Surgical robot navigation system and navigation method thereof

Abstract

The present invention discloses a surgical robot navigation system and a navigation method thereof, which relates to the field of medical devices, including an ultrasonic detection mechanism and a puncture axis mechanism; the ultrasonic detection mechanism is used to roughly locate the human body and perform feeding and scanning in multiple directions, including a double-degree-of-freedom adjustment component, and an ultrasonic probe connected to the double-degree-of-freedom adjustment component for ultrasonic detection and positioning. By setting the ultrasonic detection mechanism and the puncture axis mechanism, it can be applied to the puncture of one or more needle entry points at custom positions, and ultrasound can be used to rotate and scan the feeding direction to locate, search or model the target. The multi-degree-of-freedom structure in the positioning structure of the puncture axis mechanism can make the puncture component move within a predetermined arc area above the ultrasonic detection mechanism, and at the same time, the end of the puncture needle can have a reasonable operable space in different narrow space situations, and the puncture needle can have different needle entry angles, so that the puncture needle can be arranged at any angle.

Description

Technical Field

[0001] The present invention relates to the field of medical devices, and in particular to a surgical robot navigation system and a navigation method thereof. Background Art

[0002] Prostate puncture biopsy is the ultimate standard and best method for diagnosing prostate cancer. There are generally two ways to perform prostate puncture biopsy, one is through the perineum and the other is through the rectum. Among them, transperineal puncture biopsy is gradually being used by more medical institutions because it has higher safety, is more conducive to detecting early tumors and reducing adverse reactions after surgery.

[0003] Currently, during the transperineal prostate puncture biopsy procedure, the puncture template needs to be pushed from the gap between the patient's legs to the patient's perineum, and the puncture needle is passed through different positioning holes on the puncture template to puncture into the prostate gland. The puncture needle passes through different positioning holes to achieve puncture into different positions of the prostate gland.

[0004] Existing transperineal prostate puncture equipment has few degrees of freedom. Most of them can only perform needle puncture in the direction parallel to the ultrasound probe or move back and forth, which is not conducive to the positioning and observation of the needle path during the operation. The structure is relatively complex and the operating space is too small, or the needle insertion position is limited to two holes, and it can only be used for prostate surgery with two needle insertion holes. At the same time, some equipment uses a robotic arm or the needle channel position for positioning, which is not only costly and occupies a large space and is subject to structural limitations, but also has a large sacrifice in needle length. In most cases, it is only suitable for customized needles, and the data used during the operation is collected before the operation, without real-time data collection function, and has a greater surgical risk due to posture changes or force deformation. Summary of the invention

[0005] Purpose of the invention: In view of the above shortcomings, the present invention provides a surgical robot navigation system and a navigation method thereof to solve the above problems existing in the prior art.

[0006] Technical solution: surgical robot navigation system, including ultrasound exploration mechanism and puncture axis mechanism;

[0007] An ultrasonic detection mechanism, used for roughly positioning a human body and performing feeding and scanning in multiple directions, comprising a double-degree-of-freedom adjustment component, and an ultrasonic probe connected to the double-degree-of-freedom adjustment component for ultrasonic detection and positioning, wherein an ultrasonic sheath for reducing the influence of ultrasonic movement on tissue structure is fixed at one end of the ultrasonic probe, and the double-degree-of-freedom adjustment component is used for double-degree-of-freedom adjustment of the ultrasonic probe;

[0008] The puncture shaft mechanism comprises a multi-degree-of-freedom adjustment component and a puncture component connected to the multi-degree-of-freedom adjustment component, wherein the multi-degree-of-freedom adjustment component is used for multi-degree-of-freedom adjustment of the puncture component.

[0009] In a further embodiment, the dual-degree-of-freedom adjustment component includes a first slide, a first slider, a probe bearing seat, a first rotating sleeve, a first fixed seat and a first stepper motor;

[0010] A first slide, wherein a first slider is slidably arranged on the first slide, one end of the first slide is connected to a first stepper motor for driving the first slider to rotate, the first stepper motor is a first screw motor, a first screw is connected to a driving end of the first stepper motor, the first slider is arranged on the first screw of the first stepper motor, and the first slider is driven to move by the first screw when the first stepper motor is started;

[0011] A probe bearing seat is connected to the first sliding block, a first rotating shaft is penetrated through the probe bearing seat, and a first bearing is connected to the inner wall of the first rotating shaft;

[0012] The first rotating sleeve is rotatably disposed in the first bearing and is adapted to the first bearing. A first fixing seat is connected between the first rotating sleeve and the ultrasonic probe. The first fixing seat and the ultrasonic probe are detachably installed to facilitate the user to disassemble, assemble and replace the ultrasonic probe. The first rotating sleeve is sleeved on the outside of the ultrasonic probe.

[0013] In a further embodiment, the dual-degree-of-freedom adjustment component further includes a first drive motor, two synchronous belts and a synchronous wheel;

[0014] A first drive motor is connected to one side of the probe bearing seat, and a drive end of the first drive motor is arranged through the probe bearing seat;

[0015] Two synchronous belts, respectively connected to the driving end of the first driving motor and the outer wall of the first rotating sleeve;

[0016] The synchronous wheel is connected to the two synchronous belts and is used to synchronize the movement of the two synchronous belts. When in use, the first drive motor is started, and the driving end of the first drive motor drives the corresponding synchronous belt to rotate, and at the same time drives the synchronous belt on the first rotating sleeve to rotate through the synchronous wheel.

[0017] In a further embodiment, the dual-degree-of-freedom adjustment component further includes an integral fixing seat, a slide fixing seat, a sheath fixing seat, a retaining ring and a hoop cover;

[0018] An integral fixed seat is arranged at the lower side of the first slide, and a retaining ring is connected to one end of the first rotating sleeve close to the integral fixed seat, and the retaining ring is used to limit the axial movement of the first bearing;

[0019] A slide fixing seat is connected between the integral fixing seat and the first slide, and the end of the slide fixing seat away from the first stepper motor is connected to a sheath fixing seat, and a second rotating shaft adapted to the ultrasonic sheath is penetrated through the sheath fixing seat, the slide fixing seat is used to fix the first slide, and the sheath fixing seat is used to fix the ultrasonic sheath;

[0020] The hoop cover is connected to the sheath fixing seat and is used to fix the ultrasonic sheath. The hoop cover cooperates with the sheath fixing seat to relatively fix the ultrasonic sheath in the second rotating shaft.

[0021] In a further embodiment, the multi-degree-of-freedom adjustment component includes a puncture table, a second drive motor, and a third drive motor;

[0022] The puncture table is arranged on one side of the integral fixing seat and is used to support and fix the multi-degree-of-freedom adjustment component;

[0023] A second driving motor is arranged on a side of the puncture platform away from the first slide platform;

[0024] The third driving motor is arranged at the other side of the puncture platform, and cooperates with the second driving motor to make the puncture component move within a predetermined arc area above the ultrasonic detection mechanism to achieve plane motion positioning.

[0025] In a further embodiment, the multi-degree-of-freedom adjustment component further includes a first electric rotary slide, a swing arm, a second electric rotary slide, and a fourth drive motor;

[0026] A first electric rotary slide is connected to the driving end of the third driving motor, and the third driving motor is used to drive the first electric rotary slide to work;

[0027] A second electric rotary slide is arranged on the upper side of the first electric rotary slide, and a swing arm is connected between the first electric rotary slide and the second electric rotary slide;

[0028] The fourth driving motor is connected to the second electric rotating slide and is used to adjust the operating space of the puncture component. The fourth driving motor is used to drive the second electric rotating slide to work.

[0029] In a further embodiment, the multi-degree-of-freedom adjustment component further includes a dual rotating table fixing seat, a third electric rotating slide, a fifth drive motor, a posture fixing seat, a sixth drive motor and an upper fixed slide seat;

[0030] A double rotating table fixing seat, connected to the puncture table, for fixing the fourth driving motor;

[0031] A third electric rotary slide is connected to a side of the double rotary slide fixed base away from the fourth drive motor, one end of the third electric rotary slide is connected to a fifth drive motor, and the double rotary slide fixed base is used to connect and fix the fourth drive motor and the third electric rotary slide;

[0032] The posture fixing seat is connected to the side of the third electric rotating slide away from the fourth drive motor. The posture fixing seat is connected to the sixth drive motor. The sixth drive motor is connected to the upper fixed slide seat. The third electric rotating slide cooperates with the sixth drive motor to control the needle insertion angle of the puncture component.

[0033] In a further embodiment, the multi-degree-of-freedom adjustment component further includes a second slide, a second slider, a lower fixed slide seat, and a second stepper motor;

[0034] A second slide, connected to a side of the upper fixed slide seat away from the posture fixed seat;

[0035] A second slider is slidably disposed on the second slide table, one end of the second slide table is connected to a second stepper motor for driving the second slider to move, the second stepper motor is a second screw motor, a second screw is connected to the driving end of the second stepper motor, the second slider is disposed on the second screw of the second stepper motor, and the second slider is driven to move by the second screw when the second stepper motor is started;

[0036] The lower fixed slide seat is connected to a side of the second slide away from the second slide, and is used to connect the second slide and the puncture component.

[0037] In a further embodiment, the puncture component includes a puncture needle, a needle channel needle, a needle seat and a needle sleeve;

[0038] A puncture needle is connected to the lower fixed slide seat;

[0039] A needle channel needle connected to the end of the puncture needle away from the lower fixed slide seat;

[0040] The needle seat is connected to a side of the second slide away from the second stepping motor. The needle seat is provided with a pair of fixing holes. Needle sleeves matching the needle track needles are arranged in the pair of fixing holes.

[0041] The navigation method of the surgical robot navigation system comprises the following steps:

[0042] S1. After the ultrasonic sheath is inserted into the rectum, the dual-degree-of-freedom adjustment component is activated to drive the ultrasonic probe to move forward and rotate, so that the ultrasonic detection mechanism scans and models the internal structure around the prostate;

[0043] S2. Plan the modeled structure in the software and determine the puncture execution path;

[0044] S3, the puncture component in the puncture shaft mechanism reaches the target position through the multi-degree-of-freedom linkage of the multi-degree-of-freedom adjustment component;

[0045] S4. When using the needle-track needle, the consumables of the needle-track needle can be installed on the guide groove and the device can automatically perform the needle insertion. After the needle is in place, the puncture needle is inserted, and the puncture needle is removed after the corresponding operation is performed. The position of the needle-track needle in the body is automatically adjusted, and the operation is repeated;

[0046] S5. When the needle channel needle is not used for operation, insert the puncture needle, perform the corresponding operation and then remove the puncture needle. After the position is automatically adjusted, repeat the operation.

[0047] Beneficial effects: The present invention discloses a surgical robot navigation system and a navigation method thereof. By setting an ultrasonic detection mechanism and a puncture axis mechanism, the system can be applied to the puncture of needle entry points at one or more custom positions, and can support needle puncture with a needle track and needle puncture without a needle track. At the same time, the human body can be roughly positioned, and ultrasound can be used to rotate and scan in the feeding direction to locate, search or model the target, and the output ultrasound data can carry position information. In addition, an ultrasonic sheath structure with a fixed position is provided outside the ultrasonic probe to reduce the influence of ultrasound on the tissue structure during movement. The multi-degree-of-freedom structure in the positioning structure of the puncture axis mechanism can enable the puncture component to move within a predetermined arc area above the ultrasonic detection mechanism, and at the same time, the end of the puncture needle can have a reasonable operable space in different situations where the space is narrow, and the puncture needle can have different needle entry angles, so that the puncture needle can be arranged at any angle. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 It is a three-dimensional diagram of the overall structure of the present invention.

[0049] Figure 2 It is a stereogram from another perspective of the overall structure of the present invention.

[0050] The reference numerals in the figure are: 1. ultrasonic detection mechanism, 101. ultrasonic probe, 102. ultrasonic sheath, 2. double-degree-of-freedom adjustment component, 201. first slide, 202. first slider, 203. probe bearing seat, 204. retaining ring, 205. first rotating sleeve, 206. first fixed seat, 207. synchronous belt, 208. synchronous wheel, 209. first stepper motor, 210. integral fixed seat, 211. slide fixed seat, 212. sheath fixed seat, 213. first driving motor, 214. hoop cover, 3. puncture shaft mechanism, 4. multi-degree-of-freedom adjustment component, 401. puncture table, 402. The second driving motor, 403. The third driving motor, 404. The first electric rotating slide, 405. The swing arm, 406. The second electric rotating slide, 407. The fourth driving motor, 408. The third electric rotating slide, 409. The fifth driving motor, 410. The double rotating table fixing seat, 411. The posture fixing seat, 412. The sixth driving motor, 413. The upper fixed slide seat, 414. The second slide, 415. The second slider, 416. The lower fixed slide seat, 417. The second stepping motor, 5. The puncture component, 501. The puncture needle, 502. The needle track needle, 503. The needle seat, 504. The needle sleeve. DETAILED DESCRIPTION

[0051] In the following description, a large number of specific details are provided to provide a more thorough understanding of the present invention. However, it is apparent to those skilled in the art that the present invention can be implemented without one or more of these details. In other examples, in order to avoid confusion with the present invention, some technical features well known in the art are not described.

[0052] The applicant believes that existing transperineal prostate puncture equipment has few degrees of freedom, and most of them can only perform needle puncture in the direction parallel to the ultrasound probe or move back and forth, which is not conducive to the positioning and observation of the needle path during the operation, or it is only suitable for prostate surgery with two needle entry holes. In addition, the data used during the operation is collected before the operation and does not have real-time data collection function, which has a greater surgical risk due to changes in posture or deformation due to force.

[0053] To this end, the applicant proposes a surgical robot navigation system and a navigation method thereof, such as Figure 1-Figure 2 As shown, it includes an ultrasonic detection mechanism 1 and a puncture shaft mechanism 3.

[0054] Specifically, the ultrasonic detection mechanism 1 is used to roughly locate the human body and perform feed scanning in multiple directions, and includes a dual-degree-of-freedom adjustment component 2, and an ultrasonic probe 101 connected to the dual-degree-of-freedom adjustment component 2 for ultrasonic detection and positioning. An ultrasonic sheath 102 is fixed at one end of the ultrasonic probe 101 for reducing the impact of ultrasonic movement on tissue structure. The dual-degree-of-freedom adjustment component 2 is used for dual-degree-of-freedom adjustment of the ultrasonic probe 101.

[0055] In actual use, the ultrasonic sheath 102 can be replaced by a sound-transmitting membrane sheath installed on one end of the ultrasonic probe 101 according to specific needs, which can be used to improve the fit and sound transmission effects. When in use, if the ultrasonic sheath 102 is used, the ultrasonic sheath 102 is sent into the rectum along with the ultrasonic probe 101. If the sound-transmitting membrane sheath is used, the sound-transmitting membrane sheath containing a coupling agent is sent into the rectum along with the ultrasonic probe 101.

[0056] like Figure 1-Figure 2 As shown, the puncture shaft mechanism 3 includes a multi-degree-of-freedom adjustment component 4 and a puncture component 5 connected to the multi-degree-of-freedom adjustment component 4 . The multi-degree-of-freedom adjustment component 4 is used for multi-degree-of-freedom adjustment of the puncture component 5 .

[0057] Among them, the ultrasonic detection mechanism 1 has two degrees of freedom, and the puncture axis mechanism 3 has a total of six degrees of freedom. Two degrees of freedom in the puncture axis mechanism 3 are for positioning, the other three degrees of freedom are for angle adjustment, and the last degree of freedom is for feeding depth control. This solution can be applied to puncture of needle entry points at one or more custom positions, and can support puncture with a needle channel needle 502: adjusting the needle channel angle in the body after one insertion can make biopsy targeting more accurate; and puncture without a needle channel needle 502: puncture and targeting are performed directly by the puncture needle 501, which is faster to operate, but the needle may be subjected to force displacement in the body due to the lack of a needle channel.

[0058] like Figure 1-Figure 2 As shown, the dual-degree-of-freedom adjustment component 2 includes a first slide 201 , a first slider 202 , a probe bearing seat 203 , a first rotating sleeve 205 , a first fixed seat 206 and a first stepper motor 209 .

[0059] A first slider 202 is slidably provided on the first slide 201, and one end of the first slide 201 is connected to a first stepper motor 209 for driving the first slider 202 to rotate. The first stepper motor 209 is a first screw motor, and a first screw is connected to the driving end of the first stepper motor 209. The first slider 202 is arranged on the first screw of the first stepper motor 209. When the first stepper motor 209 is started, the first slider 202 is driven to move by rotating the first screw.

[0060] The probe bearing seat 203 is connected to the first slider 202 . A first rotating shaft is penetrated through the probe bearing seat 203 . A first bearing is connected to the inner wall of the first rotating shaft.

[0061] The first rotating sleeve 205 is rotatably disposed in the first bearing and is adapted to the first bearing. A first fixing seat 206 is connected between the first rotating sleeve 205 and the ultrasonic probe 101. The first fixing seat 206 and the ultrasonic probe 101 are detachably installed, which is convenient for the user to disassemble, assemble and replace the ultrasonic probe 101. The first rotating sleeve 205 is sleeved on the outside of the ultrasonic probe 101.

[0062] like Figure 1 As shown, the dual-degree-of-freedom adjustment component 2 further includes a first drive motor 213 , two synchronous belts 207 and a synchronous wheel 208 .

[0063] The first driving motor 213 is connected to one side of the probe bearing seat 203 , and the driving end of the first driving motor 213 passes through the probe bearing seat 203 .

[0064] The two synchronous belts 207 are respectively connected to the driving end of the first driving motor 213 and the outer wall of the first rotating sleeve 205 .

[0065] The synchronous wheel 208 is connected to the two synchronous belts 207 and is used to synchronize the movement of the two synchronous belts 207. When in use, the first drive motor 213 is started, and the driving end of the first drive motor 213 drives the corresponding synchronous belt 207 to rotate. At the same time, the synchronous belt 207 on the first rotating sleeve 205 is driven to rotate through the synchronous wheel 208.

[0066] like Figure 1-Figure 2 As shown, the dual-degree-of-freedom adjustment component 2 also includes an integral fixing seat 210 , a slide fixing seat 211 , a sheath fixing seat 212 , a retaining ring 204 and a hoop cover 214 .

[0067] The integral fixing seat 210 is disposed at the lower side of the first slide 201 , and a retaining ring 204 is connected to one end of the first rotating sleeve 205 close to the integral fixing seat 210 , and the retaining ring 204 is used to limit the axial movement of the first bearing.

[0068] The slide fixing seat 211 is connected between the integral fixing seat 210 and the first slide 201. The end of the slide fixing seat 211 away from the first stepper motor 209 is connected to the sheath fixing seat 212. The sheath fixing seat 212 is penetrated by a second rotating shaft adapted to the ultrasonic sheath 102. The slide fixing seat 211 is used to fix the first slide 201, and the sheath fixing seat 212 is used to fix the ultrasonic sheath 102.

[0069] The hoop cover 214 is connected to the sheath fixing seat 212 for fixing the ultrasonic sheath 102 . The hoop cover 214 cooperates with the sheath fixing seat 212 to relatively fix the ultrasonic sheath 102 in the second rotating shaft.

[0070] In addition, for the sake of easy distinction, the axis through which the first stepper motor 209 controls the movement of the ultrasonic detection mechanism 1 is called the ultrasonic feed axis, or axis a, and the axis through which the first drive motor 213 controls the movement of the ultrasonic detection mechanism 1 is called the ultrasonic rotation axis, or axis b. The ultrasonic probe 101 is mounted on the first fixed seat 206, and the first fixed seat 206 is a hollow clamp seat. The ultrasonic probe 101 and the first fixed seat 206 are detachably arranged. The ultrasonic probe 101 is driven by the axis b to rotate around the axis center by the structural transmission of the synchronous belt 207 and the synchronous wheel 208, so that the ultrasound can be rotated and scanned to locate, search or model the target. Since it is a motor-driven structure, the output ultrasonic data can carry position information and be connected in series on the axis a, so as to control the entire ultrasonic detection mechanism 1 to move forward and backward to roughly locate the human body. If the ultrasound has an observation probe in the transverse direction, it can also scan in the feed direction to locate, search or model the target.

[0071] An ultrasonic sheath 102 structure is arranged outside the ultrasonic probe 101 in a fixed position so as to reduce the influence of ultrasound on tissue structure when the ultrasound moves.

[0072] like Figure 2 As shown, the multi-degree-of-freedom adjustment component 4 includes a puncture platform 401 , a second drive motor 402 and a third drive motor 403 .

[0073] The puncture platform 401 is disposed on one side of the integral fixing seat 210 and is used to support and fix the multi-degree-of-freedom adjustment component 4 .

[0074] The second driving motor 402 is disposed on a side of the puncture platform 401 away from the first slide platform 201 .

[0075] The third driving motor 403 is disposed on the other side of the puncture platform 401 and cooperates with the second driving motor 402 to enable the puncture component 5 to move within a predetermined arc area above the ultrasonic detection mechanism 1 to achieve planar motion positioning.

[0076] like Figure 1-Figure 2 As shown, the multi-degree-of-freedom adjustment component 4 also includes a first electric rotating slide 404 , a swing arm 405 , a second electric rotating slide 406 and a fourth drive motor 407 .

[0077] The first electric rotary slide 404 is connected to the driving end of the third driving motor 403 , and the third driving motor 403 is used to drive the first electric rotary slide 404 to work.

[0078] The second electric rotary slide 406 is disposed on the upper side of the first electric rotary slide 404 , and a swing arm 405 is connected between the first electric rotary slide 404 and the second electric rotary slide 406 .

[0079] The fourth driving motor 407 is connected to the second electric rotating slide 406 and is used to adjust the operating space of the puncture component 5. The fourth driving motor 407 is used to drive the second electric rotating slide 406 to work.

[0080] like Figure 1 As shown, the multi-degree-of-freedom adjustment component 4 also includes a double rotating platform fixing seat 410, a third electric rotating slide 408, a fifth driving motor 409, a posture fixing seat 411, a sixth driving motor 412 and an upper fixed slide seat 413.

[0081] The dual rotating platform fixing base 410 is connected to the puncture platform 401 and is used to fix the fourth driving motor 407 .

[0082] The third electric rotating slide 408 is connected to the side of the double rotating stage fixing seat 410 away from the fourth driving motor 407. One end of the third electric rotating slide 408 is connected to the fifth driving motor 409. The double rotating stage fixing seat 410 is used to connect and fix the fourth driving motor 407 and the third electric rotating slide 408.

[0083] The posture fixing seat 411 is connected to the side of the third electric rotating slide 408 away from the fourth drive motor 407, the posture fixing seat 411 is connected to the sixth drive motor 412, the sixth drive motor 412 is connected to the upper fixed slide seat 413, and the third electric rotating slide 408 cooperates with the sixth drive motor 412 to control the needle insertion angle of the puncture component 5.

[0084] Meanwhile, the multi-degree-of-freedom adjustment component 4 further includes a second slide 414 , a second slider 415 , a lower fixed slide seat 416 and a second stepping motor 417 .

[0085] The second slide 414 is connected to a side of the upper fixed slide seat 413 away from the posture fixing seat 411 .

[0086] The second slider 415 is slidably arranged on the second slide 414, and one end of the second slide 414 is connected to a second stepper motor 417 for driving the second slider 415 to move. The second stepper motor 417 is a second screw motor, and the driving end of the second stepper motor 417 is connected to a second screw. The second slider 415 is arranged on the second screw of the second stepper motor 417. When the second stepper motor 417 is started, the second slider 415 is driven to move by rotating the second screw.

[0087] The lower fixed slide seat 416 is connected to a side of the second slide block 415 away from the second slide block 414 , and is used to connect the second slide block 415 and the puncture component 5 .

[0088] In addition, for the sake of easy distinction, the axis through which the second drive motor 402 controls the movement of the puncture component 5 is called the lifting axis, or axis one; the axis through which the third drive motor 403 controls the movement of the puncture component 5 is called the swing arm shaft, or axis two; the axis through which the fourth drive motor 407 controls the movement of the puncture component 5 is called the puncture roll axis, or axis three; the axis through which the fifth drive motor 409 controls the movement of the puncture component 5 is called the yaw axis, or axis four; the axis through which the sixth drive motor 412 controls the movement of the puncture component 5 is called the pitch axis, or axis five; the axis through which the second stepper motor 417 controls the movement of the puncture component 5 is called the puncture feed axis, or axis six; the linkage between the lifting and lowering of axis one and axis two and the rotation of the swing arm 405 in the positioning structure of the puncture axis mechanism 3 enables the puncture component 5 to move within a predetermined arc area above the ultrasonic detection mechanism 1, thereby realizing the positioning of planar motion.

[0089] In the angle adjustment structure of the puncture axis mechanism 3, axis three can make the end of the puncture needle 501 have a reasonable operating space in different situations where the space is narrow. The linkage of axis four and axis five can make the puncture needle 501 have different needle insertion angles. The linkage of axis one, axis two, axis three, axis four and axis five can make the puncture needle 501 be arranged at any angle.

[0090] Axis six can be used for multiple purposes. When the needle track needle 502 is used, the needle track needle 502 can be automatically fed and punctured. After it is in place, the puncture needle 501 can be punctured: it can be connected with the puncture needle 501 to push the puncture needle 501 into place, or a limit position can be provided for a puncture point: it can reach the limit position in advance, and manual puncture can be completed when it reaches the limit position.

[0091] like Figure 1-Figure 2 As shown, the puncture component 5 includes a puncture needle 501 , a needle channel needle 502 , a needle seat 503 and a needle sheath 504 .

[0092] The puncture needle 501 is connected to the lower fixed slide seat 416 .

[0093] The needle channel needle 502 is connected to the end of the puncture needle 501 away from the lower fixed slide seat 416.

[0094] The needle seat 503 is connected to a side of the second slide 414 away from the second stepping motor 417 . A pair of fixing holes are formed on the needle seat 503 . Needle sleeves 504 matching the needle 502 are disposed in each of the pair of fixing holes.

[0095] Working principle: If an ultrasonic sheath 102 is used, the ultrasonic sheath 102 is sent into the rectum along with the ultrasonic probe 101. If a sound-transmitting membrane sheath is used, the sound-transmitting membrane sheath containing a coupling agent is sent into the rectum along with the ultrasonic probe 101. After that, the double-degree-of-freedom adjustment component 2 is started to drive the ultrasonic probe 101 to move forward and rotate, so that the ultrasonic detection mechanism 1 scans and models the internal structure around the prostate. The modeled structure is planned in the software, and the puncture execution path is determined. The puncture component 5 in the puncture axis mechanism 3 reaches the target position through the multi-degree-of-freedom linkage of the multi-degree-of-freedom adjustment component 4.

[0096] When the needle-track needle 502 is used for operation, the consumables of the needle-track needle 502 can be installed on the guide groove and the device can automatically perform needle insertion. After it is in place, the puncture needle 501 is inserted, and the puncture needle 501 is taken out after performing the corresponding operation, and the position of the needle-track needle 502 in the body is automatically adjusted, and the operation is repeated. When the needle-track needle 502 is not used for operation, the puncture needle 501 is inserted, and the puncture needle 501 is taken out after performing the corresponding operation, and the position is automatically adjusted, and the operation is repeated.

[0097] As above, although the present invention has been shown and described with reference to specific preferred embodiments, it should not be construed as limiting the present invention itself. Various changes may be made to it in form and detail without departing from the spirit and scope of the present invention defined in the appended claims.

Claims

1. A surgical robot navigation system, characterized in that: include: The ultrasonic detection mechanism is used for roughly positioning the human body and performing feeding and scanning in multiple directions, including a double-degree-of-freedom adjustment component, and an ultrasonic probe connected to the double-degree-of-freedom adjustment component for ultrasonic detection and positioning, wherein an ultrasonic sheath for reducing the influence of ultrasonic movement on tissue structure is fixed at one end of the ultrasonic probe, and the double-degree-of-freedom adjustment component is used for double-degree-of-freedom adjustment of the ultrasonic probe, and the double-degree-of-freedom adjustment component includes: A first slide, on which a first slider is slidably disposed, and one end of the first slide is connected to a first stepper motor for driving the first slider to rotate; A probe bearing seat is connected to the first sliding block, a first rotating shaft is penetrated through the probe bearing seat, and a first bearing is connected to the inner wall of the first rotating shaft; A first rotating sleeve is rotatably disposed in the first bearing and is adapted to the first bearing, and a first fixing seat is connected between the first rotating sleeve and the ultrasonic probe; A first drive motor is connected to one side of the probe bearing seat, and a drive end of the first drive motor is arranged through the probe bearing seat; Two synchronous belts, respectively connected to the driving end of the first driving motor and the outer wall of the first rotating sleeve; A synchronous wheel connected to the two synchronous belts and used for synchronizing the two synchronous belts to move; An integral fixing seat is arranged at the lower side of the first slide, and a retaining ring is connected to one end of the first rotating sleeve close to the integral fixing seat; A slide fixing seat is connected between the integral fixing seat and the first slide, and one end of the slide fixing seat away from the first stepper motor is connected to a sheath fixing seat, and a second rotating shaft adapted to the ultrasonic sheath is penetrated through the sheath fixing seat; A hoop cover, connected to the sheath fixing seat and used for fixing the ultrasonic sheath; The puncture shaft mechanism comprises a multi-degree-of-freedom adjustment component and a puncture component connected to the multi-degree-of-freedom adjustment component, wherein the multi-degree-of-freedom adjustment component is used for multi-degree-of-freedom adjustment of the puncture component, and the multi-degree-of-freedom adjustment component comprises: The puncture table is arranged on one side of the integral fixed seat; A second driving motor is arranged on a side of the puncture platform away from the first slide platform; A third driving motor is arranged at the other side of the puncture table, and cooperates with the second driving motor to make the puncture component move within a predetermined arc area above the ultrasonic detection mechanism to achieve plane motion positioning; A first electric rotary slide, connected to a driving end of the third driving motor; The second electric rotary slide is arranged on the upper side of the first electric rotary slide. A swing arm is connected between the second electric rotary slides; a fourth driving motor, connected to the second electric rotary slide, for adjusting the operating space of the puncture component; A double rotating table fixing seat, connected to the puncture table, for fixing the fourth driving motor; A third electric rotating slide is connected to a side of the double rotating stage fixing base away from the fourth driving motor, and one end of the third electric rotating slide is connected to a fifth driving motor; A posture fixing seat is connected to a side of the third electric rotating slide away from the fourth drive motor, the posture fixing seat is connected to the sixth drive motor, the sixth drive motor is connected to the upper fixed slide seat, and the third electric rotating slide cooperates with the sixth drive motor to control the needle insertion angle of the puncture component; The piercing component comprises: The puncture needle is connected to the lower fixed slide seat; A needle channel needle connected to the end of the puncture needle away from the lower fixed slide seat; The needle seat is connected to a side of the second slide away from the second stepping motor. The needle seat is provided with a pair of fixing holes. Needle sleeves matching the needle track needles are arranged in the pair of fixing holes.

2. The surgical robot navigation system according to claim 1, characterized in that: The multi-degree-of-freedom adjustment component also includes: A second slide, connected to a side of the upper fixed slide seat away from the posture fixed seat; A second slider is slidably disposed on the second slide platform, and one end of the second slide platform is connected to a second stepping motor for driving the second slider to move; The lower fixed slide seat is connected to a side of the second slide away from the second slide, and is used to connect the second slide and the puncture component.

Images