3D Printing System and Method for Fixing a Puncture Syringe Based on Dual Manipulator Operation

Abstract

The present invention discloses a puncture syringe fixing 3D printing system and method based on dual robotic arm operation. In the present invention, the robotic arms are used to control the fixing of the puncture syringe and the movement of the 3D printing probe; an optical navigator is used to detect the poses of the ends of the two robotic arms, the syringe, the calibration block, etc. in the world coordinate system, and then the calibration block is used to register the CT coordinate system with the world coordinate system; the computer selects the pose of the puncture needle in the CT coordinate system, converts it into the pose in the world coordinate system, and transmits it to the robotic arms, and the robotic arms clamp the syringe and move it to the designated position; the 3D printing nozzle prints out a syringe bracket between the syringe and the support chassis according to the relative pose of the 3D printing nozzle and the syringe obtained by the optical navigator, and finally completes the fixing of the target pose of the syringe. The present invention has the characteristics of intraoperative multi-needle pose fixation, and the robotic arms replace the manual operation of medical staff to fix the puncture needle, optimizing the positioning process of the puncture needle.

Description

Technical Field

[0001] The present invention belongs to a puncture syringe fixing system in the field of medical devices, and generally relates to a puncture syringe fixing 3D printing system and method with a dual robotic arm and optical positioning. Background Art

[0002] As a type of minimally invasive interventional surgery, puncture surgery is widely used in operations such as tissue biopsy, local anesthesia, local ablation, and brachytherapy. Clinically, in order to determine the specific target position, it is often necessary for the patient to enter the CT operating room for CT scanning to obtain CT images. Then, the doctor selects the target based on the CT images and performs manual fixation. However, CT-guided puncture also has two major drawbacks: one is that the CT-guided images are not real-time imaging, and the other is that a large amount of radiation is generated during the CT scanning process. As medical staff, doctors are often exposed to the rays, which will have a huge impact on the health of doctors. Currently, in most cases, medical staff determine a general area through CT images, draw marking points, and initially fix the puncture needle by means of tape, gauze, etc. Then, they enter the CT room to scan and confirm whether the pose of the puncture needle is appropriate, and make further adjustments for fixation or complete the fixation. However, this method has some drawbacks: for example, the manual positioning method is often not precise enough, and it requires the doctor to enter the operating room multiple times for adjustment. During the multiple adjustment processes, the patient needs to be repeatedly scanned by CT, which will undoubtedly increase the degree of radiation exposure of the patient and greatly increase the operation time. Although some researchers have proposed printing a puncture navigation board with array holes in advance, which can help doctors assist in positioning, this method still has the problem of limited positioning. The array board can only provide a fixed puncture posture, which obviously does not meet the complex scenarios in actual applications. Some people have also proposed using a 4-degree-of-freedom robot fixed to the human chest to provide the positioning of the puncture needle, but this can only provide the puncture of one needle. In the case of using multiple needles, the 4-degree-of-freedom robot cannot meet the usage requirements. Therefore, there is an urgent need for a needle puncture surgery auxiliary navigation system to provide fast and accurate positioning for multi-needle puncture, and a puncture needle fixing device that fits the human body to provide a breathing adaptation function.

[0003] In actual use, this system is used for the fixation of lung biopsy puncture and ablation needles. At the same time, due to the breathing movement of the patient, the chest cavity will rise and fall. Therefore, the operation platform of this system needs to be attached to the human body and relatively fixed to the human chest cavity. For different puncture points and directions, this system needs to provide arbitrary angle control of the syringe. Considering the usage requirements of multiple needles, this system needs to provide the fixed function of arbitrary poses of multiple syringes. Therefore, there is a need to design an auxiliary navigation system to provide functions such as target determination, pose control, and fixation of multiple syringes for the puncture needle.

[0004] Content of the Invention Patent

[0005] To achieve the functions required in the background art, the present invention provides a 3D printing system and method for fixing a puncture syringe with a dual robotic arm and optical positioning. The present invention can provide intraoperative pre-adjustment and fixation of the poses of multiple puncture needles, so as to simplify the positioning and fixation process of the puncture needles and improve the puncture accuracy.

[0006] The technical solution adopted by the present invention is as follows:

[0007] I. A 3D printing system for fixing a puncture syringe with a dual robotic arm and optical positioning:

[0008] It includes a CT scanning bed, a six-degree-of-freedom robotic arm A, a support mother column, a calibration block, a locking sub-column, an optically positioned passive sphere, a support chassis, a syringe, a pneumatic chuck, an optically positioned passive tracking tool A, a 3D printing nozzle, a force sensor, an optically positioned passive tracking tool B, a six-degree-of-freedom robotic arm B, and a pneumatic variable stiffness vest;

[0009] The six-degree-of-freedom robotic arm A and the six-degree-of-freedom robotic arm B are respectively arranged on both sides of the CT scanning bed. The end of the six-degree-of-freedom robotic arm A is equipped with a pneumatic chuck. The side of the pneumatic chuck is equipped with an optically positioned passive tracking tool A. The pneumatic chuck holds a syringe downward. An optically positioned passive sphere is installed on the syringe. The syringe faces downward and is directly opposite to the upper surface of the CT scanning bed. The end of the six-degree-of-freedom robotic arm B is equipped with a force sensor. The side of the force sensor is equipped with an optically positioned passive tracking tool B. The end of the force sensor is equipped with a 3D printing nozzle. The nozzle of the 3D printing nozzle also faces downward and is directly opposite to the upper surface of the CT scanning bed;

[0010] The pneumatic variable stiffness vest is worn by a person and lies flat on the CT scanning bed. The support chassis is fixed on the top surface of the pneumatic variable stiffness vest through a plurality of support feet at the bottom. A plurality of optically positioned passive spheres are installed on the top surface of the support chassis. A plurality of placement holes for syringes are provided on the support chassis;

[0011] Three optically positioned passive spheres are vertically and spacedly distributed on the calibration block. At the same time, the calibration block is threadedly connected to the support mother column on the top surface of the pneumatic variable stiffness vest through a locking sub-column, so that the calibration block is fixedly installed on the top surface of the pneumatic variable stiffness vest. The calibration block is located near the support chassis.

[0012] The pneumatic chuck holds the puncture syringe through the profiled surface structure provided thereon;

[0013] The pneumatic variable stiffness vest is filled with spherical particles inside. The bottom end of the support mother column is embedded inside the pneumatic variable stiffness vest and is movably connected to the spherical particles.

[0014] It further includes an optical locator, which is fixedly installed beside the CT scanning bed, and the detection range of the optical locator is the human chest area on the CT scanning bed.

[0015] The pneumatic variable stiffness vest provides stable support by using the method of locking with spherical particles under negative pressure to form a fixed body.

[0016] II. The usage method of a 3D printing system for fixing a puncture syringe with a dual robotic arm and optical positioning specifically includes the following steps:

[0017] Step S1: After the patient wears the pneumatic variable stiffness vest and lies flat on the CT scanning bed, at this time, place the six-degree-of-freedom robotic arm A on the left side of the patient and place the six-degree-of-freedom robotic arm B on the right side of the patient;

[0018] Start the optical locator to detect the optical positioning passive tracking tool A, the optical positioning passive tracking tool B, the syringe, and each optical positioning passive sphere set on the support chassis, and establish a robotic coordinate system based on the three optical positioning passive spheres fixed on the support chassis, and then obtain the poses of the six-degree-of-freedom robotic arm A, the six-degree-of-freedom robotic arm B, the syringe, and the support chassis in the robotic coordinate system, and further obtain the relative poses of these four in three-dimensional space; at the same time, detect the optical positioning passive sphere on the calibration block through the optical locator to obtain the pose of the calibration block in the robotic coordinate system.

[0019] Step S2: On the basis of calibrating by using the relative pose of the calibration block, realize the calibration registration between the CT coordinate system provided by the CT scanning bed and the robotic coordinate system through calculation and transformation matrix methods;

[0020] Step S3: Select the pose of the puncture syringe in the CT coordinate system through the computer and transmit it to the six-degree-of-freedom robotic arm A;

[0021] Step S4: After the six-degree-of-freedom robotic arm A holds the syringe with a pneumatic chuck and moves it above the support chassis, control the syringe to be placed above the center of the support chassis and place the syringe at the pose of the puncture syringe in the CT coordinate system;

[0022] Step S5: The optical positioning passive tracking tool B installed on the six-degree-of-freedom robotic arm B obtains the relative pose between the 3D printing nozzle and the syringe through the detection of the optical locator;

[0023] Step S6: The 3D printing nozzle prints a syringe bracket between the syringe and the support chassis according to the relative pose obtained in Step S5, so that the syringe and the support chassis are fixedly connected;

[0024] Step S7: Repeat steps S3 - S6 to fix multiple syringes at the positions where the puncture needles are required to be arranged, achieving the pose fixation of the syringes and the target human body. During the operation, the puncture needles will pass through the syringes and reach the human body.

[0025] In step S4, the optical positioning passive tracking tool A installed on the robotic arm A obtains the relative pose of the end of the robotic arm A through the optical locator. Then, based on the pose of the puncture needle received in step S3, the robotic arm A holds the puncture needle syringe and moves it to the position of this puncture needle pose.

[0026] In step S5, the optical positioning passive tracking tool B installed on the six - degree - of - freedom robotic arm B obtains the relative pose of the 3D printing nozzle at the end of the six - degree - of - freedom robotic arm B through the optical locator. At the same time, the relative pose between the syringe and the pneumatic chuck is detected by the optical positioning passive sphere on the syringe and the optical positioning passive tracking tool A on the pneumatic chuck. Then, the mechanical sensor is used to detect the extrusion force of the 3D printing nozzle against the syringe and the support chassis respectively, verifying the relative position relationship between the syringe and the support chassis and providing pose information for 3D printing.

[0027] In step S1, a robotic coordinate system is established through the optical positioning passive sphere provided on the support chassis. Then, the relative pose of the support chassis is obtained through the optical locator. Combining with the relative pose of the syringe obtained in step S5, the puncture needle syringe is fixedly installed on the support chassis.

[0028] The beneficial effects of the present invention are as follows:

[0029] The present invention adopts a syringe fixation method based on intraoperative 3D printing technology to achieve precise positioning of the syringe during the operation and pose fixation of multiple needles during the operation. The present invention adopts a wearable pneumatic variable - stiffness vest based on the principle of particulate vacuum pumping to change stiffness, realizing the relative fixation between the syringe fixing seat and the human body and providing stable support for the syringe. The present invention uses a robotic arm to accurately place the pose of the syringe, replacing the operation of medical staff manually fixing the puncture needle, and optimizing the positioning process of the puncture needle. Brief Description of the Drawings

[0030] Figure 1 It is the overall schematic diagram of the present invention;

[0031] Figure 2 It is the partial schematic diagram of the present invention;

[0032] Figure 3 It is the working schematic diagram of the pneumatic vest of the present invention;

[0033] Figure 4 It is the working process schematic diagram of the present invention;

[0034] As shown in the figure: 1-CT scanning bed, 2-six-degree-of-freedom robotic arm A, 3-supporting mother column, 4-calibration block, 5-locking sub-column, 6-passive optical positioning sphere, 7-supporting chassis, 8-syringe, 9-pneumatic chuck, 10-passive optical positioning tracking tool A, 11-3D printing nozzle, 12-mechanical sensor, 13-passive optical positioning tracking tool B, 14-six-degree-of-freedom robotic arm B, 15-optical locator, 16-pneumatic variable stiffness vest, 17-spherical particulate matter. Detailed implementation manners

[0035] The present invention will be further described below in conjunction with the accompanying drawings and specific implementation manners:

[0036] As Figure 1 shown, the present invention includes a CT scanning bed 1, a six-degree-of-freedom robotic arm A 2, a supporting mother column 3, a calibration block 4, a locking sub-column 5, a passive optical positioning sphere 6, a supporting chassis 7, a syringe 8, a pneumatic chuck 9, a passive optical positioning tracking tool A 10, a 3D printing nozzle 11, a mechanical sensor 12, a passive optical positioning tracking tool B 13, a six-degree-of-freedom robotic arm B 14, and a pneumatic variable stiffness vest 16;

[0037] The six-degree-of-freedom robotic arm A 2 and the six-degree-of-freedom robotic arm B 14 are respectively arranged on both sides of the CT scanning bed 1. As Figure 2 shown, a pneumatic chuck 9 is installed at the end of the six-degree-of-freedom robotic arm A 2 used to fix the puncture syringe 8. A passive optical positioning tracking tool A 10 for guiding the puncture needle is installed on the side of the pneumatic chuck 9. The pneumatic chuck 9 holds the syringe 8 downward. An passive optical positioning sphere 6 is installed on the syringe 8 to cooperate with the optical locator 15 to detect the relative pose of the syringe 8. The syringe 8 faces downward directly at the upper surface of the CT scanning bed 1. A mechanical sensor 12 for detecting the extrusion force is installed at the end of the six-degree-of-freedom robotic arm B 14 used to control the movement of the 3D printing probe. A passive optical positioning tracking tool B 13 is installed on the side of the mechanical sensor 12 to cooperate with the optical locator 15 to detect the relative pose of the 3D printing nozzle 11. The 3D printing nozzle 11 is installed at the end of the mechanical sensor 12. The nozzle of the 3D printing nozzle 11 also faces downward directly at the upper surface of the CT scanning bed 1;

[0038] The pneumatic variable stiffness vest 16 is worn by a human body and lies flat on the CT scanning bed 1. The supporting chassis 7 is fixed on the top surface of the pneumatic variable stiffness vest 16 through a plurality of supporting feet at the bottom. A plurality of passive optical positioning spheres 6 are installed on the top surface of the supporting chassis 7 to cooperate with the optical locator 15 to detect the relative pose of the supporting chassis 7. A plurality of placement holes for the syringe 8 are provided on the supporting chassis 7;

[0039] There are 3 optically positioned passive spheres 6 distributed at intervals on the calibration block 4. At the same time, the calibration block 4 is threadedly connected to the support mother column 3 on the top surface of the pneumatic variable stiffness vest 16 through a locking sub-column 5, so that the calibration block 4 is fixedly installed on the top surface of the pneumatic variable stiffness vest 16. The calibration block 4 is located near the support chassis 7 and is used for the registration of the CT image coordinate system and the world coordinate system.

[0040] The pneumatic chuck 9 clamps the puncture syringe 8 through a shaped surface structure provided thereon that mates with the puncture syringe 8.

[0041] The inside of the pneumatic variable stiffness vest 16 is filled with spherical particles 17. The bottom end of the support mother column 3 is embedded inside the pneumatic variable stiffness vest 16 and is movably connected to the spherical particles 17.

[0042] It also includes an optical locator 15 for detecting the poses of the ends of two robotic arms and the poses of the syringe and the calibration block in the world coordinate system. The optical locator 15 is fixedly installed beside the CT scanning bed 1, and the detection range of the optical locator 15 is the human chest area on the CT scanning bed 1.

[0043] The pneumatic variable stiffness vest 16 provides stable support by using the method of locking together with the spherical particles 17 in a negative pressure state to form a fixed body. Specifically, as Figure 3 shown, the pneumatic variable stiffness vest 16 is made of a soft body sealing material. When the inside of the pneumatic vest 16 is in a normal air pressure state, the internal circular particles 17 have no frictional force and extrusion force due to their own shapes and can maintain a flowing state. At this time, the support mother column 3 can move freely inside the pneumatic variable stiffness vest 16 to adjust to the desired position. When the pneumatic vest 16 is in a vacuum state, the internal circular particles 17 are squeezed by the vacuum pumping of the vest on the particles 17, and the fluidity of the particles 17 disappears, and together with the vest 16, they form a high-rigidity solid, providing rigid support for the support mother column 3.

[0044] The specific operation steps are as follows:

[0045] Step S1: After the patient wears the pneumatic variable stiffness vest 16 and lies flat on the CT scanning bed 1. At this time, place the six-degree-of-freedom robotic arm A2 on the left side of the patient to provide the grasping and suspended pose placement of a single puncture syringe from the fixed chassis, and place the six-degree-of-freedom robotic arm B14 on the right side of the patient to provide the connection support for the suspended single puncture syringe clamped by the robotic arm A and the chassis printing.

[0046] The start-up optical locator 15 detects each of the optical positioning passive tracking tools A10, optical positioning passive tracking tool B13, syringe 8, and the optical positioning passive spheres 6 provided on the support chassis 7, and a robot coordinate system is established based on the three optical positioning passive spheres 6 fixed on the support chassis 7. Furthermore, the poses of the six-degree-of-freedom robotic arm A2, six-degree-of-freedom robotic arm B14, syringe 8, and support chassis 7 in the robot coordinate system are obtained, thereby providing the relative poses of these four in three-dimensional space. At the same time, the pose of the calibration block 4 in the robot coordinate system is obtained by detecting the optical positioning passive spheres 6 on the calibration block 4 through the optical locator 15. The specific detection process is that the optical locator 15 is based on the robot coordinate system established by the three optical positioning passive spheres 6 on the support chassis 7 and the self-coordinate system of the calibration block 4 established by the three optical passive spheres 6 on the calibration block 4. The optical locator 15 takes pictures of the optical passive spheres 6 on the support chassis 7 and the calibration block 4, and then calculates the relative pose between the two.

[0047] Step S2: On the basis of calibrating using the relative pose of the calibration block 4, the calibration registration between the CT coordinate system provided by the CT scan bed (1) and the robot coordinate system is realized by means of calculation and transformation matrix;

[0048] Step S3: Select the pose of the puncture needle in the CT coordinate system through the computer and transmit it to the six-degree-of-freedom robotic arm A2;

[0049] Step S4: The six-degree-of-freedom robotic arm A2 holds the syringe 8 through the pneumatic chuck 9 and moves above the support chassis 7, and then controls the syringe 8 to pass through the placement hole provided on the support chassis 7 to reach the pose of the puncture needle in the CT coordinate system;

[0050] Step S5: The optical positioning passive tracking tool B13 installed on the six-degree-of-freedom robotic arm B14 obtains the relative pose between the 3D printing nozzle 11 and the syringe 8 through the detection of the optical locator 15;

[0051] Step S6: The 3D printing nozzle 11 prints a syringe support between the syringe 8 and the support chassis 7 according to the relative pose obtained in Step S5, so that the syringe 8 and the support chassis 7 are fixedly connected;

[0052] Step S7: Repeat Steps S3 - S6 to fix multiple syringes 8 at the positions where puncture needles need to be arranged, realize the pose fixation of the syringe 8 and the target human body, and the puncture needle will pass through the syringe 8 to reach the human body during the operation.

[0053] In step S4, the optical positioning passive tracking tool A10 installed on the six-degree-of-freedom robotic arm A2 obtains the relative pose of the end of the six-degree-of-freedom robotic arm A2 through the NDI optical locator 15. Then, the six-degree-of-freedom robotic arm A2 moves the puncture syringe barrel 8 to the puncture needle pose selected by the medical staff in the CT control room received in step S3.

[0054] In step S5, the optical positioning passive tracking tool B13 installed on the six-degree-of-freedom robotic arm B14 obtains the relative pose of the 3D printing nozzle 11 at the end of the six-degree-of-freedom robotic arm B14 through the NDI optical locator 15. At the same time, the relative pose of the syringe barrel 8 is detected by the optical positioning passive sphere 6 on the syringe barrel 8 and the optical positioning passive tracking tool A10 on the pneumatic chuck 9. Then, the mechanical sensor 12 is used to detect the extrusion force conditions of the 3D printing nozzle 11 with the syringe barrel 8 and the support chassis 7 respectively, and verify the relative position relationship between the syringe barrel 8 and the support chassis 7 to provide pose information for 3D printing.

[0055] In step S5, the optical positioning passive sphere 6 provided on the support chassis 7 is used as a reference to establish the reference system of the optical positioning navigation system. Furthermore, the relative pose of the support chassis 7 is obtained through the optical locator 15, and then the puncture syringe barrel 8 is fixedly arranged on the support chassis 7 in combination with the relative pose of the syringe barrel 8 obtained in step S5.

[0056] In specific implementation, as Figure 3 shown, a large number of circular particles 17 are filled inside the pneumatic variable stiffness vest 16. The pneumatic variable stiffness vest 16 is made of a soft sealing material. When the inside of the pneumatic vest 16 is in a normal air pressure state, the internal circular particles 17 have no friction and extrusion force due to their own shape and can maintain a flowing state. At this time, the support mother column 3 can move freely inside the pneumatic variable stiffness vest 16 to adjust to the desired position. When the pneumatic vest 16 is in a vacuum state, the internal circular particles 17 are squeezed due to the vacuum pumping of the vest on the particles 17, and the fluidity of the particles 17 disappears, forming a high-stiffness solid together with the vest 16 to provide rigid support for the support mother column 3.

[0057] In specific implementation, first, the doctor preliminarily determines the lesion area according to the preoperative examination of the patient, and moves the support chassis 7 to the lesion area and performs vacuum pumping on the pneumatic variable stiffness vest to realize the rigid connection between the support chassis 7 and the patient's body. The intraoperative process is as Figure 4As shown in the following: 1. The doctor selects the target needle insertion point through the CT image and gives the pose matrix Tc of the puncture needle in the image coordinate system according to the CT image coordinate system; 2. The computer converts the pose matrix of the puncture needle in the CT image coordinate system into the pose matrix Tr in the robot coordinate system and transmits it to the six-degree-of-freedom robotic arm A2; 3. The six-degree-of-freedom robotic arm A2 takes the pose matrix Tr as the trajectory end point, takes the pose Tn of the puncture needle cylinder 8 on the support chassis 7 obtained by the optical positioning system as the trajectory start point, removes the puncture needle cylinder 8 from the support chassis 7 and moves it to the target pose as shown in Figure 4 Process 1; 4. The six-degree-of-freedom robotic arm B14 plans a support trajectory according to the current suspended pose Tr of the needle cylinder and the pose Tp of the support chassis 7, and prints a fixed support between the two. During the printing process, the mechanical sensor 12 will detect the extrusion force of the 3D printing nozzle 11 against the needle cylinder 8 and the support chassis 7 in real time, and monitor the relative position relationship between the needle cylinder 8 and the support chassis 7 in a timely manner to provide pose information for 3D printing as shown in Figure 4 Process 2; 5. After printing is completed, the six-degree-of-freedom robotic arm A2 and the six-degree-of-freedom robotic arm B14 withdraw, and the patient enters the CT operating room again with the puncture needle cylinder 8 to scan and confirm the needle insertion situation as shown in Figure 4 Process 3.

Claims

1. A 3D printing system for fixing a puncture syringe based on dual robotic arm operation, characterized in that: It includes a CT scanning bed (1), a six-degree-of-freedom robotic arm A (2), a support main column (3), a calibration block (4), a locking sub-column (5), an optically positioned passive sphere (6), a support chassis (7), a syringe (8), a pneumatic chuck (9), an optically positioned passive tracking tool A (10), a 3D printing nozzle (11), a force sensor (12), an optically positioned passive tracking tool B (13), a six-degree-of-freedom robotic arm B (14), and a pneumatic variable stiffness vest (16); The six-degree-of-freedom robotic arm A (2) and the six-degree-of-freedom robotic arm B (14) are respectively arranged on both sides of the CT scanning bed (1). The end of the six-degree-of-freedom robotic arm A (2) is equipped with a pneumatic chuck (9). The side of the pneumatic chuck (9) is equipped with an optically positioned passive tracking tool A (10). The pneumatic chuck (9) holds the syringe (8) downward. An optically positioned passive sphere (6) is installed on the syringe (8). The syringe (8) faces downward directly towards the upper surface of the CT scanning bed (1). The end of the six-degree-of-freedom robotic arm B (14) is equipped with a force sensor (12). The side of the force sensor (12) is equipped with an optically positioned passive tracking tool B (13). The end of the force sensor (12) is equipped with a 3D printing nozzle (11). The nozzle of the 3D printing nozzle (11) also faces downward directly towards the upper surface of the CT scanning bed (1); The pneumatic variable stiffness vest (16) is worn by a human body and lies flat on the CT scanning bed (1). The support chassis (7) is fixed on the top surface of the pneumatic variable stiffness vest (16) through multiple support feet at the bottom. Multiple optically positioned passive spheres (6) are installed on the top surface of the support chassis (7). The support chassis (7) is provided with multiple placement holes for the syringes (8); Three optically positioned passive spheres (6) are vertically and spacedly distributed on the calibration block (4). At the same time, the calibration block (4) is threadedly connected to the support main column (3) on the top surface of the pneumatic variable stiffness vest (16) through a locking sub-column (5), so that the calibration block (4) is fixedly installed on the top surface of the pneumatic variable stiffness vest (16). The calibration block (4) is located near the support chassis (7); The pneumatic chuck (9) holds the puncture syringe (8) through the profiled surface structure provided thereon; The pneumatic variable stiffness vest (16) is filled with spherical particles (17) inside. The bottom end of the support main column (3) is embedded inside the pneumatic variable stiffness vest (16) and is movably connected to the spherical particles (17).

2. The puncture syringe fixing 3D printing system based on dual robotic arm operation according to claim 1, wherein: It further includes an optical locator (15). The optical locator (15) is fixedly installed beside the CT scanning bed (1). The detection range of the optical locator (15) is the human chest area on the CT scanning bed (1).

3. The puncture syringe fixing 3D printing system based on dual robotic arm operation according to claim 1, wherein: The pneumatic variable stiffness vest (16) provides stable support by using the method of locking together with the spherical particles (17) under a negative pressure state to form a fixed body.

4. Operating method of a puncture syringe fixing 3D printing system based on dual robotic arm operation, characterized in that; The specific steps are as follows: Step S1: After the patient wears the pneumatic variable stiffness vest (16) and lies flat on the CT scanning bed (1), at this time, place the six-degree-of-freedom robotic arm A (2) on the left side of the patient and the six-degree-of-freedom robotic arm B (14) on the right side of the patient; Start the optical locator (15) to detect the optical positioning passive tracking tool A (10), the optical positioning passive tracking tool B (13), the syringe (8), and each optical positioning passive sphere (6) set on the support chassis (7), and establish a robotic coordinate system based on the three optical positioning passive spheres (6) fixed on the support chassis (7), thereby obtaining the poses of the six-degree-of-freedom robotic arm A (2), the six-degree-of-freedom robotic arm B (14), the syringe (8), and the support chassis (7) in the robotic coordinate system, and then obtaining the relative poses of these four in three-dimensional space; at the same time, detect the optical positioning passive sphere (6) on the calibration block (4) through the optical locator (15) to obtain the pose of the calibration block (4) in the robotic coordinate system; Step S2: On the basis of calibrating using the relative pose of the calibration block (4), achieve the calibration registration between the CT coordinate system provided by the CT scanning bed (1) and the robotic coordinate system through calculation and transformation matrix methods; Step S3: Select the pose of the puncture needle in the CT coordinate system through the computer and transmit it to the six-degree-of-freedom robotic arm A (2); Step S4: After the six-degree-of-freedom robotic arm A (2) holds the syringe (8) through the pneumatic chuck (9) and moves it above the support chassis (7), control the syringe (8) to be placed above the center of the support chassis (7) and place the syringe (8) at the puncture needle pose in the CT coordinate system; Step S5: The optical positioning passive tracking tool B (13) installed on the six-degree-of-freedom robotic arm B (14) obtains the relative pose between the 3D printing nozzle (11) and the syringe (8) through the detection of the optical locator (15); Step S6: The 3D printing nozzle (11) prints a syringe support between the syringe (8) and the support chassis (7) according to the relative pose obtained in Step S5, so that the syringe (8) and the support chassis (7) are fixedly connected; Step S7: Repeat Steps S3 - S6 to fix multiple syringes (8) at the positions where puncture needles need to be arranged, and achieve the pose fixation between the syringe (8) and the target human body.

5. The operating method of the puncture syringe fixing 3D printing system based on dual robotic arm operation according to claim 4, characterized in that: In Step S4, the optical positioning passive tracking tool A (10) installed on the robotic arm A (2) obtains the relative pose of the end of the robotic arm A (2) through the optical locator (15), and then the robotic arm A (2) moves the puncture syringe (8) to the puncture needle pose according to the puncture needle pose received in Step S3.

6. The operation method of the puncture syringe fixing 3D printing system based on dual robotic arm operation according to claim 4, characterized in that: In step S5, the optical positioning passive tracking tool B (13) installed on the six-degree-of-freedom robotic arm B (14) obtains the relative pose of the 3D printing nozzle (11) at the end of the six-degree-of-freedom robotic arm B (14) through the optical locator (15). At the same time, the relative pose between the syringe (8) and the pneumatic chuck (9) is detected by the optical positioning passive sphere (6) on the syringe (8) and the optical positioning passive tracking tool A (10) on the pneumatic chuck (9). Then, the mechanical sensor (12) is used to detect the extrusion force conditions of the 3D printing nozzle (11) with respect to the syringe (8) and the support chassis (7) respectively, verify the relative position relationship between the syringe (8) and the support chassis (7), and provide pose information for 3D printing.

7. The operating method of the puncture syringe fixing 3D printing system based on dual robotic arm operation according to claim 6, characterized in that; In step S1, a robot coordinate system is established through the optical positioning passive sphere (6) provided on the support chassis (7). Furthermore, the relative pose of the support chassis (7) is obtained through the optical locator (15). Then, the puncture syringe (8) is fixedly installed on the support chassis (7) by combining the relative pose of the syringe (8) obtained in step S5.

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