Puncture Robot and Electronic Device

Abstract

The present disclosure provides a puncture robot and an electronic device, relating to the technical field of medical devices. The puncture robot includes: a needle holding device for holding a puncture needle, and the material of the needle holding device includes a non-metallic non-magnetic material; a robotic arm configured to be disposed on a scanning bed for a computed tomography examination, the robotic arm is connected to a first end of the needle holding device and is used to move the needle holding device to a target needle insertion path; an electromagnetic positioning device for positioning the needle holding device, the puncture needle and a target object. During the scanning process, the puncture needle is always clamped and fixed by the needle holding device, so there is no need to set up an additional needle stabilizing device, reducing costs; at the same time, the needle holding device is made of a non-metallic non-magnetic material, which will not interfere with the accuracy of the electromagnetic positioning device, ensuring the accuracy of the puncture position. In addition, it will not cause artifact interference to CT imaging, ensuring clear CT imaging and visible lesions.

Description

Technical Field

[0001] The present disclosure relates to the technical field of medical devices, and particularly relates to a puncture robot and an electronic device. Background Art

[0002] Puncture surgery is a diagnostic and therapeutic technique that inserts a puncture needle into a body cavity to extract secretions for laboratory tests, inject gas or contrast agent into the body cavity for angiography, or inject drugs into the body cavity; the purpose of puncture surgery is to draw blood for laboratory tests, transfuse blood, infuse fluids, and insert a catheter for angiography, etc. Therefore, after the doctor inserts the puncture needle into the patient's body, it is necessary to use Computed Tomography (CT) examination to determine whether the puncture needle has correctly punctured the position of the patient's lesion tissue.

[0003] During the puncture surgery, the doctor inserts the needle along the specified needle insertion path of the robotic arm outside the scanning tunnel. After the needle insertion is completed, the puncture needle needs to be detached from the robotic arm, and then the puncture needle and the patient move into the scanning tunnel with the CT scanning bed for scanning. After the puncture needle is detached from the robotic arm, the puncture needle is only supported by human tissues. Therefore, under the influence of factors such as gravity collapse and human breathing, the puncture needle may deviate from its original position, resulting in inaccurate CT examination results. Summary of the Invention

[0004] In view of this, embodiments of the present disclosure provide a puncture robot and an electronic device.

[0005] In a first aspect, an embodiment of the present disclosure provides a puncture robot, including: a needle holding device for holding a puncture needle, and the material of the needle holding device includes a non-metallic non-magnetic material; a robotic arm configured to be disposed on a scanning bed for Computed Tomography examination, the robotic arm is connected to a first end of the needle holding device and is used to move the needle holding device to a target needle insertion path; an electromagnetic positioning device for positioning the needle holding device, the puncture needle, and a target object.

[0006] In combination with the first aspect, in some implementation manners of the first aspect, the needle holding device includes: a gripper for holding the puncture needle; an extension arm, the first end of the extension arm is connected to the robotic arm, and the second end of the extension arm is rotatably connected to the gripper to adjust the gripper to a target angle.

[0007] In combination with the first aspect, in some implementation manners of the first aspect, the gripper includes: a first clamping jaw and a second clamping jaw; a control mechanism for controlling the clamping and loosening of the first clamping jaw and the second clamping jaw; a guiding sleeve clamped by the first clamping jaw and the second clamping jaw, the guiding sleeve includes a guiding channel penetrating the upper and lower surfaces, and the diameter of the guiding channel is adapted to the puncture needle to guide the puncture needle.

[0008] In combination with the first aspect, in certain implementations of the first aspect, the control mechanism includes: a clamping button sequentially connected to a first connecting rod and a triangular block, the first connecting rod including a groove; a release button connected to a second connecting rod, the second connecting rod including a flange and a spring limiting mechanism, the first connecting rod being perpendicularly arranged with respect to the second connecting rod, and the size of the flange being adapted to the groove of the first connecting rod; a first spring sleeved on the second connecting rod, the first spring abutting against the spring limiting mechanism; a first swing arm and a second swing arm, the first ends of the first swing arm and the second swing arm being respectively arranged on both sides of the triangular block, and the second ends being respectively connected to a first clamping jaw and a second clamping jaw, the first swing arm and the second swing arm being respectively fixed to the housing of the gripper by fixed shafts so that the first swing arm and the second swing arm respectively rotate around the fixed shafts as the rotation centers; a second spring, the two ends of the second spring respectively abutting against the first clamping jaw and the second clamping jaw.

[0009] In combination with the first aspect, in certain implementations of the first aspect, the needle holding device further includes an angle adjuster disposed between the gripper and the extension arm; wherein, the angle adjuster includes: an extension arm connecting member fixedly connected to the extension arm; a gripper connecting member fixedly connected to the gripper and rotatably connected to the extension arm connecting member; a locking screw disposed at the connection between the extension arm connecting member and the extension arm connecting member for restricting the relative rotation between the extension arm connecting member and the extension arm connecting member.

[0010] In combination with the first aspect, in certain implementations of the first aspect, electromagnetic positioning sensors are respectively disposed on the second end of the needle holding device, the tip of the puncture needle, and the body surface of the target object so that the electromagnetic positioning device respectively positions the needle holding device, the puncture needle, and the target object.

[0011] In combination with the first aspect, in certain implementations of the first aspect, the puncture robot further includes a frame structure disposed on the scanning bed; wherein, the frame structure includes: a support surface, the robotic arm being fixedly connected to the first surface of the support surface; a support structure disposed between the second surface of the support surface and the scanning bed for raising the support surface so as to form a space for accommodating the leg of the target object.

[0012] In combination with the first aspect, in certain implementations of the first aspect, the material of the needle holding device includes resin.

[0013] Second aspect, an embodiment of the present disclosure provides an electronic device, which includes: a processor; and a memory for storing executable instructions of the processor; wherein, the processor is configured to execute a positioning method of a puncture robot by executing the executable instructions, and the positioning method includes: using an electromagnetic positioning device to determine the position of the needle-holding device, so as to move the needle-holding device to a target puncture path by using a robotic arm, wherein the material of the needle-holding device includes a non-metallic non-magnetic material; during the process of installing the puncture needle along the target puncture path to the needle-holding device, using the electromagnetic positioning device to determine the position of the tip of the puncture needle and the target object, so as to determine that the tip of the puncture needle moves to a target position in the target object.

[0014] In combination with the second aspect, in some implementation manners of the second aspect, the positioning method further includes: when it is determined that the tip of the puncture needle moves to a target position in the target object, controlling the scanning bed to move into a scanning tunnel for computed tomography (CT) examination, so that the scanning bed drives the needle-holding device and the target object into the scanning tunnel; performing a computed tomography examination on the target object to verify whether the target position is a lesion position in the target object; wherein, during the verification process, the puncture needle is clamped and fixed by the needle-holding device.

[0015] The puncture robot provided by the present disclosure is fixed on a CT scanning bed, and at the same time, the needle-holding device is made of a non-metallic non-magnetic material, so that it can enter the CT scanning tunnel together with the target object (for example, a patient); the puncture needle does not need to be separated from the needle-holding device, and it is always clamped by the needle-holding device and remains stable, and no additional needle-stabilizing device needs to be set; moreover, the needle-holding device will not cause artifact interference to CT imaging, ensuring clear CT imaging and visible lesions. In addition, during the puncture process, the needle-holding device will not interfere with the accuracy of the electromagnetic positioning device, ensuring the accuracy of the puncture position. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] By describing the embodiments of the present disclosure in more detail in conjunction with the drawings, the above and other objects, features and advantages of the present disclosure will become more obvious. The drawings are used to provide a further understanding of the embodiments of the present disclosure, and constitute a part of the specification. Together with the embodiments of the present disclosure, they are used to explain the present disclosure and do not constitute a limitation to the present disclosure. In the drawings, the same reference numerals generally represent the same components or steps.

[0017] Figure 1 Shown is a schematic structural diagram of a puncture robot provided by an exemplary embodiment of the present disclosure.

[0018] Figure 2 Shown is a schematic structural diagram of a needle-holding device provided by an exemplary embodiment of the present disclosure.

[0019] Figure 3The figure shows a schematic diagram of the application scenario of the puncture robot in the positioning stage provided by an exemplary embodiment of the present disclosure.

[0020] Figure 4 The figure shows a schematic diagram of the structure of the control mechanism provided by an exemplary embodiment of the present disclosure.

[0021] Figure 5 The figure shows a schematic diagram of the structure of the angle adjuster provided by an exemplary embodiment of the present disclosure.

[0022] Figure 6 The figure shows a schematic flowchart of the positioning method of the puncture robot provided by an exemplary embodiment of the present disclosure.

[0023] Figure 7 The figure shows a schematic flowchart of the positioning method of the puncture robot provided by another exemplary embodiment of the present disclosure.

[0024] Figure 8 The figure shows a schematic diagram of the application scenario of the puncture robot in the verification stage provided by an exemplary embodiment of the present disclosure.

[0025] Figure 9 The figure shows a schematic diagram of the structure of the electronic device provided by an embodiment of the present disclosure.

[0026] Reference numerals:

[0027] 110 - robotic arm; 120 - needle holding device; 121 - gripper; 1211 - first clamping jaw; 1212 - second clamping jaw; 1213 - control mechanism; 1214 - guiding sleeve; 122 - extension arm; 130 - electromagnetic positioning device; 141 - support surface; 142 - support structure; 410 - clamping button; 411 - first connecting rod; 4111 - groove; 412 - triangular block; 420 - release button; 421 - second connecting rod; 4211 - flange; 4212 - spring limiting mechanism; 430 - first spring; 441 - first swing arm; 442 - second swing arm; 450 - second spring; 510 - extension arm connecting piece; 520 - gripper connecting piece; 530 - locking screw. Detailed implementation manners

[0028] Next, the technical solutions in the embodiments of the present disclosure will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only a part of the embodiments of the present disclosure, rather than all the embodiments. Based on the embodiments of the present disclosure, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present disclosure.

[0029] In the related art, most puncture robots are separated from the CT scanning bed and cannot move into the scanning tunnel together with the scanning bed. At the same time, the robotic arm of the puncture robot will generate metal artifacts in the CT image, and the metal artifacts will cause the CT imaging to be unclear, making it difficult to locate the lesion. Therefore, during CT examination, the puncture needle often needs to be detached from the robotic arm and enter the scanning tunnel alone with the patient. After the puncture needle is detached from the robotic arm, the puncture needle is only supported by human tissues. Therefore, under the influence of factors such as gravity toppling and human breathing, the puncture needle may deviate from its original position, resulting in inaccurate CT examination results.

[0030] To overcome this problem, a needle stabilizing device is provided in the related art. The needle stabilizing part of the needle stabilizing device is fixed to the human body through an adhesive layer to maintain the stability of the puncture needle. However, this solution is severely affected by skin slippage, and an additional needle stabilizing device needs to be added, reducing the surgical efficiency and unable to fully utilize the advantages of high efficiency and stability of the puncture robot.

[0031] A puncture robot system is also provided in the related art. The robotic arm of the system extends into the scanning tunnel and then performs the needle insertion operation. After the needle insertion, the patient does not need to be moved and the CT examination can be directly performed to verify the position of the puncture needle, avoiding the deviation of the puncture needle. However, this solution has the following disadvantages: 1) The magnetic field interference in the scanning tunnel is severe, and the electromagnetic positioning system cannot be used. Therefore, this solution is only applicable to the optical positioning system; the optical positioning system has certain requirements for the environment, and there should be no occlusion in the optical path, otherwise it will affect the positioning accuracy; at the same time, optical positioning is not applicable to positioning inside the patient, and doctors cannot monitor the position of the puncture needle in real time. During the puncture process, multiple CTs need to be used to position the puncture needle, prolonging the operation time and increasing the operation cost; 2) Since the puncture process of this solution is performed in the scanning tunnel and its positioning device is mainly oriented towards the inside of the scanning tunnel, doctors need to perform skin-breaking operations on the patient in the narrow scanning tunnel, increasing the surgical difficulty for doctors and not conforming to the traditional puncture surgery habits.

[0032] In the face of the above technical problems, the present disclosure provides a puncture robot, including: a needle holding device for holding a puncture needle, and the material of the needle holding device includes a non-metallic non-magnetic material; a robotic arm configured to be disposed on the scanning bed of a computed tomography examination, and the robotic arm is connected to the first end of the needle holding device for moving the needle holding device to a target needle insertion path; an electromagnetic positioning device for positioning the needle holding device, the puncture needle, and the target object.

[0033] The puncture robot of the present disclosure is fixed on a CT scan bed. Meanwhile, the needle-holding device is made of a non-metallic and non-magnetic material, enabling it to enter the CT scan tunnel together with the target object (e.g., a patient). The puncture needle does not need to be separated from the needle-holding device and is always clamped by the needle-holding device to maintain stability, eliminating the need for an additional needle-stabilizing device. Moreover, the needle-holding device does not cause artifact interference to CT imaging, ensuring clear CT imaging and visible lesions. In addition, during the puncture process, the needle-holding device does not interfere with the accuracy of the electromagnetic positioning device, guaranteeing the accuracy of the puncture position.

[0034] The puncture robot provided by the present disclosure will be described in detail below with reference to the accompanying drawings and embodiments.

[0035] Figure 1 The following shows a schematic structural diagram of the puncture robot provided by an exemplary embodiment of the present disclosure. As Figure 1 shown, the puncture robot provided by the embodiment of the present disclosure includes: a robotic arm 110, a needle-holding device 120, and an electromagnetic positioning device 130. During a puncture operation, the robotic arm 110 and the needle-holding device 120 cooperate to achieve the guiding and clamping functions of the puncture needle. The electromagnetic positioning device can perform real-time positioning and tracking on the needle-holding device 120, the puncture needle, and the target object.

[0036] In addition, the puncture robot further includes a control cart, which is communicatively connected to the robotic arm 110 and the electromagnetic positioning device 130 respectively.

[0037] During the positioning stage, the doctor can plan a suitable needle insertion path at the workstation in the control cart. The workstation calculates the target posture of the robotic arm 110 through inverse kinematics of the robotic arm according to the electromagnetic positioning signal determined by the electromagnetic positioning device 130, and plans the movement path of the robotic arm 110 according to the target posture to control the movement of the robotic arm 110. When the robotic arm 110 moves to the target posture, the front end of the needle-holding device 120 connected to the robotic arm 110 is located in the target needle insertion path. At this time, when the doctor inserts the needle along the direction of the guiding hole at the front end of the needle-holding device 120, the puncture needle is inserted into the target object along the target needle insertion path. During the needle insertion process, the doctor can monitor the position of the puncture needle in real time through the electromagnetic positioning device 130 until the tip of the puncture needle moves to the target position in the target object, completing the needle insertion operation.

[0038] After the doctor completes the needle insertion operation, it is possible to verify through CT whether the puncture needle has reached the lesion tissue in the target object's body. During this process, the puncture needle does not need to be detached from the needle holder 120, and the robotic arm 110, the needle holder 120, and the puncture needle remain relatively stationary with respect to the target object. As the scanning bed moves, the needle holder 120 and the puncture needle enter the scanning tunnel together with the target object, while the robotic arm 110 is outside the scanning tunnel. In this way, it is possible to avoid collisions between the robotic arm and the scanning tunnel and interference with CT imaging artifacts. At the same time, during the verification stage, the puncture needle is always clamped by the needle holder, so the puncture needle can remain in its original position to achieve the purpose of stabilizing the needle.

[0039] In some embodiments, the material of the needle holder includes resin. The resin material has good durability and applicability, and can be customized with different lengths and interfaces according to needs, suitable for various different engineering requirements. At the same time, the resin needle holder is lightweight but not easily bent, suitable for the current application scenario. At the same time, the resin material does not cause interference with CT imaging artifacts and does not affect the electromagnetic positioning signal, which can not only ensure clear CT imaging but also ensure the accuracy of the puncture position.

[0040] The following combines Figures 1 to 5 to further introduce the specific structure of the puncture robot.

[0041] One end of the robotic arm 110 is fixed to the CT scanning bed, and the other end is connected to the first end of the needle holder 120. During the puncture process, for different needle insertion paths, the workstation can automatically plan the motion trajectory of the joints of the robotic arm 110, thereby cascading to form the target pose.

[0042] In some embodiments, the robotic arm 110 is fixed to the rear half of the scanning bed (i.e., the part away from the scanning tunnel). Specifically, the robotic arm 110 can be installed on the scanning bed through a frame structure, and the frame structure includes a support surface 141 and a support structure 142. The robotic arm 110 is fixedly connected to the first surface of the support surface 141. The support structure 142 is disposed between the second surface of the support surface 141 and the scanning bed, and is used to raise the support surface 141 and fix it to the scanning bed, so that a space for accommodating the legs of the target object can be formed below the support surface 141.

[0043] In the related art, the robotic arm is usually disposed on one side of the scanning bed, and it is difficult to puncture the affected area on the opposite side of the robotic arm; to solve this problem, the robotic arm 110 in the embodiments of the present disclosure can be fixed to the middle position of the support surface 141, so that the distances between the robotic arm 110 and the left and right sides of the scanning bed are equal, which can improve the puncture range of the robotic arm and increase its flexibility.

[0044] The needle holding device 120 is made of a non-metallic and non-magnetic material. The first end of the needle holding device 120 is connected to the robotic arm 110, and the second end is used to hold the puncture needle. Moreover, during the puncture process, the needle holding device 120 has the function of guiding the puncture needle. When the needle holding device 120 is moved to the target needle insertion path driven by the robotic arm, based on its guiding function, when the doctor inserts the needle, the puncture needle is inserted into the target object along the target needle insertion path.

[0045] Figure 2 The following is a schematic structural diagram of the needle holding device provided by an exemplary embodiment of the present disclosure. As Figure 2 shown, the needle holding device provided by the embodiment of the present disclosure includes: a gripper 121 and an extension arm 122.

[0046] The first end of the extension arm 122 is connected to the robotic arm, and the second end is rotatably connected to the gripper 121. When the needle holding device is moved to the target needle insertion path driven by the robotic arm, the angle between the extension arm 122 and the gripper 121 can be used to make the gripper 121 assume a target angle. More specifically, the guiding direction of the guiding hole provided on the gripper 121 assumes a target angle. The gripper plays a role in guiding and holding the puncture needle.

[0047] Figure 3 The following is a schematic diagram of the application scenario of the puncture robot during the positioning stage provided by an exemplary embodiment of the present disclosure. As Figure 3 shown, during the positioning stage, a part of the extension arm 122 of the needle holding device, the puncture needle, and the target position in the target object are all within the magnetic field positioning area (the boxed part) of the electromagnetic positioning device, while the robotic arm is completely outside the magnetic field positioning area. Therefore, the metallic robotic arm will not affect the electromagnetic positioning, and at the same time, the extension arm made of a non-metallic and non-magnetic material will not affect the electromagnetic positioning either. Therefore, to ensure that the robotic arm is outside the magnetic field positioning area and also to ensure that the robotic arm is outside the scanning tunnel during the verification stage, the length of the extension arm should be set long enough. Exemplarily, the length of the extension arm should be greater than 400 millimeters. For example, the length of the extension arm can be 400 millimeters, 450 millimeters, 500 millimeters, etc.

[0048] The following further introduces the specific structure of the gripper. Continuing to refer to Figure 2 , the gripper provided by the embodiment of the present disclosure includes: a first clamping jaw 1211, a second clamping jaw 1212, a control mechanism 1213, and a guiding sleeve 1214.

[0049] The control mechanism 1213 is arranged inside the housing of the gripper. The first gripper jaw 1211 and the second gripper jaw 1212 extend from the inside of the gripper housing to the outside. Inside the housing, the first gripper jaw 1211 and the second gripper jaw 1212 are respectively connected to the control mechanism 1213, and the control mechanism 1213 can control the clamping and loosening of the first gripper jaw 1211 and the second gripper jaw 1212.

[0050] When the first gripper jaw 1211 and the second gripper jaw 1212 are in the clamping state, the guiding sleeve 1214 is clamped and fixed by the two gripper jaws; when the first gripper jaw 1211 and the second gripper jaw 1212 are in the loosening state, the guiding sleeve 1214 can be removed from the gripper. Therefore, in the embodiments of the present disclosure, by replacing guiding sleeves of different models, the guiding and clamping of different puncture needles can be achieved.

[0051] Specifically, the guiding sleeve 1214 is in a barrel shape. The side wall of the guiding sleeve 1214 abuts against the inner sides of the first gripper jaw 1211 and the second gripper jaw 1212. The guiding sleeve 1214 includes a guiding channel penetrating the upper and lower surfaces. For guiding sleeves of different models, the diameters of their guiding channels are different, so that the guiding sleeve can be adapted to puncture needles of different sizes.

[0052] During the puncture process, the puncture needle penetrates from the upper surface of the guiding sleeve 1214 and extends out from the lower surface of the guiding sleeve 1214. Under the guiding action of the guiding channel, the inclination angle of the puncture needle is determined by the target angle of the gripper. At the same time, the guiding channel can also overcome the influence of hand tremors and keep the puncture needle stable during the puncture process.

[0053] The following will further introduce the specific structure of the control mechanism in conjunction with Figure 4 the following. Figure 4 The following shows a schematic structural diagram of the control mechanism provided by an exemplary embodiment of the present disclosure. As Figure 4 shown, the control mechanism provided by the embodiments of the present disclosure includes: a clamping button 410, a loosening button 420, a first spring 430, a first swing arm 441 and a second swing arm 442, and a second spring 450.

[0054] The clamping button 410 is arranged outside the gripper housing. A first connecting rod 411 and a triangular block 412 are sequentially connected below the clamping button 410, and the first connecting rod 411 and the triangular block 412 are located inside the gripper housing. A groove 4111 is arranged on the first connecting rod 411.

[0055] The release button 420 is provided outside the gripper housing. At the same time, the release button 420 is connected to the second link 421. The second link 421 is perpendicularly arranged with respect to the first link 411. A flange 4211 is provided on the second link 421, and the size of the flange 4211 is adapted to the groove 4111. A spring limiting mechanism 4212 is also provided on the second link 421. At the same time, a first spring 430 is sleeved on the second link 421, and the first spring 430 abuts against the spring limiting mechanism 4212.

[0056] The first swing arm 441 and the second swing arm 442 are respectively fixed to the housing of the gripper through fixed shafts. At the same time, the first swing arm 441 and the second swing arm 442 can respectively rotate around the fixed shafts as the rotation centers. The first ends of the first swing arm 441 and the second swing arm 442 are respectively arranged on both sides of the triangular block 412, and the second ends are respectively connected to the first clamping jaw 1211 and the second clamping jaw 1212. A second spring 450 is provided between the first clamping jaw 1211 and the second clamping jaw 1212, and both ends of the second spring 450 respectively abut against the inner sides of the first clamping jaw 1211 and the second clamping jaw 1212.

[0057] When the clamping button 410 is pressed downward, the clamping button 410 drives the groove 4111 to move downward to the position of the flange 4211, so that the flange 4211 is clamped with the groove 4111. At this time, under the action of the first spring 430 and the spring limiting mechanism 4212, the flange 4211 is tightly clamped with the groove 4111, and the position of the clamping button 410 is locked, making the gripper in a clamped state.

[0058] At the same time, during the process of pressing the clamping button 410, as the triangular block 412 moves downward, both sides of the triangular block 412 respectively abut against the first ends of the first swing arm 441 and the second swing arm 442. The first ends of the first swing arm 441 and the second swing arm 442 open to both sides. At the same time, the first swing arm 441 and the second swing arm 442 rotate around the fixed shafts as the rotation centers, so that the second ends of the first swing arm 441 and the second swing arm 442 symmetrically approach; the first clamping jaw 1211 and the second clamping jaw 1212 are driven by the first swing arm 441 and the second swing arm 442 to approach each other to clamp the guiding sleeve.

[0059] When the release button 420 is pressed downward, the flange 4211 is driven by the second link 421 to leave the groove 4111. Under the action of the second spring 450, the first clamping jaw 1211 and the second clamping jaw 1212 respectively translate to the maximum limit positions on both sides, driving the first swing arm 441 and the second swing arm 442 to rotate; at this time, the clamping button 410 pops up upward, making the gripper in a released state.

[0060] The control mechanism in the embodiments of the present disclosure can control the opening and closing of the clamping jaws based on simple operations: pressing the clamping button automatically clamps and locks, and pressing the release button automatically separates, with simple operations. The groove matching design makes the clamping self-locking firm and reliable, and the spring reset design can also ensure simple operation during the release process.

[0061] The following further introduces the specific structure of the needle holder device in conjunction with Figure 5 In the embodiments of the present disclosure, the needle holder device further includes an angle adjuster. The angle adjuster is arranged between the gripper and the extension arm and is used to adjust the angle presented by the gripper.

[0062] Figure 5 The following shows a schematic structural diagram of the angle adjuster provided by an exemplary embodiment of the present disclosure. As Figure 5 shown, the angle adjuster includes: an extension arm connecting member 510, a gripper connecting member 520, and a locking screw 530.

[0063] The extension arm connecting member 510 and the gripper connecting member 520 are rotatably connected by a pin shaft. At the same time, the extension arm connecting member 510 is fixedly connected to the extension arm, and the gripper connecting member 520 is fixedly connected to the gripper. Under the action of the angle adjuster, the extension arm and the gripper can rotate relative to each other.

[0064] At the same time, a locking screw 530 is also provided at the connection between the extension arm connecting member 510 and the gripper connecting member 520. When the angle between the extension arm and the gripper is adjusted, that is, when the gripper is adjusted to the target angle, the locking screw 530 is tightened to limit the relative rotation between the extension arm and the gripper, so that the gripper maintains the target angle.

[0065] In the embodiments of the present disclosure, the angle of the gripper can be adjusted through the angle adjuster, and after the adjustment is completed, the gripper can be fixed, so that the needle holder device can adapt to different needle insertion angles without controlling the angle of the gripper through a robotic arm. Therefore, it can ensure that the needle holder device in the embodiments of the present disclosure can be close enough to the body surface of the target object to avoid collision between the needle holder device and the scanning tunnel. At the same time, the angle adjuster can ensure that the extension arm always remains horizontal to avoid collision between the extension arm and the target object or the scanning tunnel.

[0066] The following further introduces the specific implementation manner of electromagnetic positioning. Continuing to refer to Figure 2 , the electromagnetic positioning device can be arranged on the scanning bed; specifically, it can be arranged below the target position in the target object's body to determine the height of the needle holder device, the puncture needle, and the target object's body surface.

[0067] At the same time, electromagnetic positioning sensors are respectively arranged at the second end of the needle holder device, the tip of the puncture needle, and the body surface of the target object.

[0068] In the positioning stage, first, the electromagnetic positioning sensor 1 at the second end of the needle-holding device and the robotic arm are calibrated through hand-eye calibration to obtain the relationship between the electromagnetic positioning sensor 1 and the coordinates of the puncture robot. After the calibration is completed, the pose of the robotic arm can be deduced by positioning the electromagnetic positioning signal of the electromagnetic positioning sensor 1, enabling the control cart to control the robotic arm to move to the target pose.

[0069] Meanwhile, the electromagnetic positioning sensor 2 is pasted on the body surface of the target object. After the electromagnetic positioning sensor 2 is registered with the pre-acquired CT image, the lesion position of the target object can be tracked.

[0070] The tip of the puncture needle is provided with an electromagnetic positioning sensor 3. Specifically, the electromagnetic positioning sensor 3 can be arranged inside the tip of the puncture needle to avoid the sensor contacting the tissue of the target object. During the puncture process, the electromagnetic positioning sensor 3 performs real-time tracking of the tip position.

[0071] The electromagnetic positioning sensor 2 and the electromagnetic positioning sensor 3 cooperate to enable the doctor to monitor the position of the puncture needle in real time during the puncture process, so as to control the puncture process.

[0072] The puncture robot provided in the above embodiments has the following advantages:

[0073] 1) The needle-holding device made of non-metallic and non-magnetic materials can isolate the electromagnetic field between the robotic arm and the magnetic field positioning area during the positioning stage, avoiding electromagnetic interference of the robotic arm metal on electromagnetic positioning. Meanwhile, in the verification stage, the non-metallic needle-holding device can prevent the robotic arm from entering the scanning tunnel, thus avoiding the generation of CT metal artifacts.

[0074] 2) In the verification stage, the needle-holding device does not need to be separated from the puncture needle; under the clamping action of the needle-holding device, the position of the puncture needle always remains stable; the needle-holding device has the functions of guiding and stabilizing the needle. Therefore, there is no need to set up an additional needle-stabilizing device, reducing the surgical cost and simplifying the surgical process.

[0075] 3) In the positioning stage, the target object is outside the scanning tunnel, providing the doctor with a spacious operation space and good vision. Meanwhile, the operation process of the puncture robot system does not change the traditional puncture surgery habits, does not require puncture operations inside the scanning tunnel, and does not require additional robotic arm separation operations, reducing the usage difficulty.

[0076] The above text combines Figures 2 to 5 and describes in detail the embodiments of the puncture robot of the present disclosure. Next, in combination with Figures 6 to 8 the embodiments of the positioning method of the puncture robot of the present disclosure are described in detail. It should be understood that the description of the puncture robot embodiments corresponds to the description of its positioning method embodiments. Therefore, the parts not described in detail can refer to the previous puncture robot embodiments.

[0077] Figure 6 As shown, it is a schematic flowchart of the positioning method of the puncture robot provided by an exemplary embodiment of the present disclosure. As Figure 6 shown, the positioning method of the puncture robot provided by the embodiments of the present disclosure includes the following steps. The following steps can be executed by the workstation in the control trolley.

[0078] S610. Use the electromagnetic positioning device to determine the position of the needle holding device, so as to move the needle holding device to the target puncture path by using the robotic arm.

[0079] Among them, the target puncture path can be selected by the doctor or automatically generated based on an algorithm. In addition, the gripper can also be adjusted to the target angle through the angle regulator.

[0080] After the needle holding device moves to the target puncture path, the doctor can also perform disinfection and skin puncture operations on the target object based on the target puncture path, and manually insert the needle along the guiding hole on the needle holding device, so that the puncture needle penetrates into the target object along the target puncture path.

[0081] S620. During the process of installing the puncture needle along the target puncture path to the needle holding device, use the electromagnetic positioning device to determine the positions of the tip of the puncture needle and the target object, so as to determine that the tip of the puncture needle moves to the target position in the target object.

[0082] During the puncture process, the workstation monitors the electromagnetic positioning signal of the tip of the puncture needle in real time according to the electromagnetic positioning device, and calculates the actual puncture position of the puncture needle in real time. By registering the position of the puncture needle with the electromagnetic positioning signal on the surface of the target object, the puncture process is monitored in real time, so as to determine that the tip of the puncture needle moves to the target position in the target object. Among them, the target position is the end point of the target puncture path and also the estimated lesion position in the target object.

[0083] During the above process, part of the needle holding device is located within the magnetic field positioning area of the electromagnetic positioning device, while the robotic arm is completely located outside the magnetic field positioning area. Therefore, the robotic arm made of metal material will not affect the electromagnetic positioning, and at the same time, the extension arm made of non-metallic non-magnetic material will not affect the electromagnetic positioning, ensuring the accuracy of the puncture position.

[0084] After the tip of the puncture needle moves to the target position in the target object, it is necessary to determine whether the tip of the puncture needle reaches the actual lesion position through a CT examination.

[0085] Specifically, as Figure 7 shown, the positioning method of the puncture robot provided by the embodiments of the present disclosure further includes the following steps.

[0086] S710, when it is determined that the tip of the puncture needle has moved to the target position within the target object, control the scanning bed to move into the scanning tunnel for computed tomography (CT) examination, so that the scanning bed drives the needle holding device and the target object into the scanning tunnel.

[0087] Figure 8 The following is a schematic diagram of the application scenario of the puncture robot in the verification stage provided by an exemplary embodiment of the present disclosure. As Figure 8 shown, in the verification stage, the puncture needle does not need to be separated from the needle holding device and is always clamped and fixed by the needle holding device, so there is no need to set an additional needle stabilizing device.

[0088] At the same time, part of the needle holding device moves into the scanning tunnel along with the scanning bed; the needle holding device is made of a non-metallic and non-magnetic material, so it will not cause artifact interference to the CT imaging. At the same time, the robotic arm is completely outside the scanning tunnel, so it will not cause artifact interference to the CT imaging either, ensuring clear CT imaging and visible lesions.

[0089] S720, perform computed tomography (CT) examination on the target object to verify whether the target position is the lesion position within the target object.

[0090] When it is determined that the tip of the puncture needle has moved to the lesion position, the surgical procedure is completed. When it is determined that the tip of the puncture needle has not moved to the lesion position, the doctor can adjust the target puncture path accordingly and perform verification again.

[0091] Next, refer to Figure 9 to describe the electronic device according to an embodiment of the present disclosure. Figure 9 The following is a schematic diagram of the structure of the electronic device provided by an exemplary embodiment of the present disclosure.

[0092] Exemplarily, the electronic device may be the control cart mentioned in the above puncture robot embodiment or positioning method embodiment. A client may be further provided in the control cart, and the client may be the workstation mentioned in the above embodiments. The electronic device is communicatively connected to the puncture robot.

[0093] As Figure 9 shown, the electronic device 900 includes one or more processors 910 and a memory 920.

[0094] The processor 910 may be a central processing unit (CPU) or other form of processing unit with data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device 900 to perform desired functions.

[0095] The memory 920 may include one or more computer program products, and the computer program products may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, random access memory (RAM) and / or cache memory, etc. The non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage media, and the processor 910 may run the program instructions to implement the positioning method of the puncture robot according to various embodiments of the present disclosure described above and / or other desired functions.

[0096] In some embodiments, the electronic device 900 may further include: an input device 930 and an output device 940, and these components are interconnected through a bus system and / or other forms of connection mechanisms (not shown).

[0097] The input device 930 may include, for example, a keyboard, a mouse, a touch screen, etc. The doctor may determine the target needle insertion path through the input device 930.

[0098] The output device 940 may output various information to the outside, such as the needle insertion path, the needle holding device determined by the electromagnetic positioning device, the real-time positions of the puncture needle and the target object, etc. The output device 940 may include, for example, a display, a speaker, and a communication network and its connected remote output devices, etc.

[0099] Of course, for simplicity, Figure 9 only some of the components related to the present disclosure in the electronic device 900 are shown, and components such as buses, input / output interfaces, etc. are omitted. In addition, according to specific application scenarios, the electronic device 900 may further include any other appropriate components.

[0100] In addition to the above methods and devices, the embodiments of the present disclosure may also be a computer program product, which includes computer program instructions, and when the computer program instructions are run by a processor, the processor is caused to execute the steps in the positioning method of the puncture robot according to various embodiments of the present disclosure described above in this specification.

[0101] The computer program product may be written in any combination of one or more programming languages for executing the program code of the operations of the embodiments of the present disclosure. The programming languages include object-oriented programming languages such as Java, C++, etc., and also include conventional procedural programming languages such as the "C" language or similar programming languages. The program code may be executed entirely on the user's computing device, partially on the user's device, executed as a stand-alone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0102] The basic principles of the present disclosure have been described above in conjunction with specific embodiments. However, it should be noted that the advantages, benefits, effects, etc. mentioned in the present disclosure are only examples and not limitations. It cannot be considered that these advantages, benefits, effects, etc. are essential for each embodiment of the present disclosure. In addition, the above-mentioned specific details are only for illustrative and easy-to-understand purposes, rather than limitations. The above details do not limit the present disclosure to necessarily adopt the above specific details to implement.

[0103] The block diagrams of the devices, apparatuses, equipment, and systems involved in the present disclosure are only illustrative examples and do not intend to require or imply that they must be connected, arranged, and configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, equipment, and systems can be connected, arranged, and configured in any manner. Words such as "including", "comprising", "having", etc. are open-ended words, meaning "including but not limited to", and can be used interchangeably with each other. The word "or" and "and" used herein refer to the word "and / or" and can be used interchangeably with each other, unless the context clearly indicates otherwise. The word "such as" used herein refers to the phrase "such as but not limited to" and can be used interchangeably with each other.

[0104] It should also be noted that in the devices, equipment, and methods of the present disclosure, each component or each step can be decomposed and / or recombined. These decompositions and / or recombinations should be regarded as equivalent solutions of the present disclosure.

[0105] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present disclosure. Various modifications to these aspects will be very apparent to those skilled in the art, and the general principles defined herein can be applied to other aspects without departing from the scope of the present disclosure. Therefore, the present disclosure is not intended to be limited to the aspects shown herein, but rather to the broadest scope consistent with the principles and novel features disclosed herein.

[0106] The foregoing description has been presented for purposes of illustration and description. Furthermore, this description is not intended to limit embodiments of the present disclosure to the form disclosed herein. Although several example aspects and embodiments have been discussed above, those skilled in the art will recognize some of their variations, modifications, alterations, additions, and subcombinations.

Claims

1. A puncture robot, characterized in that: include: A needle holding device, used for clamping the puncture needle, the material of the needle holding device includes a non-metallic non-magnetic material, the needle holding device includes a clamp, an extension arm and an angle adjuster, the clamp is used to clamp the puncture needle, the first end of the extension arm is connected to the mechanical arm, the angle adjuster is arranged between the clamp and the extension arm, and the angle adjuster is used to adjust the angle of the clamp so that the extension arm remains in a horizontal state; A mechanical arm is configured to be disposed on a scanning bed of a computer tomography examination, the mechanical arm is used to move the needle holding device to a target needle insertion path, and the mechanical arm is located at a portion of the scanning bed away from a scanning tunnel; The electromagnetic positioning device comprises: electromagnetic positioning sensors arranged on the needle holding device, the puncture needle and the target object, and used to respectively position the needle holding device, the puncture needle and the target object; Wherein, during the positioning stage, the mechanical arm is located outside the magnetic field positioning area of ​​the electromagnetic positioning device; during the verification process, the needle holding device and the puncture needle enter the scanning tunnel together with the target object, while the mechanical arm is outside the scanning tunnel, and during the verification process, the puncture needle is clamped and fixed by the needle holding device; The angle adjuster comprises: An extension arm connecting piece, fixedly connected to the extension arm; A clamper connecting piece, fixedly connected to the clamper and rotatably connected to the extension arm connecting piece; A locking screw is arranged at the connection between the extension arm connecting member and the clamp connecting member, and is used to limit the relative rotation between the extension arm connecting member and the clamp connecting member.

2. The puncture robot according to claim 1, characterized in that: The holder comprises: a first clamping jaw and a second clamping jaw; A control mechanism, used for controlling the clamping and releasing of the first clamping jaw and the second clamping jaw; The guide sleeve is clamped by the first clamping claw and the second clamping claw. The guide sleeve includes a guide channel penetrating the upper and lower surfaces. The diameter of the guide channel is adapted to the puncture needle so as to guide the puncture needle.

3. The puncture robot according to claim 2, characterized in that: The control mechanism comprises: A clamping button, connected to the first connecting rod and the triangular block in sequence, wherein the first connecting rod includes a groove; Release the button to connect with the second connecting rod, the second connecting rod comprises a flange and a spring limiting mechanism, the first connecting rod and the second connecting rod are arranged vertically, and the size of the flange is adapted to the groove of the first connecting rod; A first spring, sleeved on the second connecting rod, the first spring abutting against the spring limiting mechanism; A first swing arm and a second swing arm, wherein the first ends of the first swing arm and the second swing arm are respectively arranged on both sides of the triangular block, and the second ends are respectively connected to the first clamping claw and the second clamping claw, and the first swing arm and the second swing arm are respectively fixed to the housing of the clamper through a fixed shaft, so that the first swing arm and the second swing arm respectively rotate with the fixed shaft as the rotation center; The second spring has two ends respectively abutting against the first clamping claw and the second clamping claw.

4. The puncture robot according to claim 1, characterized in that: Electromagnetic positioning sensors are respectively arranged on the second end of the needle holding device, the tip of the puncture needle and the body surface of the target object, so that the electromagnetic positioning device can respectively position the needle holding device, the puncture needle and the target object.

5. The puncture robot according to claim 1, characterized in that: It also includes a frame structure, which is arranged on the scanning bed; Wherein, the framework structure comprises: a support surface, the robotic arm being fixedly connected to a first surface of the support surface; The support structure is disposed between the second surface of the support surface and the scanning bed, and is used to raise the support surface so as to form a space for accommodating the legs of the target object.

6. The puncture robot according to claim 1, characterized in that: The material of the needle holding device includes resin.

7. An electronic device, characterized in that: include: processor; as well as A memory, configured to store executable instructions of the processor; The processor is configured to execute a positioning method of a puncture robot by executing the executable instructions, the positioning method comprising: An electromagnetic positioning device is used to determine the position of a needle holding device so that the needle holding device can be moved to a target puncture path by a mechanical arm, wherein the material of the needle holding device includes a non-metallic non-magnetic material, and the needle holding device includes a clamp, an extension arm and an angle adjuster, wherein the clamp is used to clamp the puncture needle, the first end of the extension arm is connected to the mechanical arm, the angle adjuster is arranged between the clamp and the extension arm, and the angle adjuster is used to adjust the angle of the clamp so that the extension arm remains in a horizontal state; the angle adjuster includes: an extension arm connector, fixedly connected to the extension arm; a clamp connector, fixedly connected to the clamp and rotatably connected to the extension arm connector; a locking screw, arranged at the connection between the extension arm connector and the extension arm connector, and used to limit the relative rotation between the extension arm connector and the extension arm connector; The mechanical arm is located at a portion of the scanning bed away from the scanning tunnel, and in the positioning stage, the mechanical arm is located outside the magnetic field positioning area of ​​the electromagnetic positioning device, the electromagnetic positioning device comprising: an electromagnetic positioning sensor arranged on the needle holding device, the puncture needle and the target object; During the process of installing the puncture needle to the needle holding device along the target puncture path, the electromagnetic positioning device is used to determine the position of the tip of the puncture needle and the target object, so as to determine that the tip of the puncture needle moves to the target position in the body of the target object; When it is determined that the tip of the puncture needle moves to the target position in the body of the target object, the scanning bed is controlled to move into a scanning tunnel of a computer tomography examination so that the scanning bed drives the needle holding device and the target object to enter the scanning tunnel; Performing a computerized tomography examination on the target object to verify whether the target location is a lesion location in the target object; Wherein, during the verification process, the needle holding device and the puncture needle enter the scanning tunnel together with the target object, while the robotic arm is outside the scanning tunnel, and the puncture needle is clamped and fixed by the needle holding device.

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