Parallel six-degree-of-freedom puncture robot

Abstract

This invention provides a parallel six-DOF puncture robot, relating to the field of medical device technology. It includes: a Z-axis movement module, a parallel module, a puncture needle feeding module, a puncture needle rotation module, and a puncture needle fixing module. The parallel module is located at the front end of the Z-axis movement module; the puncture needle feeding module is located at the front end of the parallel module; the puncture needle fixing module is located at the front end of the puncture needle feeding module; and the puncture needle rotation module is mounted on the puncture needle fixing module and connected to the puncture needle feeding module. This invention, based on a parallel mechanism, achieves puncture needle guidance and positioning, angle adjustment, and puncture needle feeding operations, offering advantages such as high flexibility, high precision, and compact structure. By replacing other end-effectors, this robot can also perform other operational tasks.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, specifically to a parallel six-degree-of-freedom puncture robot. Background Technology

[0002] Medical robotics technology is a new interdisciplinary research field integrating medicine, mechanics, computer graphics, robotics, and many other disciplines. Robot-assisted surgery is one of the important areas of medical robotics technology. Image-guided biopsy is an important means of diagnosing and treating tumors. Under the guidance of medical images such as ultrasound, CT, and MRI, a puncture needle is inserted percutaneously into the target area of ​​the soft tissue lesion to perform procedures such as biopsy sampling, radioactive particle implantation, and ablation therapy. However, manual percutaneous puncture surgery also has problems such as high dependence on the doctor's experience, limitations on puncture path selection due to the guide frame, and difficulty in accurately puncturing the target point due to lesion location drift. Robots, with their reliable precision, stability, and safety, have become an ideal way to solve the problems of manual puncture surgery.

[0003] A search revealed a Chinese invention patent with application number 202210340194.4, entitled "Miniaturized Puncture Robot," which guides the insertion position and posture of the puncture needle by jointly driving a first and second linear motion mechanism of two-layer drive components. This solution uses four linear motion mechanisms to achieve puncture needle guidance control, resulting in a large number of actuators and complex control. Furthermore, this solution can only achieve puncture needle positioning and cannot autonomously complete needle delivery and rotation operations, thus its level of automation is limited. Summary of the Invention

[0004] The purpose of this invention is to provide a parallel six-degree-of-freedom puncture robot, which can not only realize the positioning and guidance of the puncture needle, and the rotation and feeding of the puncture needle, but also has the advantage of a compact workspace, thus improving the flexibility of the robot's work.

[0005] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0006] A parallel six-DOF puncture robot includes: a Z-axis movement module, a parallel module, a puncture needle feeding module, a puncture needle rotation module, and a puncture needle fixing module, wherein: the parallel module is disposed at the front end of the Z-axis movement module; the puncture needle feeding module is disposed at the front end of the parallel module; the puncture needle fixing module is disposed at the front end of the puncture needle feeding module; and the puncture needle rotation module is disposed on the puncture needle fixing module and connected to the puncture needle feeding module.

[0007] Furthermore, the Z-axis moving module includes a first support base, a motor, a linear guide rail, a linear module lead screw, and a linear sliding component; the linear guide rail is disposed on the left and right sides of the first support base; the linear module lead screw is mounted on the first support base; the linear module lead screw is poweredly connected to the motor; the linear sliding component is slidably connected to the linear guide rail and is screwed to the linear module lead screw.

[0008] Furthermore, the parallel module includes a second support base, a first servo push rod, a first rotary joint, a mounting bracket, a rotating shaft, a second rotary joint, and a parallel mechanism end bracket; the second support base and the first support base are fixedly connected; the first servo push rod is provided in three sets, one set of which is mounted on the second support base, and the other two sets are hinged to the rotating shaft; the mounting bracket is mounted above the second support base; the first rotary joint is mounted on the other end of the first servo push rod on the second support base; the second rotary joint is mounted on the other end of the two sets of first servo push rods hinged to the rotating shaft; the upper end of the mounting bracket has a through hole; the rotating shaft is mounted on the mounting bracket and concentrically fitted with the through hole; the parallel mechanism end bracket is composed of a parallel mechanism end bracket body, a shaft-mounted base one, and a shaft-mounted base two; the parallel mechanism end bracket body is hinged to the shaft-mounted base one and the shaft-mounted base two respectively; the shaft end face of the shaft-mounted base two is connected to the first rotary joint; the shaft end face of the shaft-mounted base one is connected to the second rotary joint.

[0009] Furthermore, the first servo push rod includes a push rod base, a first motor bracket, a first motor, a preload base, a first lead screw, and a first slider; the first motor bracket is mounted above the push rod base; the first motor is mounted on the first motor bracket; the push rod base has an internal cavity; the first lead screw and the first slider are disposed within the cavity of the push rod base; the first slider has a threaded hole; the first slider is screwed to the first lead screw through the threaded hole; a drive pulley is poweredly connected to the first motor; a driven pulley is connected to the first lead screw; the drive pulley is connected to the driven pulley through a synchronous belt; the preload base has a grooved track at its bottom and a limiting baffle on its side; the limiting baffle has a threaded hole; a preload bolt is screwed to the limiting baffle through the threaded hole.

[0010] Furthermore, the puncture needle feed module includes a second servo push rod, a six-dimensional torque sensor, a puncture needle support, and a hexagonal prism pin; one end of the six-dimensional torque sensor is fixedly connected to the puncture needle support, and the other end is hinged to the puncture needle fixing module; one end of the puncture needle support is fixedly connected to the six-dimensional torque sensor, and the other end is fixedly connected to the first slider; the hexagonal prism pin is located below the second servo push rod; the front end of the parallel mechanism end support is provided with a hexagonal pin groove; the hexagonal prism pin is inserted into the hexagonal pin groove on the parallel mechanism end support.

[0011] Furthermore, the second servo actuator includes a lower half base, an upper half base, a second lead screw, a second slider, and a second motor; the upper half base is mounted above the lower half base; both the lower half base and the upper half base have cavities inside; the second lead screw and the second slider are disposed in the cavities of the lower half base and the upper half base; the second slider has a threaded hole; the second lead screw and the second slider are screwed together; a driven pulley is connected to the second lead screw; the second motor is disposed on the lower half base; a driving pulley is connected to the second motor; the driving pulley is connected to the driven pulley via a synchronous belt.

[0012] Furthermore, the puncture needle rotation module includes a second motor bracket, a third motor, a third motor output shaft, a first connecting rod, and a second connecting rod; the second motor bracket is mounted on the puncture needle fixing module; the third motor is mounted on the second motor bracket; the third motor output shaft and the third motor are poweredly connected; the first connecting rod and the third motor output shaft are concentrically coupled; one end of the second connecting rod is concentrically coupled with the first connecting rod to form a rotating pair, and the other end is concentrically coupled with the puncture needle bracket to form a rotating pair.

[0013] Furthermore, the puncture needle fixing module includes a fixing base, a quick clamping mechanism, and a puncture needle; the quick clamping mechanism and the fixing base are fixedly connected; the quick clamping mechanism clamps the puncture needle on the fixing base; and multiple infrared optical positioning balls are provided above the puncture needle.

[0014] Compared with the prior art, the present invention has the following beneficial effects:

[0015] The parallel six-degree-of-freedom puncture robot described in this invention achieves spatial positioning and guiding positioning of the puncture needle fixing module by operating a parallel mechanism composed of three sets of servo push rods, which is low in cost and high in precision.

[0016] The parallel six-degree-of-freedom puncture robot described in this invention has a simple structure and compact space, enabling it to work within a narrow CT scanning aperture and achieve accurate positioning of the end-effector under the guidance of real-time CT images.

[0017] The parallel six-degree-of-freedom puncture robot described in this invention can achieve autonomous puncture through the puncture needle feeding module, and can also achieve intraoperative rotation of the puncture needle through the puncture needle rotation module, fully simulating the advancing and twisting operations of the physician in puncture surgery, with rich functions.

[0018] Furthermore, the parallel six-degree-of-freedom puncture robot of the present invention can flexibly adjust the mating angle between the hexagonal prism pin and the hexagonal pin groove located behind the puncture needle feed module according to actual needs, thereby expanding the working space. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall structure of a preferred embodiment of the present invention;

[0020] Figure 2 This is a schematic diagram of the overall structure of a preferred embodiment of the present invention;

[0021] Figure 3 This is a schematic diagram of a preferred embodiment of the puncture needle fixation module structure of the present invention;

[0022] Figure 4 This is a schematic diagram of the Z-axis moving module structure according to a preferred embodiment of the present invention;

[0023] Figure 5 This is a schematic diagram of a preferred embodiment of the rotating shaft structure of the present invention;

[0024] Figure 6 This is a schematic diagram of the end support structure of the parallel mechanism according to a preferred embodiment of the present invention;

[0025] Figure 7 This is a structural schematic diagram of a puncture needle in one orientation according to a preferred embodiment of the present invention;

[0026] Figure 8 This is a structural schematic diagram of a puncture needle in one orientation according to a preferred embodiment of the present invention;

[0027] Figure 9 This is a structural schematic diagram of a puncture needle in one orientation according to a preferred embodiment of the present invention;

[0028] Figure 10 This is a structural schematic diagram of a puncture needle in one orientation according to a preferred embodiment of the present invention.

[0029] The module consists of: I-Z axis moving module, II-parallel module, III-puncture needle feed module, IV-puncture needle rotation module, V-puncture needle fixing module, 1-first support base, 2-linear guide rail, 3-linear module lead screw, 4-linear sliding component, 5-second support base, 6-first rotating joint, 7-mounting bracket, 8-rotating shaft, 9-second rotating joint, 10-push rod base, 11-first motor bracket, 12-first motor, 13-preload base, 14-limiting baffle, 15-preload bolt, 17-first slider, 18-... - Synchronous belt, 19- Parallel mechanism end bracket, 21- Six-dimensional torque sensor, 22- Puncture needle bracket, 23- Lower half base, 24- Upper half base, 25- Second lead screw, 26- Second slider, 27- Second motor, 28- Hexagonal prism pin, 29- Second motor bracket, 30- Third motor, 31- First connecting rod, 32- Second connecting rod, 33- Fixed base, 34- Parallel mechanism end bracket body, 35- Shaft base one, 36- Shaft base two, 37- Puncture needle, 38- Infrared optical positioning ball. Detailed Implementation

[0030] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0031] In the description of the invention, it should be noted that the terms "upper", "lower", "inner", "outer", "left", "right", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention.

[0032] In the description of the invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "setting," "connection," etc., should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an indirect connection through an intermediate medium, but the connections at various points do not affect the multi-position folding of this application. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0033] like Figure 1-2 A specific embodiment of a parallel six-DOF puncture robot is shown, characterized in that it includes: a Z-axis movement module I, a parallel module II, a puncture needle feeding module III, a puncture needle rotation module IV, and a puncture needle fixing module V, wherein: the parallel module II is disposed at the front end of the Z-axis movement module I; the puncture needle feeding module III is disposed at the front end of the parallel module II; the puncture needle fixing module V is disposed at the front end of the puncture needle feeding module III; and the puncture needle rotation module IV is disposed on the puncture needle fixing module V and connected to the puncture needle feeding module III.

[0034] Specifically, the Z-axis moving module I drags the puncture robot to move along the Z-axis direction; the parallel module II adjusts the pitch and lateral angles of the puncture needle fixing module V according to the settings, and drags the puncture needle fixing module V, the puncture needle feeding module III, and the puncture needle rotation module IV to move along the X-axis direction according to the settings; the puncture needle feeding module III is equipped with the puncture needle fixing module V at its front end, and the puncture needle feeding module III controls the puncture needle fixing module V to perform feeding motion according to the settings to reach the lesion, organ, or blood vessel; the puncture needle rotation module IV adjusts the puncture needle fixing module V to rotate along the puncture needle axis according to the settings; the puncture needle fixing module V clamps the puncture needle to complete the puncture operation.

[0035] In other preferred embodiments, such as Figure 4 As shown, the Z-axis moving module I includes a first support base 1, a linear guide rail 2, a linear module lead screw 3, and a linear sliding component 4; the linear guide rail 2 is installed on the left and right sides of the first support base 1; the linear module lead screw 3 is installed on the first support base 1; the linear module lead screw 3 is powered by a motor; the linear sliding component 4 is slidably connected to the linear guide rail 2 and is screwed to the linear module lead screw 3.

[0036] Specifically, the linear module lead screw 3 and the linear sliding component 4 are engaged by a helical transmission. The motor controls the rotation of the linear module lead screw 3, which in turn pushes the linear sliding component 4 to move along the linear guide rail 2. Since the linear sliding component 4 is fixedly connected to the external support structure, the first support base 1 can then drag the parallel module II to perform linear translation along the Z-axis.

[0037] In other preferred embodiments, the parallel module II includes a second support base 5, a first servo push rod, a first rotary joint 6, a mounting bracket 7, a rotating shaft 8, a second rotary joint 9, and a parallel mechanism end bracket 19; the second support base 5 and the first support base 1 are fixedly connected; the first servo push rod is provided in three sets, one set of which is mounted on the second support base 5, and the other two sets are respectively hinged to both ends of the rotating shaft 8; the mounting bracket 7 is mounted above the second support base 5; the first rotary joint 6 is mounted on the other end of the first servo push rod on the second support base 5; the second rotary joint 9... The auxiliary 9 is installed at the other end of the two sets of first servo push rods hinged to the rotating shaft 8; the upper end of the mounting bracket 7 has a through hole; the rotating shaft 8 is rotatably installed in the through hole of the mounting bracket 7 and is concentrically fitted with the through hole; the parallel mechanism end bracket 19 is composed of the parallel mechanism end bracket body 34, the shaft-mounted base 1 35, and the shaft-mounted base 2 36; the parallel mechanism end bracket body 34 is rotatably connected to the shaft-mounted base 1 35 and the shaft-mounted base 2 36 respectively through pins; the shaft end face of the shaft-mounted base 2 36 is rotatably connected to the first rotating pair 6; the shaft end face of the shaft-mounted base 1 35 is rotatably connected to the second rotating pair 9.

[0038] Specifically, such as Figure 5-10 As shown, the two sets of first servo push rods set on the mounting bracket 7 perform telescopic movements according to the settings, adjusting the position and direction of the second rotary joint 9; the first servo rod set on the support base of the parallel module II performs telescopic movements according to the settings, adjusting the position of the first rotary joint 6; the parallel module realizes the pitching movement, lateral movement, and movement along the X-axis of the puncture needle fixing module by adjusting the position of the first rotary joint 6 and the position and direction of the second rotary joint 9.

[0039] Specifically, the pitching motion of the puncture needle fixing module V is achieved by the joint movement of three first servo push rods within the parallel module II. By keeping the first lead screw on the second support base 5 stationary, the two sets of first lead screws on the mounting bracket 7 rotate in the same direction, pushing their respective first sliders 17 to move linearly; or, by keeping the two sets of first lead screws on the mounting bracket 7 stationary, the first lead screw on the second support base 5 moves, pushing the corresponding first sliders 17 to move linearly; thereby pushing the end bracket 19 of the parallel mechanism to deflect around the Y-axis, realizing the deflection motion of the puncture needle fixing module V around the Y-axis.

[0040] Specifically, the lateral swing motion of the puncture needle fixing module V is mainly achieved by the joint movement of three first servo push rods within the parallel module II. By controlling the first lead screw on the second support base 5 to remain stationary, the two sets of first lead screws on the mounting frame 7 perform differential motion, pushing their respective first sliders 17 to move linearly. The two sets of first servo push rods on the mounting frame 7, the second rotary joint 9, and the rotating shaft 8 form a planar trapezoid, where the two sets of first servo push rods are the two sides of the trapezoid, the second rotary joint 9 is the upper base of the trapezoid, and the rotating shaft 8 is the lower base of the trapezoid. At this time, the two sets of first lead screws on the mounting frame 7 perform differential motion, changing the length of the two sets of first servo push rods, that is, the length of the two sides of the trapezoid changes. Due to the constraints of the parallel structure, the second rotary joint 9 cannot perform deflection motion around the Z-axis during the movement, so the upper and lower bases of the trapezoid will always remain parallel. The lower base of the trapezoid is fixed, and since the upper and lower bases are always parallel, when the length of the two sides changes, the position of the upper base will be translated and the solution is unique, that is, the second rotary joint 9 performs translation on the trapezoidal plane;

[0041] Specifically, the first lead screw on the second support base 5 remains stationary, while the two sets of first lead screws on the mounting bracket 7 perform differential motion, changing the lengths of the two sets of first servo push rods. After the motion, the length of the first servo push rod on the upper right is greater than the length of the first servo push rod on the upper left, thereby driving the second rotary joint 9 to move along the negative Y-axis, which in turn drives the end bracket 19 of the parallel mechanism to deflect around the positive X-axis, thus realizing the deflection motion of the puncture needle fixing module V around the X-axis.

[0042] Specifically, the first lead screw on the second support base 5 remains stationary, while the two sets of first lead screws on the mounting bracket 7 perform differential motion, changing the lengths of the two sets of first servo push rods. After the motion, the length of the first servo push rod on the upper left is greater than the length of the first servo push rod on the upper right, thereby driving the second rotary joint 9 to move along the positive Y-axis, which in turn drives the end bracket 19 of the parallel mechanism to deflect around the negative X-axis, thus realizing the deflection motion of the puncture needle fixing module V around the X-axis.

[0043] Specifically, the movement of the puncture needle fixing module V along the X-axis is mainly achieved by the joint movement of the three first servo push rods within the parallel module II. Since the parallel module II of this robot is composed of three first servo push rods, the coordinated action of these three first servo push rods is required to achieve the linear translation of the puncture needle 37 along the X-axis. That is, controlling the synchronous rotation of the three first lead screws pushes their respective first sliders 17 to move linearly, thereby pushing the end bracket 19 of the parallel mechanism to move linearly along the X-axis, thus realizing the translational movement of the puncture needle fixing module V along the X-axis.

[0044] In other preferred embodiments, the first servo push rod includes a push rod base 10, a first motor bracket 11, a first motor 12, a preload base 13, a first lead screw, and a first slider 17; the preload base 13 is mounted above the push rod base 10; the first motor bracket 11 is mounted above the preload base 13; the first motor 12 is mounted on the first motor bracket 11; the push rod base 10 has an internal cavity; the first lead screw and the first slider 17 are disposed within the cavity of the push rod base 10; the first slider 17 has a threaded hole; the first slider 17 is screwed to the first lead screw through the threaded hole; the first motor 12 is powered by a drive pulley; the first lead screw is connected to a driven pulley; the drive pulley is connected to the driven pulley through a synchronous belt 18; the preload base 13 has a grooved track at its bottom and a limiting baffle 14 on its side; the limiting baffle 14 has a threaded hole; the limiting baffle 14 is screwed to a preload bolt 15 through the threaded hole.

[0045] Specifically, the first motor 12 drives the first lead screw to rotate via the synchronous belt 18, thereby driving the first slider 17 to move; the first motor bracket 11 is set above the pre-tightening base 13 through a groove fit, and under the pushing action of the pre-tightening bolt 15, it drags the first motor 12 to slide along the groove to achieve pre-tightening.

[0046] In other preferred embodiments, the puncture needle feed module III includes a second servo push rod, a six-dimensional torque sensor 21, a puncture needle support 22, and a hexagonal prism pin 28; one end of the six-dimensional torque sensor 21 is fixedly connected to the puncture needle support 22, and the other end is hinged to the fixed base of the puncture needle fixing module V; one end of the puncture needle support 22 is fixedly connected to the six-dimensional torque sensor 21, and the other end is fixedly connected to the first slider 17; the hexagonal prism pin 28 is disposed below the second servo push rod; the hexagonal prism pin 28 is inserted into the hexagonal pin groove on the end bracket 19 of the parallel mechanism.

[0047] Specifically, by changing the fitting angle between the hexagonal prism pin 28 and the hexagonal pin slot during insertion, the piercing feed module can be installed flexibly at multiple angles.

[0048] In other preferred embodiments, the second servo push rod includes a lower half base 23, an upper half base 24, a second lead screw 25, a second slider 26, and a second motor 27; the upper half base 24 is mounted above the lower half base 23; both the lower half base 23 and the upper half base 24 have cavities inside; the second lead screw 25 and the second slider 26 are disposed in the cavities of the lower half base 23 and the upper half base 24; the second slider 26 has a threaded hole; the second lead screw 25 and the second slider 26 are screwed together; a driven pulley is connected to the second lead screw 25; the second motor 27 is disposed on the lower half base 23; a driving pulley is connected to the second motor 27; the driving pulley is connected to the driven pulley via a synchronous belt 18.

[0049] Specifically, the second motor 27 drives the second lead screw 25 to rotate via the synchronous belt 18, thereby causing the second slider 26 and the puncture needle holder 22 connected to the second slider 26 to move up and down.

[0050] In other preferred embodiments, such as Figure 3 As shown, the puncture needle rotation module IV includes a second motor bracket 29, a third motor 30, a third motor output shaft, a first connecting rod 31, and a second connecting rod 32; the second motor bracket 29 is disposed on the puncture needle fixing module V; the third motor 30 is disposed on the second motor bracket 29; the third motor output shaft and the third motor 30 are poweredly connected; the first connecting rod 31 and the third motor output shaft are concentrically coupled; one end of the second connecting rod 32 is concentrically coupled with the first connecting rod 31 to form a rotating pair, and the other end is concentrically coupled with the puncture needle bracket 22 to form a rotating pair.

[0051] Specifically, the first link 31, the second link 32, the puncture needle support 22, and the puncture needle fixing module V constitute a hinged four-bar linkage; the third motor 30 drives the first link 31 to rotate, and the six-dimensional torque sensor 21 and the fixing base 33 of the puncture needle fixing module are hinged, which can drive the puncture needle fixing module V to rotate around the puncture needle as the axis.

[0052] In other preferred embodiments, the puncture needle fixing module V includes a fixing base 33, a quick clamping mechanism, a puncture needle 37, and optical positioning balls 38; the quick clamping mechanism and the fixing base 33 are fixedly connected; the quick clamping mechanism clamps the puncture needle 37 on the fixing base 33; and multiple infrared optical positioning balls 38 are provided above the puncture needle.

[0053] Specifically, multiple infrared optical positioning balls 38 are set above the puncture needle 37 to realize the positioning and calibration of the puncture needle's posture and position during operation.

[0054] Finally, it should be noted that the present invention is not limited to the above embodiments, and many variations are possible. All variations that can be directly derived or conceived by those skilled in the art from the disclosure of the present invention should be considered within the scope of protection of the present invention.

Claims

1. A parallel six-degree-of-freedom puncture robot, characterized in that, include: The system comprises a Z-axis moving module, a parallel module, a puncture needle feeding module, a puncture needle rotating module, and a puncture needle fixing module, wherein: the parallel module is located at the front end of the Z-axis moving module; the puncture needle feeding module is located at the front end of the parallel module; the puncture needle fixing module is located at the front end of the puncture needle feeding module; and the puncture needle rotating module is located on the puncture needle fixing module and connected to the puncture needle feeding module. The Z-axis moving module includes a first support base, a motor, a linear guide rail, a linear module lead screw, and a linear sliding component; the linear guide rail is disposed on the left and right sides of the first support base; the linear module lead screw is mounted on the first support base; the linear module lead screw is poweredly connected to the motor; the linear sliding component is slidably connected to the linear guide rail and is screwed to the linear module lead screw; The parallel module includes a second support base, a first servo push rod, a first rotary joint, a mounting bracket, a rotating shaft, a second rotary joint, and a parallel mechanism end bracket. The second support base and the first support base are fixedly connected. The first servo push rod has three sets, one set of which is mounted on the second support base, and the other two sets are hinged to the rotating shaft. The mounting bracket is mounted above the second support base. The first rotary joint is mounted on the other end of the first servo push rod on the second support base. The second rotary joint is mounted on the other end of the two sets of first servo push rods hinged to the rotating shaft. The upper end of the mounting bracket has a through hole. The rotating shaft is mounted on the mounting bracket and concentrically engages with the through hole. The parallel mechanism end bracket consists of a parallel mechanism end bracket body, a shaft-mounted base one, and a shaft-mounted base two. The parallel mechanism end bracket body is hinged to the shaft-mounted base one and the shaft-mounted base two, respectively. The shaft end face of the shaft-mounted base two is connected to the first rotary joint. The shaft end face of the shaft-mounted base one is connected to the second rotary joint. The first servo push rod includes a push rod base, a first motor bracket, a first motor, a preload base, a first lead screw, and a first slider. The first motor bracket is mounted above the push rod base. The first motor is mounted on the first motor bracket. The push rod base has an internal cavity. The first lead screw and the first slider are disposed within the cavity of the push rod base. The first slider has a threaded hole. The first slider is screwed to the first lead screw through the threaded hole. A drive pulley is poweredly connected to the first motor. A driven pulley is connected to the first lead screw. The drive pulley is connected to the driven pulley through a synchronous belt. The preload base has a grooved track at the bottom and a limiting baffle on the side. The limiting baffle has a threaded hole. A preload bolt is screwed to the limiting baffle through the threaded hole. The puncture needle feed module includes a second servo push rod, a six-dimensional torque sensor, a puncture needle support, and a hexagonal prism pin. One end of the six-dimensional torque sensor is fixedly connected to the puncture needle support, and the other end is hinged to the puncture needle fixing module. One end of the puncture needle support is fixedly connected to the six-dimensional torque sensor, and the other end is fixedly connected to the first slider. The hexagonal prism pin is located below the second servo push rod. The front end of the parallel mechanism end support is provided with a hexagonal pin groove. The hexagonal prism pin is inserted into the hexagonal pin groove on the parallel mechanism end support.

2. The parallel six-degree-of-freedom puncture robot according to claim 1, characterized in that, The second servo push rod includes a lower half base, an upper half base, a second lead screw, a second slider, and a second motor. The upper half base is mounted above the lower half base. Both the lower half base and the upper half base have cavities inside. The second lead screw and the second slider are disposed in the cavities of the lower half base and the upper half base. The second slider has a threaded hole. The second lead screw and the second slider are screwed together. A driven pulley is connected to the second lead screw. The second motor is disposed on the lower half base. A driving pulley is connected to the second motor. The driving pulley is connected to the driven pulley via a synchronous belt.

3. The parallel six-degree-of-freedom puncture robot according to claim 2, characterized in that, The puncture needle rotation module includes a second motor bracket, a third motor, a third motor output shaft, a first connecting rod, and a second connecting rod; the second motor bracket is mounted on the puncture needle fixing module; the third motor is mounted on the second motor bracket; the third motor output shaft and the third motor are poweredly connected; the first connecting rod and the third motor output shaft are concentrically fitted; one end of the second connecting rod is concentrically fitted with the first connecting rod to form a rotating pair, and the other end is concentrically fitted with the puncture needle bracket to form a rotating pair.

4. The parallel six-degree-of-freedom puncture robot according to claim 3, characterized in that, The puncture needle fixing module includes a fixing base, a quick clamping mechanism, and a puncture needle; the quick clamping mechanism and the fixing base are fixedly connected; the quick clamping mechanism clamps the puncture needle on the fixing base; multiple infrared optical positioning balls are provided above the puncture needle.

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