An epidural space puncture robot system

Abstract

The application discloses an epidural space puncture robot system and relates to the field of surgical instruments.The control system of the system comprises a pressure feedback module, an image recognition module, a contrast module, a path planning module, a lesion recognition module and a man-machine interaction module.The execution mechanism comprises a puncture needle module and a delivery module.The puncture needle module is connected with the pressure feedback module, the image recognition module, the contrast module, the lesion recognition module and the man-machine interaction module respectively.The path planning module is connected with the pressure feedback module, the image recognition module, the contrast module and the lesion recognition module respectively.The man-machine interaction module is connected with the pressure feedback module, the image recognition module, the contrast module, the path planning module and the lesion recognition module respectively.The application can accurately and reliably treat lesions, and can increase the success rate, reliability and efficiency of puncture injection operations.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of surgical instruments, in particular to an epidural space puncture robot system. BACKGROUND

[0002] Epidural injection refers to the process of delivering medication to the epidural space by inserting a needle between the laminae of two adjacent vertebrae into the epidural space. The purpose of this procedure is to help relieve and treat clinical conditions such as back pain caused by herniated discs and nerve root compression, which can be performed in the cervical, thoracic or lumbar region.

[0003] The total number of epidural injections in the United States is estimated to be 9 million per year. The number in China is unknown, but it is likely to be less than 100,000 per year, mainly because of the lack of professional doctors who can safely and effectively perform the procedure. Complications of failed epidural injections include severe infection, epidural hematoma, intravascular injection of medication, direct nerve damage, subdural injection of medication, air embolism, and disc entry.

[0004] Based on the above problems, there is an urgent need for a device or system that can accurately and reliably treat lesions, increase the success rate, reliability and efficiency of puncture injection surgery. SUMMARY

[0005] The purpose of the present application is to provide an epidural space puncture robot system that can accurately and reliably treat lesions, increase the success rate, reliability and efficiency of puncture injection surgery.

[0006] To achieve the above-mentioned purpose, the present application provides the following solutions:

[0007] An epidural space puncture robot system, the system comprising: a control system and an execution mechanism;

[0008] The control system comprises: a pressure feedback module, an image recognition module, a contrast module, a path planning module, a lesion identification module and a human-computer interaction module;

[0009] The execution mechanism comprises: a puncture needle module and a delivery module;

[0010] The puncture needle module is connected with the pressure feedback module, the image recognition module, the contrast module, the lesion identification module and the human-computer interaction module respectively;

[0011] The path planning module is connected with the pressure feedback module, the image recognition module, the contrast module and the lesion identification module respectively;

[0012] The human-computer interaction module is connected with the pressure feedback module, the image recognition module, the contrast module, the path planning module and the lesion identification module respectively.

[0013] Optionally, the puncture needle module is configured to acquire a pressure signal during the puncture process;

[0014] The pressure feedback module is configured to determine whether the puncture needle enters the epidural space according to the pressure signal to obtain a first determination result; and the puncture needle module is further configured to acquire a current video signal when the first determination result is that the puncture needle enters the epidural space;

[0015] The image recognition module is configured to determine whether the puncture needle enters the epidural space according to the current video signal to obtain a second determination result, and determine a relative position of the puncture needle in the epidural space;

[0016] The contrast module is configured to issue a command of injecting contrast agent to the puncture needle module when the first determination result and the second determination result are both that the puncture needle enters the epidural space; the puncture needle module is further configured to inject the contrast agent according to the command of injecting the contrast agent and acquire a dynamic image after the contrast agent is injected; and the contrast module is further configured to determine whether the puncture needle enters the epidural space according to the dynamic image by using a contrast technique to obtain a third determination result, and determine a boundary of the epidural space;

[0017] The lesion recognition module is configured to recognize and confirm a lesion according to the video signal to acquire lesion position information;

[0018] The path planning module is configured to plan a puncture needle trajectory of the puncture needle in the epidural space according to target position information, the relative position of the puncture needle in the epidural space, the boundary of the epidural space, and the lesion position information;

[0019] The human-computer interaction module is configured to acquire the target position information, and determine a control instruction according to the video signal, the first determination result, the second determination result, the relative position of the puncture needle in the epidural space, the third determination result, the boundary of the epidural space, the lesion position information, and the planned path.

[0020] Optionally, the puncture needle module comprises a puncture needle, a pressure sensor, a miniature camera, a medicine outlet, and a treatment device;

[0021] The pressure sensor, the miniature camera, the medicine outlet, and the treatment device are all located at a tip of the puncture needle;

[0022] The pressure sensor is connected with the pressure feedback module;

[0023] The miniature camera is connected with the image recognition module, the contrast module, the lesion recognition module, and the human-computer interaction module, respectively;

[0024] The medicine outlet, the puncture needle and the treatment device are connected with the human-computer interaction module.

[0025] Optionally, the delivery module comprises a flexible guide wire and a microcatheter.

[0026] The flexible guide wire and the microcatheter are connected with the puncture needle; the microcatheter is also connected with the medicine outlet and the treatment device.

[0027] Optionally, the microcatheter comprises a medicine delivery tube and a signal line.

[0028] The medicine delivery tube is connected with the medicine outlet.

[0029] The signal line is used for power supply and control instruction transmission for the miniature camera and the treatment device.

[0030] Optionally, the signal line comprises a cable connected with the miniature camera and the treatment device.

[0031] Optionally, the treatment device comprises a cold laser treatment device, a radio frequency ablation quality device and a physiological saline flushing device.

[0032] According to the specific embodiments of the present application, the following technical effects are provided.

[0033] The epidural space puncture robot system provided by the present application can obtain a pressure signal in real time during puncture, judge whether the puncture needle enters the epidural space according to the pressure signal, obtain a current video signal when the puncture needle enters the epidural space, and accurately send the puncture needle to the epidural space according to image analysis by an auxiliary execution mechanism, so as to avoid invalid injection or serious consequences caused by error injection due to operation errors; the epidural space is visualized according to the video signal, which is helpful for planning a needle insertion path and determining a lesion, and greatly improves the reliability and treatment effect of the operation. The path is planned under the premise of visualization, and the lesion is accurately found, which greatly improves the reliability and treatment effect of the operation. Precise drug injection or other interventional treatment is performed on the lesion, which greatly improves the reliability and treatment effect of the operation. BRIEF DESCRIPTION OF DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments will be briefly introduced below. Obviously, the drawings in the following description only constitute some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0035] Figure 1 The epidural space puncture robot system provided by the present application is a structural schematic diagram. DETAILED DESCRIPTION

[0036] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative efforts belong to the scope of protection of the present application.

[0037] The purpose of the present application is to provide an epidural space puncture robot system, which can accurately control and reasonably plan the travel path of the puncture needle through feedback control and image recognition, accurately and reliably process the lesion, and greatly increase the success rate, reliability and efficiency of the puncture injection operation.

[0038] In order to make the above-mentioned purposes, characteristics and advantages of the present application more obvious and easy to understand, the present application will be further described in detail below with reference to the drawings and specific embodiments.

[0039] Figure 1 A structural schematic diagram of an epidural space puncture robot system provided by the present application is shown in FIG. 1, a puncture needle module 101, a pressure feedback module 102, an image recognition module 103, a contrast module 104, a path planning module 106, a lesion identification module 105 and a man-machine interaction module 107 are included in the system provided by the present application. Figure 1

[0040] The puncture needle module 101 is connected with the pressure feedback module 102, the image recognition module 103, the contrast module 104, the lesion identification module 105 and the man-machine interaction module 107 respectively.

[0041] The path planning module 106 is connected with the pressure feedback module 102, the image recognition module 103, the contrast module 104 and the lesion identification module 105 respectively.

[0042] The man-machine interaction module 107 is connected with the pressure feedback module 102, the image recognition module 103, the contrast module 104, the path planning module 106 and the lesion identification module 105 respectively.

[0043] The puncture needle module 101 is used to obtain a pressure signal in the puncture process.

[0044] The pressure feedback module 102 is used to determine whether the puncture needle enters the epidural space according to the pressure signal to obtain a first determination result; the puncture needle module 101 is also used to obtain a current video signal when the first determination result is that the puncture needle enters the epidural space.​

[0045] The image recognition module 103 is configured to determine whether the puncture needle enters the epidural space according to the current video signal, to obtain a second determination result, and to determine the relative position of the puncture needle in the epidural space.

[0046] The contrast module 104 is configured to issue a command of injecting contrast agent to the puncture needle module 101 when the first determination result and the second determination result are both that the puncture needle enters the epidural space; the puncture needle module 101 is further configured to inject the contrast agent according to the command of injecting the contrast agent and to acquire a dynamic image after the injection of the contrast agent; and the contrast module 104 is further configured to determine whether the puncture needle enters the epidural space according to the dynamic image by using a contrast technique, to obtain a third determination result, and to determine the boundary of the epidural space.

[0047] The contrast module 104 issues a command of injecting contrast agent to the actuator after the pressure feedback module 102 and the image recognition module 103 both determine that the puncture needle successfully enters the epidural space, and displays a dynamic image live image of the puncture needle after the injection of the contrast agent / contrast under fluoroscopy X-ray perspective on the human-computer interaction module 107, which is used to assist the operator in determining whether the puncture needle has reached the epidural space. The image can also be used to determine the boundary information of the epidural space.

[0048] The lesion recognition module 105 is configured to recognize and confirm the lesion according to the video signal, to obtain lesion position information.

[0049] The path planning module 106 is configured to plan a puncture needle trajectory in the epidural space according to target position information, the relative position of the puncture needle in the epidural space, the boundary of the epidural space, and the lesion position information.

[0050] The process of the path planning module 106 for planning the puncture needle trajectory is as follows:

[0051] First, the relative position information is defined as a first initial position, the target position information is defined as a first target position, and a first puncture needle trajectory is determined, which is the shortest puncture needle path between the two. In the process of the puncture needle, the lesion recognition module 105 constantly captures the lesion position through the video signal captured by the miniature camera, and when the lesion position is successfully captured, the current position at that time is updated to a second initial position, and the lesion position is updated to a second target position, and a second puncture needle trajectory is determined, which is the shortest puncture needle path between the two. When the treatment of the lesion is completed, the Nth puncture needle trajectory is repeatedly determined until the puncture needle reaches the target position input through the human-computer interaction module 107 before the operation, and the lesion recognition module 105 cannot capture a new lesion position.

[0052] The lesion recognition module 105 receives the video signal emitted by the miniature camera located at the tip of the puncture needle. When the pressure feedback module 102 preliminarily confirms that the puncture needle has successfully entered the epidural space, the miniature camera starts to work and transmits the video signal to the lesion recognition module 105. The lesion recognition module 105 analyzes the video signal, captures the position of the lesion existing in the epidural space, and transmits the lesion position information to the path planning module 106 in real time for dynamic updating of the needle insertion trajectory. When the tip of the puncture needle reaches the lesion position, the lesion recognition module 105 further judges the lesion information to confirm whether it is a false judgment. If it is a false judgment, the lesion identification is cancelled, and the human-computer interaction module 107 sends instructions to the actuator to prevent the microcatheter and treatment device from taking measures. If it is not a false judgment, the human-computer interaction module 107 sends instructions to the actuator to authorize the microcatheter and treatment device to take measures.

[0053] Possible lesion types include inflammation of the nerve root, scar tissue left after back surgery, fibrotic tissue, adhesions, etc. The characteristics of the tissue structure under the influence of these lesions are different from those of normal tissue structure, so the difference in characteristics can be identified by image to determine whether the tissue has a lesion.

[0054] S1. Real-time acquisition of video signals obtained by the miniature camera;

[0055] S2. Identify the tissue in the image according to the video signal of step S1;

[0056] S21. Frame processing of the video, each frame of photo is segmented into several sub-regions, according to the preset segmentation rule, the tissue image in the epidural space is separated according to the relative size relationship of gray value and adaptive threshold value; the adaptive threshold value is:

[0057] Yh = max(H*D / α) - min(H*X / α);

[0058] Wherein, D represents the maximum value of the highest gray value probability point, X represents the minimum value of the highest gray value probability point, H represents the gray value, Yh represents the adaptive threshold value; α represents the preset proportion value;

[0059] S22. Extract the tissue position information and area information according to the tissue image;

[0060] S23. Determine the type of tissue according to the tissue information, and retrieve the pre-stored standard tissue structure information and image;

[0061] S3. Compare the extracted tissue information with the standard tissue structure information, judge whether the tissue structure is abnormal through data difference, and display the images of the two on the human-computer interaction module 107 to assist the operator to make judgment.

[0062] The human-computer interaction module 107 is configured to acquire target position information, and determine a control instruction according to a video signal, a first determination result, a second determination result, a relative position of the puncture needle in the epidural space, a third determination result, a boundary of the epidural space, lesion position information, and a planned path.

[0063] The pressure feedback module 102, the image recognition module 103, the contrast module 104, the path planning module 106, the lesion recognition module 105, and the human-computer interaction module 107 are configured as a control system.

[0064] The puncture needle module 101 comprises a puncture needle, a pressure sensor, a miniature camera, a medicine outlet, and a treatment device.

[0065] The pressure sensor, the miniature camera, the medicine outlet, and the treatment device are located at a tip of the puncture needle; the pressure sensor senses an axial force received by the puncture needle during a needle insertion process. The miniature camera is in a dormant state during the needle insertion process, and is activated after the pressure feedback module 102 preliminarily confirms that the puncture needle has successfully entered the epidural space, and transmits image data in the epidural space to the control system. The medicine outlet is configured to treat a lesion, and after the lesion recognition module 105 confirms the lesion, the medicine outlet is configured to accurately inject medicine, including steroids, platelet-derived growth factor, and non-steroidal anti-inflammatory drugs, to the lesion position.

[0066] The pressure sensor is connected to the pressure feedback module 102; the pressure feedback module 102 preliminarily determines whether the puncture needle has entered the epidural space by feedback data from the pressure sensor.

[0067] The miniature camera is connected to the image recognition module 103, the contrast module 104, the lesion recognition module 105, and the human-computer interaction module 107; the image recognition module 103 further confirms whether the puncture needle has entered the epidural space and determines a relative position of the puncture needle in the epidural space by the video signal obtained by the miniature camera. That is, the pressure feedback module 102 and the image recognition module 103 finally determine whether the puncture needle has successfully entered the epidural space.

[0068] The medicine outlet, the puncture needle, and the treatment device are connected to the human-computer interaction module 107.

[0069] The puncture needle sequentially passes through the skin, subcutaneous tissue, supraspinous ligament, yellow ligament and epidural space during the puncture process. Due to the great difference in the tightness of these tissues, the difference between the yellow ligament and the epidural space is particularly obvious. Therefore, the axial force received by the pressure sensor at the tip of the puncture needle is different during the travel process. Especially at the moment when the puncture needle penetrates the yellow ligament, the pressure received by the pressure sensor suddenly changes from positive / high pressure in the yellow ligament to negative / low pressure in the epidural space. At this time, the pressure feedback module 102 preliminarily judges that the puncture needle has successfully entered the epidural space, and immediately issues a stop needle advancement instruction to the actuator through the human-computer interaction module 107, waiting for further confirmation by the image recognition module 103.

[0070] The image recognition module 103 receives the video signal emitted by the miniature camera located at the tip of the puncture needle. When the pressure feedback module 102 preliminarily confirms that the puncture needle has successfully entered the epidural space, the miniature camera starts working and transmits the video signal to the image recognition module 103. The image recognition module 103 analyzes the video signal to further confirm that the puncture needle has successfully entered the epidural space and to confirm the relative position information of the puncture needle in the epidural space, which is used for the path planning module 106 to plan and navigate the needle advancement trajectory of the puncture needle in the epidural space.

[0071] Because there are a large number of venous / fatty tissues inside the epidural space, the characteristics of the images in the video signal can be identified to determine whether the epidural space has been entered by identifying the characteristic parameters of the venous / fatty tissues. The specific image analysis process is as follows:

[0072] S1. Real-time acquisition of the video signal obtained by the miniature camera;

[0073] S2. Identifying the tissues in the image according to the video signal in step S1;

[0074] S21. Frame processing of the video signal, dividing each frame into a plurality of sub-regions, and separating the tissue images in the epidural space according to the relative size relationship between the gray value and the adaptive threshold value according to the preset segmentation rule; the adaptive threshold value is:

[0075] Yh = max(H*D / α) - min(H*X / α);

[0076] wherein D represents the maximum value of the highest gray value probability point, X represents the minimum value of the highest gray value probability point, H represents the gray value, Yh represents the adaptive threshold value, and a represents a preset proportion value;

[0077] S22. Extracting the tissue position information and area information according to the tissue images;

[0078] S3. Judging whether the puncture needle has successfully entered the epidural space according to the tissue information in step S2.

[0079] The delivery module of the epidural space puncture robot system provided by the application comprises a flexible guide wire and a microcatheter. The delivery module and the puncture needle module 101 serve as actuators.

[0080] The flexible guide wire and the microcatheter are connected with the puncture needle; the microcatheter is also connected with the medicine outlet and the treatment device. The flexible guide wire receives control instructions from the human-computer interaction module 107 to control the advancement and steering of the puncture needle.

[0081] The microcatheter comprises a medicine delivery tube and a signal line;

[0082] The medicine delivery tube is connected with the medicine outlet; the medicine delivery tube and the medicine outlet form a medicine delivery path. When it is necessary to inject medicine, the human-computer interaction module 107 receives control instructions to make the medicine delivery path conductive, and when the medicine injection is completed, the human-computer interaction module 107 receives control instructions to make the medicine delivery path non-conductive.

[0083] The signal line comprises a cable connected with the micro camera and the treatment device. The signal line is used to supply power to the micro camera and the treatment device and transmit control instructions.

[0084] The treatment device comprises but is not limited to a cold laser treatment device, a radiofrequency ablation quality device and a physiological saline flushing device.

[0085] As a specific embodiment, the actuators of the application can be a multi-degree-of-freedom mechanical arm, a puncture tool, a binocular optical positioning and tracking device and a surgical trolley; the puncture tool is integrated into the front end of the multi-degree-of-freedom mechanical arm or punctured through the Trocar at the front end of the multi-degree-of-freedom mechanical arm; the multi-degree-of-freedom mechanical arm has more than 5 degrees of freedom and integrates force sensing capability, which can be quickly and efficiently dragged by the operator; the puncture tool integrates a force sensor, which can sense the sudden change of puncture force. The binocular optical positioning and tracking device can be in the infrared band or the visible light band, and is fixed on the trolley or the front end of the multi-degree-of-freedom mechanical arm. The surgical trolley has a wheel type to provide a moving function, and the multi-degree-of-freedom mechanical arm, the optical positioning device and the built-in control system are placed on the trolley. The contrast module in the control system can be an optical marker, which is sterile and factory-fitted. The marker is attached to the vicinity of the puncture site of the patient, can be developed and recognized in the X-ray and the optical positioning device, and the marker contains an asymmetric pattern that can uniquely determine the positional relationship in three-dimensional space.

[0086] The application has the following advantages over the prior art:

[0087] Through the pressure sensor, the pressure feedback module 102 and image analysis, the actuators can accurately deliver the puncture needle to the epidural space, thereby avoiding invalid injection or serious consequences caused by erroneous injection due to operation errors.

[0088] The epidural space is visualized by a miniature camera, which helps to plan the needle path and determine the lesion, greatly improving the reliability and treatment effect of the surgery.

[0089] The path is planned under the premise of visualization, and the lesion is accurately found, greatly improving the reliability and treatment effect of the surgery.

[0090] The lesion is accurately injected with drugs or other interventional treatment, greatly improving the reliability and treatment effect of the surgery.

[0091] The embodiments in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be mutually referred to. For the system disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple, and the relevant parts can be referred to the method part.

[0092] The principles and implementation modes of the present application are described by using specific examples in this paper. The above embodiment description is only used to help understand the method and core idea of the present application. For those skilled in the art, the specific implementation mode and application range can be changed according to the idea of the present application. In summary, the content of the specification should not be understood as a limitation of the present application.

Claims

1. An epidural space puncture robot system, characterized by, The system comprises a control system and an execution mechanism; The control system comprises a pressure feedback module, an image recognition module, a contrast module, a path planning module, a lesion recognition module and a human-computer interaction module; The execution mechanism comprises a puncture needle module and a delivery module; The puncture needle module is connected with the pressure feedback module, the image recognition module, the contrast module, the lesion recognition module and the human-computer interaction module respectively; The path planning module is connected with the pressure feedback module, the image recognition module, the contrast module and the lesion recognition module respectively; The human-computer interaction module is connected with the pressure feedback module, the image recognition module, the contrast module, the path planning module and the lesion recognition module respectively; The puncture needle module is used for acquiring a pressure signal in a puncture process; The pressure feedback module is used for judging whether a puncture needle enters an epidural space according to the pressure signal to obtain a first judgment result; the puncture needle module is further used for acquiring a current video signal when the first judgment result is that the puncture needle enters the epidural space; The image recognition module is used for judging whether the puncture needle enters the epidural space according to the current video signal to obtain a second judgment result, and determining a relative position of the puncture needle in the epidural space; The contrast module is used for issuing a command of injecting a contrast agent to the puncture needle module when the first judgment result and the second judgment result are both that the puncture needle enters the epidural space; the puncture needle module is further used for injecting the contrast agent according to the command of injecting the contrast agent and acquiring a dynamic image after the contrast agent is injected; the contrast module is further used for judging whether the puncture needle enters the epidural space by using a contrast technique according to the dynamic image to obtain a third judgment result, and determining a boundary of the epidural space; The lesion recognition module is used for recognizing and confirming a lesion according to the video signal to acquire lesion position information; when the puncture needle module reaches the lesion position, the lesion recognition module further judges lesion information to confirm whether there is a misjudgment, if there is a misjudgment, the lesion recognition module cancels the identification of the lesion, and sends an instruction to the execution mechanism through the human-computer interaction module to prevent the processing measures of the microcatheter and the treatment device; if there is no misjudgment, the lesion recognition module sends an instruction to the execution mechanism through the human-computer interaction module to authorize the processing measures of the microcatheter and the treatment device. The path planning module is configured to plan a needle insertion trajectory of the puncture needle in the epidural space according to target position information, a relative position of the puncture needle in the epidural space, a boundary of the epidural space, and lesion position information; the planning process is as follows: the relative position information is defined as a first initial position, the target position information is defined as a first target position, a first needle insertion trajectory is determined, and the first needle insertion trajectory is the shortest needle insertion path between the first initial position and the first target position; in the process of the puncture needle advancing, the lesion recognition module constantly captures the lesion position through a video signal captured by the miniature camera, and when the lesion position is successfully captured, the current position at this moment is updated as a second initial position, the lesion position is updated as a second target position, and a second needle insertion trajectory is determined, which is the shortest needle insertion path between the second initial position and the second target position; when the treatment of the lesion is completed, an Nth needle insertion trajectory is repeatedly determined until the puncture needle reaches the target position input by the man-machine interaction module before the operation and the lesion recognition module cannot capture a new lesion position. The man-machine interaction module is configured to obtain target position information and determine a control instruction according to a video signal, a first judgment result, a second judgment result, a relative position of the puncture needle in the epidural space, a third judgment result, a boundary of the epidural space, lesion position information, and a planned path.

2. The epidural space puncture robot system according to claim 1, wherein, The puncture needle module comprises a puncture needle, a pressure sensor, a miniature camera, a medicine outlet, and a treatment device. The pressure sensor, the miniature camera, the medicine outlet, and the treatment device are located at a tip of the puncture needle. The pressure sensor is connected to the pressure feedback module. The miniature camera is connected to the image recognition module, the contrast module, the lesion recognition module, and the man-machine interaction module. The medicine outlet, the puncture needle, and the treatment device are connected to the man-machine interaction module.

3. An epidural space puncture robot system according to claim 2, characterized in that, The delivery module comprises a flexible guide wire and a microcatheter. The flexible guide wire and the microcatheter are connected to the puncture needle, and the microcatheter is further connected to the medicine outlet and the treatment device.

4. An epidural space puncture robot system according to claim 3, characterized in that, The microcatheter comprises a medicine delivery tube and a signal line. The medicine delivery tube is connected to the medicine outlet. The signal line is configured to supply power to the miniature camera and the treatment device and transmit a control instruction.

5. An epidural space puncture robot system according to claim 4, characterized in that, The signal line comprises a cable connected to the miniature camera and the treatment device.

6. The epidural space puncture robot system according to claim 2, wherein, The treatment device comprises a cold laser treatment device, a radiofrequency ablation quality device, and a physiological saline flushing device.

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