Minimally invasive puncture execution module and multi-degree-of-freedom minimally invasive puncture surgical robot

Abstract

The present invention relates to the field of medical device technology, and provides a minimally invasive puncture execution module and a multi-degree-of-freedom minimally invasive puncture surgical robot. The minimally invasive puncture execution module includes: a mounting seat and a puncture assembly arranged on the mounting seat, a first drive mechanism and a second drive mechanism, wherein the puncture assembly includes a first puncture needle and a second puncture needle, the first puncture needle is arranged at the end of the mounting seat, the second puncture needle is retractably arranged in the first puncture needle, and the second puncture needle is a flexible needle with a hollow structure; the first drive mechanism is connected to the fixed end of the second puncture needle, and is used to drive the second puncture needle to move telescopically; the second drive mechanism is connected to the inner wall of the puncture end of the second puncture needle via a traction line, and is used to drive the second puncture needle to bend. The present invention can realize minimally invasive puncture with complex multi-degree-of-freedom curved motion paths, ensure the doctor's accuracy and operation safety, and reduce the patient's pain and the doctor's workload.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a minimally invasive puncture execution module and a multi-degree-of-freedom minimally invasive puncture surgical robot. Background Art

[0002] Currently, puncture procedures are primarily performed manually using a rigid needle. Minimally invasive treatment of delicate lesions is extremely difficult due to compression, damage, and adhesions of delicate nerves. Rigid needles cannot achieve complex, multi-degree-of-freedom curved puncture paths. Puncture accuracy and quality rely entirely on the physician's experience and ability, resulting in high workload and the potential for devastating damage to the body. Summary of the Invention

[0003] The present invention provides a minimally invasive puncture execution module and a multi-degree-of-freedom minimally invasive puncture surgical robot to solve the defect in related technologies that rigid needles cannot achieve minimally invasive puncture with complex multi-degree-of-freedom curved motion paths, realize the optimization of minimally invasive puncture, effectively reduce the doctor's minimally invasive operation errors, ensure the doctor's accuracy and operation safety, and reduce the patient's pain and the doctor's workload.

[0004] The present invention provides a minimally invasive puncture execution module, comprising: a mounting seat, a puncture assembly arranged on the mounting seat, a first drive mechanism and a second drive mechanism, wherein:

[0005] The puncture assembly includes a first puncture needle and a second puncture needle, wherein the first puncture needle is arranged at the end of the mounting seat, and the second puncture needle is retractably arranged inside the first puncture needle, and the second puncture needle is a flexible needle with a hollow structure;

[0006] The first driving mechanism is connected to the fixed end of the second puncture needle and is used to drive the second puncture needle to move telescopically;

[0007] The second driving mechanism is connected to the inner wall of the puncture end of the second puncture needle via a pulling line, and is used to drive the second puncture needle to bend.

[0008] A minimally invasive puncture execution module provided by the present invention further includes:

[0009] an imaging device, disposed in the puncture end of the second puncture needle;

[0010] an imaging display electrically connected to the imaging device;

[0011] A control handle is electrically connected to the first drive mechanism and the second drive mechanism.

[0012] According to the present invention, a minimally invasive puncture execution module further includes a guide mechanism, which is arranged on the mounting seat and located between the first drive mechanism and the second drive mechanism, and is used to guide the traction line.

[0013] According to a minimally invasive puncture execution module provided by the present invention, the guide mechanism includes a support and a guide wheel, the support is arranged on the mounting seat, and the guide wheel is arranged on the support.

[0014] According to a minimally invasive puncture execution module provided by the present invention, the mounting seat includes a connected vertical part and a horizontal part, the puncture assembly is arranged at the end of the vertical part, the first drive mechanism is arranged at the vertical part, and the second drive mechanism is arranged at the horizontal part.

[0015] A minimally invasive puncture execution module provided according to the present invention further includes: a protective cover, which is arranged on the mounting seat.

[0016] According to a minimally invasive puncture execution module provided by the present invention, the first driving mechanism is an electric slide or an electric push rod.

[0017] According to a minimally invasive puncture execution module provided by the present invention, the second driving mechanism includes a driving motor, a worm gear and a worm, the driving motor is connected to the worm, the worm gear is connected to the worm, and the traction line is wound around the worm gear.

[0018] According to a minimally invasive puncture execution module provided by the present invention, the flexible needle is made of shape memory alloy material.

[0019] The present invention also provides a multi-degree-of-freedom minimally invasive puncture surgical robot, comprising a multi-degree-of-freedom robotic arm and the above-mentioned minimally invasive puncture execution module, wherein the multi-degree-of-freedom robotic arm is connected to the mounting seat.

[0020] The minimally invasive puncture execution module and multi-degree-of-freedom minimally invasive puncture surgical robot provided by the present invention are equipped with a mounting seat and a puncture assembly, a first drive mechanism and a second drive mechanism arranged on the mounting seat. The puncture assembly includes a first puncture needle and a second puncture needle. The first puncture needle is arranged at the end of the mounting seat and can be used for skin puncture; the second puncture needle is retractably arranged in the first puncture needle, and the second puncture needle is a flexible needle with a hollow structure. The second puncture needle can follow the first puncture needle into the body for variable-path minimally invasive puncture in the body; the first drive mechanism is connected to the fixed end of the second puncture needle, and is used to drive the second puncture needle to move telescopically, and the second drive mechanism is connected to the inner wall of the puncture end of the second puncture needle via a traction line, and is used to drive the second puncture needle to bend, that is, through the cooperation of the first drive mechanism, the second drive mechanism and the traction line, single and compound movements such as straight line and bending of the flexible needle can be realized, thereby realizing variable-path puncture operation. Therefore, the present invention can solve the defect in related technologies that rigid needles cannot achieve minimally invasive puncture with complex multi-degree-of-freedom curved motion paths, achieve the optimization of minimally invasive puncture, effectively reduce the doctor's minimally invasive operation errors, ensure the doctor's accuracy and operation safety, and reduce the patient's pain and the doctor's workload.

[0021] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the present invention or related technologies, the following briefly introduces the drawings required for use in the embodiments or related technical descriptions. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0023] Figure 1 Schematic diagram of the structure of the minimally invasive puncture execution module provided by the present invention;

[0024] Figure 2 yes Figure 1 A local enlarged view of point A;

[0025] Reference numerals:

[0026] 1: Mounting seat; 101: Vertical portion; 102: Horizontal portion; 103: Guide portion;

[0027] 104: first guide hole; 105: mounting portion; 106: connecting tube; 107: reinforcement tube;

[0028] 2: First puncture needle; 3: Second puncture needle; 4: Pull line; 5: Imaging device;

[0029] 6: support; 7: guide wheel; 8: first guard; 9: second guard;

[0030] 10: Second guide hole; 11: Motor; 12: Slide; 13: Connecting plate;

[0031] 14: driving motor; 15: worm gear; 16: worm; 17: reduction motor;

[0032] 18: Install the flange. DETAILED DESCRIPTION

[0033] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0034] In the description of the embodiments of the present invention, it should be noted that the terms "upper," "lower," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended only to facilitate the description of the embodiments of the present invention and to simplify the description. They do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of the present invention. Furthermore, the terms "first," "second," etc., etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0035] In the description of the embodiments of the present invention, it should be noted that, unless otherwise specified or limited, the terms "connected" and "connection" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections, electrical connections; and direct connections or indirect connections through an intermediary. Those skilled in the art will understand the specific meanings of the above terms in the embodiments of the present invention based on the specific circumstances.

[0036] In the embodiments of the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Furthermore, a first feature being "above," "above," or "above" a second feature may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. A first feature being "below," "below," or "below" a second feature may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0037] In the description of this specification, the reference terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the embodiment of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0038] The following combination Figure 1-Figure 2 The present invention describes a minimally invasive puncture execution module and a multi-degree-of-freedom minimally invasive puncture surgical robot.

[0039] According to one embodiment of the present invention, Figure 1 and Figure 2 As shown, the minimally invasive puncture execution module provided by the present invention mainly includes: a mounting base 1, a puncture assembly, a first drive mechanism, and a second drive mechanism. Among them, the mounting base 1 serves as a bearing body, mainly used to carry and integrate all components to improve the integration of the entire module; the puncture assembly is arranged on the mounting base 1, mainly used for minimally invasive puncture; the first drive mechanism is arranged on the mounting base 1, mainly used to drive the second puncture needle 3 of the puncture assembly to move linearly and telescopically to achieve the purpose of advancing and retreating the needle; the second drive mechanism is arranged on the mounting base 1, mainly used to retract and release the traction line 4 to control the second puncture needle 3 to perform bending movement, so that the second puncture needle 3 can accurately reach the lesion location for minimally invasive puncture; the details are as follows.

[0040] The puncture assembly includes a first puncture needle 2 and a second puncture needle 3. The first puncture needle 2 is arranged at the end of the mounting seat 1. The feeding movement of the first puncture needle 2 is mainly controlled by the multi-degree-of-freedom robotic arm of the robot (see below for details). The first puncture needle 2 is a hollow rigid needle, which is mainly responsible for puncturing the human skin, so that the second puncture needle 3 can follow it into the body smoothly, helping doctors to better perform minimally invasive puncture surgery; the second puncture needle 3 is retractably arranged in the first puncture needle 2 so that it can follow the first puncture needle 2 into the body, and the second puncture needle 3 is a flexible needle with a hollow structure. On the one hand, it is convenient for the built-in traction line 4 to facilitate its passage and pull the second puncture needle 3 to bend it. On the other hand, it can accommodate the following imaging device 5; and the flexible needle can change the path of minimally invasive puncture in the body. During the operation, the doctor's main operations will be completed by the second puncture needle 3 to ensure the doctor's accuracy and operational safety.

[0041] The first driving mechanism is connected to the fixed end of the second puncture needle 3, and is used to drive the second puncture needle 3 to move linearly and telescopically within the first puncture needle 2, that is, the second puncture needle 3 can extend out of the first puncture needle 2 or retract into the first puncture needle 2.

[0042] The second drive mechanism is connected to the inner wall of the puncture end of the second puncture needle 3 via a pull wire 4. Specifically, one end of the pull wire 4 is connected to the second drive mechanism, while the other end extends into the second puncture needle 3 and connects to the inner wall of the puncture end. The second drive mechanism can bend the flexible second puncture needle 3 by pulling the pull wire 4. By integrating the pull wire 4 into the second puncture needle 3, the present invention can avoid damage to human tissue and affect the puncture process, thereby effectively optimizing the puncture process.

[0043] like Figure 2 As shown, the fixed end of the second puncture needle 3 can be understood as the upper end of the second puncture needle 3, and the puncture end of the second puncture needle 3 can be understood as the lower end (i.e., the free end) of the second puncture needle 3. According to the actual medical condition, the puncture end of the second puncture needle 3 can be freely bent to varying degrees by pulling the traction line 4, thereby realizing multi-degree-of-freedom bending and variable-path minimally invasive puncture.

[0044] The minimally invasive puncture execution module provided by the embodiment of the present invention is through a mounting base 1 and a puncture assembly, a first driving mechanism and a second driving mechanism arranged on the mounting base. The puncture assembly includes a first puncture needle 2 and a second puncture needle 3. The first puncture needle 2 is arranged at the end of the mounting base 1 and can be used for skin puncture; the second puncture needle 3 is retractably arranged in the first puncture needle 2, and the second puncture needle 3 is a flexible needle with a hollow structure. The second puncture needle 3 can follow the first puncture needle 2 into the body for variable-path minimally invasive puncture in the body; the first driving mechanism is connected to the fixed end of the second puncture needle 3, and is used to drive the second puncture needle 3 to move telescopically. The second driving mechanism is connected to the inner wall of the puncture end of the second puncture needle 3 via a traction line 4, and is used to drive the second puncture needle 3 to bend. That is, through the cooperation of the first driving mechanism, the second driving mechanism and the traction line 4, the flexible second puncture needle 3 can realize single and compound movements such as straight line and bending, thereby realizing a variable-path puncture operation. Therefore, the present invention can optimize minimally invasive puncture, effectively reduce the doctor's minimally invasive operation errors, ensure the doctor's accuracy and operation safety, reduce the patient's pain and the doctor's workload, and has the characteristics of simple structure, simple operation, and high control precision.

[0045] According to one embodiment of the present invention, the minimally invasive puncture execution module of the present invention further includes: an imaging device 5, an imaging display and a control handle. Figure 2As shown, the imaging device 5 is disposed within the puncture end of the second puncture needle 3. The imaging device 5 can follow the second puncture needle 3 in various movements, such as linear feeding and bending, to capture real-time images of the in vivo puncture process. The imaging display is electrically connected to the imaging device 5, for example, by radio connection. The imaging display can display the real-time images captured by the imaging device 5, providing the doctor with accurate and reliable in vivo needle insertion navigation, thereby achieving a combination of external target visual recognition and endoscopic visual navigation, which can effectively ensure the accuracy of minimally invasive puncture. The control handle is electrically connected to the first drive mechanism and the second drive mechanism, for example, by radio connection, for controlling the operation of the first drive mechanism and the second drive mechanism.

[0046] In this embodiment of the present invention, the doctor can perform precise minimally invasive puncture surgery using the control handle and imaging display. Specifically, the actual position of the second puncture needle 3 is obtained based on the real-time image transmitted back by the imaging device 5. Based on the pre-operative puncture path, the control handle controls the first and second drive mechanisms to adjust the puncture path of the second puncture needle 3 to conform to the given path, thereby accurately completing the minimally invasive puncture surgery.

[0047] Therefore, the present invention, using only a control handle and an imaging display, can help doctors precisely locate lesions and perform minimally invasive puncture procedures. Compared to traditional surgeries, this invention can effectively reduce work time and workload, while also offering high precision, compact size, and ease of operation.

[0048] The specific type of the imaging device 5 of the present invention is not particularly limited, and can be, for example, an endoscope, a visual camera, etc. In this example, the imaging device 5 is an endoscope, which can achieve stepless focusing imaging and transmit images in real time, helping doctors to complete the operation easily and conveniently.

[0049] According to one embodiment of the present invention, Figure 1 As shown, the minimally invasive puncture execution module of the present invention also includes a guide mechanism, which is arranged on the mounting seat 1, and the guide mechanism is located between the first drive mechanism and the second drive mechanism, and is used to guide the traction line 4 to better pull the traction line 4 and ensure the accuracy of minimally invasive puncture.

[0050] According to one embodiment of the present invention, the guide mechanism includes a support 6 and a guide wheel 7. The support 6 is arranged on the mounting base 1, and the guide wheel 7 is arranged on the support 6. The traction line 4 is wound around the guide wheel 7 and then extended into the second puncture needle 3. The traction line 4 is guided by the guide wheel 7.

[0051] According to one embodiment of the present invention, the mounting base 1 is L-shaped and includes a vertical portion 101 and a horizontal portion 102. The vertical portion 101 and the horizontal portion 102 are connected. The puncture assembly is disposed at the distal end (lower end) of the vertical portion 101. A first drive mechanism is disposed on the vertical portion 101 along the z-axis, and a second drive mechanism is disposed on the horizontal portion 102 along the y-axis. The guide mechanism may be disposed at the upper end of the vertical portion 101. By configuring the mounting base 1 as a right-angled structure, the present invention can reduce the space required in its lengthwise direction and facilitate connection of the mounting base 1 to a multi-degree-of-freedom robotic arm.

[0052] It is understood that the imaging device 5 is based on CT imaging, and metal objects should be avoided as much as possible in the imaging area during CT imaging. The minimally invasive puncture execution module of the embodiment of the present invention adopts a right-angle structure, which can greatly reduce the appearance of contrast while shortening the length.

[0053] According to one embodiment of the present invention, Figure 1 As shown, the guide mechanism includes two-stage guide wheels 7, which are distributed in an upper and lower stepped manner. When the traction line 4 is pulled downward from a horizontal turn, the two-stage guide wheels 7 distributed in an upper and lower stepped manner can further improve the guidance of the traction line 4, thereby improving the traction stability of the traction line 4 and further improving the accuracy of minimally invasive puncture.

[0054] According to one embodiment of the present invention, the upper end of the vertical portion 101 of the mounting base 1 extends upward to above the horizontal portion 102, forming a guide portion 103. The guide mechanism is mounted on the guide portion 103, and the guide portion 103 is provided with a first guide hole 104. The traction wire 4 can pass through the first guide hole 104 and extend onto the guide wheel 7. In this embodiment of the present invention, the first level of guidance and positioning is performed through the first guide hole 104, and then the second level of guidance is performed through the guide wheel 7. The two-level guidance can further improve the guidance of the traction wire 4, thereby further improving the traction stability of the traction wire 4, and further improving the accuracy of minimally invasive puncture.

[0055] According to one embodiment of the present invention, a mounting portion 105 is formed in a horizontal direction at the lower end of the vertical portion 101 of the mounting seat 1 for mounting a hollow connecting tube 106. The lower end of the connecting tube 106 is connected to the first puncture needle 2 through a reinforcing tube 107 to achieve fixed installation of the first puncture needle 2.

[0056] According to one embodiment of the present invention, the reinforcement pipe 107 may be made of a steel pipe, an alloy pipe, etc. to improve the connection strength.

[0057] According to one embodiment of the present invention, the minimally invasive puncture execution module of the present invention further includes a shield, which is provided on the mounting seat 1 and is used to protect components such as the first drive mechanism, the second drive mechanism and the guide mechanism.

[0058] According to one embodiment of the present invention, the shield includes a first shield 8 and a second shield 9. The first shield 8 is used to protect the first driving mechanism. Specifically, the first shield 8 is screwed to the horizontal part 102 of the mounting seat 1, and the first shield 8 is adjacent to the front end of the guide mechanism. A second guide hole 10 is provided. The front end cover of the first shield 8 is provided on the guide part 103 of the mounting seat 1, and the second guide hole 10 corresponds to the first guide hole 104 to avoid interference with the passage of the traction line 4.

[0059] The second shield 9 is used to protect components such as the second driving mechanism and the guide mechanism. Specifically, the second shield 9 is screwed to the vertical portion 101 of the mounting base 1 .

[0060] The specific type of the first drive mechanism of the present invention is not particularly limited and can be, for example, an electric linear drive device such as an electric slide or an electric push rod. In this example, the first drive mechanism is an electric slide, the slide 12 of which is connected to the fixed end of the second puncture needle 3. When the motor 11 of the electric slide drives the slide 12 to move, the second puncture needle 3 can be moved up and down along the z-axis.

[0061] According to one embodiment of the present invention, the motor 11 of the electric slide is a stepping motor.

[0062] According to one embodiment of the present invention, a connecting plate 13 is provided on the side of the slide 12 of the electric slide. The connecting plate 13 is L-shaped, with the vertical portion of the connecting plate 13 connected to the slide 12 and the horizontal portion of the connecting plate 13 connected to the fixed end of the second puncture needle 3. When the slide 12 moves, the second puncture needle 3 is driven to move accordingly through the connecting plate 13. It is understood that the horizontal portion of the connecting plate 13 should be provided with a through hole to facilitate the passage of the traction wire 4.

[0063] According to one embodiment of the present invention, the second drive mechanism includes a drive motor 14, a worm gear 15, and a worm 16. The rotating shaft of the drive motor 14 is connected to the worm 16, the worm gear 15 is connected to the worm 16, and the traction line 4 is wound around the worm gear 15. For example, the worm gear transmission mechanism can convert the rotation of the drive motor 14 about the y-axis into rotation about the x-axis, thereby achieving the retraction and extension of the traction line 4.

[0064] According to one embodiment of the present invention, the driving motor 14 of the second driving mechanism adopts a stepping motor with a reducer 17 to increase torque, improve traction performance, and achieve precise bending of the second puncture needle 3, so that the lesion can be reached quickly and easily.

[0065] According to one embodiment of the present invention, the flexible needle (i.e., the second puncture needle 3) is made of a shape memory alloy. When paying out the line, the second puncture needle 3 is in a vertical state, and when taking up the line, the second puncture needle 3 is in a curved state. The second puncture needle 3 can be made of a superelastic nickel-titanium alloy.

[0066] The specific type of the traction wire 4 of the present invention is not particularly limited. For example, nickel-titanium alloy wire can be used. Of course, other ropes that play a traction role can also be used.

[0067] The working principle of the minimally invasive puncture execution module provided by the present invention is described below with reference to a specific embodiment, which generally includes:

[0068] The first drive mechanism and the second drive mechanism are controlled by a control handle. The drive motor 14 of the second drive mechanism rotates and is converted by the worm gear transmission mechanism to transmit the rotation of the worm 16 around the y-axis to the worm wheel 15 rotating around the x-axis. A nickel-titanium alloy wire is wound around the worm wheel 15, and the nickel-titanium alloy wire passes around the guide wheel 7 and is connected to the second puncture needle 3. When the second puncture needle 3 needs to be fed, the motor 11 of the first drive mechanism rotates to move the slide 12 downward, and at the same time, the drive motor 14 of the second drive mechanism rotates to make the nickel-titanium alloy wire longer. When the second puncture needle 3 enters the human body and needs to bend, the motor 11 of the first drive mechanism does not rotate, and the drive motor 14 of the second drive mechanism rotates to reel in the wire, thereby pulling the second puncture needle 3 to bend. At the same time, the real-time image of the imaging display is observed to control the second puncture needle 3 to move in the direction planned before the operation, so as to reach the lesion location.

[0069] According to one embodiment of the present invention, the present invention also provides a multi-degree-of-freedom minimally invasive puncture surgical robot, which mainly includes a multi-degree-of-freedom robotic arm and the minimally invasive puncture execution module of the above embodiment, and the multi-degree-of-freedom robotic arm is connected to the mounting base 1. For example, the rear end of the horizontal portion 102 of the mounting base 1 is provided with a mounting flange 18, and the multi-degree-of-freedom robotic arm is connected to the mounting base 1 via the mounting flange 18, thereby realizing the assembly of the minimally invasive puncture execution module and the multi-degree-of-freedom robotic arm. The multi-degree-of-freedom robotic arm can drive the minimally invasive puncture execution module to move in multiple degrees of freedom in a spatial position, thereby adjusting the position of the puncture assembly and completing precise minimally invasive puncture. For example, the multi-degree-of-freedom robotic arm can adjust the position of the minimally invasive puncture execution module according to the surgical position, and then control the first puncture needle 2 to feed and puncture the human skin through the multi-degree-of-freedom robotic arm, and the second puncture needle 3 follows and enters the body, and then the second puncture needle 3 is controlled by the control handle and the imaging display to perform minimally invasive puncture.

[0070] Therefore, the multi-degree-of-freedom minimally invasive puncture surgical robot in the embodiment of the present invention can help doctors accurately reach the lesion location to perform minimally invasive puncture surgery based on external target visual recognition, manipulator-assisted positioning, and endoscopic visual navigation, solving the currently urgently needed demand for precise neurological minimally invasive medical equipment that is superior to variable path precision, greatly improving the treatment rate of various neurological diseases, and further ensuring the safety and accuracy of the surgeon's operation.

[0071] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A minimally invasive puncture execution module, characterized in that: include: A mounting seat and a puncture assembly, a first drive mechanism and a second drive mechanism arranged on the mounting seat, wherein: The puncture assembly includes a first puncture needle and a second puncture needle. The first puncture needle is arranged at the end of the mounting seat. The first puncture needle is a hollow rigid needle. The second puncture needle is retractably arranged inside the first puncture needle so as to follow the first puncture needle into the body. The second puncture needle is a flexible needle with a hollow structure. The first driving mechanism is connected to the fixed end of the second puncture needle and is used to drive the second puncture needle to move telescopically; The second driving mechanism is connected to the inner wall of the puncture end of the second puncture needle via a pulling line, and is used to drive the second puncture needle to bend; It also includes a guide mechanism, which is arranged on the mounting seat and located between the first driving mechanism and the second driving mechanism, and is used to guide the traction line; The guide mechanism includes a support and a guide wheel, wherein the support is arranged on the mounting seat, and the guide wheel is arranged on the support; The mounting seat includes a connected vertical portion and a horizontal portion, the upper end of the vertical portion extends upward to above the horizontal portion to form a guide portion, the guide mechanism is installed on the guide portion, and the guide portion is provided with a first guide hole, and the traction line can pass through the first guide hole and extend to the guide wheel; the guide mechanism includes two levels of guide wheels, the two levels of guide wheels are distributed in an upper and lower stepped manner, and the first level of guiding positioning is performed through the first guide hole, and then the second level of guiding is performed through each guide wheel.

2. The minimally invasive puncture execution module according to claim 1, characterized in that: Also includes: an imaging device, disposed in the puncture end of the second puncture needle; an imaging display electrically connected to the imaging device; A control handle is electrically connected to the first drive mechanism and the second drive mechanism.

3. The minimally invasive puncture execution module according to claim 1, characterized in that: The puncture assembly is arranged at the end of the vertical portion, the first driving mechanism is arranged at the vertical portion, and the second driving mechanism is arranged at the horizontal portion.

4. The minimally invasive puncture execution module according to claim 3, characterized in that: Also includes: A protective cover is arranged on the mounting seat.

5. The minimally invasive puncture execution module according to any one of claims 1 to 4, characterized in that: The first driving mechanism is an electric slide or an electric push rod.

6. The minimally invasive puncture execution module according to any one of claims 1 to 4, characterized in that: The second driving mechanism includes a driving motor, a worm wheel and a worm, the driving motor is connected to the worm, the worm wheel is connected to the worm, and the traction line is wound around the worm wheel.

7. The minimally invasive puncture execution module according to any one of claims 1 to 4, characterized in that: The flexible needle is made of shape memory alloy material.

8. A multi-degree-of-freedom minimally invasive puncture surgical robot, characterized in that: It comprises a multi-degree-of-freedom robotic arm and a minimally invasive puncture execution module according to any one of claims 1 to 4, wherein the multi-degree-of-freedom robotic arm is connected to the mounting seat.

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