A flexible minimally invasive needle insertion robot control device and system

Abstract

The present invention provides a control device and system for a flexible minimally invasive needle insertion robot. The device includes: a control input module for converting a user's operation action into a control signal; a drive control module electrically connected to the control input module for converting the control signal into a motor drive signal to control the movement of a stepper motor in the flexible minimally invasive needle insertion robot electrically connected to the drive control module, driving the needle insertion operation. This device greatly increases the treatment scope of minimally invasive puncture surgery, significantly improves the accuracy of the puncture surgery, and greatly reduces the pain of patients and the working intensity of doctors.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent medical engineering, and particularly relates to a control device and system for a flexible minimally invasive needle insertion robot. Background Art

[0002] As a typical minimally invasive surgery, puncture surgery has been widely used in the fields of medical diagnosis, treatment, and scientific research due to its advantage of small trauma.

[0003] Currently, puncture surgery is mainly performed by doctors manually using a rigid needle for direct puncture. However, since the rigid needle can only puncture along a straight path, it cannot avoid important tissues and organs, resulting in serious destructive damage to the human body and increasing the pain of patients. Moreover, the puncture accuracy and quality of existing puncture surgeries completely rely on the experience and ability of doctors, which not only increases the working intensity of doctors but also greatly reduces the puncture accuracy due to operation errors caused by doctor fatigue, hand tremors, hand-eye coordination, etc. Summary of the Invention

[0004] The present invention provides a control device and system for a flexible minimally invasive needle insertion robot to solve the defects in the prior art of increased surgical risks, increased patient pain, and increased doctor working intensity, and to achieve improving the puncture accuracy of puncture surgery, reducing patient pain, and reducing the doctor's working intensity.

[0005] The present invention provides a control device for a flexible minimally invasive needle insertion robot, comprising:

[0006] A control input module for converting a user's operation action into a control signal;

[0007] A drive control module electrically connected to the control input module for converting the control signal into a motor drive signal to control the movement of a stepper motor in a flexible minimally invasive needle insertion robot electrically connected to the drive control module, driving the needle insertion operation.

[0008] According to the control device for a flexible minimally invasive needle insertion robot provided by the present invention, the drive control module comprises:

[0009] A main control unit for converting the control signal into a serial port signal;

[0010] A robot control unit electrically connected to the main control unit for converting the serial port signal into a motor drive signal;

[0011] An assembly control unit electrically connected to the robot control unit for outputting the motor drive signal to a stepper motor connected thereto.

[0012] According to the flexible minimally invasive needle - inserting robot control device provided by the present invention, the main control unit is further configured to filter the control signal in the movement direction corresponding to any one of the metal sensors when the detection result of any one of the metal sensors indicates the presence of metal;

[0013] Each metal sensor is arranged at both ends of the movement trajectory of the moving platform in the flexible minimally invasive needle - inserting robot, and the moving platform is provided with a metal block.

[0014] According to the flexible minimally invasive needle - inserting robot control device provided by the present invention, it further includes a buzzer, and the buzzer is electrically connected to the main control unit;

[0015] The main control unit is further configured to control the buzzer to alarm when the detection result of any one of the metal sensors indicates the presence of metal.

[0016] According to the flexible minimally invasive needle - inserting robot control device provided by the present invention, the drive control module further includes:

[0017] A USB - to - TTL module, which is used to connect the main control unit and the robot control unit.

[0018] According to the flexible minimally invasive needle - inserting robot control device provided by the present invention, the control input module includes a wireless handle and / or a smart terminal.

[0019] The present invention also provides a flexible minimally invasive needle - inserting robot control system, including: a flexible minimally invasive needle - inserting robot, and the flexible minimally invasive needle - inserting robot control device as described above.

[0020] According to the flexible minimally invasive needle - inserting robot control system provided by the present invention, the flexible minimally invasive needle - inserting robot includes a first sliding table, a second sliding table, a first sliding - table stepping motor, and a second sliding - table stepping motor;

[0021] Wherein, the second sliding table is arranged on the metal block of the first sliding table;

[0022] The first sliding - table stepping motor is used to control the movement of the metal block of the first sliding table to drive the puncture needle to move;

[0023] The second sliding - table stepping motor is used to control the movement of the metal block of the second sliding table to drive the flexible needle to move.

[0024] According to the flexible minimally invasive needle - inserting robot control system provided by the present invention, the flexible minimally invasive needle - inserting robot further includes a rotary stepping motor and a bending stepping motor;

[0025] Wherein, the rotary stepping motor and the bending stepping motor are arranged on the metal block of the second sliding table;

[0026] The rotary stepper motor is used to control the rotation movement of the flexible needle;

[0027] The bending stepper motor is used to control the bending movement of the flexible needle.

[0028] According to the flexible minimally invasive needle insertion robot control system provided by the present invention, the flexible minimally invasive needle insertion robot further includes a first metal inductor, a second metal inductor, a third metal inductor, and a fourth metal inductor;

[0029] Wherein, the first metal inductor and the second metal inductor are respectively arranged at both ends of the lead screw of the first sliding table for detecting the metal block of the first sliding table;

[0030] The third metal inductor and the fourth metal inductor are respectively arranged at both ends of the lead screw of the second sliding table for detecting the metal block of the second sliding table.

[0031] The flexible minimally invasive needle insertion robot control device and system provided by the present invention convert the user's operation actions into motor drive signals through the control input module and the drive control module, realize the control of the movement of the stepper motor in the flexible minimally invasive needle insertion robot, drive the needle insertion operation, greatly increase the treatment range of minimally invasive puncture surgery, significantly improve the accuracy of the puncture surgery, and greatly reduce the pain of the patient and the working intensity of the doctor. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0033] Figure 1 It is one of the structural schematic diagrams of the flexible minimally invasive needle insertion robot control device provided by the present invention;

[0034] Figure 2 It is another structural schematic diagram of the flexible minimally invasive needle insertion robot control device provided by the present invention;

[0035] Figure 3 It is the flow schematic diagram of the flexible minimally invasive needle insertion robot control device provided by the present invention;

[0036] Figure 4 It is the structural schematic diagram of the flexible minimally invasive needle insertion robot control system provided by the present invention;

[0037] Figure 5 It is the structural schematic diagram of the flexible minimally invasive needle insertion robot provided by the present invention;

[0038] Reference Signs:

[0039] 1: First slide; 2: Second slide; 3: Rotary stepper motor;

[0040] 4: Bending stepper motor; 5: First metal inductor; 6: Second metal inductor;

[0041] 7: Third metal inductor; 8: Fourth metal inductor. Detailed Embodiment

[0042] To make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below with reference to the accompanying drawings in the present invention. Obviously, the described embodiments are some but not all of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present invention without creative efforts shall fall within the protection scope of the present invention.

[0043] Figure 1 is a schematic structural diagram of a flexible minimally invasive needle insertion robot control device provided by an embodiment of the present invention. As Figure 1 shown, an embodiment of the present invention provides a flexible minimally invasive needle insertion robot control device, including:

[0044] A control input module 100, configured to convert the operation actions of a user into control signals; a drive control module 110, electrically connected to the control input module, configured to convert the control signals into motor drive signals to control the movement of a stepper motor in a flexible minimally invasive needle insertion robot electrically connected to the drive control module, and drive the needle insertion operation.

[0045] Specifically, the control input module 100 may be a wireless handle or a smart terminal with a touch screen or physical buttons, etc. Function buttons may be provided on the control input module 100, and the number and types of the function buttons may be set according to user requirements. For example, the function buttons may be direction keys, confirmation keys, speed adjustment keys, acceleration adjustment keys, etc. On this basis, the user may input corresponding operation actions through the function buttons on the control input module according to the target puncture position. Then, the control input module processes the input operation actions and converts the operation actions into control signals for controlling the flexible minimally invasive needle insertion robot.

[0046] Further, in order to satisfy as many different combinations of the multiple function keys of the control input module 100 as possible while avoiding unnecessary resource waste, the responses of the function keys can be represented by binary numbers with the same number of digits as the number of function keys. For example, if there are 16 function keys, the responses of the function keys are represented by 16-bit binary numbers. Each bit of the binary number corresponds to a function key. It can be that when a function key is pressed, the corresponding bit of the binary number is 0, otherwise it is 1, or when a function key is pressed, the corresponding bit of the binary number is 1, otherwise it is 0.

[0047] Next, considering that the flexible minimally invasive needle insertion robot drives the flexible minimally invasive needle insertion operation through the movement of the stepping motors inside it, and the control signal cannot directly drive the stepping motors. To solve this problem, an embodiment of the present invention sets a drive control module 110, electrically connects the drive control module 110 to the control input module 100, so that the control signal output by the control input module can be received, and the control signal is converted into a motor drive signal to realize the movement control of the stepping motors in the flexible minimally invasive needle insertion robot electrically connected to the drive control module 110, so as to drive the flexible minimally invasive needle insertion operation, and finally realize automatically advancing the flexible minimally invasive needle to the target puncture position.

[0048] Here, the drive control module 110 may include a driver and a controller, or may be a drive and control integrated module. The embodiment of the present invention does not make specific limitations on this.

[0049] The number of stepping motors provided in the flexible minimally invasive needle insertion robot can be one or more, and the number of stepping motors can be determined according to the degrees of freedom required when the flexible minimally invasive needle insertion robot moves. Correspondingly, in the case where multiple stepping motors are provided in the flexible minimally invasive needle insertion robot, the drive control module 100 can decompose the control signal into actions that each stepping motor needs to execute separately, and then generate motor drive signals corresponding to each stepping motor.

[0050] Preferably, four stepping motors can be provided in the flexible minimally invasive needle insertion robot. One of the stepping motors drives the puncture needle (i.e., the positioning needle) in the flexible minimally invasive needle to move, realizes the positioning and puncture of the puncture starting point, and enables the flexible needle (i.e., the inner needle) to enter and start puncturing; the other three stepping motors can drive the flexible needle to move respectively, control the flexible needle to perform rotational movement, and control the flexible needle to perform bending movement, so as to realize the needle insertion operation with a multi-degree-of-freedom bending complex movement path.

[0051] The control device provided by the embodiment of the present invention converts the operation actions of the user into motor drive signals through the control input module and the drive control module, realizes the control of the movement of the stepping motor in the flexible minimally invasive needle insertion robot, drives the needle insertion operation, greatly increases the treatment scope of the minimally invasive puncture surgery, significantly improves the accuracy of the puncture surgery, and greatly reduces the pain of the patient and the working intensity of the doctor.

[0052] Based on any of the above embodiments, the drive control module 110 includes:

[0053] The main control unit is used to convert the control signal into a serial port signal;

[0054] The robot control unit is electrically connected to the main control unit and is used to convert the serial port signal into a motor drive signal;

[0055] The assembly control unit is electrically connected to the robot control unit and is used to output the motor drive signal to the stepping motor connected thereto.

[0056] Specifically, the main control unit in the drive control module is electrically connected to the control input module. After receiving the control signal, it can perform signal processing on the control signal, convert the control signal into a serial port signal for serial port data communication with the subsequent unit.

[0057] Further, if the control signal is a binary signal output by the control input module, the main control unit also needs to convert the binary signal into a decimal signal and then convert the decimal signal into a serial port signal. The robot control unit in the drive control module is electrically connected to the main control unit. After receiving the serial port signal, it can convert the serial port signal into a motor drive signal and send the motor drive signal to the assembly control unit connected thereto through a communication protocol, so as to control the stepping motor connected to the assembly control unit through the assembly control unit. Further, the communication protocol can be the UDP protocol, and correspondingly, the motor drive signal is a UDP protocol signal. The assembly control unit in the drive control module is electrically connected to the robot control unit. After receiving the motor drive signal, it controls the stepping motor corresponding to the received motor drive signal. For example, if the motor drive signal is for the stepping motor controlling the movement of the puncture needle, the assembly control unit controls the stepping motor to perform corresponding movements according to the motor drive signal.

[0058] Based on any of the above embodiments, the main control unit is further used to filter the control signal in the movement direction corresponding to any metal inductor when the detection result of any metal inductor is that there is metal;

[0059] Each metal inductor is arranged at both ends of the movement track of the moving platform in the flexible minimally invasive needle insertion robot, and the moving platform is provided with a metal block.

[0060] Specifically, considering that a stepper motor needs to be set on the metal block arranged on the moving platform in the flexible minimally invasive needle-inserting robot, and the puncture movement of the puncture needle and the flexible needle is controlled by controlling the lifting of the metal block by the stepper motor. If the height of the metal block rising and falling is not controlled, there may be a collision between the metal block and other components inside the flexible minimally invasive needle-inserting robot during the movement, resulting in the position deviation of the puncture needle and / or the flexible needle, causing relatively serious consequences. Therefore, in the embodiments of the present invention, metal sensors are arranged at both ends of the movement track of the moving platform in the flexible minimally invasive needle-inserting robot to detect whether the metal block slides to both ends of the movement track of the moving platform. Moreover, the metal sensors are electrically connected to the main control unit so that the main control unit can process in time according to the detection results of the metal sensors:

[0061] If the detection result of any one of the metal sensors indicates the presence of metal, it means that the metal block has reached one end of the movement track. Then, the main control unit can filter out the control signal in the movement direction corresponding to this metal sensor from the received control signals, preventing the subsequent drive control module from receiving the converted control signal and thus controlling the metal block to continue sliding in this movement direction. For example, a first metal sensor is arranged at the top of the movement track of a certain metal block. If the detection result of the first metal sensor indicates the presence of metal, it means that the metal block has slid to the top. Then, the main control unit filters out the rising control signal corresponding to the first metal sensor from the received control signals, preventing the subsequent drive control module from receiving the converted control signal and thus controlling the metal block to continue rising.

[0062] Further, two metal blocks can be arranged on the moving platform, namely the first metal block and the second metal block. A first metal sensor and a second metal sensor can be respectively arranged at the top and bottom of the movement track of the first metal block, and a third metal sensor and a fourth metal sensor can be respectively arranged at the top and bottom of the movement track of the second metal block.

[0063] Based on any of the above embodiments, the device further includes a buzzer, and the buzzer is electrically connected to the main control unit;

[0064] The main control unit is further configured to control the buzzer to alarm when the detection result of any one of the metal sensors indicates the presence of metal.

[0065] Specifically, the buzzer is electrically connected to the main control unit so that the main control unit can control the buzzer. When the detection result of any one of the metal sensors indicates the presence of metal, the main control unit can control the buzzer to emit an alarm sound to prompt the user that the metal block has reached both ends of the movement trajectory, and the user can no longer perform the operation corresponding to the previous movement direction. That is, even if the user still performs the above operation, since the main control unit will filter out the control signal of the movement direction corresponding to the metal sensor, the above operation performed by the user will not take effect, thus avoiding the collision of the metal block with other components during movement and ensuring the stability of the needle insertion operation.

[0066] Based on any of the above embodiments, the drive control module further includes:

[0067] A USB to TTL module for connecting the main control unit and the robot control unit.

[0068] Specifically, considering that the output interface of the main control unit is usually a USB port, while the input interface of the robot control unit is usually a TTL serial port, their interfaces are not matched and the levels are not matched either, so the main control unit and the robot control unit cannot communicate directly. Therefore, in the embodiments of the present invention, a USB to TTL module is provided to connect the main control unit and the robot control unit, and the conversion of the interface and the level can be achieved through the USB to TTL module, so as to realize the communication between the main control unit and the robot control unit and transmit the serial port signal output by the main control unit to the robot control unit.

[0069] Based on any of the above embodiments, the control input module includes a wireless handle and / or a smart terminal.

[0070] Specifically, the control input module for converting the user's operation into a control signal can be a wireless handle, or a smart terminal, or both a wireless handle and a smart terminal. The embodiments of the present invention do not make specific limitations on this.

[0071] Preferably, the control input module can adopt both a wireless handle and a smart terminal at the same time. The direction keys provided on the wireless handle can be used to non-precisely control the position of the flexible minimally invasive needle, and the smart terminal can precisely control the position of the flexible minimally invasive needle according to the target position set by the user. The combination of the wireless handle and the smart terminal can realize the intelligent precise control of the flexible minimally invasive needle insertion robot, which can reach the millimeter level, and has simple operation, friendly interface and is convenient for users to use.

[0072] Based on any of the above embodiments, Figure 2 is a schematic structural diagram of the flexible minimally invasive needle insertion robot control device provided by the embodiments of the present invention, as Figure 2As shown, the main control unit is electrically connected to the control input module and receives the control signals transmitted by the control input module. On this basis, the main control unit is also electrically connected to the metal sensors to judge the detection results of each metal sensor:

[0073] If the detection result of any one of the metal sensors indicates the presence of metal, the control signal corresponding to the movement direction of the metal sensor is filtered out. After converting the filtered control signal into a serial signal, it is transmitted to the robot control unit through the USB to TTL module; otherwise, all the received control signals are converted into serial signals and then transmitted to the robot control unit through the USB to TTL module.

[0074] Meanwhile, the main control unit is also electrically connected to the buzzer. When the detection result of any one of the metal sensors indicates the presence of metal, the main control unit controls the buzzer to alarm.

[0075] Next, when the robot control unit receives the serial signal, it converts the serial signal into a motor drive signal and transmits it to the assembly control unit. After receiving the motor drive signal, the assembly control unit controls the movement of the stepper motor in the flexible minimally invasive needle insertion robot according to the motor drive signal to drive the flexible minimally invasive needle insertion operation.

[0076] Based on any of the above embodiments, Figure 3 is a schematic flowchart of the control device for the flexible minimally invasive needle insertion robot provided by the embodiment of the present invention. As Figure 3 shown, the startup steps that need to be executed first are: after the main control unit is powered on, initialize the IO ports, initialize the delay function, initialize the buzzer, and initialize the control input module.

[0077] After the device completes startup, it is judged whether the control input module is successfully paired. If not, continue to pair until pairing is successful.

[0078] After the control input module is successfully paired, according to the detection results of the four metal sensors set, the main control unit executes the following control process:

[0079] Determine whether the first metal inductor and the second metal inductor sense metal. If the first metal inductor senses metal, it means that the first metal block has moved above. Then, the main control unit controls the buzzer to issue a prompt alarm, filters out the control signal for the first metal block to rise, and prevents this control signal from being transmitted to the drive control module. At this time, it is also necessary to further determine whether the third metal inductor and the fourth metal inductor sense metal. If the third metal inductor senses metal, it means that the second metal block has moved above. Then, the main control unit controls the buzzer to issue a prompt alarm, and at the same time filters out the control signals for the first metal block to rise and the second metal block to rise, and prevents the control signals for the first metal block to rise and the second metal block to rise from being transmitted to the drive control module; if the fourth metal inductor senses metal, it means that the second metal block has moved below. Then, the main control unit controls the buzzer to issue a prompt alarm, and at the same time filters out the control signals for the first metal block to rise and the second metal block to fall, and prevents the control signals for the first metal block to rise and the second metal block to fall from being transmitted to the drive control module.

[0080] If the second metal inductor senses metal, it means that the first metal block has moved below. Then, the main control unit controls the buzzer to issue a prompt alarm, filters out the control signal for the first metal block to fall, and prevents this control signal from being transmitted to the drive control module. At this time, if the third metal inductor senses metal, it means that the second metal block has moved above. Then, the main control unit controls the buzzer to issue a prompt alarm, and at the same time filters out the control signals for the first metal block to fall and the second metal block to rise, and prevents the control signals for the first metal block to fall and the second metal block to rise from being transmitted to the drive control module; if the fourth metal inductor senses metal, it means that the second metal block has moved below. Then, the main control unit controls the buzzer to issue a prompt alarm, and at the same time filters out the control signals for the first metal block to fall and the second metal block to fall, and prevents the control signals for the first metal block to fall and the second metal block to fall from being transmitted to the drive control module.

[0081] If the first metal inductor and the second metal inductor do not sense metal, at this time, if the third metal inductor senses metal, it means that the second metal block has moved above. Then, the main control unit controls the buzzer to issue a prompt alarm, filters out the control signal for the second metal block to rise, and prevents this control signal from being transmitted to the drive control module; if the fourth metal inductor senses metal, it means that the second metal block has moved below. Then, the main control unit controls the buzzer to issue a prompt alarm, filters out the control signal for the second metal block to fall, and prevents this control signal from being transmitted to the drive control module.

[0082] If none of the four metal inductors sense metal, then the control signals output by the control input module can be directly converted into serial port signals and transmitted to the drive control module.

[0083] Figure 4 is a schematic structural diagram of the flexible minimally invasive needle insertion robot control system provided by an embodiment of the present invention. As Figure 4 shown, an embodiment of the present invention also provides a flexible minimally invasive needle insertion robot control system, including a flexible minimally invasive needle insertion robot 200 and a flexible minimally invasive needle insertion robot control device 210 as in any of the above embodiments.

[0084] Specifically, the flexible minimally invasive needle insertion robot 200 can drive the flexible minimally invasive needle insertion operation through the movement of the stepper motor inside it, and finally realize automatically advancing the flexible minimally invasive needle to the target puncture position. The flexible minimally invasive needle insertion robot control device 210 is used to control the flexible minimally invasive needle insertion robot to complete the needle insertion operation, which is the same as the device provided in the above device embodiment and can achieve the same technical effect. Therefore, the same parts and beneficial effects as those in the device embodiment in this embodiment will not be specifically described herein.

[0085] In the control system provided by the embodiment of the present invention, the control input module and the drive control module in the flexible minimally invasive needle insertion robot control device convert the user's operation actions into motor drive signals, so as to control the movement of the stepper motor in the flexible minimally invasive needle insertion robot and drive the needle insertion operation, greatly increasing the treatment scope of minimally invasive puncture surgery, significantly improving the accuracy of puncture surgery, and greatly reducing the pain of patients and the working intensity of doctors.

[0086] Based on any of the above embodiments, Figure 5 is a schematic structural diagram of the flexible minimally invasive needle insertion robot provided by an embodiment of the present invention. As Figure 5 shown, the flexible minimally invasive needle insertion robot includes a first slide table 1, a second slide table 2, a first slide table stepper motor, and a second slide table stepper motor;

[0087] Among them, the second slide table 2 is arranged on the metal block of the first slide table 1;

[0088] The first slide table stepper motor is used to control the movement of the metal block of the first slide table 1 to drive the puncture needle to move;

[0089] The second slide table stepper motor is used to control the movement of the metal block of the second slide table 2 to drive the flexible needle to move.

[0090] Specifically, the mobile platforms inside the flexible minimally invasive needle insertion robot can be the first sliding table 1 and the second sliding table 2. Correspondingly, the movement trajectories of the mobile platforms can be the lead screws of the first sliding table 1 and the second sliding table 2. The second sliding table 2 can be arranged on the metal block of the first sliding table 1. The first sliding table 1 can drive the second sliding table 2 and all the devices installed on it to move linearly up and down along the lead screw of the first sliding table 1. On this basis, the first sliding table stepper motor is connected to the first sliding table 1 and can control the movement of the metal block of the first sliding table 1, thereby driving the puncture needle to move. The second sliding table stepper motor is connected to the first sliding table 1 and can control the movement of the metal block of the second sliding table 2, thereby driving the flexible needle to move.

[0091] Based on any of the above embodiments, the flexible minimally invasive needle insertion robot further includes a rotary stepper motor 3 and a bending stepper motor 4;

[0092] Among them, the rotary stepper motor 3 and the bending stepper motor 4 are arranged on the metal block of the second sliding table 2;

[0093] The rotary stepper motor 3 is used to control the rotary movement of the flexible needle;

[0094] The bending stepper motor 4 is used to control the bending movement of the flexible needle.

[0095] Specifically, considering that if the flexible needle only punctures along a straight path, there will be problems similar to those of a rigid needle, that is, it cannot avoid important tissues and organs and cause destructive damage to the human body. To solve this problem, in the embodiment of the present invention, a notched angle plate is installed on the metal block of the second sliding table 2 to fix the two stepper motors, the transmission shaft and the flexible needle, namely the rotary stepper motor 3 and the bending stepper motor 4. Among them, the rotary stepper motor 3 is fixed to one side of the notched angle plate by screws, and a spur gear is installed on the motor shaft to control the rotary movement of the flexible needle; the bending stepper motor 4 is installed on the other side of the notched angle plate and fixed by a motor fixing plate. A worm is installed on the motor shaft and is used in cooperation with a worm gear to provide power for the bending movement of the flexible needle.

[0096] The control system provided by the embodiment of the present invention drives the puncture needle and the flexible needle to move by controlling the movement of the first sliding table stepper motor, the second sliding table stepper motor, the rotary stepper motor and the bending stepper motor, so as to realize the needle insertion operation with a multi-degree-of-freedom bending complex movement path.

[0097] Based on any of the above embodiments, the flexible minimally invasive needle insertion robot further includes a first metal inductor 5, a second metal inductor 6, a third metal inductor 7 and a fourth metal inductor 8;

[0098] Among them, the first metal inductor 5 and the second metal inductor 6 are respectively arranged at both ends of the lead screw of the first sliding table 1 and are used to detect the metal block of the first sliding table 1;

[0099] The third metal inductor 7 and the fourth metal inductor 8 are respectively arranged at both ends of the lead screw of the second sliding table 2 for detecting the metal block of the second sliding table 2.

[0100] Specifically, in order to avoid the metal blocks of the first sliding table 1 and the second sliding table 2 colliding with other components inside the flexible minimally invasive needle insertion robot during movement, resulting in the position deviation of the puncture needle and / or the flexible needle and causing relatively serious consequences, in the embodiments of the present invention, a first metal inductor 5 and a second metal inductor 6 are respectively arranged at the top and bottom ends of the lead screw of the first sliding table 1 for detecting whether the metal block of the first sliding table 1 slides to both ends of the lead screw of the first sliding table 1; a third metal inductor 7 and a fourth metal inductor 8 are respectively arranged at the top and bottom ends of the lead screw of the second sliding table 2 for detecting whether the metal block of the second sliding table 2 slides to both ends of the lead screw of the second sliding table 2.

[0101] In addition, the metal inductor is electrically connected to the main control unit in the control device of the flexible minimally invasive needle insertion robot. When the detection result of any metal inductor is that there is metal, the main control unit can filter out the control signal in the corresponding movement direction of the metal inductor, so as to control the rising and falling heights of the metal blocks of the first sliding table 1 and the second sliding table 2 and avoid the metal blocks colliding with other components inside the flexible minimally invasive needle insertion robot during movement.

[0102] The device embodiments described above are only illustrative. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art can understand and implement it without creative work.

[0103] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, and of course also by hardware. Based on such an understanding, the above technical solutions, in essence, or the part that contributes to the prior art can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0104] 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 foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A control device for a flexible minimally invasive needle - inserting robot, characterized in that, Comprising: A control input module, configured to convert the user's operation actions into control signals; A drive control module, electrically connected to the control input module, configured to convert the control signals into motor drive signals to control the movement of a stepper motor within a flexible minimally invasive needle insertion robot electrically connected to the drive control module, driving the needle insertion operation; The drive control module includes a main control unit; The main control unit is further configured to filter out the control signals in the movement direction corresponding to any one of the metal sensors when the detection result of any one of the metal sensors is that metal exists; Each metal sensor is arranged at both ends of the movement trajectory of a moving platform in the flexible minimally invasive needle insertion robot. The moving platform is provided with metal blocks. A stepper motor is arranged on the metal blocks, and the lifting of the metal blocks is controlled by the stepper motor to control the puncture movement of the puncture needle and the flexible needle. The metal blocks include a first metal block and a second metal block. A first metal sensor and a second metal sensor are respectively arranged at the top and bottom ends of the movement trajectory of the first metal block. A third metal sensor and a fourth metal sensor are respectively arranged at the top and bottom ends of the movement trajectory of the second metal block; The flexible minimally invasive needle insertion robot includes a first slide table, a second slide table, a first slide table stepper motor, and a second slide table stepper motor. Wherein, the second slide table is arranged on the metal block of the first slide table. The first slide table stepper motor is configured to control the movement of the metal block of the first slide table to drive the movement of the puncture needle. The second slide table stepper motor is configured to control the movement of the metal block of the second slide table to drive the movement of the flexible needle. A notched angle plate is installed on the metal block of the second slide table, used for fixing the rotary stepper motor, the bending stepper motor, the transmission shaft, and the flexible needle. The rotary stepper motor is fixed to one side of the notched angle plate by screws, and a spur gear is installed on the motor shaft, used to control the rotary movement of the flexible needle. The bending stepper motor is installed on the other side of the notched angle plate, and a worm is installed on the motor shaft, which is used in cooperation with a worm gear to provide power for the bending movement of the flexible needle.

2. The flexible minimally invasive needle insertion robot control device according to claim 1, characterized in that, The drive control module includes: A main control unit, configured to convert the control signals into serial port signals; A robot control unit, electrically connected to the main control unit, configured to convert the serial port signals into motor drive signals; An assembly control unit, electrically connected to the robot control unit, configured to output the motor drive signals to the stepper motor connected thereto.

3. The flexible minimally invasive needle insertion robot control device according to claim 1, wherein, It further includes a buzzer, and the buzzer is electrically connected to the main control unit; The main control unit is further configured to control the buzzer to give an alarm when the detection result of any one of the metal sensors is that metal exists.

4. The flexible minimally invasive needle insertion robot control device according to claim 2, characterized in that, The drive control module further includes: A USB to TTL module, used to connect the main control unit and the robot control unit.

5. The flexible minimally invasive needle insertion robot control device according to any one of claims 1 to 4, characterized in that, The control input module includes a wireless handle and / or a smart terminal.

6. A flexible minimally invasive needle insertion robot control system, characterized in that, Comprising a flexible minimally invasive needle insertion robot and a flexible minimally invasive needle insertion robot control device according to any one of claims 1 to 5; The flexible minimally invasive needle insertion robot further includes a rotary stepper motor and a bending stepper motor; Wherein, the rotary stepper motor and the bending stepper motor are arranged on the metal block of the second slide table; The rotary stepper motor is used to control the flexible needle to perform a rotary motion; The bending stepper motor is used to control the flexible needle to perform a bending motion; The flexible minimally invasive needle insertion robot further includes a first metal inductor, a second metal inductor, a third metal inductor, and a fourth metal inductor; Wherein, the first metal inductor and the second metal inductor are respectively arranged at two ends of the lead screw of the first slide table for detecting the metal block of the first slide table; The third metal inductor and the fourth metal inductor are respectively arranged at two ends of the lead screw of the second slide table for detecting the metal block of the second slide table.

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