A lung puncture biopsy surgical robot and positioning method

Abstract

The present invention provides a lung puncture biopsy surgical robot, comprising: an X / Y translation module, the X / Y translation module moves in the X direction and the Y direction to locate the insertion point of the puncture needle; an angle adjustment module, the angle adjustment module adjusts the puncture angle of the puncture needle according to the set angle; a puncture needle insertion module, the puncture needle insertion module controls the puncture needle to be sent into the lesion position according to the insertion point and the puncture angle, completes the puncture biopsy and is pulled out. The present invention has a compact structure and can complete the adjustment of the puncture needle position and angle in a narrow CT scanning hole or under a medical diagnostic X-ray machine; realizes autonomous puncture, improves puncture accuracy and puncture speed, reduces puncture time, and reduces radiation damage.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a lung puncture biopsy surgical robot and a positioning method. Background Art

[0002] Primary lung cancer is the leading cause of cancer death worldwide. When lung abnormalities are found through computed tomography (CT) during screening, obtaining representative tissue samples of the lesion through puncture biopsy is crucial for a clear diagnosis. The traditional percutaneous biopsy procedure requires patients to undergo a CT scan before surgery. The doctor obtains information such as the location, size, and shape of the lesion tissue based on the scanned image and makes preoperative plans. The doctor then enters the scanner room from the shielded control room according to the markings, inserts the puncture needle into the tissue to a certain depth, rescans, and then punctures, repeating the above steps. Due to the radiation present during the CT scan, the doctor needs to shuttle back and forth between the scanner room and the radiation shielding room, causing fatigue to the doctor; the patient's repeated sliding in and out of the scanner hole will also have a certain impact on the patient's condition and puncture accuracy, and repeated scanning will also increase the patient's radiation exposure time; most importantly, the iterative puncture process is prone to intraoperative complications such as pneumothorax and pulmonary hemorrhage.

[0003] Robot-assisted surgery not only has high positioning accuracy and strong dexterity, but also causes little trauma to patients, facilitating postoperative recovery. For lung puncture biopsy robots based on CT image navigation, due to the limitations of the instrument, the structure of the robot must be very compact to effectively complete the corresponding surgical actions. In the past, lung puncture biopsy surgical robots were mostly large in size to achieve autonomous puncture functions, which easily interfered with the CT scanning hole. Some smaller lung puncture biopsy devices installed on patients only guide the puncture needle and cannot complete autonomous puncture. Moreover, most of them cannot meet the requirements of allowing the robotic arm to insert the needle from any position and angle outside the chest cavity, and the adjustment speed is slow and the accuracy is low, making it very difficult for the robot to complete the puncture autonomously; and the clamping of the needle is a simple fixed connection, which cannot meet the universality and replaceability of different types of puncture needles.

[0004] After searching the prior art, it was found that the Chinese invention patent CN1047939512A, named "Thoracentesis surgical robot based on CT or MRI image navigation", has an autonomous puncture function, and some degrees of freedom are achieved by wire transmission. However, the system volume is still large, and the puncture needle is fixedly connected to the drive device, which cannot realize the function of replacing different surgical instruments.

[0005] Further searching revealed that the U.S. invention patent US2016 / 0317240A1, named "DEVICE FORATTACHING MEDIACL TARGET DEVICES AND LIKE", has the function of puncture guidance at any position and angle, and can replace different types of puncture needles during the puncture process, but the system is bulky and does not have an autonomous puncture function. Summary of the invention

[0006] In view of the defects in the prior art, the object of the present invention is to provide a lung puncture biopsy surgical robot and a positioning method.

[0007] According to one aspect of the present invention, there is provided a lung puncture biopsy surgical robot, comprising:

[0008] An X / Y translation module, which moves in the X and Y directions to locate the insertion point of the puncture needle;

[0009] An angle adjustment module, wherein the angle adjustment module adjusts the puncture angle of the puncture needle according to a set angle;

[0010] The puncture needle insertion module controls the puncture needle to be inserted into the lesion location according to the needle insertion point and puncture angle, completes the puncture biopsy and is pulled out.

[0011] Preferably, the X / Y translation module comprises:

[0012] An X-direction translation unit, the X-direction translation unit adjusts the position of the puncture needle insertion point in the X direction;

[0013] The Y translation unit adjusts the position of the puncture needle insertion point in the Y direction.

[0014] Preferably, the X translation unit comprises:

[0015] A first bracket, the bracket is used for supporting;

[0016] A first module slide, the first module slide is located in the first bracket;

[0017] A first motor, the first motor is installed in the first bracket and drives the first module slide;

[0018] A first sliding block, wherein the first sliding block is connected to the first module slide table via a transmission thread;

[0019] The Y translation unit comprises:

[0020] A second bracket, the second bracket is mounted above the first bracket;

[0021] A connecting frame connected to the first sliding block;

[0022] A second module slide, the second module slide is connected to the connecting frame;

[0023] A second motor, the second motor is located in the second bracket and drives the second module slide;

[0024] A second slider, the second slider is connected to the second module slide via a transmission thread;

[0025] A support frame, the support frame spans over the second sliding block and is fixedly connected thereto;

[0026] A first universal joint is connected to a front end of the support frame.

[0027] Preferably, when the base of the triangle is determined, the angle adjustment module adjusts the lengths of the other two sides to obtain a vertex; the angle of the puncture needle is determined by using the vertex in combination with the needle entry point determined by the X / Y translation module.

[0028] Preferably, the angle adjustment module comprises:

[0029] A supporting bottom plate, the supporting bottom plate is fixed above the supporting frame;

[0030] Universal joints, two of which are located above the supporting base plate and are coaxially connected to each other;

[0031] A screw support, the screw support being connected to the universal joint;

[0032] A gear pair, the gear pair being fixed to the lead screw support;

[0033] a first lead screw connected to the gear pair;

[0034] A motor bracket, the motor bracket is connected to the lead screw support;

[0035] A third motor, the third motor is fixed to the motor bracket, driving the gear pair to drive the first lead screw to rotate;

[0036] a third slider, the third slider being threadably connected to the first lead screw drive;

[0037] a sleeve, wherein the sleeve is fixedly connected to the third slider;

[0038] A joint connected to the sleeve;

[0039] An arm, wherein the arm is connected to the joint via a bearing;

[0040] A second universal joint is connected to the arm.

[0041] Preferably, the

[0042] The two universal joints are fixed with a shaft to form the base of a triangle;

[0043] Two groups of the first lead screw, the third slider and the sleeve constitute the other two sides of the triangle; the two sleeves intersect with the joint joint to constitute another vertex of the triangle;

[0044] The first screw rod rotates to drive the slider to move, and the slider drives the sleeve to move, so that the lengths of the two sides are adjustable. Preferably, the joint joint is hingedly connected to the arm.

[0045] Preferably, the puncture needle insertion module comprises:

[0046] A screw base, the screw base being connected to the first universal joint;

[0047] A puncture support plate, the puncture support plate is located directly below the screw base and is connected to the second universal joint;

[0048] A fourth motor, the fourth motor being fixed above the puncture support plate;

[0049] A rotating driving gear, the rotating driving gear is located above the puncture support plate and is driven by the fourth motor;

[0050] A rotating driven gear, the rotating driven gear is rotated above the puncture support plate and meshes with the rotating driving gear;

[0051] A second screw, the second screw is located between the screw base and the puncture support plate and is connected to the rotation driven gear;

[0052] A guide shaft, wherein the guide shaft is located between the screw base and the puncture support plate;

[0053] A puncture slider, the puncture slider is threadedly connected to the second lead screw transmission, and one side of the puncture slider is connected to the guide shaft;

[0054] A needle grabbing device, the needle grabbing device is fixedly connected to one side of the puncture slider;

[0055] The puncture needle is fixed by the needle grasping device.

[0056] Preferably, the screw base is provided with a circular hole, and the lower section of the puncture needle passes through the circular hole.

[0057] A second aspect of the present invention provides a positioning method implemented by a lung puncture biopsy surgical robot based on any one of the above, comprising:

[0058] The master hand remotely controls the slave hand;

[0059] The slave controls the X / Y translation module to move in the X and Y directions to locate the insertion point of the puncture needle;

[0060] The angle adjustment module is controlled to adjust the puncture angle of the puncture needle according to a set angle.

[0061] Compared with the prior art, the present invention has the following beneficial effects:

[0062] A lung puncture biopsy surgical robot in an embodiment of the present invention has a compact structure and can adjust the position and angle of the puncture needle in a narrow CT scanning hole or under a medical diagnostic X-ray machine, thereby improving the puncture accuracy.

[0063] A lung puncture biopsy surgical robot in an embodiment of the present invention converts the rotational motion of the lead screw driven by the motor of the puncture needle insertion module into the linear motion of the slider, thereby driving the linear motion of the puncture needle, and increases the puncture needle insertion speed by controlling the motor speed, thereby achieving autonomous puncture and reducing radiation damage.

[0064] A lung puncture biopsy surgical robot in an embodiment of the present invention has a replaceable function, can clamp different puncture needles according to puncture biopsy in different scenarios, and is easy to disinfect. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0066] Figure 1 Schematic diagram of the overall structure of the lung puncture biopsy surgical robot in an embodiment of the present invention;

[0067] Figure 2 Schematic diagram of the structure of the X / Y translation module in an embodiment of the present invention;

[0068] Figure 3 This is a schematic diagram of the structure of an angle adjustment module in an embodiment of the present invention;

[0069] Figure 4 Schematic diagram of the structure of the puncture needle insertion module in an embodiment of the present invention;

[0070] Figure 5 4 is a block diagram of a control system in an embodiment of the present invention.

[0071] In the figure: 101-first universal joint, 102-axial joint, 103-support frame, 104-second module slide, 105-second slider, 106-connecting frame, 107-second motor, 108-second bracket, 109-first slider, 110-first module slide, 111-first motor, 112-first bracket, 201-second universal joint, 202-arm, 203-joint joint, 204-sleeve, 205 third slider , 206-motor bracket, 207-third motor, 208 first lead screw, 209-universal joint, 210-gear pair, 211-lead screw support, 212-support base plate, 301-second lead screw 2, 302-needle grabbing device, 303-puncture slider, 304-guide shaft, 305-puncture support plate, 306-rotating driven gear, 307-rotating driving gear, 308-fourth motor, 309-lead screw base, 4-puncture needle. DETAILED DESCRIPTION

[0072] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several variations and improvements may be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0073] like Figure 1 As shown, the present invention provides an embodiment, a lung puncture biopsy surgical robot, comprising: an X / Y translation module, the X / Y translation module moves in the X direction and the Y direction to locate the insertion point of the puncture needle;

[0074] An angle adjustment module, which adjusts the puncture angle of the puncture needle according to a set angle;

[0075] The puncture needle insertion module controls the puncture needle to be sent into the lesion location according to the needle insertion point and puncture angle, completes the puncture biopsy and removes it.

[0076] like Figure 2The figure is a schematic diagram of the structure of the X / Y translation module in one embodiment of the present invention. The X / Y translation module includes an X-direction translation unit and a Y-direction translation unit. The X-direction translation unit includes a first bracket 112, on which a first module slide 110 arranged in the X direction is mounted, the first module slide 110 is driven by a first motor 111, and the motor 111 is mounted on the first bracket 112. A first slider 109 connected to the first module slide 110 by a transmission thread is provided, and the first slider 109 is fixedly connected to the rear end of the second module slide 104 through a connecting frame 106. The Y-direction translation unit includes a second module slide 104, which is fixed on a connecting frame 106. The second module slide 104 is driven by a second motor 107, and the second motor 107 is installed on a second bracket 108. A second slider 105 connected to the second module slide 104 by a transmission thread is provided, and a support frame 103 fixed to the second slider 105 spans across the second slider 105, and a front end of the support frame 103 is connected to the first universal joint 101 by an axial joint 102.

[0077] The connecting frame 106 transmits the linear motion of the first slider 109 to the support frame 103 fixedly connected to the second module slide 104 and the second slider 105, and the support frame 103 realizes translational motion in the X / Y direction. The front end of the support frame 103 is connected to the universal joint 101 through the axial joint 102, and is connected to the lower half of the puncture needle module 3 to realize the positioning function of the needle insertion point. The upper end of the support frame 103 is fixedly connected to the supporting base plate 212, and the supporting base plate 212 is provided with 2 angle adjustment modules, which realize the function of adjusting the needle insertion angle while fixing the needle insertion point.

[0078] like Figure 3The figure is a schematic diagram of the structure of the angle adjustment module in one embodiment of the present invention. The angle adjustment module includes two universal joints 209 fixedly connected to the support base plate 212, the universal joints 209 are fixedly connected to a shaft, the motor bracket 206 is connected with the universal joints 209, the motor bracket 206 is fixedly connected to the third motor 207 and the screw support 211, the first screw 208 is installed on the screw support 211, the first screw 208 is provided with a third slider 205 connected to it by a transmission thread, the third motor 207 transmits power to the third slider 205 through the gear pair 210, the third slider 205 is fixedly connected to the sleeve 204, the two sleeves 204 are fixedly connected to the joint joint 203 at their distal ends, the two third motors 207 realize linear motion by driving the two third sliders 205 on the screw, and the different linear motions of the two third sliders 205 are controlled. The distance between the axes of the two universal joints 209 and the distance from the end of the sleeve 204 to the starting end of the first screw 208 constitute the base and the two waist lengths of the triangle. The axes of the two universal joints 209 and the connecting rods therebetween constitute the base of the triangle. The two third sliders 205 and the two sleeves 204 connected thereto change their relative positions with the starting end of the first screw 208 through linear motion, thereby changing the two waist lengths of the triangle, and then changing the shape of the triangle. The position of the vertex of the triangle where the arm 202 is located is also changed, thereby obtaining different movement positions of the arm 202 in the plane. The arm 202 is connected with the upper part of the puncture needle module. After the position of the lower part of the puncture needle module has been determined by the X / Y translation module, the angle adjustment of the puncture needle module can be realized, that is, the angle adjustment function of the puncture needle is realized. The motor bracket 206 cooperates with the universal joint 209, and the sleeve 204, the third slider 205, the first screw 208 and the universal joint 209 are all maintained on the same plane. The universal joint 209 is connected to the starting end position of the first screw 208 through internal bearings and pins, thereby allowing the side length of the triangle formed by the first screw 208, the third slider 205 and the sleeve 204 to achieve different angle changes without causing constraints, thereby completing more flexible angular movement, and the joint 203 is hingedly connected to the arm 202. The distal end of the arm 202 is connected to the upper part of the puncture needle module 3 through the second universal joint 201. The position of the lower part of the puncture needle module 3 is determined by the X / Y translation module 1, and the position of the upper part of the puncture needle module 3 is determined by the movement in the above embodiment, and then the direction of the puncture needle module 3 is determined, thereby realizing the puncture needle angle adjustment function.

[0079] like Figure 4As shown, it is a schematic diagram of the structure of the puncture needle module in an embodiment of the present invention. The puncture needle module 3 includes a screw base 309 connected to the second universal joint 201 and a puncture support plate 305 connected to the first universal joint 101. The fourth motor 308 is fixedly connected to the puncture support plate 305, the rotating driving gear 307 is rotatably connected to the driving shaft of the fourth motor 308, the rotating driving gear 307 is meshed with the rotating driven gear 306, the rotating driven gear 306 is rotatably connected to the second screw 301, the second screw 301 is installed on the puncture support plate 305, the guide shaft 304 is installed between the screw base 309 and the puncture support plate 305, the second screw 301 is provided with a puncture slider 303 connected to it by a transmission thread, the puncture slider 303 is fixedly connected with a needle grabbing device 302, the puncture needle 4 is connected to the needle grabbing device 302, and the lower part of the puncture needle 4 passes through the circular hole located in the screw base 309. Among them, the needle grasping device 302 can realize the clamping effect on puncture needles of different specifications and diameters; the guide shaft 304 has a guiding function for the linear movement of the puncture needle 4.

[0080] In order to better understand the technical solution of the present invention, the working process of the above embodiment is described in detail below:

[0081] After the device is installed, the surgeon fixes the puncture needle 4 and the puncture needle module 3 through the puncture needle clamping device 302, fixes the tip of the puncture needle 4 at the round hole below the puncture support plate 305, and roughly positions the device near the patient's chest cavity by the passive robotic arm.

[0082] The surgeon leaves the above-mentioned device and uses the main operating hand to remotely control the device to control the first module slide 101 and the second module slide 104 in the X / Y translation module 1, and precisely positions the needle tip of the puncture needle 4 to the needle insertion point. Then, according to the preoperative and intraoperative planning, a suitable puncture angle is obtained to avoid important blood vessels, organs, and tissues. The position of the required joint joint 203 at this angle is obtained according to the calculation, and the two first lead screws 208 are adjusted to adjust the different linear strokes of the two third sliders 205 to achieve the position adjustment of the joint joint 203, thereby achieving the position adjustment of the upper part of the puncture needle module 3, thereby adjusting the puncture needle 4 to the required puncture angle.

[0083] The puncture needle insertion module 3 is controlled to convert the rotational motion of the puncture screw 301 into the linear motion of the puncture slider 303 through the fourth motor 308. The needle clamping device 302 fixedly connected to the puncture slider 303 clamps the puncture needle 4 and then inserts it into the tissue for biopsy and then pulls out the puncture needle 4 to complete the puncture biopsy operation.

[0084] Based on the same inventive concept, the present invention also provides a positioning method implemented by a lung puncture biopsy surgical robot, such as Figure 5As shown, it includes: the master hand remotely controls the slave hand; the slave hand controls the X / Y translation module to move in the X direction and the Y direction, locates the insertion point of the puncture needle, and controls the angle adjustment module to adjust the puncture angle of the puncture needle according to the set angle.

[0085] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various modifications or variations within the scope of the claims, which does not affect the essence of the present invention. The above preferred features can be used in any combination without conflicting with each other.

Claims

1. A lung puncture biopsy surgical robot, characterized in that: include: An X / Y translation module, which moves in the X and Y directions to locate the insertion point of the puncture needle; An angle adjustment module, wherein the angle adjustment module adjusts the puncture angle of the puncture needle according to a set angle; A puncture needle insertion module, which controls the puncture needle to be inserted into the lesion according to the needle insertion point and puncture angle, completes the puncture biopsy and is then removed; The X / Y translation module comprises: X translation unit; Y translation unit; The Y translation unit comprises: Support frame; When the base of the triangle is determined, the angle adjustment module adjusts the lengths of the other two sides to obtain a vertex; the angle of the puncture needle is determined by combining the vertex with the needle insertion point determined by the X / Y translation module; The angle adjustment module comprises: A supporting bottom plate, the supporting bottom plate is fixed above the supporting frame; Universal joints, two of which are located above the supporting base plate and are coaxially connected to each other; A screw support, the screw support being connected to the universal joint; A gear pair, the gear pair being fixed to the lead screw support; a first lead screw connected to the gear pair; A motor bracket, the motor bracket is connected to the lead screw support; A third motor, the third motor is fixed to the motor bracket, driving the gear pair to drive the first lead screw to rotate; a third slider, the third slider being threadably connected to the first lead screw drive; a sleeve, wherein the sleeve is fixedly connected to the third slider; A joint connected to the sleeve; An arm, wherein the arm is connected to the joint via a bearing; a second universal joint connected to the arm; The two universal joints are fixed with a shaft to form the base of a triangle; Two groups of the first lead screw, the third slider and the sleeve constitute the other two sides of the triangle; the two sleeves intersect with the joint joint to constitute another vertex of the triangle; The first lead screw rotates to drive the third slider to move, and the third slider drives the sleeve to move, so that the lengths of the two sides are adjustable.

2. A lung puncture biopsy surgical robot according to claim 1, characterized in that: The X translation unit adjusts the position of the insertion point of the puncture needle in the X direction; The Y translation unit adjusts the position of the needle insertion point of the puncture needle in the Y direction.

3. A lung puncture biopsy surgical robot according to claim 1, characterized in that: The X translation unit comprises: A first bracket, the first bracket is used for supporting; A first module slide, the first module slide is located in the first bracket; A first motor, the first motor is installed in the first bracket and drives the first module slide; A first sliding block, wherein the first sliding block is connected to the first module slide table via a transmission thread; The Y translation unit further includes: A second bracket, the second bracket is mounted above the first bracket; A connecting frame connected to the first sliding block; A second module slide, the second module slide is connected to the connecting frame; A second motor, the second motor is located in the second bracket and drives the second module slide; A second slider, the second slider is connected to the second module slide via a transmission thread; The support frame spans over the second sliding block and is fixedly connected thereto; A first universal joint is connected to a front end of the support frame.

4. A lung puncture biopsy surgical robot according to claim 1, characterized in that: The joint is hingedly connected to the arm.

5. The lung puncture biopsy surgical robot according to claim 3, characterized in that: The puncture needle insertion module comprises: A screw base, the screw base being connected to the first universal joint; A puncture support plate, the puncture support plate is located directly below the screw base and is connected to the second universal joint; A fourth motor, the fourth motor being located above the puncture support plate; A rotating driving gear, the rotating driving gear is located above the puncture support plate and is driven by the fourth motor; A rotating driven gear, the rotating driven gear is rotated above the puncture support plate and meshes with the rotating driving gear; A second screw, the second screw is located between the screw base and the puncture support plate and is connected to the rotation driven gear; A guide shaft, wherein the guide shaft is located between the screw base and the puncture support plate; A puncture slider, the puncture slider is threadedly connected to the second lead screw transmission, and one side of the puncture slider is connected to the guide shaft; A needle grabbing device, the needle grabbing device is fixedly connected to one side of the puncture slider; The puncture needle is fixed by the needle grasping device.

6. The lung puncture biopsy surgical robot according to claim 1, characterized in that: The screw support is provided with a circular hole, and the lower section of the puncture needle passes through the circular hole.

7. A positioning method implemented by a lung puncture biopsy surgical robot based on any one of claims 1 to 6, characterized in that: include: The master hand remotely controls the slave hand; The slave controls the X / Y translation module to move in the X and Y directions to locate the insertion point of the puncture needle; The angle adjustment module is controlled to adjust the puncture angle of the puncture needle according to a set angle.

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