A minimally invasive surgical robot compatible with MRI and CT environments

Abstract

The application discloses a minimally invasive surgery robot compatible with MRI and CT environment, comprising an arch module, a puncture needle positioning module and a puncture needle inserting module, wherein the arch module comprises an arch body and an arch slider mechanism; the puncture needle positioning module comprises an R translational mechanism capable of moving radially along a circular arc-shaped guide track, a Z rotating mechanism capable of realizing rotating movement around a Z axis, and an X rotating mechanism used for providing rotating movement around an X axis; and the puncture needle inserting module is used for inserting the puncture needle into a human body. The minimally invasive surgery robot compatible with MRI and CT environment can adapt to the size of a closed hole cavity of a standard MRI and CT scanner, and can realize accurate adjustment of the position and posture of the puncture needle in the closed hole cavity, so that the puncture needle can be inserted into a human body at a skin insertion point according to a planned path; the minimally invasive surgery robot allows real-time synchronization of image scanning and robot movement, and the patient does not need to be repeatedly moved into or out of the closed hole cavity of the MRI or CT during the surgery, so that the surgery time can be reduced and the surgery precision can be improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of medical robotics, and in particular to a minimally invasive surgery robot compatible with MRI and CT environments. BACKGROUND

[0002] Percutaneous intervention is a common minimally invasive clinical procedure involving the insertion of a needle through the patient's skin into the body for pathological diagnosis or treatment. Percutaneous intervention applications include: biopsy, marker seed or drug capsule implantation, and ablation electrode insertion for tumor ablation, etc. It is suitable for most organs of the human body, such as the breast, prostate, lung, kidney, and liver, etc. Compared with conventional surgical treatment, the feature of percutaneous intervention is to guide the insertion of the needle according to the planned needle puncture path based on medical images.

[0003] During surgery, the puncture needle is usually guided by image navigation methods such as computed tomography (CT) or magnetic resonance imaging (MRI) to reach the lesion target position through the human skin. Although the CT scanner emits a relatively high dose of ionizing radiation, which can cause further health risks to the patient; but the relatively low cost and applicability make the CT guided method still widely used worldwide. MRI not only has excellent soft tissue contrast and spatial resolution in any direction, but also does not expose the patient to ionizing radiation. According to the MRI image diagnosis result, the doctor can determine the surgical target position, plan the needle insertion path, and determine the needle insertion point, and then introduce the needle through the skin into the target anatomical structure, such as the joint space or nerve root, to inject contrast agent or painkillers, etc. The doctor can also operate the control needle to reach different internal organs to perform puncture biopsy, or implement minimally invasive radiofrequency or cryoablation treatment on cancerous sites. Therefore, there is a growing demand for minimally invasive surgery robots compatible with MRI and CT environments.

[0004] However, there are very few surgery robots compatible with MRI and CT environments on the market at present, most of which are still in the research and development stage. The main challenges they face are: 1) limited operating space. Since the MRI scanner with a 60cm aperture and the CT scanner with a 70cm aperture are still widely used, it is extremely difficult to perform surgical operations in such a narrow space; 2) material compatibility limitations. High-density, ferromagnetic, and conductive materials are usually incompatible with MRI scanners; 3) drive mode limitations. That is, the movement of the surgery robot should not interfere with the normal operation of the scanner and should not produce image artifacts; similarly, the operation of the robot should not be affected when the scanner is working; 4) precision limitations. The insertion accuracy of the puncture needle must meet the requirements, because for an insertion depth of 15 to 20 cm, the target is usually in the order of millimeters.

[0005] To date, some minimally invasive surgical robotic systems that meet the MRI and CT compatibility requirements have been developed, but all have certain limitations. For example, some surgical robotic systems use pneumatic or hydraulic drive robots to move, but pneumatic drive has relatively low speed stability and low position accuracy, and hydraulic drive can produce vortex or liquid leakage, and the entire drive system may be relatively large; in addition, the puncture needle used by most minimally invasive surgical robots is a rigid puncture needle, and due to the narrow space limitation of the closed hole, such robots can usually only realize the positioning function of the puncture needle under the guidance of MRI or CT (i.e., ensure that the insertion direction of the puncture needle is consistent with the planned path), and it is difficult to complete the entire surgical procedure in the MRI or CT closed hole in real time, such as puncture needle insertion, especially in the chest and abdominal organ surgery. In this case, only after the patient is removed from the MRI or CT closed hole, the puncture needle is inserted manually by the doctor to avoid the contact interference phenomenon between the puncture needle of the conventional length in the closed hole and the closed hole wall. In some specific cases, the puncture needle insertion movement can be completed in the closed hole, at which time the puncture needle is relatively short in order to avoid interference, and thus the insertion depth is very limited; for example, the puncture mechanism and puncture robot disclosed in patent CN113349896A can perform surgical operations in the narrow space of the scanning closed hole of CT and MRI. However, the robot device has the following shortcomings: 1) the structure type of the rack support mechanism has a relatively small applicable range for different body types of patients; 2) since the needle puncture mechanism and the needle positioning and guiding mechanism are installed on the top platform of the rack support mechanism, the movement or operation space of each execution mechanism is small. If it is necessary to meet the needs of larger body type patients, the height of the rack support mechanism can be increased, at which time the top platform is closer to the top of the scanning closed hole of CT or MRI, causing the movement space of other mechanisms to be more limited; 3) the movement mode of some joints also limits the working space. For example, when the X-axis rotation joint of the needle positioning and guiding mechanism is working, the front and rear ends of the needle puncture mechanism installed thereon are prone to contact interference with the wall of the scanning closed hole of CT or MRI; 4) the structure of the robot device is complex, and lacks reconfigurability, i.e., it is difficult to reconfigure each module of the robot to meet the surgical needs according to the specific different surgical organ positions and the size of the surgical operation space.

[0006] Therefore, it would be very beneficial to provide a minimally invasive robot that is compatible with the MRI and CT environment, which not only allows real-time synchronization of image scanning and robot movement, but also does not require the patient to move into or out of the scanner for imaging and needle insertion during the surgical procedure, and which can overcome the above-mentioned shortcomings of existing robot systems. SUMMARY

[0007] The technical problem to be solved by the present application is to provide a minimally invasive surgery robot compatible with MRI and CT environments in view of the above-mentioned deficiencies in the prior art.

[0008] To achieve the above-mentioned purpose, the present application adopts the technical scheme of a minimally invasive surgery robot compatible with MRI and CT environments, comprising:

[0009] An arch module comprising an arch body having a circular arc-shaped guide track and an arch slider mechanism capable of moving along a circular arc track parallel to the XY plane on the circular arc-shaped guide track;

[0010] A puncture needle positioning module connected to the arch slider mechanism, the puncture needle positioning module comprising an R translation mechanism for providing linear motion in the XY plane along the radius R direction of the circular arc-shaped guide track, a Z rotation mechanism for providing rotational motion around the Z axis, and at least an X rotation mechanism for providing rotational motion around the X axis, the R translation mechanism, the Z rotation mechanism and the X rotation mechanism being connected in series in different orders and forming a base end and an output end of the puncture needle positioning module at both ends, the base end of the puncture needle positioning module being connected to the arch slider mechanism;

[0011] And a puncture needle insertion module detachably connected to the output end of the puncture needle positioning module, the puncture needle insertion module being used for puncturing the puncture needle.

[0012] Preferably, the arch body comprises a non-complete internal gear and two lateral supports connected to both ends of the non-complete internal gear, the outer contour surface of the non-complete internal gear forming the circular arc-shaped guide track, and the inner contour surface of the non-complete internal gear having an internal gear part.

[0013] The arch slider mechanism comprises a mounting frame movably sleeved on the non-complete internal gear, an external gear rotatably arranged on the mounting frame and engaged with the internal gear part, at least one roller rotatably arranged on the mounting frame and in contact with the smooth outer contour surface of the non-complete internal gear, and an arch slider driving motor arranged on the mounting frame for driving the external gear to rotate.

[0014] Preferably, the arch body further comprises two Z1 translation mechanisms capable of providing Z-direction linear motion, and two lateral supports are respectively mounted on the two Z1 translation mechanisms to drive the arch module to move linearly in the Z-direction through the two Z1 translation mechanisms.

[0015] Preferably, the R translation mechanism comprises an R mounting base, an R screw rotatably arranged on the R mounting base, an R nut threadedly sleeved on the R screw, and an R motor for driving the R screw to rotate.

[0016] Preferably, the Z rotation mechanism is a worm and gear mechanism capable of transmitting two-axis motion and power, which comprises a Z mounting base, a Z rotating shaft rotatably arranged on the Z mounting base about a Z axis, a Z turbine drivingly connected to the Z rotating shaft, a Z worm rotatably arranged on the Z mounting base and engaged with the Z turbine, and a Z motor arranged on the Z mounting base for driving the Z worm to rotate.

[0017] Preferably, the X rotation mechanism comprises an X mounting base, two Z2 translation mechanisms capable of providing Z-direction linear motion and arranged in parallel on the X mounting base with a spacing along the Y-direction, and an interface assembly connected to the two Z2 translation mechanisms, each of the two Z2 translation mechanisms has an output part capable of reciprocating linear motion along the Z-direction, and the two output parts are rotatably connected to the interface assembly.

[0018] When the output parts of the two Z2 translation mechanisms move in the same direction at the same speed, the interface assembly moves linearly along the Z-direction.

[0019] When the output parts of the two Z2 translation mechanisms move in different directions or in the same direction but at different speeds, the interface assembly can achieve: (1) only rotational motion about the X axis; or (2) both linear motion along the Z-direction and rotational motion about the X axis.

[0020] Preferably, the interface assembly comprises an interface plate, two interface fixed connecting seats and at least one interface movable connecting seat arranged at the back of the interface plate with a spacing along the length direction of the interface plate, two interface guide rods are arranged between the two interface fixed connecting seats along the length direction, an interface guide hole is formed on the interface movable connecting seat for the interface guide rods to pass through, and the interface movable connecting seat is arranged between the two interface fixed connecting seats and can reciprocate on the interface guide rods.

[0021] The output part of one Z2 translation mechanism is rotatably connected to one interface movable connecting seat, and the output part of the other Z2 translation mechanism is rotatably connected to one interface fixed connecting seat.

[0022] Preferably, the Z2 translation mechanism comprises an X bracket arranged on the X mounting seat, an X screw rotatably arranged on the bracket, an X nut threadedly sleeved on the X screw, an X motor for driving the X screw to rotate, and two X translation output rods connected to the X nut, the two X translation output rods forming an output part of the Z2 translation mechanism.

[0023] Preferably, the R translation mechanism is connected to the arch slider mechanism, and the Z rotation mechanism and the X rotation mechanism are sequentially connected to the R translation mechanism.

[0024] Preferably, the Z rotation mechanism is connected to the arch slider mechanism, and the R translation mechanism and the X rotation mechanism are sequentially connected to the Z rotation mechanism.

[0025] Preferably, the R translation mechanism is connected to the arch slider mechanism, and the X rotation mechanism and the Z rotation mechanism are sequentially connected to the R translation mechanism.

[0026] The present application has the following beneficial effects:

[0027] The present application provides a minimally invasive surgery robot compatible with MRI and CT environments, which can adapt to the size of the closed cavity of a standard MRI scanner and CT scanner, and can accurately adjust and determine the position and posture of a puncture needle in the closed cavity, so as to ensure that the puncture needle can puncture at a planned path at a human skin insertion point; the minimally invasive surgery robot can complete the entire puncture needle insertion step in the closed cavity, and the movement and posture adjustment of the puncture needle will not interfere with image scanning, and can allow image scanning and robot movement to be performed in real time, so that the patient does not need to be repeatedly moved into or removed from the closed cavity of the MRI or CT during the entire surgery process, which can reduce the surgery time and improve the surgery precision.

[0028] The minimally invasive surgery robot of the present application can meet the needs of patients of various body types to the greatest extent, and can maximize the robot surgery operation space.

[0029] The minimally invasive surgery robot of the present application can realize rotary motion in any direction at a selected insertion point (pivot point), and then the puncture needle can be inserted into a target lesion position through the skin by automatic or remote control or manual mode.

[0030] The minimally invasive surgery robot of the present application has the characteristics of modularity and reconfigurability, and each module can be combined and reconfigured according to different surgical sites and organs and actual surgery space conditions, so as to better realize its function, have greater flexibility, and be convenient for maintenance, replacement, assembly and expansion.

[0031] The minimally invasive surgery robot of the present application can be used in combination with a rigid needle automatic insertion mechanism, a rigid needle manual insertion mechanism or a flexible needle automatic insertion mechanism to automatically or manually complete minimally invasive surgeries such as biopsy of living tissue, implantation of marker seeds or drug capsules or insertion of ablation electrodes. BRIEF DESCRIPTION OF DRAWINGS

[0032] Figure 1 Structure diagram of a minimally invasive surgery robot compatible with MRI and CT environments in an embodiment of the present application;

[0033] Figure 2 Exploded structure diagram of a minimally invasive surgery robot compatible with MRI and CT environments in an embodiment of the present application;

[0034] Figure 3 Structure diagram of an arch module in an embodiment of the present application;

[0035] Figure 4 Structure diagram of an arch slider mechanism in an embodiment of the present application;

[0036] Figure 5 Structure diagram of an arch module fixedly installed on an MRI or CT bed in an embodiment of the present application;

[0037] Figure 6 Structure diagram of an arch module in another embodiment of the present application, which can be set on an MRI or CT bed and move autonomously along a direction parallel to the Z direction;

[0038] Figure 7 State diagram of a minimally invasive surgery robot when the arch slider mechanism in an embodiment of the present application moves to a certain position;

[0039] Figure 8 Structure diagram of an arch module in another embodiment of the present application;

[0040] Figure 9 Structure diagram of a minimally invasive surgery robot in another embodiment of the present application using an arch module of Figure 8 ;

[0041] Figure 10 Structure diagram of a puncture needle positioning module in an embodiment of the present application;

[0042] Figure 11 Exploded structure diagram of a puncture needle positioning module in an embodiment of the present application;

[0043] Figure 12 Structure diagram of an R translational mechanism in an embodiment of the present application;

[0044] Figure 13Structure diagram of Z rotating mechanism in an embodiment of the present application;

[0045] Figure 14 Structure diagram of Z rotating mechanism in an embodiment of the present application;

[0046] Figure 15 Structure diagram of X rotating mechanism in an embodiment of the present application;

[0047] Figure 16 Structure diagram of X rotating mechanism in an embodiment of the present application;

[0048] Figure 17 Structure diagram of interface assembly in an embodiment of the present application;

[0049] Figure 18 Structure diagram of Z2 translating mechanism in another embodiment of the present application;

[0050] Figure 19 Structure diagram of minimally invasive surgical robot in an embodiment of the present application using air cylinder as Z2 translating mechanism;

[0051] Figures 20(A)-20(C) Structure diagram of three different pose states of minimally invasive surgical robot in an embodiment of the present application; namely three poses of puncture needle insertion angle greater than 0, equal to 0, and less than 0;

[0052] Figure 21 Minimally invasive surgical robot in an embodiment of the present application, in which the puncture needle insertion module is a rigid needle automatic insertion mechanism;

[0053] Figure 22 Minimally invasive surgical robot in an embodiment of the present application, in which the puncture needle insertion module is a flexible needle automatic insertion mechanism;

[0054] Figure 23 Minimally invasive surgical robot in an embodiment of the present application, in which the puncture needle insertion module is a rigid needle manual insertion mechanism;

[0055] Figure 24 Structure diagram of minimally invasive surgical robot compatible with MRI and CT environment in embodiment 2 of the present application;

[0056] Figure 25 Structure diagram of minimally invasive surgical robot compatible with MRI and CT environment in embodiment 3 of the present application.

[0057] BRIEF DESCRIPTION OF REFERENCE NUMERALS:

[0058] 1 - arch module; 10 - arch body; 11 - arch slider mechanism; 100 - incomplete internal gear; 101 - lateral support; 102 - circular arc-shaped guide rail; 103 - Z1 translational mechanism; 110 - mounting frame; 111 - external gear; 112 - roller; 113 - arch slider drive motor; 130 - incomplete external gear; 132 - internal circular arc-shaped guide rail;

[0059] 2 - puncture needle positioning module; 20 - R translational mechanism; 200 - R mounting seat; 201 - R screw rod; 202 - R nut; 203 - R motor;

[0060] 21 - Z rotational mechanism; 210 - Z mounting seat; 211 - Z rotating shaft; 212 - Z turbine; 213 - Z worm; 214 - Z motor;

[0061] 22 - X rotational mechanism; 220 - X mounting seat; 221 - Z2 translational mechanism; 222 - interface assembly; 223 - X support; 224 - X screw rod; 225 - X nut; 226 - X motor; 227 - X translational output rod; 228 - air cylinder;

[0062] 2220 - interface plate; 2221 - interface fixed connection seat; 2222 - interface movable connection seat; 2223 - interface guide rod; 2224 - interface guide hole;

[0063] 3 - puncture needle insertion module; 31 - puncture needle;

[0064] 4 - MRI or CT scanning device; 40 - scanning bed. DETAILED DESCRIPTION

[0065] The application will be further described below in conjunction with examples, so that those skilled in the art can implement the application according to the description.

[0066] It should be understood that the terms such as "have", "contain" and "include" used herein do not exclude the presence or addition of one or more other elements or combinations thereof.

[0067] Example 1

[0068] Reference Figures 1-2 , the MRI and CT environment compatible minimally invasive surgery robot of the embodiment comprises:

[0069] The arch module 1 comprises an arch body 10 having a circular arc-shaped guide rail 102 and an arch slider mechanism 11 capable of moving along a circular arc trajectory parallel to the XY plane on the circular arc-shaped guide rail (refer to Figure 3); the arch module 1 is used to install and support the puncture needle positioning module 2 and the puncture needle insertion module 3, and to realize the reciprocating motion (R1) of the two modules as a whole along the circular arc track above the MRI or CT bed;

[0070] The puncture needle positioning module 2 is connected to the arch slider mechanism 11, and the puncture needle positioning module 2 (referring to Figure 10 ) includes an R translation mechanism 20 (V2) for providing radial linear motion along the circular arc guide track 102, a Z rotation mechanism 21 for providing rotational motion around the Z axis (R2), and at least an X rotation mechanism 22 for providing rotational motion around the X axis. The R translation mechanism 20, the Z rotation mechanism 21 and the X rotation mechanism 22 can be connected in series in different orders, and form the base end and the output end of the puncture needle positioning module 2 at both ends. The base end of the puncture needle positioning module 2 is connected to the arch slider mechanism 11; the puncture needle positioning module 2 is used to accurately determine the pose of the puncture needle 31 of the puncture needle insertion module 3, so as to ensure that the puncture needle 31 is consistent with the planned path at the human skin insertion point, and allows the puncture needle 31 to rotate around the insertion point (or pivot point);

[0071] and the puncture needle insertion module 3, which is detachably connected to the output end of the puncture needle positioning module 2, is used to provide the insertion and retraction motion (V5) of the puncture needle 31 along the puncture direction, control the percutaneous puncture of the puncture needle 31, pass through the insertion point, and reach the surgical target position along the planned path.

[0072] Referring to Figures 3-4 In a preferred embodiment, the arch body 10 includes a non-complete internal gear 100 (i.e. a part of the internal gear) and two lateral supports 101 connected to both ends of the non-complete internal gear 100. The outer profile surface of the non-complete internal gear 100 forms a circular arc guide track 102, and the inner profile surface of the non-complete internal gear 100 has an internal gear part.

[0073] The arch slider mechanism 11 includes a mounting frame 110 movably sleeved on the non-complete internal gear 100, an external gear 111 rotatably arranged on the mounting frame 110 and engaged with the internal gear part, at least one roller 112 rotatably arranged on the mounting frame 110 and in contact with the smooth outer profile surface of the non-complete internal gear 100, and an arch slider driving motor 113 arranged on the mounting frame 110 and used to drive the rotation of the external gear 111. When the arch slider driving motor 113 drives the rotation of the external gear 111, the entire arch slider mechanism 11 moves along the circular arc guide track 102 on the non-complete internal gear 100 through the engagement of the external gear 111 and the internal gear part. At this time, the roller 112 rolls relative to the outer profile surface of the non-complete internal gear 100.

[0074] Referring to Figure 5In one embodiment, the arch module 1 is fixedly installed on the scanning bed 40 of the MRI or CT scanning device 4 by two lateral supports 101.

[0075] Referring to Figure 6 In another embodiment, the arch module 1 can move autonomously (V1) along the length direction (i.e. the Z-axis direction) of the scanning bed 40 of the MRI or CT scanning device 4. In this embodiment, the arch body 10 further comprises two Z1 translational mechanisms 103 capable of providing linear movement in the Z direction, and the two lateral supports 101 are respectively installed on the two Z1 translational mechanisms 103 to drive the arch module 1 to move linearly in the Z direction by the two Z1 translational mechanisms 103. The Z1 translational mechanism 103 is a screw transmission mechanism or other linear driving mechanism (such as a pneumatic cylinder, an electric push rod, etc.), which is used to ensure the autonomous linear movement of the arch module 1 along the Z-axis direction. In an alternative embodiment, the Z1 translational mechanism 103 has the same structural principle as the R translational mechanism 20, which will be described in detail below, so the structure of the Z1 translational mechanism 103 will not be described here.

[0076] Referring to Figure 7 Figures 8A and 8B are schematic diagrams of the state of the minimally invasive surgery robot when the arch slider mechanism 11 moves to a certain position, which are schematic diagrams of two different perspectives.

[0077] Referring to Figure 8 and Figure 9 Figures 9A and 9B are schematic diagrams of the structure of the arch module 1 in another embodiment. In this embodiment, a non-complete external gear 130 is used instead of the original non-complete internal gear 100 in the arch body 10. The inner profile surface of the non-complete external gear 130 forms an inner circular arc-shaped guide track 132, and the outer profile surface has an external gear portion. The installation direction of the arch slider mechanism 11 is changed so that the external gear 111 in the arch slider mechanism 11 meshes with the external gear portion of the non-complete external gear 130, and the entire arch slider mechanism 11 moves along the inner circular arc track 132 (part of a circle) on the non-complete external gear 130. At this time, the roller 112 rolls relative to the inner profile surface of the non-complete external gear 130.

[0078] Referring to Figures 10-11 Figures 10A and 10B are schematic diagrams of the overall structure and exploded structure of the puncture needle positioning module 2, respectively.

[0079] In a preferred embodiment, the R translational mechanism 20 is a screw transmission mechanism or other linear driving mechanism. The following will be described taking the screw transmission mechanism as an example: Referring to Figure 12The R translational mechanism 20 comprises an R mounting base 200, an R screw rod 201 rotatably arranged on the R mounting base 200, an R nut 202 threadedly sleeved on the R screw rod 201, and an R motor 203 for driving the R screw rod 201 to rotate; the R motor 203 drives the R nut 202 to move in a reciprocating linear motion in the R direction (radial direction of the circular arc-shaped guide rail 102) through the R screw rod 201.

[0080] In a preferred embodiment, the Z rotating mechanism 21 is a worm gear mechanism or other rotating mechanism, which is described below by taking the worm gear mechanism as an example: referring to Figures 13-14 The Z rotating mechanism 21 comprises a Z mounting base 210, a Z rotating shaft 211 rotatably arranged on the Z mounting base 210, a Z turbine 212 drivingly connected to the Z rotating shaft 211, a Z worm 213 rotatably arranged on the Z mounting base 210 and engaged with the turbine 212, and a Z motor 214 arranged on the Z mounting base 210 and used for driving the Z worm 213 to rotate. The Z motor 214 drives the Z turbine 212 to rotate through the Z worm 213, and then drives the Z rotating shaft 211 to rotate around the Z axis.

[0081] Referring to Figures 15-17 In a preferred embodiment, the X rotating mechanism 22 comprises an X mounting base 220, two Z2 translational mechanisms 221 arranged in parallel on the X mounting base 220 and having a spacing along the Y direction and capable of providing a linear motion in the Z direction, and an interface assembly 222 connected to the two Z2 translational mechanisms 221. The two Z2 translational mechanisms 221 have output portions capable of moving in a reciprocating linear motion in the Z direction, and the two output portions are rotatably connected to upper and lower ends of the interface assembly 222, respectively. One of the two connected ends can slide back and forth along the length direction of the interface assembly 222, so as to ensure that the rotational adjustment of the interface assembly 222 can be realized (which will be described in detail below). The two Z2 translational mechanisms 221 achieve two sets of linear motions in the Z direction (V3, V4).

[0082] When the output portions of the two Z2 translational mechanisms 221 move in the same direction at the same speed, the interface assembly 222 moves in a linear motion in the Z direction. At this time, the X rotating mechanism 22 can also realize the position adjustment in the Z direction within a certain range. Therefore, in some embodiments, the two Z1 translational mechanisms 103 arranged in the archway module 1 for moving along the length direction of the MRI or CT bed can be omitted by using the Z direction position adjustment function of the X rotating mechanism 22. Alternatively, the two Z1 translational mechanisms 103 and the X rotating mechanism 22 can be used in cooperation with each other: the two Z1 translational mechanisms 103 are used to adjust the position of the archway module 1, the puncture needle positioning module 2 and the puncture needle insertion module 3 as a whole in the Z direction within a large range, and then the Z direction position adjustment function of the X rotating mechanism 22 is used to realize the accurate adjustment of the position of the puncture needle insertion module 3 in the Z direction.

[0083] When the output portions of the two Z2 translation mechanisms 221 move in different directions or in the same direction but at different speeds, the interface assembly 222 can achieve: (1) only rotational movement around the X axis (for example, one of the Z2 translation mechanisms 221 does not move, and the other Z2 translation mechanism 221 moves, at which time the interface assembly 222 only performs rotational movement around the X axis); or (2) both linear movement in the Z direction and rotational movement around the X axis (at this time, both Z2 translation mechanisms 221 move). Thus, the pose or insertion angle of the puncture needle 31 of the puncture needle module 3 connected to the output end of the puncture needle positioning module 2 can be controlled through the interface assembly 222.

[0084] Wherein, the Z2 translation mechanism 221 is a screw transmission mechanism or other linear drive mechanism, and continues to refer to Figures 15-17 In an embodiment, the Z2 translation mechanism 221 is a screw transmission mechanism, which includes an X bracket 223 provided on the X mounting base 220, an X screw 224 rotatably provided on the X bracket 223, an X nut 225 threadedly sleeved on the X screw 224, an X motor 226 for driving the X screw 224 to rotate, and two X translation output rods 227 connected to the X nut 225, the two X translation output rods 227 forming the output portion of the Z2 translation mechanism, and the two X translation output rods 227 being rotatably connected to the interface assembly 222; the X motor 226 drives the X nut 225 to perform reciprocating linear motion in the Z direction through the X screw 224.

[0085] Referring again to Figure 17 In a preferred embodiment, the interface assembly 222 includes an interface plate 2220, two interface fixed connection seats 2221 and at least one interface movable connection seat 2222 spaced apart along the length direction of the interface plate and provided on the back of the interface plate 2220, two interface guide rods 2223 arranged in the length direction are provided between the two interface fixed connection seats 2221, an interface guide hole 2224 is provided on the interface movable connection seat 2222 for the interface guide rod 2223 to pass through, and the interface movable connection seat 2222 is provided between the two interface fixed connection seats 2221 and can move reciprocatingly on the interface guide rod 2223; the output portion of one Z2 translation mechanism is rotatably connected to one interface movable connection seat 2222, and the output portion of the other Z2 translation mechanism is rotatably connected to one interface fixed connection seat 2221.

[0086] Specifically, in the embodiment, the output rod 227 of the Z2 translational mechanism located at the upper side is rotatably connected with the interface movable connecting seat 2222, and the output rod 227 of the Z2 translational mechanism located at the lower side is rotatably connected with the interface fixed connecting seat 2221. In the process of generating the rotational movement around the X axis by the interface assembly, the output rod 227 pushes the interface movable connecting seat 2222 to move in the Z direction, and at the same time, the interface movable connecting seat 2222 slides relative to the interface guide rod 2223, so that the interface plate 2220 can rotate around the X axis without being stuck.

[0087] With reference to Figure 18 In another embodiment, the Z2 translational mechanism 221 is a pneumatic cylinder 228, the output rod of the pneumatic cylinder 228 forms the output part of the Z2 translational mechanism 221, and the output rod of the pneumatic cylinder 228 is rotatably connected with the interface assembly 222. Correspondingly, with reference to Figure 19 Fig. 4 is a structural schematic diagram of a minimally invasive surgical robot using the pneumatic cylinder 228 as the Z2 translational mechanism 221, wherein the upper and lower diagrams are schematic diagrams from different perspectives.

[0088] It should be understood that, in addition to the above structure, the Z1 translational mechanism, the R translational mechanism, the Z2 translational mechanism, and other mechanisms providing linear movement function in the present application can also use other conventional driving mechanisms providing translational function.

[0089] The minimally invasive surgical robot compatible with MRI and CT environment in the present application follows the modularization and reconfigurable characteristics. The R translational mechanism 20, the Z rotational mechanism 21, and the X rotational mechanism 22 can be combined and reconfigured according to different surgical sites and organs, and actual surgical space conditions, and are connected in series in different orders to meet the actual surgical requirements, thereby having greater flexibility and characteristics of being convenient for maintenance, replacement, assembly, expansion, and the like.

[0090] Figures 20(A)-20(C) Fig. 5 shows three different pose states of the minimally invasive surgical robot. Figure 20(A) 、 20(B) Fig. 20(C) shows the posture of the puncture needle 31 when the insertion angle β is greater than 0, equal to 0, and less than 0, respectively; wherein the upper and lower diagrams are schematic diagrams from different perspectives.

[0091] With reference to Figures 1-2 、 Figures 10-11The R translational mechanism 20 is connected to the arch slider mechanism 11, the Z rotating mechanism 21 and the X rotating mechanism 22 are sequentially connected to the R translational mechanism 20. Specifically, the R mounting seat 200 of the R translational mechanism 20 is connected to the mounting frame 110 of the arch slider mechanism 11, the Z mounting seat 210 of the Z rotating mechanism 21 is connected to the R nut 202 of the R translational mechanism 20, the X mounting seat 220 of the X rotating mechanism 22 is connected to the Z rotating shaft 211 of the Z rotating mechanism 21, and the puncture needle insertion module 3 is connected to the interface assembly 222 in the X rotating mechanism 22. The puncture needle positioning module 2 and the puncture needle insertion module 3 are driven by the arch slider mechanism 11 to move along the circular arc track as a whole, the Z rotating mechanism 21, the X rotating mechanism 22 and the puncture needle insertion module 3 at the rear end are driven by the R translational mechanism 20 to move linearly in the radial direction R, the X rotating mechanism 22 and the puncture needle insertion module 3 at the rear end are driven by the Z rotating mechanism 21 to rotate around the Z axis, and the puncture needle insertion module 3 is driven by the X rotating mechanism 22 to rotate around the X axis, so as to adjust the pose of the puncture needle, and the X rotating mechanism 22 can also be used to realize the linear motion of the puncture needle insertion module 3 in the Z axis direction within a certain range.

[0092] Among them, the power device (each motor) adopts a magnetically compatible motor, and other electrical components and mechanical parts also use magnetically compatible materials to ensure that MRI or CT image scanning and robot movement can be performed in real time.

[0093] It should be understood that the focus of the present application is to move the puncture needle 31 on the puncture needle insertion module 3 to the desired puncture position and adjust it to the desired angle according to the planned path through the structure design and cooperation of the arch module 1 and the puncture needle positioning module 2; among them, the puncture needle insertion module 3 is mainly used for puncture action of the puncture needle 31, and the puncture needle insertion module 3 can adopt a conventional rigid needle automatic insertion mechanism, or a rigid needle manual insertion mechanism, or a flexible needle automatic insertion mechanism, etc., so the specific structure of the puncture needle insertion module 3 in the present application is not limited and is not described.

[0094] Referring to Figure 21 , a minimally invasive surgical robot is illustrated, in which the puncture needle insertion module 3 is a rigid needle automatic insertion mechanism.

[0095] Referring to Figure 22 , a minimally invasive surgical robot is illustrated, in which the puncture needle insertion module 3 is a flexible needle automatic insertion mechanism; among them, the flexible needle automatic insertion mechanism is the flexible needle puncture device disclosed in Chinese patent CN216417288U.

[0096] Referring to Figure 23 , a minimally invasive surgical robot is illustrated, in which the puncture needle insertion module 3 is a rigid needle manual insertion mechanism.

[0097] Embodiment 2

[0098] With reference to Figure 24 As a further improvement based on Embodiment 1, in this embodiment, the Z-rotation mechanism 21 is connected to the arch slider mechanism 11, and the R-translation mechanism 20 and the X-rotation mechanism 22 are connected to the Z-rotation mechanism 21 in sequence. The specific connection mode between each module and the working principle are basically the same as Embodiment 1, and will not be repeated here.

[0099] Embodiment 3

[0100] With reference to Figure 25 As a further improvement based on Embodiment 1, in this embodiment, the R-translation mechanism 20 is connected to the arch slider mechanism 11, and the X-rotation mechanism 22 and the Z-rotation mechanism 21 are connected to the R-translation mechanism 20 in sequence. The specific connection mode between each module and the working principle are basically the same as Embodiment 1, and will not be repeated here.

[0101] Although the embodiments of the present application have been disclosed as above, it is not limited to the application listed in the specification and the embodiments, and it can be fully applied to various fields suitable for the present application, and other modifications can be easily implemented by those skilled in the art, and therefore the present application is not limited to specific details, without departing from the general concept defined by the claims and the equivalent scope.

Claims

1. A minimally invasive surgical robot compatible with MRI and CT environments, characterized in that, The application relates to a puncture needle positioning module and a puncture needle insertion module. The arch module comprises an arch body with a circular arc-shaped guide track and an arch slider mechanism capable of moving along a circular arc track parallel to an XY plane on the circular arc-shaped guide track. The puncture needle positioning module is connected to the arch slider mechanism and comprises an R translation mechanism for providing linear motion along a radius R direction of the circular arc-shaped guide track, a Z rotation mechanism for providing rotation motion around a Z axis, and at least an X rotation mechanism for providing rotation motion around an X axis. The R translation mechanism, the Z rotation mechanism and the X rotation mechanism are connected in series in different sequences and form a base end and an output end of the puncture needle positioning module at two ends. The puncture needle insertion module is detachably connected to the output end of the puncture needle positioning module and is used for puncturing a puncture needle. The arch body comprises a non-complete internal gear and two lateral supports connected to two ends of the non-complete internal gear. The non-complete internal gear comprises an outer contour surface forming the circular arc-shaped guide track and an internal gear part. The arch slider mechanism comprises a mounting frame movably sleeved on the non-complete internal gear, an external gear rotatably arranged on the mounting frame and engaged with the internal gear part, at least one roller rotatably arranged on the mounting frame and in contact with the smooth outer contour surface of the non-complete internal gear, and an arch slider driving motor arranged on the mounting frame and used for driving the external gear to rotate. The X rotation mechanism comprises an X mounting seat, two Z2 translation mechanisms arranged in parallel on the X mounting seat and capable of providing Z linear motion in a Y direction and an interface assembly connected to the two Z2 translation mechanisms. When the output parts of the two Z2 translation mechanisms move in the same direction at the same speed, the interface assembly moves linearly in the Z direction. When the output parts of the two Z2 translation mechanisms move in different directions or in the same direction but at different speeds, the interface assembly only rotates around the X axis or rotates around the X axis while moving linearly in the Z direction. The Z2 translation mechanism is a screw transmission mechanism comprising an X support arranged on the X mounting seat, an X screw rotatably arranged on the X support, an X nut sleeved on the X screw in a matched thread, an X motor used for driving the X screw to rotate, and two X translation output rods connected to the X nut and forming the output parts of the Z2 translation mechanism. The X motor drives the X nut to move linearly in the Z direction through the X screw. The interface assembly comprises an interface plate, two interface fixed connecting seats and at least one interface movable connecting seat which are arranged at the back of the interface plate in a length direction of the interface plate, two interface guide rods arranged in the length direction are arranged between the two interface fixed connecting seats, an interface guide hole is formed in the interface movable connecting seat for the interface guide rods to pass through, the interface movable connecting seat is arranged between the two interface fixed connecting seats and can reciprocate on the interface guide rods; the output part of one Z2 translational mechanism is rotatably connected with one interface movable connecting seat, and the output part of another Z2 translational mechanism is rotatably connected with one interface fixed connecting seat.

2. The minimally invasive surgical robot compatible with MRI and CT environments of claim 1, wherein, The arch door body further comprises two Z1 translational mechanisms capable of providing linear motion in the Z direction, and two lateral supports are respectively mounted on the two Z1 translational mechanisms to drive the arch door module to move linearly in the Z direction through the two Z1 translational mechanisms.

3. The minimally invasive surgical robot compatible with MRI and CT environments of claim 1, wherein, The R translational mechanism comprises an R mounting seat, an R screw rod rotatably arranged on the R mounting seat, an R nut threadedly sleeved on the R screw rod, and an R motor for driving the R screw rod to rotate.

4. The minimally invasive surgical robot compatible with MRI and CT environments of claim 1, wherein, The Z rotating mechanism comprises a Z mounting seat, a Z rotating shaft rotatably arranged on the Z mounting seat about a Z axis, a Z worm wheel drivingly connected to the Z rotating shaft, a Z worm rotatably arranged on the Z mounting seat and meshing with the Z worm wheel, and a Z motor arranged on the Z mounting seat for driving the Z worm to rotate.

5. The minimally invasive surgical robot compatible with MRI and CT environments of claim 1, wherein, The Z2 translational mechanism comprises an X support arranged on the X mounting seat, an X screw rod rotatably arranged on the X support, an X nut threadedly sleeved on the X screw rod, an X motor for driving the X screw rod to rotate, and two X translational output rods connected to the X nut, the two X translational output rods forming the output part of the Z2 translational mechanism.

6. The minimally invasive surgical robot compatible with MRI and CT environments of any of claims 1-5, wherein, The R translational mechanism is connected to the arch door sliding block mechanism, and the Z rotating mechanism and the X rotating mechanism are sequentially connected to the R translational mechanism.

7. The minimally invasive surgical robot compatible with MRI and CT environments of any of claims 1-5, wherein, The Z rotating mechanism is connected to the arch door sliding block mechanism, and the R translational mechanism and the X rotating mechanism are sequentially connected to the Z rotating mechanism.

8. The minimally invasive surgical robot compatible with MRI and CT environments of any of claims 1-5, wherein, The R translational mechanism is connected to the arch door sliding block mechanism, and the X rotating mechanism and the Z rotating mechanism are sequentially connected to the R translational mechanism.

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