A dual-arm puncture robot system that integrates ultrasonic and tactile information

Abstract

The present invention discloses a dual-arm puncture robot system integrating ultrasonic and tactile information, which includes an ultrasonic robotic arm, an ultrasonic probe, a flexible tactile sensor matching the probe, a puncture robotic arm, a puncture mechanism, a flexible tactile sensor matching the puncture needle, an ultrasonic imager, and an industrial control computer. The ultrasonic robotic arm is installed with the ultrasonic probe and the flexible tactile sensor matching the probe. By fusing ultrasonic information and tactile information, artificial intelligence is used to identify and locate the positions of the puncture needle and the tumor. At the puncture end, by adjusting the puncture robotic arm to keep the contact force of the flexible tactile sensor constant, real-time tracking compensation of respiratory movement can be achieved, and the relative fixation between the puncture needle and the abdomen can be maintained. The present invention achieves the effects of improving the accuracy of ultrasonic positioning and compensating for the dynamic respiration of the human body by introducing a tactile sensor. The overall system structure is simple and convenient to use, without the need for preoperative device deployment or calibration, and has great application value in clinical medical puncture operations.

Description

Technical Field

[0001] The present invention belongs to the technical field of robots, and relates to a medical puncture robot, specifically to a two-arm puncture robot system integrating ultrasonic and tactile information. Background Art

[0002] In recent years, robots have developed rapidly in the fields of industry, service, and agriculture, and have also been widely applied in the medical field. In particular, robot technology for tumor treatment has developed rapidly in recent years. The two-arm puncture robot based on ultrasonic guidance has the advantages of integrated positioning and puncture modeling, high surgical precision, good controllability, etc., and has become a major research hotspot for puncture robots at home and abroad. However, a significant problem in puncture robots is that the respiratory movement of the human body will cause huge interference to the robot positioning and puncture. Specifically, the human abdomen will regularly rise and fall with breathing, and organs such as internal organs in the abdomen will also move regularly with breathing. If the puncture needle cannot move regularly with breathing to offset the displacement caused by breathing during puncture, it is very likely to cause problems such as an increase in the wound near the puncture point and inability to align with the puncture target area, increasing the risk of puncture failure.

[0003] Most scholars have avoided the problem of respiratory movement and instead focused on the calibration and positioning of surgical instruments during surgery. Some scholars have focused on researching the compensation algorithm for respiratory movement. By designing a mechanism with reciprocating translational motion to simulate human breathing, they studied the puncture tracking algorithm of the phantom on the reciprocating mechanism. However, essentially, it still generates the tracking trajectory based on the prior respiratory movement trajectory and cannot perform real-time tracking, so it cannot be applied to the human body. Summary of the Invention

[0004] In view of the deficiencies in the existing research on puncture robots, the purpose of the present invention is to provide a two-arm puncture robot system integrating ultrasonic and tactile information. At the ultrasonic end, it integrates ultrasonic information and tactile information, and uses artificial intelligence to identify and locate the positions of the puncture needle and the tumor; at the puncture end, a tactile sensor is attached to the puncture site, and by adjusting the puncture robotic arm to keep the contact force of the flexible tactile sensor constant, real-time tracking compensation for respiratory movement can be achieved, and the relative fixed positional relationship between the puncture needle and the abdomen can be maintained. The two-arm puncture robot system integrating ultrasonic and tactile information described in the present invention can achieve the effects of improving the accuracy of ultrasonic positioning and compensating for human respiratory dynamics by introducing a tactile sensor. The overall system structure is simple, easy to use, does not require preoperative device deployment or calibration, and has great application value in clinical medical puncture operations.

[0005] To achieve the above object, the technical solution adopted by the present invention is:

[0006] A two-arm puncture robot system integrating ultrasonic and tactile information, comprising

[0007] An ultrasonic robotic arm, with an ultrasonic probe and a first flexible tactile sensor for monitoring the tactile signals on the surface of the puncture target installed at its execution end;

[0008] A puncture robotic arm, with a puncture mechanism and a second flexible tactile sensor for monitoring the tactile signals on the surface of the puncture target installed at its execution end;

[0009] An ultrasonic imager, connected to the ultrasonic probe, for performing ultrasonic imaging on the puncture target;

[0010] A controller, which determines the target point according to the ultrasonic image obtained by the ultrasonic probe of the ultrasonic imager and controls the guiding puncture mechanism to perform puncture;

[0011] The controller drives the ultrasonic robotic arm to follow the movement according to the contact force information on the surface of the puncture target monitored by the first flexible tactile sensor, so that the ultrasonic probe maintains relative stability with the surface of the puncture target;

[0012] The controller drives the puncture robotic arm to follow the movement according to the contact force information on the surface of the puncture target monitored by the second flexible tactile sensor, so that the puncture mechanism maintains relative stability with the surface of the puncture target.

[0013] Further, both the ultrasonic robotic arm and the puncture robotic arm are robotic arms with six or more axes.

[0014] Further, both the first flexible tactile sensor and the second flexible tactile sensor are force sensors that can at least detect the magnitude of the contact force and have flexible contact heads.

[0015] Further, the first flexible tactile sensor and the ultrasonic probe are installed side by side at the execution end of the ultrasonic robotic arm, so that the first flexible tactile sensor and the ultrasonic probe can simultaneously contact the surface of the puncture target during ultrasonic detection.

[0016] Further, a conversion coordinate system is established between the ultrasonic robotic arm and the puncture robotic arm, or they have a common world coordinate system, so that a direct coordinate conversion can be performed between the target point detected by the ultrasonic image and the puncture mechanism.

[0017] Further, the ultrasonic image determines the coordinates of the target point in the coordinate system of the ultrasonic robotic arm through the training and learning of a neural network.

[0018] Further, the flexible contact head of the second flexible tactile sensor is a contact ring surrounding the puncture needle of the puncture mechanism, and the puncture needle can protrude from within the contact ring for puncture.

[0019] Further, the controller is an industrial control computer, and a real-time communication mechanism is established between the industrial control computer and the ultrasonic robotic arm, the first flexible tactile sensor, the puncture robotic arm, and the second flexible tactile sensor.

[0020] A puncture method based on motion following, using the above-mentioned dual-arm puncture robot system, includes the following steps:

[0021] Step 1: Set up the dual-arm puncture robot system and prepare the puncture mechanism and the ultrasonic probe.

[0022] Step 2: Start the ultrasonic robotic arm, adjust the pose of the robotic arm so that the ultrasonic probe reaches the surface of the puncture object, perform ultrasonic detection on the puncture object, obtain ultrasonic images, determine the target position through manual marking or neural network learning, and obtain the coordinates of the target in the coordinate system of the ultrasonic robotic arm; during the ultrasonic detection process, the controller monitors the change in the contact force between the execution end of the ultrasonic robotic arm and the surface of the puncture object through the first flexible tactile sensor, and controls the ultrasonic robotic arm to perform adjustment and following actions according to the change in the contact force, so that the contact force monitored by the first flexible tactile sensor remains constant, thereby obtaining stable ultrasonic images to obtain the real-time coordinates of the target in the coordinate system of the ultrasonic robotic arm;

[0023] Step 3: Start the puncture robotic arm, adjust the pose of the robotic arm so that the puncture needle of the puncture mechanism reaches the appropriate needle insertion position and posture. At this time, the second flexible tactile sensor is attached to the surface of the puncture object around or on the side of the puncture needle. The controller monitors the change in the contact force between the puncture mechanism or the execution end of the puncture robotic arm and the surface of the puncture object according to the second flexible tactile sensor, and controls the puncture robotic arm to perform adjustment and following actions according to the change in the contact force, so that the contact force monitored by the second flexible tactile sensor remains constant, thereby enabling the puncture mechanism to follow the movement of the puncture object to perform a following action, so that the puncture needle and the target remain relatively static;

[0024] Step 4: Start the puncture mechanism to puncture the puncture object to complete the puncture based on motion following.

[0025] Further, in Step 2, using the ultrasonic images and the respiratory information collected by the flexible tactile sensor as inputs, constructing a neural network model based on the positional relationship between the puncture needle and the target area for machine learning to quickly obtain the coordinates of the target area.

[0026] Further, when the puncture object moves due to breathing or simulates human breathing movement, when the puncture object simulates inhalation, the abdomen will bulge, and the first flexible tactile sensor or the second flexible tactile sensor detects an increase in pressure, then the controller will control the robotic arm to carry the ultrasonic probe or the puncture mechanism to move away from the skin direction to prevent the increase in pressure; when the puncture object simulates exhalation, the abdomen will sink, and the first flexible tactile sensor or the second flexible tactile sensor detects a decrease in pressure, then the controller will control the robotic arm to carry the ultrasonic probe or the puncture mechanism to move in the direction close to the skin to prevent the decrease in pressure, so that the ultrasonic probe or the puncture mechanism and the target remain relatively stationary.

[0027] Furthermore, both the ultrasonic robotic arm and the puncture robotic arm are serial robotic arms, both having six or more rotational axes, and the working surface at the end of the robotic arm has six degrees of freedom.

[0028] The beneficial effects of the present invention are as follows:

[0029] 1. At the ultrasonic positioning end, a flexible tactile sensor is added to detect the change in the magnitude of the skin contact force near the probe contact point, and it is fused with the ultrasonic image data to predict the position of the puncture needle and the target area. This is equivalent to adding the influence of respiratory movement to the prediction algorithm, which can improve the accuracy of prediction.

[0030] 2. At the puncture end, a flexible tactile sensor is attached to the skin near the puncture point, and by adjusting the puncture robotic arm to keep the contact force of the flexible tactile sensor constant, real-time tracking compensation of respiratory movement can be achieved, and the relative fixed positional relationship between the puncture needle and the abdomen can be maintained.

[0031] 3. The entire robotic system only needs to be calibrated once at the initial stage and does not need to be calibrated again during subsequent use, avoiding the complicated preoperative calibration process. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 is the overall composition diagram of the dual-arm puncture robotic system that fuses ultrasonic and tactile information according to the present invention;

[0033] Figure 2 is the schematic diagram of the ultrasonic end of the dual-arm puncture robotic system that fuses ultrasonic and tactile information according to the present invention;

[0034] Figure 3 is the schematic diagram of the puncture end of the dual-arm puncture robotic system that fuses ultrasonic and tactile information according to the present invention;

[0035] Figure 4 is the control framework of the dual-arm puncture robotic system that fuses ultrasonic and tactile information according to the present invention.

[0036] Among them, 1 - ultrasonic robotic arm, 2 - ultrasonic end, 21 - ultrasonic probe, 22 - first flexible tactile sensor, 23 - probe fixture, 24 - fixture bracket, 3 - puncture robotic arm, 4 - puncture mechanism, 41 - second flexible tactile sensor, 42 - puncture needle, 43 - puncture needle spin drive motor, 44 - puncture needle translation drive motor, 45 - puncture mechanism base, 5 - base, 6 - puncture human model, 7 - ultrasonic imager, 8 - industrial control computer. DETAILED DESCRIPTION OF THE INVENTION

[0037] In order to make the technical problems and technical solutions to be solved by the present invention clearer, the dual-arm puncture robot system integrating ultrasound and tactile information provided by the present invention is described in detail below in conjunction with the accompanying drawings and embodiments, which are intended to explain the present invention rather than to limit it.

[0038] Example 1.

[0039] See also Figure 1 The present invention discloses a dual-arm puncture robot system integrating ultrasound and tactile information, including two mechanical arms, an ultrasound probe 21, a first flexible tactile sensor 22, a puncture mechanism 4, a second flexible tactile sensor 41, an ultrasound imager 7 and a controller; the controller is an industrial computer 8, and the two mechanical arms are an ultrasound mechanical arm 1 and a puncture mechanical arm 3; the ultrasound mechanical arm 1 and the puncture mechanical arm 3 are respectively installed on both sides of a base 5, wherein the ultrasound mechanical arm 1 and the puncture mechanical arm 3 both use six-axis mechanical arms, and the number of joint axes of the two mechanical arms is not limited thereto, but should be at least six axes or more. If a coordinate system is established at the center position of the upper surface of the base 5 and defined as a world coordinate system, the ultrasound mechanical arm 1 and the puncture mechanical arm 3 can be calibrated by a calibration tool to calibrate the pose transformation matrix of their respective base 5 coordinate systems in the world coordinate system.

[0040] In particular, the end positions of the two robotic arms can be tracked in real time in the world coordinate system. The ultrasonic robotic arm 1, the puncture robotic arm 3 and the industrial computer 8 establish a real-time communication mechanism, and the industrial computer 8 can obtain the joint angle information of all joints of the two robotic arms in real time, and calculate the position information of the end tool coordinate system in the world coordinate system.

[0041] See also Figure 2 The ultrasonic probe 21 is fixed on the probe fixture 23, and the first flexible tactile sensor 22 matched with the ultrasonic probe 21 is also fixed on the probe fixture 23 through the mounting hole and the fastener. The probe fixture 23 is connected to the fixture bracket 24 and fixed on the working flange surface of the execution end of the ultrasonic mechanical arm 1 through the fixture bracket 24. The flexible contact head at the front end of the first flexible tactile sensor 22 matched with the ultrasonic probe 21 is in the shape of a half moon, which is close to the side of the ultrasonic probe 21, and after being fixed, the relative position between the two remains unchanged. The height of the first flexible tactile sensor 22 is roughly the same as that of the ultrasonic probe 21, and the arc of the flexible contact head surrounds a part of the ultrasonic probe 21, so that when performing ultrasonic testing, the first flexible tactile sensor 22 and the ultrasonic probe 21 can contact the human body or puncture the human body model 6 at the same time. Through the mechanical connection relationship, the posture transformation matrix from the coordinate system of the ultrasonic probe 21 to the coordinate system of the flange at the end of the ultrasonic mechanical arm 1 can be obtained.

[0042] The first flexible tactile sensor 22 is fixed on one side of the ultrasonic probe 21. When the ultrasonic probe 21 contacts the human skin for ultrasonic examination, the first flexible tactile sensor 22 also contacts the human skin. Since the working surface of the flexible tactile sensor is covered with a flexible material, it will not cause an uncomfortable touch to the human body. At the same time, since the skin fluctuates due to the breathing movement of the human body, the flexible tactile sensor will detect the change in the size of the contact pressure, thereby collecting the breathing information of the human body and obtaining the movement pattern of the human skin caused by breathing.

[0043] As a preferred embodiment, the breathing information collected by the flexible tactile sensor will be integrated with the ultrasonic image collected by the ultrasonic probe 21, and after training and learning of the neural network, the position of the puncture needle 42 and the target area in the coordinate system of the ultrasonic probe 21 can be predicted. Then, according to the installation position relationship of the probe at the end of the ultrasonic manipulator 1, the six joint angle information of the ultrasonic manipulator 1, and the posture transformation matrix of the ultrasonic manipulator 1 relative to the world coordinate system, the posture of the puncture needle 42 and the target area (or target point) in the world coordinate system can be calculated, thereby providing guidance for the motion planning of the puncture manipulator 3.

[0044] See also Figure 1 , Figure 2 and Figure 4 , the ultrasonic probe 21 is connected to the ultrasonic imager 7 through a wire, and the ultrasonic probe 21 transmits data to the ultrasonic imager 7 during detection to generate an ultrasonic image. The ultrasonic imager 7 is connected to the industrial computer 8 through a wire to transmit the ultrasonic image to the industrial computer 8. The first flexible tactile sensor 22 is connected to the industrial computer 8 through a wire, and the tactile information is also sent to the industrial computer 8 during detection. The industrial computer 8 first controls the ultrasonic manipulator 1 to perform a follow-up action according to the received tactile information to ensure that the contact force between the ultrasonic probe 21 and the human body or the puncture human body model 6 remains relatively stable, so that high-quality ultrasonic images can be obtained and the target coordinates can be determined in real time; the industrial computer 8 marks the target area (target point) and the needle insertion point through manual marking or artificial intelligence recognition according to the received ultrasonic image information; and converts it into the position in the coordinate system of the ultrasonic probe 21, and then obtains the position of the puncture needle 42 and the target area in the world coordinate system through coordinate transformation, providing guidance for the motion planning of the puncture manipulator 3.

[0045] It should be noted that the ultrasonic probe 21 is fixed to the execution end of the ultrasonic manipulator 1 by a clamp and is used for ultrasonic detection of the human body. The ultrasonic probe 21 is composed of structures such as an ultrasonic transducer, and its specific imaging principle is not within the scope of the present invention. The ultrasonic probe 21 used in the present invention is a commonly used medical device in medical treatment. The ultrasonic probe 21 is connected to the ultrasonic imager 7 to perform ultrasonic imaging. The ultrasonic imager 7 is connected to the industrial computer 8 to send the ultrasonic image to the industrial computer 8.

[0046] Please refer to Figure 3 and Figure 4 The puncture mechanism 4 is fixed on the end working flange surface of the puncture robotic arm 3 through the puncture mechanism base 45. The puncture needle 42 is installed on the puncture mechanism 4, and the tip of the needle extends from the center of the ring of the second flexible tactile sensor 41. The puncture robotic arm 3 drives the entire puncture mechanism 4 to move, adjusting the position and posture of the puncture device and the puncture needle 42 until the tip of the puncture needle 42 reaches the specified needle insertion point and puncture posture designated by the doctor. Then, the industrial control computer 8 controls the puncture robotic arm 3 to perform a following action according to the received tactile information, ensuring that the contact force between the puncture mechanism 4 and the human body or the puncture human model 6 remains relatively stable, that is, the puncture mechanism 4 remains relatively stationary with respect to the target, so as to prevent the puncture point and the target from deviating during needle insertion.

[0047] As a preferred embodiment, the puncture mechanism 4 is a needle insertion device with two driving motors, namely the puncture needle spin driving motor 43 and the puncture needle translation driving motor 44. The puncture needle 42 is fixed at the front end of the puncture mechanism 4. Through the driving of the two motors, the puncture needle 42 can perform a spin motion around the axis line and a translation motion along the axis line. It should be noted that the puncture mechanism 4 is not limited to this structure and can also be any other puncture mechanism in the prior art.

[0048] As a preferred embodiment, the flexible contact head of the second flexible tactile sensor 41 is a contact ring surrounding the puncture needle 42 of the puncture mechanism 4, fixed at the front end of the puncture mechanism 4, and the puncture needle 42 passes through the center of the contact ring of the tactile sensor.

[0049] As a preferred embodiment, the puncture mechanism 4 is installed on the end flange surface of the puncture robotic arm 3 through the installation hole, and the puncture robotic arm 3 can drive the entire puncture mechanism 4 to move to adjust the position and posture of the puncture needle 42 to reach a suitable needle insertion position.

[0050] It should be noted that the flexible contact heads of the first flexible tactile sensor 22 and the second flexible tactile sensor 41 have different shapes, but the basic principle is the same. The flexible contact head as the working surface is covered with a flexible material. When the working surface is pressed, the magnitude and position of the pressing force can be detected. Its basic technology can either adopt the applicant's prior patent CN114623958A, a flexible tactile sensor based on an electrode array and its preparation method; or a flexible contact head plus a three-dimensional force sensor can be used (for example, the flexible contact head is installed at one end of the measuring head of the three-dimensional force sensor). The flexible contact head is fabricated into the required shape and contacts the human body surface. The specific shape is not limited as long as it can make contact. The three-dimensional force sensor is used to monitor the contact force and the direction of the contact force actually on the flexible contact head.

[0051] The following takes the operation on the puncture human model 6 as an example to illustrate the puncture method based on motion following of the present invention. The puncture human model 6 can simulate the periodic motion of the human skin caused by breathing. The specific method is as follows:

[0052] Step 1: Set up the double-arm puncture robot system, and prepare the puncture mechanism 4 and the ultrasonic probe 21;

[0053] Step 2: Start the ultrasonic robotic arm 1, adjust the pose of the robotic arm, so that the ultrasonic probe 21 reaches the surface of the puncture human model 6, perform ultrasonic detection on the puncture human model 6, obtain ultrasonic images, determine the target position through manual marking or neural network learning, and obtain the coordinates of the target in the coordinate system of the ultrasonic robotic arm 1. During the ultrasonic detection process, the industrial control computer 8 monitors the change of the contact force between the execution end of the ultrasonic robotic arm 1 and the surface of the puncture human model 6 through the first flexible tactile sensor 22, and controls the ultrasonic robotic arm 1 to perform an adjustment following action according to the change of the contact force, so that the contact force monitored by the first flexible tactile sensor 22 remains constant, thereby obtaining a stable ultrasonic image to obtain the real-time coordinates of the target in the coordinate system of the ultrasonic robotic arm 1;

[0054] Step 3: Start the puncture robotic arm 3, adjust the pose of the robotic arm, so that the puncture needle 42 of the puncture mechanism 4 reaches the appropriate needle insertion position and posture. At this time, the second flexible tactile sensor 41 is attached to the surface of the puncture human model 6 around or on the side of the puncture needle 42. The industrial control computer 8 monitors the change of the contact force between the puncture mechanism 4 or the execution end of the puncture robotic arm 3 and the surface of the puncture human model 6 according to the second flexible tactile sensor 41, and controls the puncture robotic arm 3 to perform an adjustment following action according to the change of the contact force, so that the contact force monitored by the second flexible tactile sensor 41 remains constant, so that the puncture mechanism 4 follows the movement of the puncture human model 6 to perform a following action, so that the puncture needle 42 and the target remain relatively static;

[0055] Step 4: Start the puncture mechanism 4 to puncture the puncture human model 6 to complete the puncture based on motion following.

[0056] Please refer to Figure 4 , the specific adjustment method of the above motion following is as follows:

[0057] When the puncture human body model 6 moves due to breathing or simulates human breathing movement, when the puncture human body model 6 simulates inhalation, the abdomen bulges, and when the first flexible tactile sensor 22 or the second flexible tactile sensor 41 detects an increase in pressure, the controller will control the robotic arm to carry the ultrasonic probe 21 or the puncture mechanism 4 to move away from the skin, so as to prevent the increase in pressure; when the puncture human body model 6 simulates exhalation, the abdomen sinks, and when the first flexible tactile sensor 22 or the second flexible tactile sensor 41 detects a decrease in pressure, the controller will control the robotic arm to carry the ultrasonic probe 21 or the puncture mechanism 4 to move closer to the skin, so as to prevent the decrease in pressure, so that the ultrasonic probe 21 or the puncture mechanism 4 remains relatively stationary with respect to the target point. By writing a control program and appropriate adjustment parameters, the puncture robotic arm 3 can be controlled to drive the puncture needle 42 to move following the abdominal breathing, maintaining the pressure of the tactile sensor at a constant magnitude, so that the puncture needle 42 and the needle insertion point remain in a relatively stationary state, so as to achieve the purpose of breathing following.

[0058] Replacing the above-mentioned puncture human body model 6 with a human body, a puncture method based on human breathing following can be obtained.

[0059] The above embodiments are only used to illustrate the present invention, rather than to limit the present invention. Although the present invention has been described in detail with reference to the embodiments, those of ordinary skill in the art should understand that various combinations, modifications or equivalent replacements of the technical solutions of the present invention do not depart from the spirit and scope of the technical solutions of the present invention, and should all be covered within the scope of the claims of the present invention.

Claims

1. A dual-arm puncture robot system integrating ultrasonic and tactile information, characterized in that, including an ultrasonic robotic arm, at the execution end of which an ultrasonic probe and a first flexible tactile sensor for monitoring the tactile signals on the surface of the puncture object are installed; a puncture robotic arm, at the execution end of which a puncture mechanism and a second flexible tactile sensor for monitoring the tactile signals on the surface of the puncture object are installed; an ultrasonic imager, connected to the ultrasonic probe, for performing ultrasonic imaging on the puncture object; a controller, which determines the target point according to the ultrasonic image obtained by the ultrasonic probe of the ultrasonic imager and controls the guiding puncture mechanism to perform puncture; the controller drives the ultrasonic robotic arm to follow the movement according to the contact force information on the surface of the puncture object monitored by the first flexible tactile sensor, so that the ultrasonic probe keeps relatively stable with respect to the surface of the puncture object; the controller drives the puncture robotic arm to follow the movement according to the contact force information on the surface of the puncture object monitored by the second flexible tactile sensor, so that the puncture mechanism keeps relatively stable with respect to the surface of the puncture object; both the first flexible tactile sensor and the second flexible tactile sensor are force sensors that can at least detect the magnitude of the contact force and have flexible contact heads; the first flexible tactile sensor and the ultrasonic probe are installed side by side at the execution end of the ultrasonic robotic arm, so that the first flexible tactile sensor and the ultrasonic probe can simultaneously contact the surface of the puncture object during ultrasonic detection; the flexible contact head of the second flexible tactile sensor is a contact ring surrounding the puncture needle of the puncture mechanism, and the puncture needle can extend out from within the contact ring for puncture.

2. The dual-arm puncture robot system integrating ultrasonic and tactile information according to claim 1, characterized in that: both the ultrasonic robotic arm and the puncture robotic arm are robotic arms with six or more axes.

3. The dual-arm puncture robot system integrating ultrasonic and tactile information according to claim 1, characterized in that: a conversion coordinate system is established between the ultrasonic robotic arm and the puncture robotic arm or they have a common world coordinate system, so that a direct coordinate conversion can be performed between the target point detected by the ultrasonic image and the puncture mechanism.

4. The dual-arm puncture robot system integrating ultrasonic and tactile information according to claim 1, wherein: the ultrasonic image identifies the coordinates of the target point in the coordinate system of the ultrasonic robotic arm through the training and learning of a neural network.

5. The dual-arm puncture robot system integrating ultrasonic and tactile information according to claim 1, wherein: the controller is an industrial control computer, and a real-time communication mechanism is established between the industrial control computer and the ultrasonic robotic arm, the first flexible tactile sensor, the puncture robotic arm and the second flexible tactile sensor.

6. The two-arm puncture robot system integrating ultrasonic and tactile information according to claim 1, wherein: the usage method of the dual-arm puncture robot system includes the following steps: Step 1, set up the dual-arm puncture robot system and prepare the puncture mechanism and the ultrasonic probe; Step 2, start the ultrasonic robotic arm, adjust the pose of the robotic arm to make the ultrasonic probe reach the surface of the puncture object, perform ultrasonic detection on the puncture object, obtain the ultrasonic image, determine the target point position through manual marking or neural network learning, and obtain the coordinates of the target point in the coordinate system of the ultrasonic robotic arm; during the ultrasonic detection process, the controller monitors the change of the contact force between the execution end of the ultrasonic robotic arm and the surface of the puncture object through the first flexible tactile sensor, and controls the ultrasonic robotic arm to perform adjustment and follow-up actions according to the change of the contact force, so that the contact force monitored by the first flexible tactile sensor remains constant, thereby obtaining a stable ultrasonic image to obtain the real-time coordinates of the target point in the coordinate system of the ultrasonic robotic arm; Step 3: Start the puncture robotic arm and adjust the pose of the robotic arm so that the puncture needle of the puncture mechanism reaches the appropriate needle insertion position and pose. At this time, the second flexible tactile sensor is attached to the surface of the puncture object around or on the side of the puncture needle. The controller monitors the change in the contact force between the execution end of the puncture mechanism or the puncture robotic arm and the surface of the puncture object according to the second flexible tactile sensor, and controls the puncture robotic arm to perform an adjustment following action according to the change in the contact force, so that the contact force monitored by the second flexible tactile sensor remains constant, so that the puncture mechanism follows the movement of the puncture object to perform a following action, so that the puncture needle and the target remain relatively static; Step 4: Start the puncture mechanism to puncture the puncture object to complete the puncture based on motion following.

7. The dual-arm puncture robot system integrating ultrasonic and tactile information according to claim 6, wherein: When the puncture object moves due to breathing or simulates human breathing movement, when the puncture object simulates inhalation, the abdomen will bulge, and the first flexible tactile sensor or the second flexible tactile sensor detects an increase in pressure, then the controller will control the robotic arm to carry the ultrasonic probe or the puncture mechanism to move away from the skin, so as to prevent the increase in pressure; when the puncture object simulates exhalation, the abdomen will sink, and the first flexible tactile sensor or the second flexible tactile sensor detects a decrease in pressure, then the controller will control the robotic arm to carry the ultrasonic probe or the puncture mechanism to move closer to the skin, so as to prevent the decrease in pressure, so that the ultrasonic probe or the puncture mechanism and the target remain relatively static.

Images