexible cable-driven puncture surgical robot;

[0022] Figure 2 This is the overall assembly diagram of a bed-fixed flexible cable-driven puncture surgical robot;

[0023] Figure 3This is an exploded view of the rope drive module of a bed-fixed soft-cable driven puncture surgical robot;

[0024] Figure 4 It is a schematic diagram of the rope transmission structure at the tail of a bed of a fixed bed-type flexible cable-driven puncture surgery robot;

[0025] Figure 5 It is a schematic diagram of the double-layer wire pulley structure of a bed-fixed flexible cable-driven puncture surgical robot;

[0026] Figure 6 This is a schematic diagram of the high-rise wire pulley structure of a bed-fixed flexible cable-driven puncture surgical robot;

[0027] Figure 7 This is a schematic diagram of the structure of the lower wire pulley of a bed-fixed flexible cable-driven puncture surgical robot;

[0028] Figure 8 This is a schematic diagram of the connecting buckle structure of a bed-fixed flexible cable-driven puncture surgical robot;

[0029] Fig. 9 This is a schematic diagram of the cable transmission structure of the head of a nuclear magnetic resonance bed of a puncture surgery robot with a fixed bed and a flexible cable drive;

[0030] Fig.10 This is a schematic diagram of the cable transmission structure inside the nuclear magnetic resonance instrument of a bed-fixed flexible cable-driven puncture surgical robot;

[0031] Fig.11 This is a structural schematic diagram of a guide module of a bed-fixed flexible cable-driven puncture surgical robot;

[0032] Fig.12 It is a side view of the structure of a guide module of a bed-fixed flexible cable-driven puncture surgical robot;

[0033] Fig.13 This is an exploded view of a guide module of a bed-fixed flexible cable-driven puncture surgical robot;

[0034] Fig.14 Schematic diagram of the upper structure of the cable-connected puncture device of a bed-fixed soft cable-driven puncture surgical robot

[0035] Fig.15 Schematic diagram of the lower structure of the cable-connected puncture device of a bed-fixed soft cable-driven puncture surgical robot

[0036] Fig.16 It is an exploded view of a bed-fixed flexible cable-driven puncture surgical robot puncture device;

[0037] Fig.17 Assembly diagram of the cable and puncture device of a bed-fixed soft cable-driven puncture surgical robot

[0038] Fig.18 A top view of the rope and puncture device of a bed-fixed flexible cable-driven puncture surgical robot;

[0039] Fig.19 This is a schematic diagram of puncture positioning of a bed-fixed flexible cable-driven puncture surgical robot;

[0040] Fig. 20 A schematic diagram of a puncture surgery robot driven by a flexible cable and having a fixed bed;

[0041] In the figure: 1-rope; 2-driving module; 3-transmission module; 4-guiding module; 5-frame; 6-puncture device; 7-initial positioning fixture; 8-puncture positioning fixture. DETAILED DESCRIPTION

[0042] Combined with Figure 1 , Attachment Figure 2 , the present invention is further described:

[0043] The present invention provides a bed-fixed flexible cable-driven puncture surgical robot, comprising a cable 1, a drive module 2, a transmission module 3, a guide module 4, a frame 5, a puncture device 6, an initial positioning fixture 7, and a puncture positioning fixture 8.

[0044] The driving module 2 is installed at the tail end of the nuclear magnetic bed. The six driving ropes 1 output from the driving module 2 pass through the transmission module 3 and reach the guide module 4. The guide module 4 is arranged in a regular hexagon above the frame 5. The ends of the six ropes 1 output from the guide module 4 are staggered and connected to the puncture device 6. The initial positioning fixture 7 is installed at the center of the long opposite sides of the frame 5. The semicircular clamps at the ends of the two initial positioning fixtures 7 jointly constrain the initial position of the puncture device 6 to be located in the center of the frame 5. The puncture positioning fixture 8 is installed on the supporting leg of the frame 5.

[0045] Combined with Figure 3 , the present invention is further described:

[0046] The driving module 2 is composed of a motor box 2-1, a pulley 2-2 and a motor 2-3. The two support arms of the motor box 2-1 are fastened to the surface of the nuclear magnetic bed by bolts. The entire driving module 2 is installed at the tail end of the nuclear magnetic bed. The rope 1 is wound around the pulley 2-2, and the pulley 2-2 is fastened to the output shaft of the motor 2-3. The motor 2-3 is installed in the motor hole in the motor box 2-1. Six ropes 1 are output from the driving module 2 in a direction perpendicular to the bed surface.

[0047] Combined with Figure 4 , Attachment Figure 5 , Attachment Figure 6 , Attachment Figure 6 , Attachment Figure 7 , Attachment Figure 8 , Attachment Fig. 9 , the present invention is further described:

[0048] Four of the six driving ropes 1 output from the driving module 2 are symmetrically distributed on both sides according to the axis of the nuclear magnetic resonance bed. The two ropes on one side pass through the double-layer wire pulley 3-1 installed at the tail end of the nuclear magnetic resonance bed, and the two ropes are parallel to the bed surface at different heights and lead to the inside of the nuclear magnetic resonance device; the fifth driving rope passes through the low-layer wire pulley 3-3 installed at the bottom of the nuclear magnetic resonance bed, and is transmitted to the head of the nuclear magnetic resonance bed along the wire channel at the bottom of the bed; the sixth driving rope is along the high-layer wire pulley 3-2 and leads to the inside of the nuclear magnetic resonance device. The tails of the six driving ropes 1 are all installed with male connectors 3-4-1, and the heads of the ropes 1 of the six traction puncture devices 6 are all installed with female connectors 3-4-2. The male connectors 3-4-1 and the female connectors 3-4-2 are fastened by threads to form a connecting buckle 3-4 to connect the ropes 1 from the driving module 2 to the puncture device 6.

[0049] Combined with Fig.10 , Attachment Fig.11 , Attachment Fig.12 , Attachment 13, further description of the present invention:

[0050] Six guide modules 4 and two initial positioning fixtures 7 are installed on the upper part of the frame 5. The four supporting legs at the bottom are fastened to the nuclear magnetic bed. Each supporting leg is equipped with a square wire pulley 3-5 and a guide wheel 3-6. A puncture positioning fixture 8 is installed on one of the supporting legs. The four ropes leading to the bottom of the frame 5 pass through the square wire pulley 3-5 and the guide wheel 3-6 and then lead to the guide module 4, reach the wire pulley on the support frame 4-1 installed on the upper part of the frame 5, and then pass through the wire pulley into the guide ball 4-2.

[0051] The guide module 4 is composed of a support frame 4-1, a guide ball 4-2, and a ball cover 4-3. The guide ball 4-2 is composed of an inlet porcelain eye 4-2-1, an outlet porcelain eye 4-2-2, and a hemispherical body 4-2-3. The inlet porcelain eye 4-2-1 is installed at the entrance of the ball center, and the outlet porcelain eye 4-2-2 is installed at the exit of the spherical surface. The two hemispherical bodies 4-2-3 are closed to form a sphere with a spherical sector-shaped gap. The inlet porcelain eye 4-2-1 and the outlet porcelain eye 4-2-2 are installed in the internal groove formed by the closure of the two hemispherical bodies 4-2-3. The rope 1 enters from the spherical sector-shaped gap of the guide ball 4-2, passes through the inlet porcelain eye 4-2-1 at the center of the ball, and is output from the outlet porcelain eye 4-2-2 at the spherical surface. The output direction of the rope 1 always passes through the center of the ball. The support frame 4-1 is fixed on the frame 5. The support frame 4-1 and the ball cover 4-3 form a spherical groove to constrain the ball center of the guide ball 4-2 in a fixed position. When the guide ball 4-2 rotates in a centered manner, the length of the rope 1 from the guide wheel of the support frame 4-1 to the outlet porcelain eye 4-2-2 remains unchanged. Six guide balls 4-2 are arranged in a regular hexagon above the frame 5. The six ropes 1 output from the guide balls 4-2 are connected to the upper and lower ends of the puncture device 6 through the end rope buckles.

[0052] Combined with Fig.14 , Attachment Fig.15 , Attachment Fig.16 The present invention is further described as follows:

[0053] The puncture device 6 consists of a puncture needle 6-1, a puncture needle fixing cap 6-2, a support rod 6-3, and an end cap 6-4, wherein the puncture needle 6-1 passes through the puncture needle fixing cap 6-2, the tail end of the puncture needle 6-1 fits with the lower end of the support rod 6-3, the puncture needle fixing cap 6-2 and the lower end of the support rod 6-3 are fastened by threads, the puncture needle 6-1 is fixed to the lower end of the support rod 6-3, the ropes output from the three interval guide devices are connected to the groove between the puncture needle fixing cap 6-2 and the support rod 6-3 through the rope buckle at the end; the end cap 6-4 is fixed to the upper part of the support rod 6-3 by threads, the ropes output from the other three interval guide modules are connected to the groove between the end cap 6-4 and the support rod 6-3 through the rope buckle at the end, and the six ropes 1 output from the guide module 4 are staggered and connected to the upper and lower ends of the puncture device 6.

[0054] Combined with Fig.17 , Attachment Fig.18 , Attachment Fig.19 , Attachment Fig. 20 The present invention is further described as follows:

[0055] Two initial positioning fixtures 7 are installed at the center of the long opposite sides of the quadrilateral frame 5. The semicircular clamps at the ends of the two fixtures jointly constrain the initial position of the puncture device 6 in the center of the frame 5. The puncture positioning fixture 8 is installed on the supporting leg of the frame 5 and has two joint rotation degrees of freedom. The joint angle is adjusted so that the end puncture hole is opposite to the puncture position. The puncture device 6 passes through the puncture hole and completes the puncture under the constraint of the puncture hole.

[0056] The ropes output by the guide balls 4-201, 4-203, and 4-205 are connected to the groove between the end cap 6-4 and the support rod 6-3, and the ropes output by the guide balls 4-202, 4-204, and 4-206 are connected to the groove between the puncture needle fixing cap 6-2 and the support rod 6-3. The ropes output by the guide balls 4-201, 4-203, and 4-205 are simultaneously contracted to drive the puncture device 6 to complete the needle insertion operation; the guide balls 4-202, 4-204, and 4-206 are connected to the groove between the puncture needle fixing cap 6-2 and the support rod 6-3. -206 output ropes are simultaneously contracted to drive the puncture device 6 to complete the needle withdrawal operation; the ropes output by the guide ball 4-201 and the guide ball 4-203 are simultaneously contracted, and the puncture device 6 moves toward the guide ball 4-202; the rope output by the guide ball 4-201 is contracted to achieve the tilting of the upper part of the puncture device 6 toward the guide ball 4-201; the rope output by the guide ball 4-202 is contracted to achieve the tilting of the lower part of the puncture device 6 toward the guide ball 4-202. The puncture device 6 has three degrees of freedom of movement and two degrees of freedom of rotation except for rotation around the axis.

[0057] The present invention is a bed-fixed flexible cable-driven puncture surgical robot, and its various functions are implemented as follows:

[0058] Rope centering output function: The guide ball 4-2 is composed of an inlet porcelain eye 4-2-1, an outlet porcelain eye 4-2-2, and a hemisphere 4-2-3. The inlet porcelain eye 4-2-1 is installed at the center of the ball, and the outlet porcelain eye 4-2-2 is installed at the spherical surface. The two hemispheres 4-2-3 are closed to form a sphere with a spherical fan-shaped gap. The rope 1 enters from the gap, passes through the inlet porcelain eye 4-2-1 at the center of the ball, and is output from the outlet porcelain eye 4-2-2 at the spherical surface. The direction of the rope output always passes through the center of the ball. The guide ball 4-2 is centered and constrained above the frame 5 by the support frame 4-1 and the ball cover 4-3. The rope 1 is output from the guide ball 4-2 in a centering manner. When the guide ball 4-2 rotates in a centering manner, the length of the rope 1 between the wire wheel of the support frame 4-1 and the outlet porcelain eye 4-2-2 always remains unchanged.

[0059] Drive compatibility function in nuclear magnetic field environment: rope 1 is wound around pulley 2-2, pulley 2-2 is fastened to the output shaft of motor 2-3, motor 2-3 is installed in motor box 2-1, drive module 2 is fixed to the tail end of nuclear magnetic field bed, six ropes 1 output from drive module 2 pass through transmission module 3, and are output from guide module 4. The end of output rope 1 is connected to puncture device 6, motor 2-2 drives external and rope 1 drives, which makes full use of motor drive stability and good linearity of rope transmission, and ensures the reliability of the whole robot drive module in nuclear magnetic field environment.

[0060] Spatial compatibility function in nuclear magnetic field environment: six ropes 1 pass through transmission module 3 and guide module 4 to reach frame 5, six guide balls 4-2 are installed on the top of frame 5, and the six guide balls 4-2 are arranged in a regular hexagon on frame 5. The six ropes 1 output by the guide balls 4-2 are staggered and connected at the upper and lower ends of the puncture device 6. The layout of the six guide balls 4-2 makes full use of the structure of frame 5. The rope 1 transmission and guide module 4 ensure that the robot has a larger working space in a narrow nuclear magnetic field environment.

[0061] Puncture positioning function under the nuclear magnetic environment: the puncture needle 6-1 is initially calibrated before the operation, and then the needle is inserted stably under the constraint of the equipment. First, the two initial positioning fixtures 7 jointly constrain the initial position of the puncture device 6 in the center of the frame 5, and the puncture positioning fixture 8 is adjusted so that the puncture hole at the end of the puncture positioning fixture 8 is aligned with the required puncture position. The puncture device 6 is passed through the puncture hole. The puncture device 6 completes the puncture under the constraint of the puncture hole. The puncture device 6 has three degrees of freedom of movement in three directions and two degrees of rotation freedom except for rotation around its own axis.

[0062] Material compatibility in MRI environment: The interior of the MRI machine is made of engineering plastics, which avoids the shadow problem that ferromagnetic materials may cause during MRI imaging.

[0063] 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 bed-fixed flexible cable-driven puncture surgical robot comprises a drive module, a transmission module, a guide module, a puncture device, an initial positioning fixture, a puncture positioning fixture and a frame; the drive module is mounted at the tail of the nuclear magnetic resonance bed, and six drive ropes output from the drive module are connected to six ropes of the traction puncture device through a connecting buckle; during the transmission process, the rope is connected to the puncture device through the transmission module and the guide module, and the frame is mounted on the nuclear magnetic resonance bed inside the nuclear magnetic resonance apparatus; the guide module is composed of a support frame, a guide ball and a ball cover, the guide ball is composed of two hemispheres, an inlet porcelain eye and an outlet porcelain eye, the inlet porcelain eye is mounted at the entrance of the ball center, the outlet porcelain eye is mounted at the exit of the spherical surface, the porcelain eye is fixed in an internal groove formed by the closure of the two hemispheres, the two hemispheres are closed to form a sphere with a spherical fan-shaped notch, the guide ball is constrained above the frame by the spherical groove formed by the ball cover and the support frame, and the guide wheel on the support frame is installed at a position facing the guide wheel on the support frame The guide ball has a fan-shaped notch. The rope passes through the wire wheel and is input from the notch directly opposite the center of the ball. It enters the wire porcelain eye through the center of the ball and is output from the wire porcelain eye on the spherical surface. The guide ball rotates in a centered manner, and the rope is output in a centered manner. During the rotation of the guide ball, the length of the rope between the wire wheel and the wire porcelain eye remains unchanged. The six guide modules are arranged in a regular hexagon on the frame. The six traction ropes are respectively input from the wire porcelain eye at the center of the guide ball of the guide module, and then output from the wire porcelain eye on the spherical surface. The output direction always passes through the center of the ball. The six output ropes are staggered and connected at the upper and lower parts of the puncture device. The semicircular clamps at the ends of the two initial positioning clamps jointly constrain the initial position of the puncture device to the center of the frame. The joint angle of the puncture positioning clamp is adjusted so that the puncture hole is directly opposite the puncture position. The puncture device passes through the puncture hole. The puncture device performs puncture under the constraint of the puncture hole. The six ropes output from the drive module lead from both ends, the upper side, and the bottom of the nuclear magnetic resonance bed to the inside of the nuclear magnetic resonance instrument.

2. The bed-fixed flexible cable-driven puncture surgical robot according to claim 1, characterized in that: The puncture device consists of a puncture needle, a puncture needle fixing cap, a support rod, and an end cap. The puncture needle passes through the puncture needle fixing cap, and the tail end of the puncture needle fits against the lower end of the support rod. The puncture needle fixing cap and the lower end of the support rod are fastened by threads, and the puncture needle is fixed to the lower end of the support rod. The ropes output from the three interval guide devices are connected to the groove between the puncture needle fixing cap and the support rod through the rope buckle at the end; the end cap is fixed to the upper part of the support rod by threads, and the ropes output from the other three interval guide modules are connected to the groove between the end cap and the support rod through the rope buckle at the end. The six ropes output from the guide module are staggered and connected to the upper and lower ends of the puncture device. The puncture device has three degrees of freedom of movement and two degrees of rotational freedom except for rotation around its own axis.

3. The bed-fixed flexible cable-driven puncture surgical robot according to claim 1, characterized in that: Two initial positioning fixtures are installed at the center of the long opposite sides of the quadrilateral frame. The semicircular clamps at the ends of the two fixtures jointly constrain the initial position of the puncture device in the center of the frame. The puncture positioning fixture is installed on the support leg of the frame. The puncture positioning fixture has two joint rotation degrees of freedom. By adjusting the joint angle, the puncture hole at the end of the puncture positioning fixture is opposite to the puncture position. The puncture device passes through the puncture hole, and the puncture is completed under the constraint of the puncture hole.

4. The bed-fixed flexible cable-driven puncture surgical robot according to claim 1, characterized in that: The driving module consists of a motor box, a motor, and a pulley. The motor is installed in the motor box, the pulley is fastened to the motor output shaft, the rope is wrapped around the pulley, and the pulley rotates with the motor to drive the output of the rope. The driving module is installed at the tail end of the MRI bed, and six driving ropes are output from it and connected to the ropes of the traction puncture device through connecting buckles. The six driving ropes lead from the two sides, top, and bottom of the MRI bed to the puncture device inside the MRI machine.

5. According to claim 1, a bed-fixed flexible cable-driven puncture surgical robot, the frame is fixed on the MRI bed inside the MRI machine, the lower part is four supporting legs, the supporting legs are equipped with rope pulleys, the bottom of the supporting legs is fastened to the MRI bed, and six guide modules arranged in a regular hexagon are installed on the frame.

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