A parallel handheld prostate biopsy robot with a telecentric fixed point structure

Abstract

A parallel handheld prostate biopsy robot with a telecentric fixed point structure relates to a prostate biopsy robot. The present invention aims to solve the problems of low puncture accuracy and success rate, high price and learning cost, and long surgical preparation time of existing handheld biopsy guns. The first rotary auxiliary motor of the three-degree-of-freedom parallel robot of the present invention is installed on the bending part of the frame, the second rotary auxiliary motor is installed on the lower part of the frame, the first parallel robot branch chain and the second parallel robot branch chain are respectively rotatably installed on the frame, the axes of the first rotary auxiliary motor and the second rotary auxiliary motor are extended, intersect and converge to form a telecentric fixed point, the feeding and sampling module is installed on the first parallel robot branch chain and the second parallel robot branch chain, and the feeding and sampling module performs pitch and yaw motion around the telecentric fixed point and translational motion along the common rotary auxiliary axis of the first parallel robot branch chain and the second parallel robot branch chain. The present invention is used for prostate robot biopsy.

Description

Technical Field

[0001] The present invention relates to a prostate biopsy robot, in particular to a parallel handheld prostate biopsy robot with a telecentric fixed point structure. Background Art

[0002] Prostate cancer has a very high morbidity and mortality rate among urinary tract tumors, seriously endangering human health. Percutaneous biopsy and ablation are currently the most common diagnostic and treatment options.

[0003] Percutaneous puncture currently consists of two main methods: manual puncture and assisted puncture using a fixed surgical robot system. Manual puncture offers the advantages of portability and speed, but due to the current practice of multiple punctures, it is labor-intensive for the surgeon and the precision of the procedure decreases as the procedure progresses, significantly impacting the puncture outcome and resulting in a low success rate. Postoperative complications, ranging from mild to severe, can pose a serious threat to the patient's health.

[0004] A fixed surgical robot system is used to assist in the puncture process. The puncture direction is stable, the force is balanced, and the puncture accuracy is improved. However, due to the extremely high price and high learning cost of the fixed surgical robot system, it is difficult to popularize it on a large scale. In addition, the long preparation time for the operation will cause fear in patients and reduce their surgical experience.

[0005] In summary, existing handheld biopsy guns have low puncture accuracy and success rate, while fixed prostate surgical robot systems have high prices and learning costs, and long surgical preparation time. Summary of the Invention

[0006] The present invention aims to address the low puncture accuracy and success rate of existing handheld biopsy guns, as well as the high cost and learning curve of fixed prostate surgical robotic systems, and the long surgical preparation time. Furthermore, a parallel handheld prostate biopsy robot with a telecentric fixed point structure is provided.

[0007] The technical solution of the present invention is: a parallel handheld prostate biopsy robot with a telecentric fixed point structure, which includes a control box, a handle and a three-degree-of-freedom parallel robot, the three-degree-of-freedom parallel robot is installed on the upper end surface of the control box, and the handle is installed on the lower end surface of the control box; wherein, the three-degree-of-freedom parallel robot includes a first rotary auxiliary motor, a second rotary auxiliary motor, a frame, a first parallel robot branch chain, a second parallel robot branch chain, a feeding sampling module and a motor cover, the frame extends vertically from the bottom to the top and then bends to one side, the first rotary auxiliary motor is installed on the bent portion of the frame, and the second rotary auxiliary motor is installed At the lower part of the frame, the first parallel robot branch chain and the second parallel robot branch chain are respectively rotatably mounted on the frame and connected to the output shafts of the first rotary sub-motor and the second rotary sub-motor. The axes of the first rotary sub-motor and the second rotary sub-motor are extended to intersect and converge into a telecentric fixed point. The feeding sampling module is mounted on the first parallel robot branch chain and the second parallel robot branch chain, and the feeding sampling module performs pitch and yaw motion around the telecentric fixed point and translation motion along the common rotary sub-axis of the first parallel robot branch chain and the second parallel robot branch chain. The motor cover is on the first rotary sub-motor and the second rotary sub-motor.

[0008] Furthermore, the handle includes a left shell, a first keypad, a second keypad and a right shell. The left shell and the right shell are buckled together, the second keypad is installed at the buckling point of the left shell and the right shell, and the first keypad is installed on the left shell.

[0009] Furthermore, the first parallel robot branch chain includes a first bracket, a first coupling, a first bearing, a second bearing, a first connecting rod, a first guide rail, a first slider, a slider adapter, a first branch chain hinge seat, a first branch chain front pin shaft, a first locating pin, a first sleeve and a third bearing. The bottom of the first bracket is connected to the middle of the frame, the first coupling is rotatably mounted on the first bracket through the first branch chain front pin shaft and the second bearing, one end of the first connecting rod is rotatably mounted on the first coupling through the first bearing, the other end of the first connecting rod is suspended, the first guide rail is mounted on the first connecting rod, the first slider is slidably mounted on the first guide rail, the first branch chain hinge seat is mounted on the first slider through the slider adapter, the slider adapter and the first branch chain hinge seat are positioned and connected by the first locating pin, the third bearing is rotatably mounted on the first branch chain hinge seat, and the first sleeve is connected to the feed sampling module after being mounted on the third bearing.

[0010] Furthermore, the second parallel robot branch chain includes a second bracket, a fourth bearing, a second coupling, a fifth bearing, a second connecting rod, a sixth bearing, a movable end bearing seat, a second guide rail, a second slider, a second sleeve, a seventh bearing, a second branch chain hinge seat, a nut clamp adapter seat, a fixed end bearing seat, a third coupling, a motor bracket, a mobile auxiliary motor, a second branch chain front pin shaft, a sliding screw, a screw nut, a nut left clamp block, a nut right slider and an eighth bearing. The second bracket is connected to the middle part of the frame, and the second branch chain front pin shaft passes through the hole of the second coupling and is hinged to the forked part at the front end of the second connecting rod through the fifth bearing. The fourth bearing is sleeved on the lower end of the second coupling and hinged to the second bracket. The second coupling is connected to the second rotating auxiliary motor through a threaded clamping opening, and the second connecting rod is screwed to the second guide rail through holes evenly distributed on the surface. The second slider is slidably installed on the second guide rail, the second branch chain hinge seat is positioned by the locating pin and the nut clamp adapter seat, and is connected to the second slider through the screw in the middle of the nut clamp adapter seat, the second shaft sleeve is sleeved on the middle of the rear pin shaft of the second branch chain and contacts the seventh bearing, the rear pin shaft of the second branch chain is connected to the feed sampling module through the seventh bearing, the movable end bearing seat and the second connecting rod are connected by screws, the sixth bearing is sleeved on the left end of the sliding screw and connected to the movable end bearing seat, the screw nut is sleeved on the sliding screw, the nut left clamp and the nut right slider are connected to the screw nut by bolts, the eighth bearing is sleeved on the right end of the sliding screw and connected to the fixed end bearing seat, the sliding screw is connected to the mobile sub-motor through the third coupling, the mobile sub-motor and the second connecting rod are connected through the motor bracket, and the motor bracket and the second connecting rod are connected by screws.

[0011] Furthermore, the feeding sampling module includes a biopsy sampling upper shell, an OLED screen, a biopsy sampling lower shell, a slide left support plate, a slip ring pressure plate, a second branch chain slip ring, a first branch chain slip ring, a slide right support plate, a slide, a proximity switch, an electric biopsy device, a guide ring, a push rod base, an electric push rod and a push rod pressure plate; wherein, the biopsy sampling upper shell and the biopsy sampling lower shell are connected by screws, the OLED screen is installed on the biopsy sampling upper shell, the second branch chain slip ring is installed on the biopsy sampling lower shell, the second branch chain slip ring and the first branch chain slip ring are connected by a slip ring pressure plate, and the slip ring pressure plate The slide is installed in the groove of the biopsy sampling lower shell, the left support plate of the slide is connected to the right support plate of the slide and the second branch chain slip ring by screws, the slide is connected to the left support plate and the right support plate of the slide by screws, the proximity switch is connected to the side of the slide by screws, the electric biopsy device is connected to the slide by screws, the push rod base is connected to the electric biopsy device by screws, the electric push rod is connected to the electric biopsy device through the push rod base and the electric biopsy device by a pin, and the electric push rod provides power to the electric biopsy device through the push rod pressure plate connected by screws; the guide ring is connected through the groove at the right end of the biopsy sampling lower shell.

[0012] Furthermore, the electric biopsy device includes a power drive assembly, a shell, a base plate, an inner needle slider, a guide post, an inner needle base, an outer needle base, an outer needle slider, an elastic preload member, an outer needle and an inner needle. The shell is mounted on the base plate, one end of the guide post passes through the shell and is connected to the power drive assembly, the other end of the guide post is connected to the right end face of the inner needle slider, the inner needle slider is horizontally slidably mounted in the shell, a long strip slide groove, a wedge-shaped groove and a card groove are provided on the inner needle slider, the long strip slide groove and the card groove are connected, the wedge groove is located on the left side of the inner needle slider, and the inner needle base is detachably mounted on the wedge of the inner needle slider One end of the inner and outer needle sliders of the wedge-shaped groove is horizontally slidably installed inside the right side of the long strip slide groove of the inner needle slider, and the other end of the outer needle slider can be clamped on the left side of the outer needle slider column. The elastic preload part is installed between the outer needle slider body and the outer needle slider column. The outer needle base is detachably installed in the wedge-shaped groove on the outer needle slider, the outer needle is horizontally installed on the outer needle base, one end of the inner needle is horizontally installed on the inner needle base, the other end of the inner needle passes through the outer needle, and the inner needle can slide in the outer needle; the power drive assembly is installed on the outer shell, and the outer needle and inner needle are extended under the drive of the power drive assembly.

[0013] Furthermore, the outer needle slider includes a slider body, two slider clips and a column. The two slider clips are made into one piece with the slider body on the left side of the slider body. A gap is left between the two slider clips. The column is mounted on the outer side walls of the two slider clips, and the column is prevented from falling under the clamping limit action of the slider clips. A wedge-shaped groove is opened on the slider body, and the elastic preloaded part is mounted on the outer side walls of the two slider clips between the column and the slider body.

[0014] Furthermore, the tip of the outer needle is arranged with the oblique opening facing downward, the tip of the inner needle is arranged with the oblique opening facing upward, and a sampling receiving groove is provided at the end side of the inner needle in the length direction.

[0015] Furthermore, the power drive assembly includes a push rod base, a positioning pin, a micro electric push rod and a push rod pressure plate. One end of the push rod base is installed at one end of the outer shell, and the other end of the push rod base is connected to the micro electric push rod through the positioning pin. One end of the push rod pressure plate is installed at the end of the micro electric push rod, and the other end of the push rod pressure plate is connected to the outer end face of the guide column. The push rod pressure plate drives the guide column and the inner needle slider to slide in the outer shell.

[0016] Furthermore, the push rod pressure plate is located on the telescopic side of the micro electric push rod.

[0017] Compared with the prior art, the present invention has the following effects:

[0018] 1. Compared with the existing Bard handheld biopsy gun, the present invention can easily replace the needle without any tools, making it possible to reuse the biopsy device;

[0019] 2. The present invention can be applied as a detachable module to the end effector of a puncture surgical robot, thereby expanding the functions of the puncture surgical robot and improving the technical integration level of robot-assisted puncture surgery;

[0020] 3. The present invention is controlled by an embedded system, has a small size, is easy to control and has high reliability.

[0021] 4. This invention is a compact, quickly removable, and electric biopsy device for robotic-assisted biopsy procedures. It combines the advantages of stable puncture direction and high precision of robotic-assisted surgery with a detachable module that expands the functionality of robotic biopsy procedures. Furthermore, compared to existing manual biopsy guns, this device allows for easy needle changes without the need for any tools, providing a new approach to the reuse of biopsy devices. Therefore, it has significant potential for application in robotic-assisted biopsy procedures.

[0022] 5. The biopsy robot of the present invention reduces the size, greatly reduces the price, shortens the learning cost and significantly improves the portability of the equipment compared to existing fixed surgical robot systems;

[0023] 6. The biopsy robot of the present invention improves the accuracy of biopsy puncture by increasing the motion sensitivity of the existing handheld biopsy gun, thereby reducing the number of puncture sampling times during biopsy surgery and reducing damage to tissues.

[0024] 7. The present invention features a parallel handheld prostate biopsy robot with a telecentric fixed point structure. This robot achieves the telecentric fixed point through a mechanically constrained telecentric mechanism, reliably meeting the requirements of minimally invasive surgery, minimizing surgical wounds and shortening recovery time. All surgical actions, including pitch, yaw, translational movement along the biopsy needle, puncture sampling, and tissue extraction, can be achieved through buttons on the handle. The OLED screen simultaneously displays the biopsy needle's pitch angle, yaw angle, and displacement along the biopsy needle in real time, accurately indicating the user's current position. This device is simple to use, highly portable, and offers high puncture accuracy, making it a highly promising handheld prostate biopsy device. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0026] Figure 2 Schematic diagram of the structure of the present invention without the handle; wherein R1 represents the yaw motion degree of freedom, R2 represents the pitch motion degree of freedom, and T1 represents the biopsy needle feeding motion degree of freedom.

[0027] Figure 3 It is a structural schematic diagram of the handle of the present invention;

[0028] Figure 4 Schematic diagram of the structure of the second parallel robot branch chain 8 of the present invention;

[0029] Figure 5 Schematic diagram of the structure of the first parallel robot branch chain 7 of the present invention;

[0030] Figure 6 It is a structural diagram of the feeding and sampling module of the present invention;

[0031] Figure 7 It is a schematic diagram of the overall structure of the electric biopsy device of the present invention;

[0032] Figure 8 is a schematic diagram of the electric biopsy device of the present invention;

[0033] Figure 9 It is a schematic diagram of biopsy with the inner needle extending out of the outer needle;

[0034] Figure 10 This is a schematic diagram when the inner needle has not extended beyond the outer needle. DETAILED DESCRIPTION

[0035] Specific implementation method 1: Combination Figures 1 to 10 Describe this embodiment, this embodiment includes a control box 1, a handle 2 and a three-degree-of-freedom parallel robot 3, the three-degree-of-freedom parallel robot 3 is installed on the upper end surface of the control box 1, and the handle 2 is installed on the lower end surface of the control box 1; wherein, the three-degree-of-freedom parallel robot 3 includes a first rotary auxiliary motor 4, a second rotary auxiliary motor 5, a frame 6, a first parallel robot branch chain 7, a second parallel robot branch chain 8, a feeding sampling module 9 and a motor cover 10, the frame 6 extends vertically from the bottom to the top and then bends to one side, the first rotary auxiliary motor 4 is installed on the bent portion of the frame 6, the second rotary auxiliary motor 5 is installed at the lower part of the frame 6, and the first and The parallel robot branch chain 7 and the second parallel robot branch chain 8 are respectively rotatably mounted on the frame 6 and connected to the output shafts of the first rotary sub-motor 4 and the second rotary sub-motor 5. The axes of the first rotary sub-motor 4 and the second rotary sub-motor 5 are extended to intersect and converge into a telecentric fixed point. The feeding sampling module 9 is installed on the first parallel robot branch chain 7 and the second parallel robot branch chain 8, and the feeding sampling module 9 performs pitch and yaw motion around the telecentric fixed point and translation motion along the common rotary sub-axis of the first parallel robot branch chain 7 and the second parallel robot branch chain 8. The motor cover 10 covers the first rotary sub-motor 4 and the second rotary sub-motor 5.

[0036] The rotating auxiliary motor 1 and the rotating auxiliary motor 2 of this embodiment are active joints, connected to the middle of the frame by screws. The two motors are coupled to output two rotational degrees of freedom including pitch motion and yaw motion.

[0037] The two branches of the three-degree-of-freedom parallel robot in this embodiment form the foundation of the entire parallel structure. Each branch consists of a universal joint, a moving joint, and a revolute joint. The two branches are connected by a passive revolute joint. The moving joint on parallel robot branch 1 is a passive joint, while the moving joint on parallel robot branch 2 is an active joint. This active joint ensures that the needle tip does not move in the direction of the biopsy needle during posture adjustment, achieving the effect of a mechanically constrained telecentric mechanism.

[0038] In order to address the problems of poor puncture effectiveness, low success rate, and high incidence of postoperative complications in existing prostate biopsy surgeries, the present invention proposes a handheld prostate biopsy robot with a telecentric fixed point structure, which consists of a three-degree-of-freedom parallel robot, a handle, and a control box. This device addresses the problems of low puncture accuracy and slightly poor safety during manual puncture with a biopsy gun, as well as the long configuration time, extremely high cost, and large footprint of fixed surgical robot systems, by replacing them with a portable and compact handheld surgical robot system. Compared to existing prostate biopsy tools, it retains the portability and low cost of a handheld biopsy gun while integrating the high precision and high reliability advantages of a large surgical robot system. Therefore, it has great application potential in the field of prostate biopsy surgery.

[0039] Specific implementation method 2: Combination Figures 1 to 10 To describe this embodiment, the handle 2 includes a left housing 3-1, a first keypad 3-2, a second keypad 3-3, and a right housing 3-4. The left housing 3-1 and the right housing 3-4 interlock, with the second keypad 3-3 mounted at the junction between the left and right housings 3-1 and 3-4. The first keypad 3-2 is mounted on the left housing 3-1. With this configuration, the handle of this embodiment is connected to a three-degree-of-freedom parallel robot via a control box. The buttons on the handle enable the biopsy needle to perform three-degree-of-freedom motions, including pitch, yaw, and translation along the biopsy needle's direction, as well as the two biopsy actions of puncture sampling and tissue extraction. Other components and connections are the same as those in the first embodiment.

[0040] Specific implementation method three: Combination Figure 5Describe this embodiment, the first parallel robot branch chain 7 of this embodiment includes a first bracket 7-1, a first coupling 7-2, a first bearing 7-3, a second bearing 7-4, a first connecting rod 7-5, a first guide rail 7-6, a first slider 7-7, a slider adapter 7-8, a first branch chain hinge seat 7-9, a first branch chain front pin shaft 7-10, a first positioning pin 7-11, a first shaft sleeve 7-12 and a third bearing 7-13. The bottom of the first bracket 7-1 is connected to the middle of the frame 6, and the first coupling 7-2 is rotatably mounted on the first bracket 7-1 through the first branch chain front pin shaft 7-10 and the second bearing 7-4. The first connecting rod 7-5 is a first guide rail 7-6, a first slider 7-7, a slider adapter seat 7-8, a first branch chain hinge seat 7-9, a first branch chain front pin shaft 7-10, a first positioning pin 7-11, a first shaft sleeve 7-12 and a third bearing 7-13. One end of the rod 7-5 is rotatably mounted on the first coupling 7-2 through the first bearing 7-3, the other end of the first connecting rod 7-5 is suspended, the first guide rail 7-6 is mounted on the first connecting rod 7-5, the first slider 7-7 is slidably mounted on the first guide rail 7-6, the first branch hinge seat 7-9 is mounted on the first slider 7-7 through the slider adapter 7-8, the slider adapter 7-8 and the first branch hinge seat 7-9 are positioned and connected by the first locating pin 7-11, the third bearing 7-13 is rotatably mounted on the first branch hinge seat 7-9, and the first sleeve 7-12 is installed behind the third bearing 7-13 and connected to the feed sampling module 9.

[0041] This arrangement facilitates cooperation with the second parallel robot branch chain 8 to form a telecentric fixed point. Other components and connection relationships are the same as those in the first or second embodiment.

[0042] Specific implementation method four: Combination Figure 4To illustrate this embodiment, the second parallel robot branch chain 8 of this embodiment includes a second bracket 8-1, a fourth bearing 8-2, a second coupling 8-3, a fifth bearing 8-4, a second connecting rod 8-5, a sixth bearing 8-6, a movable end bearing seat 8-7, a second guide rail 8-8, a second slider 8-9, a second sleeve 8-10, a seventh bearing 8-11, a second branch chain hinge seat 8-12, a nut clamp adapter seat 8-13, a fixed end bearing seat 8-14, a third coupling 8-15, a motor bracket 8-16, a mobile auxiliary motor 8-17, a second branch chain front pin shaft 8-18, Sliding screw 8-19, screw nut 8-20, nut left clamp 8-21, nut right slider 8-22 and eighth bearing 8-23, the second bracket 8-1 is connected to the middle of the frame 6, the front pin shaft 8-18 of the second branch chain passes through the hole of the second coupling 8-3 and is hinged to the forked part of the front end of the second connecting rod 8-5 through the fifth bearing 8-4, the fourth bearing 8-2 is sleeved on the lower end of the second coupling 8-3 and hinged to the second bracket 8-1, the second coupling 8-3 is connected to the second rotary auxiliary motor 5 through the opening of the threaded clamp, and the second connecting rod 8-5 is connected to the second guide rail through holes evenly distributed on the surface. 8-8 is connected by screws, the second slider 8-9 is slidably installed on the second guide rail 8-8, the second branch chain hinge seat 8-12 is positioned by a positioning pin and a nut clamp block adapter seat 8-13, and is connected to the second slider 8-9 via a screw in the middle of the nut clamp block adapter seat 8-13, the second shaft sleeve 8-10 is sleeved on the middle of the second branch chain rear pin shaft 11 and contacts the seventh bearing 8-11, the second branch chain rear pin shaft 11 is connected to the feed sampling module 9 through the seventh bearing 8-11, the floating end bearing seat 8-7 and the second connecting rod 8-5 are connected by screws, and the sixth bearing 8-6 is sleeved on the sliding thread The left end of the lever 8-19 is connected to the movable end bearing seat 8-7, the screw nut 8-20 is sleeved on the sliding screw 8-19, the nut left clamp 8-21 and the nut right slider 8-22 are connected to the screw nut 8-20 by bolts, the eighth bearing 8-23 is sleeved on the right end of the sliding screw 8-19 and connected to the fixed end bearing seat 8-14, the sliding screw 8-19 is connected to the mobile sub-motor 8-17 through the third coupling 8-15, the mobile sub-motor 8-17 is connected to the second connecting rod 8-5 through the motor bracket 8-16, and the motor bracket 8-16 is connected to the second connecting rod 8-5 through screws.

[0043] This arrangement facilitates cooperation with the first parallel robot branch chain 7 to form a telecentric fixed point and improve puncture accuracy. Other components and connection relationships are the same as those in the first, second or third specific embodiments.

[0044] Specific implementation method five: Combination Figure 6To illustrate this embodiment, the feeding sampling module 9 of this embodiment includes a biopsy sampling upper shell 9-1, an OLED screen 9-2, a biopsy sampling lower shell 9-3, a slide left support plate 9-4, a slip ring pressure plate 9-5, a second branch chain slip ring 9-6, a first branch chain slip ring 9-7, a slide right support plate 9-8, a slide 9-9, a proximity switch 9-10, an electric biopsy device 9-11, a guide ring 9-12, a push rod base 9-13, an electric push rod 9-14 and a push rod pressure plate 9-15; wherein, the biopsy sampling upper shell 9-1 and the biopsy sampling lower shell 9-3 are connected by screws, the OLED screen 9-2 is installed on the biopsy sampling upper shell 9-1, the second branch chain slip ring 9-6 is installed on the biopsy sampling lower shell 9-3, and the second branch chain slip ring 9-6 and the first branch chain slip ring 9-7 are connected by a slip ring pressure plate 9-5 The slip ring pressure plate 9-5 is slidably installed in the groove of the biopsy sampling lower shell 9-3, the left slide plate 9-4 is connected to the right slide plate 9-8 and the second branch chain slip ring 9-6 by screws, the slide 9-9 is connected to the left slide plate 9-4 and the right slide plate 9-8 by screws, the proximity switch 9-10 is connected to the side of the slide 9-9 by screws, the electric biopsy device 9-11 is connected to the slide 9-9 by screws, the push rod base 9-13 is connected to the electric biopsy device 9-11 by screws, the electric push rod 9-14 is connected to the electric biopsy device 9-11 via the push rod base 9-13 by a pin, and the electric push rod 9-14 provides power to the electric biopsy device 9-11 via the push rod pressure plate 9-15 connected by screws; the guide ring 9-12 is connected through the groove at the right end of the biopsy sampling lower shell 9-3. Other components and connection relationships are the same as those in the specific embodiment one.

[0045] In this embodiment, the slide provides power for the motorized sampling device's feed motion, enabling the robot's translational freedom along the biopsy needle. The electric push rod provides power for both puncture sampling and tissue extraction, integrating the functionality of the biopsy gun into the robot's end effector. A guide ring provides support during the puncture process, minimizing deflection. The OLED screen displays the biopsy needle's pitch and yaw angles, as well as its displacement along the needle, in real time, accurately indicating the device's current position to the user.

[0046] Specific implementation method six: combination Figures 1 to 4Describe this embodiment. The electric biopsy device 9-11 of this embodiment includes a power drive assembly, a shell A-4, a base plate A-8, an inner needle slider A-10, a guide column A-14, an inner needle base A-9, an outer needle base A-13, an outer needle slider A-12, an elastic preload member A-11, an outer needle A-6 and an inner needle A-7. The shell A-4 is installed on the base plate A-8. One end of the guide column A-14 passes through the shell and is connected to the power drive assembly. The other end of the guide column A-14 is connected to the right end face of the inner needle slider A-10. The inner needle slider A-10 is horizontally slidably installed in the shell A-4. A long strip slide groove 10-1, a wedge-shaped groove 10-2 and a card groove 10-3 are provided on the inner needle slider. The long strip slide groove 10-1 and the card groove 10-3 are connected. The wedge-shaped groove 10-2 is located on the left side of the inner needle slider. The inner needle base A-9 can The wedge-shaped groove 10-3 installed on the inner needle slider is disassembled. One end of the inner and outer needle slider A-12 is horizontally slidably installed inside the right side of the long strip slide groove 10-1 of the inner needle slider. The other end of the outer needle slider A-12 can be clamped on the left side of the outer needle slider column A-12-3. The elastic preload member A-11 is installed between the outer needle slider body A-12-1 and the outer needle slider column A-12-3. The outer needle base A-13 is detachably installed in the wedge-shaped groove 10-2 on the outer needle slider. The outer needle A-6 is horizontally installed on the outer needle base A-13. One end of the inner needle A-7 is horizontally installed on the inner needle base A-9. The other end of the inner needle A-7 passes through the outer needle A-6, and the inner needle A-7 can slide in the outer needle A-6; the power drive assembly is installed on the outer shell A-4, and the outer needle A-6 and the inner needle A-7 are extended under the drive of the power drive assembly.

[0047] The bottom plate A-8 of this embodiment is provided with evenly distributed holes. The electric biopsy device of the present invention can be directly connected to the robot end effector via screws as a biopsy module, thereby expanding the functions of the puncture surgical robot.

[0048] The electric biopsy device of this embodiment, which can be used as a robot end effector with rapid needle exchange, has three functions: puncture sampling, needle withdrawal, and tissue extraction. The electric biopsy device is powered by a miniature electric push rod at the top of the device. The puncture sampling, needle withdrawal, and tissue extraction functions are primarily achieved by the slots on the side of the inner needle slider, the buckles on the side of the outer needle slider, the preload spring, and the columns. The inner and outer needle bases transmit the motion of the inner and outer needle sliders to the inner and outer needles via a wedge-shaped groove structure (referring to the inner needle base A-9 and the outer needle base A-13).

[0049] The electric biopsy device of this embodiment allows for quick, tool-free needle replacement. The specific operation is as follows: First, manually unscrew the knurled screws on both sides of the upper cover, remove the upper cover, and then, along the wedge-shaped grooves on the inner and outer needle sliders, detent the inner and outer needle bases by detents on their upper bosses. Then, prepare the replacement inner needle base and inner needle, and outer needle base and outer needle, respectively, and follow the reverse sequence to complete the needle replacement process. This is a quick and convenient process requiring no tools. The remaining components and connections are identical to those of any of the first through fifth embodiments.

[0050] Specific implementation method seven: combination Figure 6 To describe this embodiment, the housing A-4 of this embodiment is a rectangular frame. This arrangement facilitates the integration of the inner needle slider A-10 and the outer needle slider A-12 within the housing A-4, saving space. The remaining components and connections are identical to any of the embodiments 1 through 6.

[0051] Specific implementation method eight: combination Figure 6 To explain this embodiment, both the inner needle base A-9 and the outer needle base A-13 are wedge-shaped. This arrangement facilitates coaxial mounting of the inner and outer needles and facilitates transmission of motion from the inner and outer needle sliders to the inner and outer needles. The remaining components and connections are identical to those of any of the first through seventh embodiments.

[0052] Specific implementation method nine: Combination Figure 6 and Figure 7 To describe this embodiment, the outer needle slider A-12 comprises a slider body A-12-1, two slider clips A-12-2, and a post A-12-3. The two slider clips A-12-2 are integrally formed with the slider body A-12-1 on the left side thereof, with a gap A-12-4 remaining between the two slider clips A-12-2. The post A-12-3 is mounted on the outer side walls of the two slider clips A-12-2, and the clips of the slider clips A-12-2 prevent the post A-12-3 from falling. The slider body A-12-1 is provided with a wedge-shaped groove 12-5. The elastic preload member A-11 is mounted on the outer side walls of the two slider clips A-12-2 between the post A-12-3 and the slider body A-12-1. The remaining components and connections are the same as those in any of the first to eighth embodiments.

[0053] Specific implementation method ten: Combination Figure 9 and Figure 10 In this embodiment, the outer needle A-6 is positioned with its tip angled downward. This arrangement facilitates rapid puncture of the sampling site. The remaining components and connections are identical to those in any of the first to ninth embodiments.

[0054] Specific implementation method 11: Combination Figure 9 In this embodiment, the tip of inner needle A-7 is angled upward, and a sample receiving groove 7-1 is provided at the longitudinal end of inner needle A-7. This arrangement facilitates sample receiving. The remaining components and connections are identical to those of any of Embodiments 1 through 10.

[0055] Specific implementation method 12: Combination Figure 6 Description of the present embodiment, the power drive assembly of the present embodiment includes a push rod base A-1, a locating pin A-2, a micro electric push rod A-3 and a push rod pressure plate A-5, one end of the push rod base A-1 is installed at one end of the shell A-4, the other end of the push rod base A-1 is connected to the micro electric push rod A-3 by the locating pin A-2, one end of the push rod pressure plate A-5 is installed at the end of the micro electric push rod A-3, the other end of the push rod pressure plate A-5 is connected to the outer end face of the guide post A-14, and the push rod pressure plate A-5 drives the guide post A-14 and the inner needle slider A-10 to slide in the shell A-4. With such an arrangement, the horizontal movement accuracy of the electric push rod is high, which prevents the inner needle from colliding in the process of extending the outer needle, affecting the puncture and sampling process. Other components and connection relationships are the same as any one of the specific embodiments one to eleven.

[0056] Specific implementation method 13: Combination Figure 6 To explain this embodiment, the push rod pressure plate A-5 is located on the telescopic side of the micro electric push rod A-3. This arrangement facilitates the extension of the guide post, which in turn drives the inner needle slider A-10 and inner needle A-7. The remaining components and connections are identical to any of the embodiments 1 through 12.

[0057] Specific implementation method 14: Combination Figure 7 In this embodiment, the elastic preload member A-11 is a compression spring. This configuration provides power for the ejection of the outer needle A-6, enabling tissue sampling. The remaining components and connections are identical to any of the embodiments 1 through 13.

[0058] Specific implementation method 15: Combination Figure 6 This embodiment further includes an upper cover 15, which is mounted on the housing A-4. Other components and connection relationships are the same as those of any one of the specific embodiments 1 to 14.

[0059] The left end of the micro electric push rod A-3 of the present invention is connected to the push rod base A-1 through the positioning pin A-2, and the push rod base A-1 is connected to the left end of the shell A-4 through a screw. The right end of the micro electric push rod A-3 is connected to the push rod pressure plate A-5 through a screw, and the push rod pressure plate A-5 is connected to the guide column A-14 through a screw. The guide column A-14 is connected to the inner needle slider A-10 through the screw at the left end. The inner needle base A-9 and the inner needle slider A-10 are connected through the wedge groove structure at the left end of the inner needle slider A-10. The inner needle slider A-10 is connected through the guide at the bottom. The boss connects to and slides within the guide groove at the bottom of the outer needle slider A-12. The outer needle slider A-12 connects to and slides within the guide groove on the side of the outer shell A-4 via the bottom guide boss. The outer needle base A-13 connects to the outer needle slider A-12 via the wedge-shaped groove structure at the right end of the outer needle slider A-12. The left end of the inner needle A-7 is connected to the inner needle base A-9 through a transition fit through the hole in the middle. The outer needle A-6 is sleeved onto the inner needle A-7, and the left end of the outer needle A-6 is connected to the outer needle base A-13 through a transition fit through the hole in the middle. The preload spring 11 is sleeved on the outside of the snap structure of the outer needle slider A-12, with its left end abutting against the column of the outer needle slider 8 and its right end abutting against the left end face of the outer needle slider A-12 body. The base plate A-8 is connected to the outer shell A-4 via screws distributed around the periphery, and the upper cover 15 is connected to the outer shell A-4 via knurled screws at both ends.

[0060] Reference Figure 6 The electric biopsy device of this invention performs three functions: puncture sampling, needle removal, and tissue extraction. Its base plate A-8 is provided with evenly spaced holes, allowing the device to be directly screwed onto a robot's end effector as a biopsy module, expanding the functionality of the puncture surgical robot.

[0061] Reference Figure 6 The electric biopsy device of the present invention allows for quick needle replacement without any tools. The specific operation is as follows: First, manually unscrew the knurled screws on both sides of the upper cover 15, remove the upper cover 15, and then, along the wedge-shaped grooves on the inner needle slider A-10 and outer needle slider A-12, detent the inner needle base A-9 and outer needle base A-13 by pressing the bosses on their upper ends. Then, prepare the replacement inner needle base A-9 and inner needle A-7, and outer needle base A-13 and outer needle A-6, respectively. The needle can be replaced quickly and conveniently by following the reverse sequence. No tools are required.

[0062] Combine Figures 6 to 10 The working principle of the electric biopsy device of the present invention is described as follows:

[0063] The electric biopsy device, which can be used as a robotic end effector and can be rapidly exchanged, comprises the following process: In the initial state, the inner needle is secured to the inner needle base and inner needle slider, and the outer needle is secured to the outer needle base and outer needle slider, respectively. Both the inner needle and the outer needle are located at the left limit position within the housing. When puncture sampling begins, the micro-electric push rod extends, transmitting power via the push rod pressure plate to the guide post and then to the inner needle slider, thereby moving the inner needle rightward, gradually exposing the sample receiving groove on the inner needle. Nearing the right limit position, the slot on the inner needle slider contacts the buckle on the outer needle slider. The buckle structure deforms inward through the central column, causing the preload spring to return to its free length. The impact force of the spring directly acts on the outer needle slider, causing the outer needle to rapidly eject until the right end of the outer needle slider contacts the inner needle slider, preserving the tissue within the sample receiving groove and completing the puncture sampling.

[0064] The needle withdrawal process of the electric biopsy device used as a robot end effector with rapid needle replacement is as follows: after the puncture sampling is completed, the inner needle and the outer needle are both located at the right limit position in the shell. When the needle withdrawal begins, the micro electric push rod contracts, and the power is transmitted to the guide column through the push rod pressure plate, and then transmitted to the inner needle slider and the outer needle slider, thereby driving the inner needle and the outer needle to move to the left at the same time. When approaching the left limit position, the buckle on the outer needle slider contacts the middle column, and the buckle structure deforms inward and locks after passing through the middle column. The pre-tightening spring reaches the maximum compression amount, and the outer needle, outer needle base and outer needle slider, as well as the inner needle, inner needle base and inner needle slider all return to the left limit position in the initial state, completing the needle withdrawal.

[0065] The tissue extraction process of the electric biopsy device, which can be used as a robotic end effector with a rapid needle exchange, is as follows: After needle withdrawal, both the inner and outer needles are at the left limit position within the housing. Tissue extraction begins when the micro-electric push rod extends, transmitting power via the push rod pressure plate to the guide post and then to the inner needle slider, thereby moving the inner needle to the right. The sampling receiving groove on the inner needle is gradually exposed, and the tissue sample in the sampling receiving groove can then be extracted. After tissue extraction is complete, the micro-electric push rod retracts, driving the inner needle to its left limit position.

[0066] The electric biopsy device of this invention performs three functions: puncture sampling, needle removal, and tissue extraction. Compared to existing Bard handheld biopsy guns, it allows for easy needle replacement without any tools, enabling reuse of the biopsy device. Furthermore, its detachable module, which can be integrated into the end effector of a puncture surgical robot, expands the robot's functionality. Its compact size and ease of use suggest significant potential for application in robotic-assisted biopsy procedures.

[0067] Combine Figures 1 to 6 To illustrate the working principle of the parallel handheld prostate biopsy robot with a telecentric fixed point structure of the present invention:

[0068] Reference Figures 1 and 2 The parallel handheld prostate biopsy robot with a telecentric fixed point structure described in the present invention is composed of a control box 1, a handle 2, and a three-degree-of-freedom parallel robot 3. The three-degree-of-freedom parallel robot 3 is connected to the top of the control box 2 via screws at the bottom of the frame 6, and the control box 2 is connected to the top of the handle 2 via screws at its bottom rear end. The three-degree-of-freedom parallel robot 3 is the core of the parallel handheld prostate biopsy robot and is composed of a first rotary auxiliary motor 4, a second rotary auxiliary motor 5, a frame 6, a first parallel robot branch 7, a second parallel robot branch 8, a feeding and sampling module 9, a motor cover 10, a rear pin shaft 11 of the second branch, and a rear pin shaft 12 of the first branch. The first rotary auxiliary motor 4 and the second rotary auxiliary motor 5 are connected to the middle of the frame 6 by screws. The motor cover 10 covers the first rotary auxiliary motor 4 and the second rotary auxiliary motor 5 and is connected to the frame 6 by screws. The front end of the first parallel robot branch chain 7 is connected to the frame 6 by screws. The rear end of the first parallel robot branch chain 7 is connected to the feeding and sampling module 9 via the first branch chain rear pin 12. The front end of the second parallel robot branch chain 8 is connected to the frame 6 by screws. The rear end of the second parallel robot branch chain 8 is connected to the feeding and sampling module 9 via the second branch chain rear pin 11.

[0069] Reference Figure 3 The handle of the present invention comprises a left handle housing 3-1, a keypad 13-2, a keypad 23-3, and a right handle housing 3-4. The left handle housing 3-1 and the right handle housing 3-4 are connected by screws distributed around the periphery. The keypad 13-2 is connected to the left handle housing 3-1 by screws, and the keypad 23-3 is connected to the left handle housing 3-1 and the right handle housing 3-4 by screws.

[0070] Reference Figure 4 and Figure 2The first parallel robot branch chain 7 of the present invention is composed of a first bracket 7-1, a first coupling 7-2, a first bearing 7-3, a second bearing 7-4, a first connecting rod 7-5, a first guide rail 7-6, a first slider 7-7, a slider adapter 7-8, a first branch chain hinge seat 7-9, a first branch chain front pin shaft 7-10, a first positioning pin 7-11, a first shaft sleeve 7-12 and a third bearing 7-13. Among them, the first bracket 7-1 is connected to the middle part of the frame 6 by the screw at the bottom, the front pin shaft 7-10 of the first branch chain passes through the hole in the middle part of the first coupling 7-2, and is hinged to the forked part at the front end of the first connecting rod 7-5 through the second bearing 7-4, the first bearing 7-3 is sleeved on the upper end of the first coupling 7-2 and hinged to the first bracket 7-1, and the first coupling 7-2 is also connected to the first rotating auxiliary motor 4 through the opening of threaded clamping, the first connecting rod 7-5 is connected to the first guide rail 7-6 by screws through holes evenly distributed on the surface, the first slider 7-7 slides on the first guide rail 7-6, the first branch chain hinge seat 7-9 is positioned with the slider adapter seat 7-8 by the locating pin 7-11, and is connected to the first slider 7-7 via the screw in the middle of the slider adapter seat 7-8, the first shaft sleeve 7-12 is sleeved on the middle of the rear pin shaft 12 of the first branch chain and contacts the third bearing 7-13, and the rear pin shaft 12 of the first branch chain is connected to the feed sampling module 9 through the third bearing 7-13.

[0071] Reference Figure 2 and Figure 5The parallel robot branch chain 2 is composed of a second bracket 8-1, a fourth bearing 8-2, a second coupling 8-3, a fifth bearing 8-4, a second connecting rod 8-5, a sixth bearing 8-6, a movable end bearing seat 8-7, a second guide rail 8-8, a second slider 8-9, a second sleeve 8-10, a seventh bearing 8-11, a second branch chain hinge seat 8-12, a nut clamp block adapter seat 8-13, a fixed end bearing seat 8-14, a third coupling 8-15, a motor bracket 8-16, a mobile auxiliary motor 8-17, a second branch chain front pin shaft 8-18, a sliding screw 8-19, a screw nut 8-20, a nut left clamp block 8-21, a nut right clamp block 8-22 and an eighth bearing 8-23. The second bracket 8-1 is connected to the middle part of the frame 6 by the screws at the bottom, the front pin shaft 8-18 of the second branch chain passes through the hole in the middle part of the second coupling 8-3, and is hinged to the forked part at the front end of the second connecting rod 8-5 through the fifth bearing 8-4, the fourth bearing 8-2 is sleeved on the lower end of the second coupling 8-3 and hinged to the second bracket 8-1, and at the same time, the second coupling 8-3 is connected to the second rotating auxiliary motor 5 through the opening of threaded clamping, the second connecting rod 8-5 is connected to the second guide rail 8-8 by screws through holes evenly distributed on the surface, the second slider 8-9 slides on the second guide rail 8-8, the second branch chain hinge seat 8-12 is positioned by the locating pin and the nut clamp block adapter seat 8-13, and is connected to the second slider 8-9 via the screw in the middle part of the nut clamp block adapter seat 8-13, the second shaft sleeve 8-10 is sleeved on the middle part of the second branch chain rear pin shaft 11 and contacts the seventh bearing 8-11, and the second branch chain rear pin shaft 11 is connected to the feed sampling module 9 through the seventh bearing 8-11. The movable end bearing seat 8-7 and the second connecting rod 8-5 are connected by screws, the sixth bearing 8-6 is sleeved on the left end of the sliding screw 8-19 and connected to the movable end bearing seat 8-7, the screw nut 8-20 is sleeved on the sliding screw 8-19, the nut left clamp 8-21 and the nut right clamp 8-22 are connected to the screw nut 8-20 by bolts, the eighth bearing 8-23 is sleeved on the right end of the sliding screw 8-19 and connected to the fixed end bearing seat 8-14, the sliding screw 8-19 is connected to the mobile sub-motor 8-17 through the third coupling 8-15, the mobile sub-motor 8-17 is connected to the second connecting rod 8-5 through the motor bracket 8-16, and the motor bracket 8-16 is connected to the second connecting rod 8-5 by screws.

[0072] Reference Figure 6The feeding sampling module 9 of the present invention is composed of a biopsy sampling upper housing 9-1, an OLED screen 9-2, a biopsy sampling lower housing 9-3, a slide left support plate 9-4, a slip ring pressure plate 9-5, a branch chain 2 slip ring 9-6, a branch chain 1 slip ring 9-7, a slide right support plate 9-8, a slide 9-9, a proximity switch 9-10, an electric biopsy device 9-11, a guide ring 9-12, a push rod base 9-13, an electric push rod 9-14, and a push rod pressure plate 9-15. The biopsy sampling upper housing 9-1 and the biopsy sampling lower housing 9-3 are connected by screws. The biopsy sampling upper housing 9-1 and the OLED screen 9-2 are also connected by screws. The branch chain 2 slip ring 9-6 and the biopsy sampling lower shell 9-3 are connected by side screws, the branch chain 1 slip ring 9-7 rotates in the groove in the branch chain 2 slip ring 9-6, and the slip ring pressure plate 9-5 is connected by screws to axially position the branch chain 1 slip ring 9-7 and the branch chain 2 slip ring 9-6. The left support plate 9-4 of the slide is connected to the right support plate 9-8 of the slide and the slip ring 9-6 of the branch chain 2 by screws. The slide 9-9 is connected to the left support plate 9-4 and the right support plate 9-8 of the slide by screws. The proximity switch 9-10 is connected to the side of the slide 9-9 by screws. The electric sampling device is connected to the slide 9-9 by screws. The push rod base 9-13 is connected to the electric biopsy device 9-11 by screws. The electric push rod 9-14 is connected to the electric biopsy device 9-11 through the push rod base 9-13 by a pin. The electric push rod 9-14 provides power to the electric biopsy device 9-11 via the push rod pressure plate 9-15 connected by screws. The guide ring 9-12 is connected through the groove at the right end of the biopsy sampling lower shell 9-3. The biopsy needle 9-16 forms a clearance fit with the guide ring 9-12 to achieve a certain guiding effect.

[0073] Combine Figures 1 to 6 The working principle of the present invention is described:

[0074] The parallel handheld prostate biopsy robot with a telecentric fixed point structure described in the present invention achieves its telecentric fixed point by utilizing the structure of the three-degree-of-freedom parallel robot. The three-degree-of-freedom parallel robot consists of two branches, each composed of a universal joint, a translational pair, and a revolute pair. The two branches are connected by a revolute pair. This structure creates a telecentric fixed point at the intersection of the axes of the two rotating pair motors. The parallel robot's end effector can only perform pitch and yaw motion around this telecentric fixed point, as well as translation along the common revolute pair axis of the two branches. The parallel handheld prostate biopsy robot with a telecentric fixed point structure described in the present invention is operated via buttons on the handle, which directly control the five power mechanisms of the three-degree-of-freedom parallel robot. The rotating pair motors 1 and 2 are active joints, coupling the two motors to output two rotational degrees of freedom, including pitch and yaw. The translational pair motor is also an active joint, ensuring that the needle tip does not move in the direction of the biopsy needle during posture adjustment. The slide provides power for the electric sampling device's feed motion, enabling the robot's translational freedom along the biopsy needle. The electric push rod provides power for the robot's puncture sampling and tissue extraction actions, integrating the biopsy gun's functionality into the robot's end effector. Ultimately, this achieves the biopsy needle's three degrees of freedom: pitch, yaw, and translation along the needle's direction, as well as the two biopsy actions of puncture sampling and tissue extraction. The OLED screen simultaneously displays the needle's pitch, yaw, and displacement along the needle's direction in real time, accurately indicating the device's current position to the user.

[0075] The parallel handheld prostate biopsy robot with a telecentric fixed-point structure described in this invention reduces the size, price, and learning curve of existing fixed surgical robot systems, significantly improving portability. It also reduces needle deflection during puncture, improving precision and addressing uneven force distribution during puncture, reducing wound size and minimizing tissue damage. This parallel handheld prostate biopsy robot offers low cost, ease of use, portability, and high precision, making it a highly promising handheld prostate biopsy device.

[0076] Although the present invention has been disclosed above with reference to preferred embodiments, this is not intended to limit the present invention. Those skilled in the art may also make other changes within the spirit of the present invention, and apply the present invention to fields not mentioned herein. Of course, these changes made in accordance with the spirit of the present invention should be included in the scope of protection claimed by the present invention.

Claims

1. A parallel handheld prostate biopsy robot with a telecentric fixed point structure, characterized by: It includes a control box, a handle and a three-degree-of-freedom parallel robot, wherein the three-degree-of-freedom parallel robot is mounted on the upper end surface of the control box, and the handle is mounted on the lower end surface of the control box; The three-degree-of-freedom parallel robot includes a first rotary auxiliary motor, a second rotary auxiliary motor, a frame, a first parallel robot branch chain, a second parallel robot branch chain, a feeding and sampling module, and a motor cover. The frame extends vertically from the bottom to the top and then bends to one side. The first rotary auxiliary motor is installed on the bent portion of the frame, and the second rotary auxiliary motor is installed at the bottom of the frame. The first parallel robot branch chain and the second parallel robot branch chain are respectively rotatably installed on the frame and connected to the output shafts of the first rotary auxiliary motor and the second rotary auxiliary motor. The axes of the first rotary auxiliary motor and the second rotary auxiliary motor are extended to intersect and converge to form a telecentric fixed point. The feeding and sampling module is installed on the first parallel robot branch chain and the second parallel robot branch chain, and the feeding and sampling module performs pitch and yaw motion around the telecentric fixed point and translation motion along the common rotary auxiliary axis of the first parallel robot branch chain and the second parallel robot branch chain. The motor cover is on the first rotary auxiliary motor and the second rotary auxiliary motor. The first parallel robot branch chain includes a first bracket, a first coupling, a first bearing, a second bearing, a first connecting rod, a first guide rail, a first slider, a slider adapter, a first branch chain hinge seat, a first branch chain front pin shaft, a first positioning pin, a first bushing and a third bearing. The bottom of the first bracket is connected to the middle of the frame, the first coupling is rotatably mounted on the first bracket through the front pin shaft of the first branch chain and the second bearing, one end of the first connecting rod is rotatably mounted on the first coupling through the first bearing, the other end of the first connecting rod is suspended, the first guide rail is mounted on the first connecting rod, the first slider is slidably mounted on the first guide rail, the first branch chain hinge seat is mounted on the first slider through the slider adapter seat, the slider adapter seat and the first branch chain hinge seat are positioned and connected by the first locating pin, the third bearing is rotatably mounted on the first branch chain hinge seat, and the first sleeve is mounted on the third bearing and connected to the feed sampling module; The second parallel robot branch chain includes a second bracket, a fourth bearing, a second coupling, a fifth bearing, a second connecting rod, a sixth bearing, a movable end bearing seat, a second guide rail, a second slider, a second sleeve, a seventh bearing, a second branch chain hinge seat, a nut clamp block adapter seat, a fixed end bearing seat, a third coupling, a motor bracket, a mobile auxiliary motor, a second branch chain front pin shaft, a sliding screw, a screw nut, a nut left clamp block, a nut right slider and an eighth bearing, The second bracket is connected to the middle of the frame, the front pin shaft of the second branch chain passes through the hole of the second coupling and is hinged to the forked part of the front end of the second connecting rod through the fifth bearing, the fourth bearing is sleeved on the lower end of the second coupling and hinged to the second bracket, the second coupling is connected to the second rotating auxiliary motor through a threaded clamping opening, the second connecting rod is connected to the second guide rail by screws through holes evenly distributed on the surface, the second slider is slidably installed on the second guide rail, the second branch chain hinge seat is positioned by a locating pin and a nut clamp block adapter, and is connected to the second slider via a screw in the middle of the nut clamp block adapter, and the second sleeve is sleeved on the second The middle part of the rear pin shaft of the branch chain is in contact with the seventh bearing. The rear pin shaft of the second branch chain is connected to the feed sampling module through the seventh bearing. The movable end bearing seat and the second connecting rod are connected by screws. The sixth bearing is sleeved on the left end of the sliding screw and connected to the movable end bearing seat. The screw nut is sleeved on the sliding screw. The left clamp of the nut and the right slider of the nut are connected to the screw nut through bolts. The eighth bearing is sleeved on the right end of the sliding screw and connected to the fixed end bearing seat. The sliding screw is connected to the mobile auxiliary motor through the third coupling. The mobile auxiliary motor is connected to the second connecting rod through the motor bracket, and the motor bracket is connected to the second connecting rod through screws.

2. The parallel handheld prostate biopsy robot with a telecentric fixed point structure according to claim 1, characterized in that: The handle includes a left shell, a first keypad, a second keypad and a right shell. The left shell and the right shell are buckled together. The second keypad is installed at the buckling position of the left shell and the right shell, and the first keypad is installed on the left shell.

3. The parallel handheld prostate biopsy robot with a telecentric fixed point structure according to claim 1 or 2, characterized in that: The feeding sampling module includes a biopsy sampling upper housing, an OLED screen, a biopsy sampling lower housing, a slide left support plate, a slip ring pressure plate, a second branch chain slip ring, a first branch chain slip ring, a slide right support plate, a slide, a proximity switch, an electric biopsy device, a guide ring, a push rod base, an electric push rod and a push rod pressure plate; Among them, the biopsy sampling upper shell and the biopsy sampling lower shell are connected by screws, the OLED screen is installed on the biopsy sampling upper shell, and the second branch chain slip ring is installed on the biopsy sampling lower shell. The second branch chain slip ring and the first branch chain slip ring are connected by a slip ring pressure plate, and the slip ring pressure plate is slidably installed in the groove of the biopsy sampling lower shell. The left support plate of the slide is connected to the right support plate of the slide and the second branch chain slip ring by screws. The slide is connected to the left support plate and the right support plate of the slide by screws. The proximity switch is connected to the side of the slide by screws. The electric biopsy device is connected to the slide by screws. The push rod base is connected to the electric biopsy device by screws. The electric push rod is connected to the electric biopsy device via a pin via the push rod base. The electric push rod provides power to the electric biopsy device via the push rod pressure plate connected by screws; the guide ring is connected through the groove at the right end of the biopsy sampling lower shell.

4. The parallel handheld prostate biopsy robot with a telecentric fixed point structure according to claim 3, characterized in that: The electric biopsy device includes a power drive assembly, a housing, a base plate, an inner needle slider, a guide post, an inner needle base, an outer needle base, an outer needle slider, an elastic preload member, an outer needle and an inner needle. The outer shell is installed on the bottom plate, one end of the guide column passes through the outer shell and is connected to the power drive component, and the other end of the guide column is connected to the right end face of the inner needle slider. The inner needle slider is installed in the outer shell for horizontal sliding. The inner needle slider is provided with a long slide groove, a wedge groove and a card groove. The long slide groove and the card groove are connected, and the wedge groove is located on the left side of the inner needle slider. The inner needle base can be detachably installed in the wedge-shaped groove of the inner needle slider. One end of the inner and outer needle sliders is horizontally slidably installed inside the right side of the long strip slide groove of the inner needle slider. The other end of the outer needle slider can be clamped on the left side of the outer needle slider column. The elastic preload part is installed between the outer needle slider body and the outer needle slider column. The outer needle base can be detachably installed in the wedge-shaped groove on the outer needle slider. The outer needle is horizontally installed on the outer needle base, one end of the inner needle is horizontally installed on the inner needle base, the other end of the inner needle passes through the outer needle, and the inner needle can slide inside the outer needle; the power drive component is installed on the outer shell, and the outer needle and the inner needle are extended under the drive of the power drive component.

5. The parallel handheld prostate biopsy robot with a telecentric fixed point structure according to claim 4, characterized in that: The outer needle slider includes a slider body, two slider clips and a column. The two slider clips are made into one piece with the slider body on the left side of the slider body. A gap is left between the two slider clips. The column is mounted on the outer side walls of the two slider clips, and the column is prevented from falling under the clamping limit action of the slider clips. A wedge-shaped groove is opened on the slider body, and the elastic preloaded part is mounted on the outer side walls of the two slider clips between the column and the slider body.

6. The parallel handheld prostate biopsy robot with a telecentric fixed point structure according to claim 5, characterized in that: The tip of the outer needle is arranged with its oblique opening facing downward, the tip of the inner needle is arranged with its oblique opening facing upward, and a sampling receiving groove is provided at the end side of the inner needle in the length direction.

7. The parallel handheld prostate biopsy robot with a telecentric fixed point structure according to claim 6, characterized in that: The power drive assembly includes a push rod base, a positioning pin, a micro electric push rod and a push rod pressure plate. One end of the push rod base is installed at one end of the shell, and the other end of the push rod base is connected to the micro electric push rod through the positioning pin. One end of the push rod pressure plate is installed at the end of the micro electric push rod, and the other end of the push rod pressure plate is connected to the outer end face of the guide column. The push rod pressure plate drives the guide column and the inner needle slider to slide in the shell.

8. The parallel handheld prostate biopsy robot with a telecentric fixed point structure according to claim 7, characterized in that: The push rod pressure plate is located on the telescopic side of the micro electric push rod.

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