An interventional surgery puncture robot

Abstract

The present invention relates to an interventional surgical puncture robot, comprising a base device, the bottom of which has a walking device for moving to a target area, a host mounted thereon for receiving information, storing information, processing information, and sending instruction information; the top of the base device supports a head and arm device for completing information recognition and finger positioning, and the robot comprises two robotic arms; one robotic arm end is connected to a first finger device for locating the puncture point of the puncture surgery; the other robotic arm end is connected to a second finger device for puncture; wherein the first finger device and the second finger device are both capable of grasping, replacing, and installing surgical instruments, and the two cooperate to complete the puncture surgery. The present invention realizes robotic puncture surgery, improves the accuracy of puncture, thereby reducing the occurrence of repeated operations due to inaccurate puncture positions, which may cause vascular spasms, and improves the safety of puncture surgery.

Description

Technical Field

[0001] The present invention relates to the technical field of minimally invasive vascular interventional surgery, and more particularly to an interventional surgery puncture robot. Background Art

[0002] Minimally invasive cardiovascular interventional therapy is a primary treatment for cardiovascular and cerebrovascular diseases. Compared to traditional surgical procedures, it offers significant advantages, including smaller incisions and shorter postoperative recovery times. Cardiovascular interventional surgery involves a physician manually inserting devices such as catheters, guidewires, and stents into the patient's body to complete the treatment.

[0003] The first step in an interventional procedure is to establish vascular access and insert the outer sheath into the blood vessel to facilitate subsequent guidewire and catheter entry. To do this, local anesthesia is administered on the wrist or thigh, followed by a small puncture in the radial or femoral artery. The outer sheath is then inserted into the blood vessel using a guidewire for secure placement. While doctors may encounter issues such as inaccurate punctures, robotic technology can enable robots to complete interventional procedures without the need for human intervention. Automating surgical techniques is also a future development direction.

[0004] Currently, there are several problems with interventional surgical puncture robots: (1) Currently, interventional surgical puncture and catheterization can only be performed manually by doctors, and there is a lack of robotic systems that can complete the process automatically. (2) Doctors may encounter problems such as inaccurate puncture during puncture, requiring multiple attempts, which can seriously lead to vascular spasm.

[0005] Therefore, how to provide an interventional surgery puncture robot is a problem that those skilled in the art urgently need to solve. Summary of the Invention

[0006] To this end, the purpose of the present invention is to propose an interventional surgery puncture robot to solve the problem that current puncture surgeries lack operating robots and doctors sometimes have inaccurate puncture positioning.

[0007] The present invention provides an interventional surgery puncture robot, comprising:

[0008] A base device, wherein the base device has a walking device at the bottom for moving to a target area, and a host is installed on the base device for receiving information, storing information, processing information and sending instruction information;

[0009] A head and arm device, which is supported on the top of the base device and is used to complete the identification information and locate the fingers, and includes two robotic arms;

[0010] A first finger device, to which the end of a robotic arm is connected, is used for locating the puncture point during puncture surgery; and

[0011] A second finger device, to which the end of the other robotic arm is connected, for puncture;

[0012] The first finger device and the second finger device are both capable of grabbing, replacing and installing surgical instruments, and the two cooperate to complete the puncture surgery.

[0013] It can be seen from the above technical solution that compared with the existing technology, the present invention discloses an interventional surgical puncture robot that can walk in the operating room, receive information, store information, process information and send command information through the host, the first finger device is used for puncture point positioning, and the second finger device is used for puncture. The two cooperate with each other during the operation and can grab, replace and install surgical instruments, realizing robotic puncture surgery and improving the accuracy of puncture, thereby reducing repeated operations due to inaccurate puncture position, causing vascular spasm, and improving the safety of puncture surgery.

[0014] Furthermore, the first finger device includes:

[0015] a first finger connecting plate connected to an end of a robotic arm;

[0016] A first finger guide rail, wherein the bottom of the first finger connecting plate is connected to the first finger guide rail, and two first finger sliders slide on the first finger guide rail;

[0017] A first finger screw motor, wherein the first finger screw motor is fixed below the first finger connecting plate through a first finger motor bracket;

[0018] a first connecting piece, one first connecting piece being connected to each of the first finger sliders, and the two first connecting pieces respectively having a clockwise thread and a counterclockwise thread matching the thread of the first finger lead screw motor;

[0019] a first three-dimensional pressure sensor, wherein each of the first connecting pieces is correspondingly connected to a first three-dimensional pressure sensor; and

[0020] A first finger consumable is connected below each of the first three-dimensional pressure sensors, and the inner surface of the first finger consumable is soft medical silicone.

[0021] Furthermore, a first electromagnet is fixed between the first three-dimensional pressure sensor and the first finger consumable, and the first finger consumable has a first iron sheet magnetically connected to the first electromagnet.

[0022] Furthermore, one side of the first finger connecting plate extends outwardly and obliquely to form a first finger camera bracket, and at least one first finger camera is connected to the finger camera bracket, and the first finger camera is arranged toward the first finger consumable.

[0023] Furthermore, the second finger device includes:

[0024] a second finger connecting plate, the top of which is connected to the end of the other robotic arm, and the bottom of which is formed with two parallel mounting strips protruding downward;

[0025] Two second finger guide rails, each of which is mounted below the mounting strip, and each of which has at least two second finger sliders;

[0026] a second finger screw motor, the second finger screw motor being fixed below the second finger connecting plate through a second finger motor bracket and being located between the two mounting strips;

[0027] A transition plate, wherein the top of the transition plate has a connection block threadedly connected to the screw of the second finger screw motor, and the transition plate is fixed to the bottom surface of the second finger slider;

[0028] Two third finger guide rails, two third finger guide rails are arranged in parallel at the bottom of the transition plate and are arranged perpendicular to the second finger guide rails, and at least two third finger sliders are slidably arranged at the lower part of each third finger guide rail;

[0029] a third finger lead screw motor, wherein the third finger lead screw motor is fixed between the two second finger guide rails via a motor bracket;

[0030] A second connecting piece, each of the third finger sliders is connected to a corresponding second connecting piece, and the two second connecting pieces respectively have a clockwise thread and a counterclockwise thread that cooperate with the screw thread of the third finger screw motor;

[0031] a second three-dimensional pressure sensor, wherein each second connecting piece is correspondingly connected to a second three-dimensional pressure sensor; and

[0032] A second finger consumable is connected under each of the second three-dimensional pressure sensors, and the inner surface of the second finger consumable is soft medical silicone.

[0033] Furthermore, a second electromagnet is fixed between the second three-dimensional pressure sensor and the second finger consumable, and the second finger consumable has a second iron sheet magnetically connected to the second electromagnet.

[0034] Furthermore, the second finger connecting plate extends obliquely to both sides to form a second finger camera bracket, each of the second finger camera brackets is connected to at least one second finger camera, and the second finger cameras are arranged toward the second finger consumable.

[0035] Furthermore, the base device includes: a bottom plate, which is a rectangular plate with arc-shaped transition connections at the corners. The bottom of the bottom plate is connected to the walking device, and four columns are vertically arranged on the four corners of the top to jointly support the head and arm device; a drive device and a lithium battery are provided on the bottom plate, and the main unit is located between the drive device and the lithium battery.

[0036] Furthermore, the head and arm device includes:

[0037] A support plate, the support plate being supported on the tops of the four columns;

[0038] A head device connected to the top of the support plate;

[0039] Wherein, the two robotic arms are connected to the support plate and are located in front of the head device.

[0040] Furthermore, the head device includes:

[0041] A head column, the top of the support plate is connected to the head column in a vertical rotation, and a column gear is provided below the head column;

[0042] A rotating motor, wherein the support plate is provided with a rotating motor bracket at the rear of the head column, the rotating motor is fixed on the rotating motor bracket, and the output gear of the rotating motor is meshed with the column gear for transmission;

[0043] A pitch motor is fixed to the top of the head column via a pitch motor bracket;

[0044] A touch screen connected to the pitch motor via a head camera bracket;

[0045] Head camera, there are two groups of head cameras on both sides of the touch screen, which are connected to the touch screen through the head camera bracket. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0047] Figure 1 and Figure 2 This is a schematic diagram of the structure of the interventional surgery puncture robot;

[0048] Figure 3 Shows a schematic structural diagram of the base device;

[0049] Figure 4 An exploded schematic diagram of the base assembly is shown;

[0050] Figure 5 shows a schematic structural diagram of the head and arm device;

[0051] Figure 6 An exploded schematic diagram of the head and arm assembly is shown;

[0052] Figure 7 shows a schematic structural diagram of a first finger device;

[0053] Figure 8 An exploded schematic diagram of a first finger device is shown;

[0054] Figure 9 shows a schematic structural diagram of a second finger device;

[0055] Figure 10 An exploded schematic diagram of the second finger device is shown;

[0056] In the figure: 100, base device; 101, column; 102, drive device; 103, host; 104, lithium battery; 105, bottom plate; 106, first servo motor; 107, right-angle plate; 108, wheel; 109, second servo motor;

[0057] 200, head and arm device; 201, robotic arm; 202, head camera; 203, touch screen; 204, pitch motor; 205, pitch motor bracket; 206, head camera bracket; 207, rotation motor; 208, rotation motor bracket; 209, head column; 210, support plate;

[0058] 300, first finger device; 301, first finger camera; 302, first finger connecting plate; 303, first finger guide rail; 304, first finger motor bracket; 305, first finger lead screw motor; 306 (312), first connecting piece; 307 (311), first three-dimensional pressure sensor; 308 (310), first electromagnet; 309, first finger consumables;

[0059] 400, second finger device; 401 (403), second finger camera; 402, second finger connecting plate; 404, second finger lead screw motor; 405, third finger guide rail; 406, transition plate; 407, third finger lead screw motor; 408 (414), second connecting plate; 409 (412), second three-dimensional pressure sensor; 410 (413), second electromagnet; 411, second finger consumable; 415, second hand paper guide rail. DETAILED DESCRIPTION

[0060] The following describes embodiments of the present invention in detail, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and are not to be construed as limiting the present invention.

[0061] In the description of the present invention, it should be understood that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as limiting the present invention.

[0062] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature identified as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined.

[0063] In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "connect," "fixed," etc. should be understood broadly. For example, they may refer to fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0064] In the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Furthermore, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0065] Due to the current lack of puncture surgical robots, surgical puncture and catheterization can only be performed manually by doctors. Doctors may encounter problems such as inaccurate puncture during the puncture, and need to try multiple times, which may seriously lead to vascular spasm.

[0066] In light of this, the present invention provides an interventional surgical puncture robot. This robot operates in the catheterization room of an interventional procedure. A vehicle-like base assembly allows for mobility within the room. Before the procedure begins, the robot moves to the catheterization bed, where necessary surgical consumables are pre-placed. After the procedure is complete, the robot automatically relocates to a corner, without disrupting other operations.

[0067] It's worth noting that before the robot's first use, it undergoes a learning and training phase to acclimate it to the catheterization lab environment and familiarize it with current medical equipment, such as catheter beds and puncture-related consumables. After multiple training sessions, the robot gradually masters and retains the knowledge learned. Once fully mastered, it can be used to perform automated punctures. The robot system itself stores a wealth of standard interventional puncture procedures, actions, precautions, and other information, as well as numerous measures for handling abnormal situations, for practical clinical application. The robot also has autonomous learning capabilities, capable of recording and analyzing each subsequent surgical scenario to facilitate optimal solution selection in subsequent surgeries.

[0068] Specifically, see the attached Figure 1 and 2 ,include:

[0069] A base device 100 having a walking device at the bottom thereof for moving to a target area, on which a host 103 is mounted for receiving information, storing information, processing information, and sending instruction information;

[0070] The head and arm device 200 is supported on the top of the base device 100 and is used to complete the identification information and locate the fingers. It includes two mechanical arms 201;

[0071] A first finger device 300, to which one end of a robotic arm 201 is connected, is used for locating the puncture point during puncture surgery; and

[0072] A second finger device 400 is connected to the end of the other robotic arm 201 and is used for puncture;

[0073] The first finger device 300 and the second finger device 400 are both capable of grabbing, replacing and installing surgical instruments, and the two cooperate to complete the puncture surgery.

[0074] This embodiment can walk in the operating room, receive information, store information, process information and send command information through the host. The first finger device is used to locate the puncture point of the puncture operation, and the second finger device is used for puncture. The two cooperate with each other during the operation and can both grab, replace and install surgical instruments, realizing robotic puncture surgery and improving the accuracy of puncture, thereby reducing repeated operations due to inaccurate puncture position, causing vascular spasm, and improving the safety of puncture surgery.

[0075] The running gear consists of four identical structures, one of which will be described below. Wheels 108 are connected to the through-holes of the right-angle plate 107. The upper end of the right-angle plate 107 is connected to the second servo motor 109 via a bearing. The second servo motor 109 is secured to the corresponding motor hole in the base plate 105. The first servo motor 106 is also secured to the right-angle plate 107, its motor shaft connected to the wheels 108. The second servo motor 109 controls the steering of the wheels 108, while the first servo motor 106 controls the forward and reverse movement of the wheels 108. The two, combined with the coordinated movement of the four wheels, enable the vehicle to move in all directions.

[0076] The robot has two identical robotic arms 201. One set is used as an example. Robotic arms 201 are pre-assembled products and can be any type of 6-axis robotic arm. Here, a UR series robotic arm is used as an example. The robotic arms are mounted on a support plate 210, and their range of motion is set. The robot can control both arms simultaneously, allowing them to coordinate movements and perform tasks such as grasping surgical instruments.

[0077] In the embodiments of the present invention, see the attached Figure 7 and 8 , the first finger device 300 includes:

[0078] a first finger connecting plate 302 connected to an end of a robotic arm 201;

[0079] A first finger guide rail 303 , the bottom of the first finger connecting plate 302 is connected to the first finger guide rail 303 , and two first finger sliders slide on the first finger guide rail 303 ;

[0080] A first finger screw motor 305 , which is fixed below the first finger connecting plate 302 via a first finger motor bracket 304 ;

[0081] First connecting pieces 306, 312, each of the first finger sliders is connected to a corresponding first connecting piece 306, 312, and the two first connecting pieces 306, 312 respectively have a clockwise thread and a counterclockwise thread that match the thread of the first finger screw motor 305;

[0082] First three-dimensional pressure sensors 307 and 311 , with one first three-dimensional pressure sensor 307 and 311 being connected to the lower side of each first connecting piece 306 and 312 ; and

[0083] The first finger consumable 309 is connected to the lower side of each of the first three-dimensional pressure sensors 307 and 311 . The inner surface of the first finger consumable 309 is made of soft medical silicone.

[0084] Advantageously, first electromagnets 308 , 310 are fixed between the first three-dimensional pressure sensors 307 , 311 and the first finger consumable 309 , and the first finger consumable 309 includes a first iron sheet magnetically connected to the first electromagnets 308 , 310 .

[0085] The first finger consumable 309 has a groove formed inside it. The first iron sheet is placed into the groove and magnetically connected to the electromagnet, facilitating replacement of the consumable. The first finger consumable 309 is sterilized with ethylene oxide and is disposable; a new set is used for each surgery. The inner surface of the first finger consumable 309 is made of soft medical silicone to prevent slipping and damage to surgical instruments.

[0086] More advantageously, one side of the first finger connecting plate 302 extends outwardly at an angle to form a first finger camera bracket, to which at least one first finger camera 301 is connected, and the first finger camera 301 is arranged toward the first finger consumable 309. The first finger camera 301 is used to observe the environment at the finger tip.

[0087] One first connecting piece 306, 312 has a clockwise thread, while the other first connecting piece 306, 312 has a counterclockwise thread. Therefore, when the motor rotates, the two first fingers 309 move relative to each other or in opposite directions, clamping and opening the object. After clamping the object, the first three-dimensional pressure sensors 307, 311 sense the pressure, and when it reaches a certain value, the motor stops. During the grasping process, the first finger camera 301 constantly monitors the shape of the object to ensure that the equipment is not damaged.

[0088] See attached Figure 9 and 10 , the second finger device 400 includes:

[0089] A second finger connecting plate 402, the top of which is connected to the end of the other robotic arm 201, and the bottom of which is formed with two parallel mounting strips protruding downward;

[0090] Two second finger guide rails 415 , the second finger guide rails 415 are correspondingly installed below the mounting strip, and at least two second finger sliders are slid on each of the second finger guide rails 415 ;

[0091] a second finger lead screw motor 404, the second finger lead screw motor 404 being fixed below the second finger connecting plate 402 via a second finger motor bracket and being located between the two mounting strips;

[0092] A transition plate 406 , wherein the top of the transition plate 406 has a connection block threadedly connected to the screw of the second finger screw motor 404 , and the transition plate 406 is fixed to the bottom surface of the second finger slider;

[0093] Two third finger guide rails 405 , two third finger guide rails 405 are arranged parallel to each other at the bottom of the transition plate 406 and are arranged perpendicular to the second finger guide rail 415 , and at least two third finger sliders are slidably arranged at the bottom of each third finger guide rail 405 ;

[0094] A third finger screw motor 407 is fixed between the two second finger guide rails 415 via a motor bracket;

[0095] Second connecting pieces 408, 414, each of the third finger sliders is connected to a corresponding second connecting piece 408, 414, and the two second connecting pieces 408, 414 respectively have a clockwise thread and a counterclockwise thread that cooperate with the screw thread of the third finger screw motor 407;

[0096] Second three-dimensional pressure sensors 409 and 412 , with one second three-dimensional pressure sensor 409 and 412 being connected to the lower side of each second connecting piece 408 and 414 ; and

[0097] The second finger consumable 411 is connected to the lower side of each of the second three-dimensional pressure sensors 409 and 412 . The inner surface of the second finger consumable 411 is soft medical silicone.

[0098] The second finger consumable 411 has a groove formed inside it. The second iron sheet is placed in the groove and magnetically connected to the electromagnet, facilitating replacement of the consumable. The second finger consumable 411 is sterilized with ethylene oxide and is disposable; a new set is used for each surgery. The inner surface of the second finger consumable 411 is made of soft medical silicone to prevent slipping and damage to surgical instruments.

[0099] Advantageously, second electromagnets 410 , 413 are fixed between the second three-dimensional pressure sensors 409 , 412 and the second finger consumable 411 , and the second finger consumable 411 includes a second iron sheet magnetically connected to the second electromagnets 410 , 413 .

[0100] More advantageously, the second finger connecting plate 402 extends obliquely to both sides to form a second finger camera bracket, and each second finger camera bracket is connected to at least one second finger camera 401, 403, and the second finger cameras 401, 403 are arranged toward the second finger consumable 411.

[0101] One second connecting piece 408, 414 is a clockwise thread, and the other second connecting piece 408, 414 is a counterclockwise thread. Therefore, when the third finger screw motor 407 (where the third refers to the sequence number of the screw motor, not the third finger) rotates, the two second finger consumables 411 will perform relative motion or opposite motion to achieve clamping and opening of the object. After clamping the object, the second three-dimensional pressure sensor 409, 412 will feel the pressure value, and when it reaches a certain value, the motor stops moving. During the grasping process, the second finger camera 401, 403 will always pay attention to the shape of the object to ensure that the equipment will not be damaged. Driven by the second finger screw motor 404, the entire finger device below can move left and right, and cooperate with the clamping action of the third finger screw motor 407 to achieve reciprocating propulsion of the guide wire, outer sheath, etc. Specifically, the second finger screw motor 404 rotates to move the second finger consumable 411 to the rightmost end, and the third finger screw motor 407 rotates to clamp the second finger consumable 411 to clamp the guide wire or outer sheath. The second three-dimensional pressure sensors 409 and 412 are used to sense the clamping force. After clamping, the second finger screw motor 404 is rotated to move the finger to the left to the leftmost end. The third finger screw motor 407 opens the guide wire or outer sheath, and rotates the second finger screw motor 404 to return to its original position. This cycle is repeated until the desired position is reached.

[0102] See attached Figure 3 and 4 The base device 100 includes: a bottom plate 105, which is a rectangular plate with arc transitions at the corners. The bottom of the bottom plate 105 is connected to the walking device, and four columns 101 are vertically arranged at the four corners of the top to jointly support the head and arm device 200; a driving device 102 and a lithium battery 104 are provided on the bottom plate 105, and the host 103 is located between the driving device 102 and the lithium battery 104.

[0103] The drive unit 102 is mounted on a base plate 105 and is used to drive the various motors. The host computer 103 is also mounted on the base plate 105 and is used to receive, store, and process information and send instructions to various components. A lithium battery 104 is also mounted on the base plate 105 and is used to power the entire system. A camera can also be installed on the base plate to enhance observation of the surrounding environment.

[0104] See attached Figure 5 and 6 , the head and arm device 200 includes:

[0105] A support plate 210 , the support plate 210 being supported on the tops of the four columns 101 ;

[0106] A head device, the head device is connected to the top of the support plate 210;

[0107] The two robotic arms 201 are connected to the support plate 210 and are located in front of the head device.

[0108] Specifically, the head device includes:

[0109] The head column 209, the top of the support plate 210 is connected to the head column 209 in a vertical direction, and a column gear is provided below the head column 209;

[0110] Rotating motor 207, the support plate 210 is provided with a rotating motor bracket 208 at the rear of the head column 209, the rotating motor 207 is fixed on the rotating motor bracket 208, and the output gear of the rotating motor 207 is meshed with the column gear for transmission;

[0111] A pitch motor 204 is fixed to the top of the head column 209 via a pitch motor bracket 205;

[0112] A touch screen 203 , wherein the touch screen 203 is connected to the pitch motor 204 via a head camera bracket 206 ;

[0113] The head camera 202 has two groups of head cameras 202 on both sides of the touch screen 203, which are connected to the touch screen 203 through the head camera bracket 206.

[0114] The rotary motor 207 controls the horizontal rotation of the entire head unit, while the pitch motor 204 controls its vertical movement, allowing the entire head unit to move flexibly, allowing the robot to observe objects from all angles. The touch screen 203 is used for human-machine interaction and serves as a communication tool between the doctor and the robot. Users can perform certain operations on the touch screen 203, and system information is also displayed on the touch screen 203. The doctor can use the touch screen to issue commands to the robot, set parameters, and perform emergency stops. The touch screen also allows for operations such as saving data and reviewing patient records. It is also an important channel for the robot to enhance its self-learning. Doctors can use the touch screen to teach the robot surgical techniques and precautions. The two cameras 202 serve as the robot's eyes, observing its surroundings and detecting distances. The resulting information is transmitted to the host computer 102 for analysis and processing.

[0115] The present invention illustrates the puncture process of a surgical puncture robot using a radial artery puncture on the wrist as an example. After the procedure begins, the necessary surgical supplies are placed on the catheterization bed, and the robot moves to the side of the bed. The robot's first finger finds the patient's wrist and locates the radial artery. The robot then uses a finger to feel the radial artery pulse. One finger can be used to feel the pulse, while the other is held free. A three-dimensional pressure sensor on the sensing finger consumable searches for the pulse. If the position is incorrect during the search, the robot changes position and continues searching. If a pulse is felt, the finger camera locates that location and uses it as the puncture point. The pulse detection process involves: if the pressure value changes regularly, it indicates a pulse; if the pressure value remains constant, it indicates a non-pulse. The three-dimensional pressure sensor can be an FA702-D or silicon piezoresistive type, and the size of the pressure sensor can be selected based on the intended use. The robot's first finger grasps a cotton ball soaked in alcohol and wipes the skin near the radial artery. The robot's first finger grasps the anesthetic syringe, moves it to the radial artery, and gently penetrates the skin. The robot's second finger pushes the syringe forward, stopping after delivering a desired dose. The first finger holds the syringe. After a short wait, the robot's first finger gently grasps the patient's arm, while the second finger grasps the puncture needle. Using the second finger camera, the robot locates the puncture point. Driven by the second finger's lead screw motor 404, the needle is slowly inserted into the skin. Simultaneously, the two cameras on the second finger observe for blood return. Upon detection of blood return, the motor stops moving. The robot's first finger slowly moves to grasp the puncture needle, while the second finger removes the needle core. The first finger slowly descends, and the second finger grasps the puncture guidewire and inserts it into the puncture needle. After slowly pushing the guidewire back and forth for a distance, the first finger presses the puncture site, while the second finger removes the puncture needle. The second finger grasps the outer sheath, while the first finger grasps the end of the puncture guidewire. The second finger inserts the outer sheath into the guidewire. Then, the first finger presses the puncture site, while the second finger guides the outer sheath along the guidewire into the blood vessel, pushing forward until the outer sheath tip reaches the puncture site. This completes the puncture process. After the puncture is completed, the robot retreats to the corner without affecting the subsequent operations of the surgery.

[0116] The present invention solves the problems that there is currently no robot specifically suitable for interventional surgical puncture, doctors must wear sterile surgical gowns to complete the puncture process personally, inaccuracies are prone to occur during the puncture process, which may cause related complications, and there is a lack of devices that can automatically and efficiently complete the puncture.

[0117] Through machine learning and training, this system can master interventional puncture techniques and maneuvers, automatically completing the entire puncture process without human intervention, reducing labor costs. Multiple cameras and high-precision pressure sensors monitor the surgical process in real time, automatically halting any anomalies to ensure patient safety and enhance the safety of robotic automated surgery. Its vehicle-like structure allows for free movement within the catheterization lab, making it suitable for use in the lab environment.

[0118] The invention has high control precision, a simple overall structure, good stability, and a modular approach for easy assembly and debugging. The robot is equipped with a flexible dual-arm system that can accurately complete operations such as grasping, moving, and replacing consumables during surgery, ensuring the smooth completion of the operation.

[0119] In the description of this specification, the reference terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification.

[0120] Although the embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and are not to be construed as limitations on the present invention. A person skilled in the art may change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. An interventional surgical puncture robot, characterized in that: include: A base device (100) having a walking device at the bottom thereof for moving to a target area, and a host (103) mounted thereon for receiving information, storing information, processing information, and sending instruction information; A head and arm device (200), the top of the base device (100) supports the head and arm device (200), which is used to complete identification information and position fingers, and includes two mechanical arms (201); A first finger device (300), to which the end of a robotic arm (201) is connected, is used for locating the puncture point during puncture surgery; as well as A second finger device (400), the end of the other robotic arm (201) is connected to the second finger device (400), used for puncture; The first finger device (300) and the second finger device (400) are both capable of grabbing, replacing and installing surgical instruments, and the two cooperate to complete the puncture surgery; The second finger device (400) comprises: A second finger connecting plate (402), the top of which is connected to the end of another robot arm (201), and the bottom of which is formed with two parallel mounting strips protruding downward; Two second finger guide rails (415), wherein the second finger guide rails (415) are correspondingly mounted below the mounting strip, and each of the second finger guide rails (415) is provided with at least two second finger sliders for sliding; a second finger lead screw motor (404), the second finger lead screw motor (404) being fixed below the second finger connecting plate (402) via a second finger motor bracket and being located between the two mounting strips; A transition plate (406), the top of the transition plate (406) having a connection block threadedly connected to the screw of the second finger screw motor (404), and the transition plate (406) is fixed to the bottom surface of the second finger slider; Two third finger guide rails (405), two third finger guide rails (405) are arranged in parallel at the bottom of the transition plate (406) and are arranged perpendicular to the second finger guide rail (415), and at least two third finger sliders are slidably arranged at the bottom of each third finger guide rail (405); a third finger screw motor (407), wherein the third finger screw motor (407) is fixed between the two second finger guide rails (415) via a motor bracket; A second connecting piece, each of the third finger sliders is connected to a corresponding second connecting piece, and the two second connecting pieces respectively have a clockwise thread and a counterclockwise thread that match the screw thread of the third finger screw motor (407); a second three-dimensional pressure sensor, wherein each second connecting piece is correspondingly connected to a second three-dimensional pressure sensor; and A second finger consumable (411) is connected below each of the second three-dimensional pressure sensors.

2. The interventional surgery puncture robot according to claim 1, characterized in that: The first finger device (300) comprises: a first finger connecting plate (302), the first finger connecting plate (302) being connected to an end of a robotic arm (201); A first finger guide rail (303), the bottom of the first finger connecting plate (302) is connected to the first finger guide rail (303), and two first finger sliders are slidably mounted on the first finger guide rail (303); A first finger screw motor (305), wherein the first finger screw motor (305) is fixed below the first finger connecting plate (302) via a first finger motor bracket (304); A first connecting piece, one first connecting piece correspondingly connected to each of the first finger sliders, the two first connecting pieces respectively having a clockwise thread and a counterclockwise thread that match the thread of the first finger lead screw motor (305); a first three-dimensional pressure sensor, wherein each of the first connecting pieces is correspondingly connected to a first three-dimensional pressure sensor; and A first finger consumable (309) is connected below each of the first three-dimensional pressure sensors, and the inner surface of the first finger consumable (309) is soft medical silicone.

3. The interventional surgery puncture robot according to claim 2, characterized in that: A first electromagnet is fixed between the first three-dimensional pressure sensor and the first finger consumable (309), and the first finger consumable (309) has a first iron sheet magnetically connected to the first electromagnet.

4. The interventional surgery puncture robot according to claim 2, characterized in that: One side of the first finger connecting plate (302) is tilted outward and extended to form a first finger camera bracket, and at least one first finger camera (301) is connected to the finger camera bracket, and the first finger camera (301) is arranged toward the first finger consumable (309).

5. The interventional surgery puncture robot according to claim 1, characterized in that: The inner surface of the second finger consumable (411) is soft medical silica gel.

6. The interventional surgery puncture robot according to claim 1, characterized in that: A second electromagnet is fixed between the second three-dimensional pressure sensor and the second finger consumable (411), and the second finger consumable (411) contains a second iron sheet magnetically connected to the second electromagnet.

7. The interventional surgery puncture robot according to claim 1, characterized in that: The second finger connecting plate (402) extends obliquely to both sides to form a second finger camera bracket, each of the second finger camera brackets is connected to at least one second finger camera, and the second finger cameras are arranged toward the second finger consumable (411).

8. The interventional surgery puncture robot according to claim 1, characterized in that: The base device (100) comprises: a bottom plate (105), the bottom plate (105) is a rectangular plate with arc transition connection at the edges and corners, the bottom of the bottom plate (105) is connected to the walking device, and four columns (101) are vertically arranged at the four corners of the top of the bottom plate to jointly support the head and arm device (200); a driving device (102) and a lithium battery (104) are arranged on the bottom plate (105), and the host (103) is located between the driving device (102) and the lithium battery (104).

9. The interventional surgery puncture robot according to claim 8, characterized in that: The head and arm assembly (200) comprises: A support plate (210), the support plate (210) being supported on the tops of the four columns (101); A head device, the head device being connected to the top of the support plate (210); The two mechanical arms (201) are connected to the support plate (210) and are located in front of the head device.

10. The interventional surgery puncture robot according to claim 9, characterized in that: The head device comprises: A head column (209), the top of the support plate (210) is connected to the head column (209) in a vertically rotatable manner, and a column gear is provided below the head column (209); A rotating motor (207), wherein the support plate (210) is provided with a rotating motor bracket (208) at the rear portion relative to the head column (209), the rotating motor (207) is fixed on the rotating motor bracket (208), and the output gear of the rotating motor (207) is meshed with the column gear for transmission; A pitch motor (204), wherein the top of the head column (209) is fixed with the pitch motor (204) via a pitch motor bracket (205); A touch screen (203), wherein the touch screen (203) is connected to the pitch motor (204) via a head camera bracket (206); A head camera (202), two groups of head cameras (202) are provided on both sides of the touch screen (203), and are integrally connected to the touch screen (203) via the head camera bracket (206).

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