A breast biopsy robot that mimics a woodpecker's foraging action

Abstract

This invention discloses a breast biopsy robot that mimics a woodpecker's foraging process, belonging to the field of medical devices. It employs a modular design, including a treatment bed, a breast fixation module, a posture adjustment module, and a puncture module. Inspired by the woodpecker's foraging process, this invention uses a friction wheel-driven rigid outer needle to mimic the woodpecker's beak, quickly piercing the skin layer, while a flexible inner needle mimics the woodpecker's tongue, flexibly avoiding obstacles such as blood vessels to reach the target point. The patient lies prone on the treatment bed, with the breast fixation module clamping the gland to reduce displacement. The posture adjustment module adjusts the puncture module to the appropriate position. The puncture module first uses the friction wheel-driven rigid outer needle to pierce the skin layer, and then a lead screw and servo motor drive the flexible inner needle to reach the target point to complete the puncture surgery. This woodpecker-mimicking breast biopsy robot is highly flexible, capable of puncturing bilateral glands, increasing the selection of puncture points and improving the efficiency of the puncture surgery. A breast biopsy robot that mimics the foraging behavior of a woodpecker combines bionic principles with a rigid outer needle and a flexible inner needle to reduce tissue deformation and target displacement during the puncture process, thereby improving the precision of breast biopsy surgery.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, specifically to a breast puncture robot that mimics a woodpecker foraging for food. Background Technology

[0002] In 2022, breast cancer surpassed lung cancer to become the leading cause of cancer death worldwide. The development of breast biopsy robots helps doctors perform breast biopsy procedures more effectively. Biopsy precision is the primary standard for evaluating breast biopsy procedures, and the interaction force between the needle and tissue is a crucial factor affecting precision. A more refined structural design for breast biopsy robots can significantly improve precision. Currently, most breast biopsy robots perform unilateral or single-gland punctures, limiting the robot's working space and the number of needle insertion points available to doctors. Current biopsy needles are mainly divided into rigid and flexible needles. Rigid needles are more rigid and easier to control, but they are difficult to precisely avoid obstacles such as blood vessels, sensitive organs, and bones, potentially causing injury to the patient and affecting the precision of the biopsy. Flexible needles can better avoid obstacles, but due to the complex interaction force between the needle and tissue, especially the puncture force when penetrating the skin, flexible needles can undergo significant bending deformation when piercing the skin layer, affecting precision. Summary of the Invention

[0003] This invention designs a mammary puncture robot that mimics a woodpecker's foraging behavior to solve the problems existing in the background art.

[0004] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows:

[0005] A modular design is adopted, dividing a woodpecker-inspired breast biopsy robot into a treatment bed, a biopsy module, a breast fixation module, and a posture adjustment module. This woodpecker-inspired breast biopsy robot significantly increases the workspace of the breast biopsy robot, effectively reduces target displacement and soft tissue deformation caused by needle insertion during breast biopsy, and improves the accuracy of breast biopsy.

[0006] Furthermore, inspired by the foraging process of woodpeckers, the puncture module uses a rigid outer needle to simulate the woodpecker's beak and a flexible inner needle to simulate its tongue. Combining the advantages of both rigid and flexible needles, it employs a rigid needle encasing a flexible needle. The rigid outer needle quickly penetrates the skin layer, and then the flexible inner needle reaches the target point to complete the surgery. The rigid needle's characteristics reduce puncture force and tissue deformation; the flexible needle's characteristics allow for more precise punctures by bypassing obstacles.

[0007] Furthermore, the rigid outer needle is driven by a friction wheel and a synchronous belt to achieve rapid needle insertion. There are three friction wheels in total. Among them, the active friction wheel provides power to drive the synchronous belt to move quickly, thereby achieving rapid needle insertion of the rigid outer needle. There is a passive friction wheel on each side of the active friction wheel to achieve synchronous belt tension, making the transmission smoother and more accurate.

[0008] Furthermore, the breast fixation module employs a three-finger clamp in conjunction with an ultrasound probe. The three-finger clamp has two degrees of freedom: feed and rotation, while the ultrasound probe has two degrees of freedom: feed and lifting. The two work together to fix breast tissues of different sizes, reducing target point displacement and tissue deformation.

[0009] Furthermore, the three-finger clamp mimics human fingers with a natural curvature, allowing it to conform well to the mammary glands and provide a more stable grip.

[0010] Furthermore, the posture adjustment module consists of a bottom turntable and a differential scissor mechanism. The differential scissor mechanism is mounted on the bottom turntable and can rotate 360°, enabling surgery on both sides of the glands without requiring the patient to change position during the operation, which greatly increases the working space of the surgical robot.

[0011] Furthermore, the posture adjustment module adopts a differential scissor mechanism to realize the lifting and pitching of the puncture module. One end of the scissor frame is rotatably connected to the puncture base plate through a support rod, and the other end is connected to the lead screw slider through a hinge. The two sets of lead screws are differentially driven to make the scissor frame form different angles, pitching and lifting.

[0012] Furthermore, one side of the lead screw slider has a threaded hole for engagement with the lead screw, while the other side has a smooth hole for support. When the lead screw sliders on the same side move simultaneously to the center or sides, the rotation centers of the two sets of scissor arms are always located in the middle of the support rod, resulting in smoother mechanism movement and higher piercing accuracy.

[0013] The method of using a breast biopsy robot that mimics a woodpecker foraging includes the following steps:

[0014] Preoperative preparation: The patient lies prone on the treatment bed. The doctor determines the location of the cancer cells and the optimal needle insertion point based on the ultrasound image, and preliminarily determines the puncture path.

[0015] Surgical Procedure: The initial positions of the puncture module, breast fixation module, and posture adjustment module of a woodpecker-inspired breast biopsy robot are determined. The three-finger clamp and ultrasound probe of the breast fixation module are driven to approach and fix the gland. The bottom turntable of the posture adjustment module is driven to rotate for primary positioning. The differential scissor mechanism is driven to adjust the height and pitch angle of the puncture module for secondary positioning. The overall lead screw of the puncture module is driven to bring the puncture needle closer to the insertion point for tertiary positioning. The active friction wheel of the puncture module is driven to rotate at high speed, causing the rigid outer needle to quickly penetrate the skin layer. The active friction wheel stops rotating, and the rigid outer needle stops feeding. The flexible inner needle lead screw and servo motor of the puncture module are driven, and the feeding speed and rotation speed of the flexible inner needle are adjusted in real time in conjunction with the ultrasound image to form different needle insertion paths, ultimately reaching the target point for surgery. The flexible inner needle lead screw, servo motor, and friction wheel of the puncture module are driven to withdraw the puncture needle from the body.

[0016] Postoperatively: After the surgery, the three-finger clamp and ultrasound probe that drive the breast fixation module release the gland; the puncture module, breast fixation module, and posture adjustment module of a woodpecker-inspired breast puncture robot are restored to their initial positions for use in the next surgery.

[0017] Due to the adoption of the above technical solution, the technical progress achieved by this invention compared to the prior art is as follows:

[0018] 1. The procedure employs a rigid outer needle with a flexible inner needle. The rigid outer needle is quickly inserted to pierce the skin layer, and then the flexible needle is inserted to reach the target point to complete the surgery. The rigid outer needle minimizes puncture force and tissue deformation, while the flexible inner needle bypasses obstacles to achieve more precise puncture.

[0019] 2. A lead screw and slider with a threaded hole on one side and a smooth hole on the other is used. When the lead screw and slider on the same side move simultaneously to the middle or both sides, the rotation center of the two sets of scissor arms is always located in the middle plane of the support rod, resulting in smoother movement and higher piercing accuracy.

[0020] 3. The three-finger clamp, combined with the ultrasound probe, provides more secure gripping of the gland, while the real-time imaging from the ultrasound probe helps doctors adjust the needle insertion path in real time.

[0021] 4. The bottom turntable, in conjunction with the differential double scissor mechanism, allows the breast biopsy robot to cover both sides of the glands, increasing the working space and improving the efficiency of the biopsy procedure. Attached Figure Description

[0022] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0023] Figure 2This is a schematic diagram of the puncture module of the present invention. Figure 1 ;

[0024] Figure 3 This is a schematic diagram of the puncture module of the present invention. Figure 2 ;

[0025] Figure 4 This is a schematic diagram of the breast fixation module of the present invention;

[0026] Figure 5 This is a schematic diagram of the pose adjustment module of the present invention;

[0027] Figure 6 This is a schematic diagram of the differential double scissor mechanism of the present invention.

[0028] In the diagram: 1. Treatment bed; 2. Puncture module; 3. Breast fixation module; 4. Posture adjustment module; 2-1. Servo motor 1; 2-2. Friction wheel support plate; 2-3. Passive friction wheel 1; 2-4. Passive friction wheel shaft 1; 2-5. Active friction wheel; 2-6. Active friction wheel shaft; 2-7. Passive friction wheel 2; 2-8. Passive friction wheel shaft 2; 2-9. Servo motor 2; 2-10. Optical bar 2; 2-11. Flexible needle screw; 2-12. End motor support frame; 2-13. Servo motor 3; 2-14. Synchronous belt; 2-15. Optical bar 1; 2-16. End support plate; 2-17. 2-18 Flexible inner needle; 2-19 Rigid outer needle; 2-20 Rigid outer needle feed block; 2-21 Flexible inner needle baffle; 2-22 Needle feeding mechanism support plate; 2-23 Integral lead screw; 2-24 Motor support plate; 2-25 Servo motor 4; 3-1 Servo motor 5; 3-2 Three-finger clamp motor frame 1; 3-3 Clamp top plate; 3-4 Three-finger clamp feed slider; 3-5 Clamp gear 1; 3-6 Servo motor 13; 3-7 Clamp gear shaft 2; 3-8 Clamp gear 2; 3-9 Clamp gear shaft 3; 3-10 Clamp gear 3; 3-11 Finger holder 1; 3-12 One 3-13, Finger 2 support; 3-14, Finger 2; 3-15, Finger support; 3-16, Finger 3 support; 3-17, Finger 3; 3-18, Ultrasonic probe feed slider; 3-19, Servo motor 6; 3-20, Fixture gear 4; 3-21, Fixture motor frame 2; 3-22, Lead screw frame; 3-23, Lead screw slider; 3-24, Lead screw; 3-25, Ultrasonic probe; 3-26, Servo motor 7; 4-1, Housing; 4-2, Turntable; 4-3, Gear shaft 1; 4-4, Gear 1; 4-5, Bearing; 4-6, End cap; 4-7, Gear shaft; 4-8, Gear 2; 4 -9. Servo motor 8; 4-10. I-beam support rod; 4-11. Commutator 1; 4-12. Scissor lift 1; 4-13. Scissor lift 2; 4-14. Servo motor 9; 4-15. Motor frame 1; 4-16. Slide table 1; 4-17. Slide table 2; 4-18. Commutator 2; 4-19. Straight support rod; 4-20. Scissor lift 3; 4-21. Scissor lift 4; 4-22. Slide table 3; 4-23. Motor frame 2; 4-24. Servo motor 10; 4-25. Servo motor 11; 4-26. Motor frame 3; 4-27. Slide table 4; 4-28. Motor frame 4; 4-29. Servo motor 12. Detailed Implementation

[0029] The specific structure and implementation of the present invention will be further described below with reference to the accompanying drawings:

[0030] A mammary puncture robot that mimics a woodpecker's foraging behavior has the following structure: Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 As shown, the breast biopsy robot consists of a treatment bed, a biopsy module, a breast fixation module, and a posture adjustment module.

[0031] The needle insertion mechanism support plate (2-21) of the puncture module is rotatably connected to the straight support rod (4-19) and the I-shaped support rod (4-10) of the position adjustment mechanism; the treatment bed (1) is fixedly connected to the clamp top plate (3-3) of the breast fixation module by screws.

[0032] The puncture module comprises an active friction wheel (2-5), a passive friction wheel 1 (2-3), a passive friction wheel 2 (2-7), a friction wheel support plate (2-2), a synchronous belt (2-14), a rigid outer needle (2-18), a rigid outer needle feed block (2-19), a flexible inner needle (2-17), a flexible inner needle baffle (2-20), a light bar 1 (2-15), and an end support plate (2-16). Its distinguishing feature is that the active friction wheel (2-5), passive friction wheel 1 (2-3), and passive friction wheel 2 (2-7) are rotatably connected to the friction wheel support plate (2-2). The belt (2-14) is wound around the active friction wheel (2-5) and tensioned by the passive friction wheel 1 (2-3) and the passive friction wheel 2 (2-7). The two ends of the synchronous belt (2-14) are fixedly connected to the rigid outer needle feed block (2-19). The rigid outer needle feed block (2-19) is supported and guided by the light rod 1 (2-15). The rigid outer needle (2-18) is fixedly connected to the rigid outer needle feed block (2-19). The flexible inner needle baffle (2-20) is fixedly connected to the flexible inner needle (2-17) and driven by the lead screw nut. The end support plate (2-16) is driven by the lead screw nut to achieve feeding.

[0033] The breast fixation module is completely symmetrical on both sides and consists of a clamp top plate (3-3), a three-finger clamp feed slider (3-4), a finger holder (3-15), a first finger (3-12), a second finger (3-14), a third finger (3-17), an ultrasound probe feed slider (3-18), a lead screw (3-24), a lead screw slider (3-23), and an ultrasound probe (3-25). The clamp top plate (3-3) has a sliding groove and is slidably connected to the three-finger clamp feed slider (3-4) and the ultrasound probe feed slider (3-18). The finger holder (3-15) is connected to the three-finger clamp feed slider via a rotating shaft 3 (3-9). The first finger (3-12), the second finger (3-14), and the third finger (3-17) are connected to the finger holder (3-15) by bolts. The ultrasound probe (3-25) is fixedly connected to the lead screw slider (3-23).

[0034] The posture adjustment module uses a bottom turntable to rotate the puncture module in planar motion, and a differential double scissor mechanism to raise, lower, and tilt the puncture module. The bottom turntable and the differential double scissor mechanism are fixedly connected by screws.

[0035] The active friction wheel (2-5) is connected to the servo motor 1 (2-1) via a coupling; the friction wheel support plate (2-2) is fixed to the servo motor 1 (2-1) via screws, fixed to the end support plate (2-16) via screws, and rotatably connected to the passive friction wheel shaft 1 (2-4) and the passive friction wheel shaft 2 (2-8) via bearings; the passive friction wheel shaft 1 (2-4) is rotatably connected to the passive friction wheel 1 (2-3); the passive friction wheel shaft 2 (2-8) is rotatably connected to the passive friction wheel 2 (2-7); the left end of the synchronous belt (2-14) is fixed to the first end of the rigid outer needle feed block (2-19), and then extends along a direction parallel to the upper surface of the rigid outer needle feed block (2-19) around the lower edge of the passive friction wheel 1 (2-3), further around the top of the active friction wheel (2-5), and the synchronous belt (2-14) passes around the active friction wheel (2-5) along the passive friction wheel 2 (2-3). 2-7) The lower part is close to the rigid outer needle feed block (2-19), and fixed along the direction parallel to the upper surface of the rigid outer needle feed block (2-19) to the tail end of the rigid outer needle feed block (2-19); the rigid outer needle feed block (2-19) is slidably connected to the optical bar 1 (2-15) and fixedly connected to the rigid outer needle (2-18); the flexible inner needle (2-17) is fixedly connected to the flexible inner needle baffle (2-20) and to the servo motor 2 (2-9) by screws. The flexible inner needle (2-17) is fixedly connected to the flexible needle screw (2-11) via a lead screw nut; the flexible inner needle (2-17) is connected to a servo motor 2 (2-9) and rotates via the servo motor 2 (2-9); the left end of the flexible needle screw (2-11) is rotatably connected to the end support plate (2-16) and the end motor support frame (2-12) via a bearing, and is connected to the servo motor 3 (2-13) via a coupling; the end motor support frame (2-12)

[0036] The end support plate (2-16) is fixedly connected to the end support plate (2-16) by screws, and the servo motor 3 (2-13) is fixedly connected to the right end of the light bar 1 (2-15) and light bar 2 (2-10) by screws. The end support plate (2-16) is fixedly connected to the left end of the light bar 1 (2-15) and light bar 2 (2-10) and threadedly connected to the integral lead screw (2-22). The left end of the integral lead screw (2-22) is rotatably connected to the needle feeding mechanism support plate (2-21) and the motor support plate (2-23) through a bearing, and the right end is connected to the servo motor 4 (2-24) through a coupling. The motor support plate (2-23) is fixedly connected to the servo motor 4 (2-24) and the needle feeding mechanism support plate (2-21) by screws.

[0037] The three-finger clamp feed slider (3-4), finger holder (3-15), first finger (3-12), second finger (3-14), third finger (3-17), ultrasonic probe feed slider (3-18), lead screw (3-24), lead screw slider (3-23), and ultrasonic probe (3-25) are all in pairs and arranged symmetrically on both sides. The three-finger clamp feed slider (3-4) has a sliding groove and is slidably connected to the clamp top plate (3-3), and has a rack. The clamp gear 1 (3-5) meshes with the rack of the clamp top plate (3-3). The servo motor 5 (3-1) is connected to the three-finger clamp by screws. The clamp motor frame 1 (3-2) is connected to the clamp gear 1 (3-5) via a coupling, driving the clamp gear 1 (3-5) to rotate; the clamp motor frame 1 (3-2) is connected to the clamp top plate (3-3) via screws; the clamp gear 2 (3-8) is rotatably connected to the three-finger clamp feed slider (3-4) via the clamp gear shaft 2 (3-7), and is connected to the servo motor 13 via a coupling; the clamp gear 3 (3-10) is rotatably connected to the three-finger clamp feed slider (3-4) and the finger support (3-15) via the clamp gear shaft 3 (3-9), and the clamp gear 3 (3-10) is connected to the clamp gear 2(3-8) engagement; the first finger (3-12) is fixedly connected to the first finger support (3-11); the first finger support (3-11) is fixedly connected to the finger support (3-15) by screws and nuts; the second finger (3-14) is fixedly connected to the second finger support (3-13); the second finger support (3-13) is fixedly connected to the finger support (3-15) by bolts; the third finger (3-17) is fixedly connected to the third finger support (3-16); the third finger support (3-16) is fixedly connected to the finger support (3-15) by bolts; the ultrasonic probe feed slider (3-18) has a rack and a clamp gear 4 (3 -20) meshing; the clamp motor frame 2 (3-21) is fixedly connected to the clamp top plate (3-3) by screws, and fixedly connected to the servo motor 6 (3-19) by screws; the servo motor 6 (3-19) is rotatably connected to the clamp gear 4 (3-20) by a coupling; the lead screw frame (3-22) is fixedly connected to the ultrasonic probe feed slider (3-18) by screws, fixedly connected to the servo motor 7 (3-26) by screws, and rotatably connected to the lead screw (3-24) by bearings; the lead screw (3-24) is slidably connected to the lead screw slider (3-23); the lead screw slider is fixedly connected to the ultrasonic probe (3-25) by screws.

[0038] The turntable (4-2) is fixedly connected to the gear shaft 1 (4-3) by screws; the gear shaft 1 (4-3) is keyed to the gear 1 (4-4) and contacts the inner ring of the bearing (4-5); the end cover (4-6) is fixedly connected to the outer shell (4-1) by screws and contacts the outer ring of the bearing (4-5); the servo motor 8 (4-9) is connected to the gear shaft (4-7) by a coupling and fixedly connected to the outer shell (4-1) by screws; the gear 2 (4-8) meshes with the gear 1 (4-4) and is keyed to the gear shaft (4-7).

[0039] The lead screw is connected to the motor shaft via a coupling; the motor frame 1 (4-15), motor frame 2 (4-23), motor frame 3 (4-26), and motor frame 4 (4-28) are fixedly connected to the turntable (4-2) via screws; the motor frame 1 (4-15), motor frame 2 (4-23), motor frame 3 (4-26), and motor frame 4 (4-28) are fixedly connected to the servo motor 9 (4-14), servo motor 10 (4-24), servo motor 11 (4-25), and servo motor 12 (4-29) respectively via screws; the commutator 1 (4-11) is rotatably connected to the I-beam support rod (4-10) and hinged to the scissor lift 1 (4-12) and scissor lift 2 (4-13); the scissor lift 1 (4-12) and scissor lift 2 (4-13) are hinged to each other and hinged to the slide table 1 (4-16); the... The scissor lift 2 (4-13) is hinged to the slide 2 (4-17); the slide 1 (4-16) has a threaded hole on the left and a smooth hole on the right, which is threaded to the lead screw; the slide 2 (4-17) has a smooth hole on the left and a threaded hole on the right, which is threaded to the lead screw; the commutator 2 (4-18) is rotatably connected to the straight support rod (4-19), and is connected to the scissor lift 3 (4-20) and scissor lift 4 (4-21). The scissor lift 3 (4-20) is hinged to the scissor lift 4 (4-21) and hinged to the slide 3 (4-22); the scissor lift 4 (4-21) is hinged to the slide 4 (4-27); the left hole of the slide 3 (4-22) is a threaded hole and the right hole is a smooth hole, which is threaded to the lead screw; the left hole of the slide 4 (4-27) is a smooth hole and the right hole is a threaded hole, which is threaded to the lead screw.

[0040] The following describes the workflow of a breast biopsy robot that mimics a woodpecker's foraging technique:

[0041] 1. Before the procedure, the doctor plans the optimal needle insertion point and makes a preliminary plan for the needle insertion path based on the ultrasound images;

[0042] 2. The breast fixation module fixes the gland, and the ultrasound probe starts working to monitor the gland and the status of the puncture needle in real time;

[0043] 3. The bottom turntable of the posture adjustment module rotates to move the puncture module to the appropriate position, and the differential double scissor mechanism of the posture adjustment module adjusts the height and pitch angle of the puncture module.

[0044] 4. The overall feed screw of the puncture module drives the puncture needle to approach the insertion point;

[0045] 5. The active friction wheel drives the synchronous belt to quickly advance the needle and pierce the skin layer;

[0046] 6. The flexible inner needle screw, in conjunction with a servo motor, adjusts the insertion path of the flexible inner needle in real time to reach the target point and complete the surgery;

[0047] 7. The flexible inner needle screw and servo motor control the retraction of the flexible inner needle, the friction wheel controls the retraction of the rigid outer needle, the breast fixation device relaxes, the posture adjustment module controls the robot to return to the initial position, and the surgery ends.

Claims

1. A woodpecker foraging breast puncture robot, characterized by: The woodpecker-like foraging breast puncture robot is composed of a treatment bed (1), a puncture module (2), a breast fixation module (3) and a pose adjustment module (4); the needle insertion mechanism support plate (2-21) of the puncture module (2) is rotationally connected with the character-shaped support rod (4-19) and the I-shaped support rod (4-10) of the pose adjustment module (4); the treatment bed (1) is fixedly connected with the clamp top plate (3-3) of the breast fixation module (3) through screws; The puncture module (2) is composed of a driving friction wheel (2-5), a passive friction wheel 1 (2-3), a passive friction wheel 2 (2-7), a friction wheel support plate (2-2), a synchronous belt (2-14), a rigid outer needle (2-18), a rigid outer needle feeding block (2-19), a flexible inner needle (2-17), a flexible inner needle baffle (2-20), a light lever 1 (2-15), and an end support plate (2-16). The driving friction wheel (2-5), the passive friction wheel 1 (2-3), and the passive friction wheel 2 (2-7) are rotationally connected with the friction wheel support plate (2-2). The synchronous belt (2-14) is wound around the driving friction wheel (2-5) and is tensioned through the passive friction wheel 1 (2-3) and the passive friction wheel 2 (2-7). The left end of the synchronous belt (2-14) is fixedly connected with the leading end of the rigid outer needle feeding block (2-19), and then extends in a direction parallel to the upper surface of the rigid outer needle feeding block (2-19) to extend around the passive friction wheel 1 (2-3) below, and further extends around the driving friction wheel (2-5) above. The synchronous belt (2-14) extends around the driving friction wheel (2-5) along the passive friction wheel 2 (2-7) below the rigid outer needle feeding block (2-19), and is fixedly connected with the trailing end of the rigid outer needle feeding block (2-19) along the direction parallel to the upper surface of the rigid outer needle feeding block (2-19). The rigid outer needle feeding block (2-19) is fixedly connected with the rigid outer needle (2-18), is supported and guided by the light lever 1 (2-15), and is slidingly connected with the light lever 1 (2-15). The driving friction wheel (2-5) is connected with the servo motor 1 (2-1) through a shaft coupling. The friction wheel support plate (2-2) is fixedly connected with the servo motor 1 (2-1) through screws, and is fixedly connected with the end support plate (2-16). The friction wheel support plate (2-2) is rotationally connected with the passive friction wheel shaft 1 (2-4) and the passive friction wheel shaft 2 (2-8) through bearings. The passive friction wheel shaft 1 (2-4) is rotationally connected with the passive friction wheel 1 (2-3), and the passive friction wheel shaft 2 (2-8) is rotationally connected with the passive friction wheel 2 (2-7). The flexible inner needle baffle (2-20) is fixedly connected with the flexible inner needle (2-17), is fixedly connected with the servo motor 2 (2-9) through screws, is rotationally connected with the flexible needle screw (2-11) through a screw nut, and is connected with the flexible inner needle (2-17) to rotate. The left end of the flexible needle screw (2-11) is rotationally connected with the end support plate (2-16) and an end motor support frame (2-12) through bearings, and is connected with the servo motor 3 (2-13) through a shaft coupling.The end motor support frame (2-12) is fixedly connected with the end support plate (2-16) through a screw, is fixedly connected with the servo motor 3 (2-13) through a screw, and is fixedly connected with the right end of the light rod 1 (2-15). The end support plate (2-16) is fixedly connected with the left end of the light rod 1 (2-15), is threadedly connected with the integral screw rod (2-22), the left end of the integral screw rod (2-22) is rotatably connected with the needle feeding mechanism support plate (2-21) and the motor support plate (2-23) through a bearing, the right end is connected with the servo motor 4 (2-24) through a shaft coupling, and the motor support plate (2-23) is fixedly connected with the servo motor 4 (2-24) and the needle feeding mechanism support plate (2-21) through a screw. The breast fixation module (3) is completely symmetrical on the left and right sides and is composed of the clamp top plate (3-3), the three-finger clamp feeding slider (3-4), the finger frame (3-15), the first finger (3-12), the second finger (3-14), the third finger (3-17), the ultrasonic probe feeding slider (3-18), the ultrasonic probe lifting lead screw (3-24), the lead screw slider (3-23) and the ultrasonic probe (3-25); characterized in that the three-finger clamp feeding slider (3-4) is provided with a sliding groove and is slidingly connected with the clamp top plate (3-3); the clamp gear (3-5) is engaged with the rack of the clamp top plate (3-3); the servo motor 5 (3-1) is connected with the three-finger clamp motor frame 1 (3-2) through screws, is connected with the clamp gear 1 (3-5) through a coupling and drives the rotation of the clamp gear 1 (3-5); the clamp motor frame 1 (3-2) is connected with the clamp top plate (3-3) through screws; the clamp gear 2 (3-8) is rotationally connected with the three-finger clamp feeding slider (3-4) through the clamp gear shaft 2 (3-7), is connected with the servo motor 13 (3-6) through a coupling and is engaged with the clamp gear 3 (3-10); the clamp gear 3 (3-10) is rotationally connected with the three-finger clamp feeding slider (3-4) finger frame (3-15) through the clamp gear shaft 3 (3-9) and is engaged with the clamp gear 2 (3-8); the first finger (3-12) is fixedly connected with the first finger frame (3-11); the first finger frame (3-11) is fixedly connected with the finger frame (3-15) through screws and nuts; the second finger (3-14) is fixedly connected with the second finger frame (3-13); the second finger frame (3-13) is fixedly connected with the finger frame (3-15) through bolts; the third finger (3-17) is fixedly connected with the third finger frame (3-16); the third finger frame (3-16) is fixedly connected with the finger frame (3-15) through bolts; the ultrasonic probe feeding slider (3-18) is engaged with the clamp gear 4 (3-20) through a rack; the clamp motor frame 2 (3-21) is fixedly connected with the clamp top plate (3-3) and the servo motor 6 (3-19) through screws; the servo motor 6 (3-19) is rotationally connected with the clamp gear 4 (3-20) through a coupling; the lead screw frame (3-22) is fixedly connected with the ultrasonic probe feeding slider (3-18), the servo motor 7 (3-26) and the lead screw (3-24) through screws, bearings and a sliding connection, respectively; and the lead screw (3-24) is slidingly connected with the lead screw slider (3-23).

2. The woodpecker-like foraging breast biopsy robot of claim 1, wherein: The pose adjustment module is composed of a bottom turntable and a differential double scissor mechanism. The bottom turntable realizes the planar rotation of the puncture module, and the differential double scissor mechanism realizes the lifting and pitching of the puncture module. The bottom turntable and the differential double scissor mechanism are fixedly connected through screws. The turntable (4-2) is fixedly connected with the gear shaft 1 (4-3) through screws. The gear shaft 1 (4-3) is keyed connected with the gear 1 (4-4) and is in contact with the inner ring of the bearing (4-5). The end cover (4-6) is fixedly connected with the housing (4-1) through screws and is in contact with the outer ring of the bearing (4-5). The servo motor 8 (4-9) is connected with the gear shaft (4-7) through a coupling and is fixedly connected with the housing (4-1) through screws. The gear 2 (4-8) is engaged with the gear 1 (4-4) and is keyed connected with the gear shaft (4-7). The motor bracket 1 (4-15), the motor bracket 2 (4-23), the motor bracket 3 (4-26) and the motor bracket 4 (4-28) are fixedly connected with the turntable (4-2) through screws. The motor bracket 1 (4-15), the motor bracket 2 (4-23), the motor bracket 3 (4-26) and the motor bracket 4 (4-28) are fixedly connected with the servo motor 9 (4-14), the servo motor 10 (4-24), the servo motor 11 (4-25) and the servo motor 12 (4-29) respectively through screws. The commutator 1 (4-11) is rotationally connected with the I-shaped support rod (4-10) and is hingedly connected with the scissor frame 1 (4-12) and the scissor frame 2 (4-13). The scissor frame 1 (4-12) is hingedly connected with the scissor frame 2 (4-13) and the sliding table 1 (4-16). The scissor frame 2 (4-13) is hingedly connected with the sliding table 2 (4-17). The left hole of the sliding table 1 (4-16) and the sliding table 2 (4-17) is a smooth hole, and the right hole is a threaded hole, which are both threadedly connected with the lead screw. The commutator 2 (4-18) is rotationally connected with the I-shaped support rod (4-19) and is hingedly connected with the scissor frame 3 (4-20) and the scissor frame 4 (4-21). The scissor frame 3 (4-20) is hingedly connected with the scissor frame 4 (4-21) and the sliding table 3 (4-22). The scissor frame 4 (4-21) is hingedly connected with the sliding table 4 (4-27). The left hole of the sliding table 3 (4-22) and the sliding table 4 (4-27) is a threaded hole, and the right hole is a smooth hole, which are both threadedly connected with the lead screw.

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