Piercing robot and method of controlling the same

Abstract

The application provides a puncture robot and a control method thereof. The puncture robot comprises a device driving assembly, a first rotating assembly, a second rotating assembly and a moving assembly connected in sequence; the device driving assembly is connected with a puncture member for driving the puncture member to move towards or away from a target site; the first rotating assembly is used for driving the device driving assembly to rotate in a first rotating direction, so that the puncture member performs pitching movement; the second rotating assembly is used for driving the first rotating assembly to rotate in a second rotating direction, so that the puncture member performs deflection movement; and the moving assembly is used for driving the second rotating assembly to move in a first translation direction and / or a second translation direction, so that the puncture member performs translation movement. The puncture member in the application can realize attitude adjustment of five degrees of freedom, so that the puncture member can be quickly and accurately adjusted to a suitable attitude and angle according to the target site and the puncture path; moreover, the puncture robot has high integration degree and small overall volume, and is convenient to use in cooperation with other medical equipment.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, and in particular to a puncture robot and a control method thereof. BACKGROUND

[0002] The rapid development of artificial intelligence and the continuous expansion of application scenarios have brought new impetus to the progress of the medical field. In recent years, with the continuous improvement of artificial intelligence technology, robots have entered the medical field, allowing precision medicine to benefit the public. Medical robots, as the deepening application of artificial intelligence in the medical field, can assist doctors in medical diagnosis and treatment, thereby further promoting the informatization and intelligentization of the medical field. Medical robots have proven their value in many surgical or stereotactic procedures involving precise control of target processing positions on or in the body.

[0003] Puncture refers to a diagnostic and therapeutic technique of inserting a puncture needle into a target cavity to extract secretions for testing, injecting gas or radiographic agents into the target cavity for radiographic examination, or injecting drugs into the target cavity. Chinese Patent Application No. CN106901836B discloses a prostate puncture surgery robot, which includes a plurality of dimensional motion mechanisms and can flexibly adjust the position and direction of the puncture needle. However, the orientation of the puncture needle can deviate from the predetermined direction, and it is difficult to accurately control. Patents with publication numbers US2021 / 0015564A1 and CN112203611A disclose a compact medical robot that provides guidance and actuation of a medical instrument with five or more degrees of freedom. However, the structure of this invention is complex, and the overall volume and weight are large, making it difficult to cooperate with other medical equipment

[0004] It can be seen that the existing puncture robot has the following problems: the puncture member attitude adjustment is limited, the positioning accuracy is low, the overall volume of the puncture robot is large, and it is difficult to cooperate with other medical equipment.

[0005] Therefore, it is necessary to provide a new type of puncture robot and a control method thereof to solve the above problems in the prior art. SUMMARY

[0006] The present application relates to the technical field of medical devices, and in particular to a puncture robot and a control method thereof.

[0007] To achieve the above object, the puncture robot comprises an instrument driving assembly, a first rotating assembly, a second rotating assembly and a moving assembly; the instrument driving assembly is connected with a puncture member, and is used for driving the puncture member to move towards or away from a target part; the first rotating assembly is connected with the instrument driving assembly, and is used for driving the instrument driving assembly to rotate in a first rotating direction, so that the puncture member performs pitching movement; the second rotating assembly is connected with the first rotating assembly, and is used for driving the first rotating assembly to rotate in a second rotating direction, so that the puncture member performs deflection movement, and the second rotating direction is perpendicular to the first rotating direction; and the moving assembly is connected with the second rotating assembly, and is used for driving the second rotating assembly to move in a first translational direction and / or a second translational direction, so that the puncture member performs translational movement, and the first translational direction and the second translational direction are perpendicular.

[0008] The puncture robot has the advantages that: the puncture member moves in the first translational direction and / or the second translational direction through the moving assembly, so that the puncture member can be quickly and accurately positioned at the target part; the puncture member performs pitching movement and deflection movement through the first rotating assembly and the second rotating assembly, so that the accuracy of a puncture path in a surgery is improved; and the puncture member can perform needle insertion operation or needle withdrawal operation relative to the target part under the driving of the instrument driving assembly, that is, the puncture member can realize 5-degree-of-freedom posture adjustment through the first rotating assembly, the second rotating assembly, the moving assembly and the instrument driving assembly, so that the posture types of the puncture member are greatly enriched, the puncture member can be quickly and accurately adjusted to a suitable posture and angle according to the target part and the puncture path, so that the puncture process in the interventional puncture surgery can be accurately, efficiently and safely completed, the reliability and safety of the surgery are greatly improved, the puncture robot has high integration and small overall volume, and is convenient to use in cooperation with other medical equipment.

[0009] Preferably, the puncture robot further comprises an angle detection assembly, the angle detection assembly comprising a control module, and a first angle detection member and a second angle detection member connected with the control module respectively, the second rotating assembly comprising a second rotating driving assembly and a rotating member connected in sequence, and the second rotating driving assembly is connected with the control module, the first angle detection member is arranged on the second rotating driving assembly to detect a first rotating angle of the second rotating driving assembly, the second angle detection member is arranged on the rotating member to detect a second rotating angle of the rotating member, and the control module is used for adjusting the operation of the second rotating driving assembly according to comparison information of the first rotating angle and the second rotating angle. The beneficial effect is that: by arranging the first angle detection member to monitor the rotating angle of the second rotating driving assembly, i.e. the power source, and arranging the second angle detection member to detect the actual rotating angle of the rotating member, i.e. the working end, double closed-loop control is realized, the double closed-loop control mode can more accurately realize the deflection of the angle, thereby realizing the accurate positioning of the surgical instrument, and the safety of the operation is improved.

[0010] Preferably, the instrument driving assembly comprises an instrument driving member, a transmission assembly and a driven assembly connected in sequence, the driven assembly is connected with the puncture member, and the driven assembly comprises at least two groups of driven units, and the at least two groups of driven units are arranged in series and parallel. The beneficial effect is that: by arranging the driven assembly to comprise at least two groups of driven units, and arranging the at least two groups of driven units in series and parallel, the stroke of the puncture member is increased, so that the puncture member can accurately realize the needle insertion operation and the needle withdrawal operation, and under the condition that the puncture member has the same stroke, arranging the at least two groups of driven units in series and parallel can greatly reduce the overall volume of the instrument driving assembly.

[0011] Preferably, the driven unit comprises a driven ring line and a driven wheel, the driven ring line has a 0-shaped structure with an open end, and the inner walls at both ends of the driven ring line are arranged around the driven wheel, the driven ring lines of adjacent driven assemblies are connected at the open end, and the outer walls at the connection positions of adjacent driven ring lines are provided with guide wheels. The beneficial effect is that: by arranging the driven ring line to have a 0-shaped structure with an open end, and connecting the driven ring lines of adjacent driven assemblies at the open end, the stroke of the puncture member is increased; by arranging the inner walls at both ends of the driven ring line around the driven wheel, and arranging guide wheels on the outer walls at the connection positions of adjacent driven ring lines, the driven ring line is guided, and the driven assembly is designed into a predetermined structure, so as to reduce the overall volume of the instrument driving assembly.

[0012] Preferably, the puncture robot further comprises a rotation angle limiting assembly arranged on the rotating member for limiting the rotation angle of the rotating member, the rotation angle of the rotating member being -60°-60°. Its beneficial effect lies in that: it avoids the failure of the first rotating assembly to drive the instrument driving assembly and the puncture member to rotate in the second rotation direction for deflection movement, thereby causing interference and damage to other components.

[0013] Preferably, the instrument driving assembly further comprises a needle insertion fixing frame, the driven assembly is arranged on the needle insertion fixing frame, the first rotating assembly comprises a rotating arm beam and a first rotating driving assembly, one end of the rotating arm beam is connected with the second rotating assembly, the other end of the rotating arm beam is rotationally connected with the needle insertion fixing frame, the instrument driving member and the transmission assembly are arranged in the receiving cavity of the rotating arm beam, the first rotating driving assembly is arranged above the rotating arm beam, one end of the first rotating driving assembly is rotationally connected with the rotating arm beam, and the other end of the first rotating driving assembly is rotationally connected with the needle insertion fixing frame. Its beneficial effect lies in that: this design ingeniously connects the first rotating assembly and the instrument driving assembly, so that the puncture member can rotate in the first rotation direction for pitching movement, and the structure is compact, which is conducive to reducing the overall volume of the puncture robot.

[0014] Preferably, the needle insertion fixing frame comprises a connecting fixing frame, a partition fixing frame, a clamping member and a guide member; the connecting fixing frame is respectively provided with a first connecting part rotationally connected with the rotating arm beam and a second connecting part rotationally connected with the first rotating driving assembly at the first end of the rotating arm beam, and is provided with a receiving groove for receiving the driven units and the partition fixing frame at the second end of the rotating arm beam; the partition fixing frame is provided with a protruding part and a receiving part for receiving the driven units, the protruding part is clamped in the receiving groove and located between adjacent driven units; one end of the clamping member is connected with the driven units in the partition fixing frame, and the other end of the clamping member is provided with a clamping part for clamping and fixing the puncture member; the guide member is fixedly arranged at the bottom end of the second end of the connecting fixing frame, and is provided with a through part for the puncture member to pass through. Its beneficial effect lies in that: by arranging the connecting fixing frame and the partition fixing frame, the driven assembly can be divided into several driven units, thereby facilitating the increase of the stroke of the puncture member; by arranging the clamping member and the guide member, the stability and accuracy of the needle insertion direction of the puncture member are ensured, thereby improving the puncture precision of the puncture operation and reducing the damage to the human body during the operation.

[0015] Preferably, the second rotating driving assembly comprises a second rotating motion driving motor, a driving gear, a driven gear, a worm and a worm wheel, the driving gear is connected with the second rotating motion driving motor, the driving gear and the driven gear are engaged, the driven gear is connected with the worm, the worm wheel is sleeved outside the worm and engaged with the rotating piece, the rotating piece is connected with the first rotating assembly; the second rotating assembly further comprises a fixed support and a cover plate, the lower part of the fixed support is provided with a through fixed part for installing the rotating piece, and the upper part of the fixed support and the cover plate are provided with a mounting groove for installing the second rotating driving assembly. Its beneficial effects are that the worm and worm wheel positioning precision is high, which is beneficial to improve the accuracy of the deflection angle of the puncture piece, and the second rotating driving assembly and the rotating piece are both installed on the fixed support, the parts are closely connected, the structure is compact, and it is beneficial to reduce the overall volume of the puncture robot.

[0016] Preferably, the rotating angle limiting assembly comprises an arc-shaped limiting groove and a limiting rod, the arc-shaped limiting groove is arranged on the rotating part of the rotating piece along the circumferential direction of the rotating piece, and the limiting rod is fixedly arranged on the cover plate and penetrates through the arc-shaped limiting groove. Its beneficial effects are that the rotating angle limiting assembly has a simple structure, can effectively limit the maximum rotating angle of the rotating piece in forward rotation and reverse rotation, thereby avoiding the failure of the first rotating assembly in driving the instrument driving assembly and the puncture piece to rotate in the second rotating direction for deflection movement, and causing interference and damage to other components.

[0017] Preferably, the moving assembly comprises a first moving assembly and a second moving assembly; the first moving assembly comprises a first linear motion driving assembly, a first linear motion guide rail, a first moving support and a base, the first linear motion driving assembly and the first linear motion guide rail are fixedly arranged on the base along the first translation direction, and the first moving support is connected with the first linear motion driving assembly and is slidingly arranged on the first linear motion guide rail; the second moving assembly comprises a second linear motion driving assembly, a second linear motion guide rail and a second moving support, the second linear motion driving assembly and the second linear motion guide rail are fixedly arranged on the first moving support along the second translation direction, one end of the second moving support is connected with the second linear motion driving assembly and is slidingly arranged on the second linear motion guide rail, and the other end of the second moving support is connected with the second rotating assembly. Its beneficial effects are that the parts are closely connected, the structure is compact, and it is beneficial to reduce the overall volume of the puncture robot.

[0018] Preferably, the separating fixture is provided with at least one, when the number of the separating fixture is at least two, the separating fixture has the following characteristics: at least two separating fixtures are sequentially connected and fixed by the housing and the protruding part of the adjacent separating fixture, and the driven unit in the separating fixture away from the rotary arm beam is connected with the clamping piece. Its beneficial effects are that the adjacent separating fixtures are simple and convenient to connect, and the number of the separating fixtures can be set according to the stroke of the puncture piece.

[0019] Preferably, the transmission assembly comprises a worm and a worm shaft, the worm is sleeved outside the worm shaft and connected with the instrument driving assembly, and the worm shaft is connected with the driven assembly through a connecting piece; the first rotary driving assembly comprises a first rotary motion driving motor and a first rotary motion screw rod, one end of the first rotary motion screw rod is rotationally connected with the rotary arm beam, the other end of the first rotary motion screw rod is rotationally connected with the needle feeding fixture, the first rotary motion driving motor and the first rotary motion screw rod are connected through a gear, and the first rotary motion driving motor is fixedly arranged above the first rotary motion screw rod through a mounting piece. Its beneficial effects are that each part is closely connected, the structure is compact, and it is beneficial to reduce the overall volume of the puncture robot.

[0020] Preferably, the first angle detection piece and the second angle detection piece each comprise any one of an incremental encoder and an absolute encoder.

[0021] Preferably, the control method of the puncture robot comprises the following steps:

[0022] The instrument driving assembly drives the puncture piece to move towards or away from the target part;

[0023] The first rotary assembly drives the instrument driving assembly to rotate in a first rotary direction, so that the instrument driving assembly drives the puncture piece to perform pitching motion;

[0024] The second rotary assembly drives the first rotary assembly to rotate in a second rotary direction, so that the first rotary assembly drives the instrument driving assembly and the puncture piece to perform deflection motion;

[0025] The moving assembly drives the second rotary assembly to move in a first translational direction and / or a second translational direction, so that the second rotary assembly drives the first rotary assembly, the instrument driving assembly and the puncture piece to perform translational motion.

[0026] The control method of the puncture robot has the advantages that the puncture member moves in a first translational direction and / or a second translational direction through the movement assembly, so that the puncture member can be quickly and accurately positioned at a target position, the puncture member performs pitching movement and deflection movement through the first rotation assembly and the second rotation assembly, so that the accuracy of a puncture path of a surgical operation is improved, and the puncture member can perform needle insertion operation or needle withdrawal operation relative to the target position under the driving of the instrument driving assembly, that is, the puncture member has five degrees of freedom of posture adjustment through the first rotation assembly, the second rotation assembly, the movement assembly and the instrument driving assembly, so that the posture types of the puncture member are greatly enriched, the movement posture adjustment of the puncture member is simple and convenient, the target position has high directional accuracy and good stability, the puncture member can be quickly and accurately adjusted to an applicable posture and angle according to the target position and the puncture path, so that the puncture process of the interventional puncture operation can be accurately, efficiently and safely completed, and the reliability and safety of the operation are greatly improved.

[0027] Preferably, the control method of the puncture robot further comprises the following steps:

[0028] The first angle detection member detects a first rotation angle of the second rotation driving assembly and transmits the first rotation angle to the control module;

[0029] The second angle detection member detects a second rotation angle of the rotation member and transmits the second rotation angle to the control module;

[0030] The control module adjusts the operation of the second rotation driving assembly according to comparison information of the first rotation angle and the second rotation angle. The control method has the advantages that the first angle detection member is arranged to monitor the rotation angle of the second rotation driving assembly, that is, the power source, in real time, and the second angle detection member is arranged to detect the actual rotation angle of the rotation member, that is, the working end, in real time, so that double closed-loop control is realized, the double closed-loop control mode can more accurately realize the deflection of the angle, so that the accuracy positioning of the surgical instrument is realized, and the safety of the operation is improved. BRIEF DESCRIPTION OF DRAWINGS

[0031] Figure 1 The structure of the puncture robot is shown in Figure 1 ;

[0032] Figure 2 The structure of the puncture robot is shown in Figure 1 ; Figure 2 ;

[0033] Figure 3 The structure of the puncture robot is shown in Figure 1 ; Figure 3 ;

[0034] Figure 4 The structure of the puncture robot is shown inFigure 1 Structure diagram of driving assembly of instrument driving assembly in the puncture robot shown;

[0035] Figure 5 For Figure 1 Assembly diagram of needle insertion fixing frame and puncture piece of instrument driving assembly in the puncture robot shown;

[0036] Figure 6 For Figure 1 Assembly diagram of first rotating assembly and second rotating assembly in the puncture robot shown;

[0037] Figure 7 For Figure 1 Structure diagram of second rotating assembly in the puncture robot shown;

[0038] Figure 8 For Figure 1 Assembly diagram of fixing support and rotating piece in the puncture robot shown;

[0039] Figure 9 For Figure 1 Assembly diagram of second moving assembly and first moving support in the puncture robot shown;

[0040] Figure 10 For Figure 1 Structure diagram of second moving support in the puncture robot shown. DETAILED DESCRIPTION

[0041] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below. Obviously, the described embodiments are some but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of the present application. Unless otherwise defined, the technical terms or scientific terms used herein should be understood as the common meanings thereof by those of ordinary skill in the art to which the present application belongs. The similar words such as "comprise" used herein mean that the elements or objects before the words cover the elements or objects listed after the words and their equivalents, and do not exclude other elements or objects.

[0042] In order to overcome the problems in the prior art, the embodiments of the present application provide a puncture robot and a control method thereof, so as to solve the problems of the existing puncture robot, such as the limitation of the posture adjustment of the puncture piece, the low positioning accuracy, the large overall volume of the puncture robot, and the difficulty in cooperating with other medical devices.

[0043] Figure 1 Structure diagram of the puncture robot of the embodiments of the present applicationFigure 2 ; Figure 1 As shown in Figure 2 structure of a puncture robot Figure 4 ; Figure 1 As shown in Figure 5 structure of a puncture robot Figure 1 .

[0044] In some embodiments of the present application, referring to Figure 1 to Figure 5 , the puncture robot comprises an instrument driving assembly 100, a first rotating assembly 200, a second rotating assembly 300 and a moving assembly (not shown in the figure); the instrument driving assembly 100 is connected with a puncture member 400, and the instrument driving assembly 100 is used to drive the puncture member 400 to move towards or away from a target site; the first rotating assembly 200 is connected with the instrument driving assembly 100, and the first rotating assembly 200 is used to drive the instrument driving assembly 100 to rotate in a first rotating direction, so that the puncture member 400 performs pitching movement; the second rotating assembly 300 is connected with the first rotating assembly 200, and the second rotating assembly 300 is used to drive the first rotating assembly 200 to rotate in a second rotating direction, so that the puncture member 400 performs deflection movement, and the second rotating direction is arranged perpendicularly to the first rotating direction; the moving assembly (not shown in the figure) is connected with the second rotating assembly 300, and the moving assembly (not shown in the figure) is used to drive the second rotating assembly 300 to move in a first translational direction and / or a second translational direction, so that the puncture member 400 performs translational movement, and the first translational direction and the second translational direction are arranged perpendicularly.

[0045] Specifically, the instrument driving assembly 100 is driven by the first rotating assembly 200 to rotate the puncture member 400 in a first rotating direction to perform a pitching motion; the first rotating assembly 200 is driven by the second rotating assembly 300 to rotate the instrument driving assembly 100 and the puncture member 400 in a second rotating direction to perform a yawing motion; the second rotating assembly 300 is driven by the moving assembly (not shown in the figure) to move the first rotating assembly 200, the instrument driving assembly 100 and the puncture member 400 in a first translational direction and / or a second translational direction. The puncture member 400 is moved in the first translational direction and / or the second translational direction by the moving assembly (not shown in the figure) to quickly and accurately position the target site, the puncture member 400 is pitched and yawed by the first rotating assembly 200 and the second rotating assembly 300 to improve the accuracy of the puncture path, and the puncture member 400 can be advanced or retracted relative to the target site under the drive of the instrument driving assembly 100, that is, the puncture member 400 can be adjusted in five degrees of freedom by the first rotating assembly 200, the second rotating assembly 300, the moving assembly (not shown in the figure) and the instrument driving assembly 100, which greatly enriches the posture types of the puncture member 400, so that the puncture member 400 can be quickly and accurately adjusted to the suitable posture and angle according to the target site and the puncture path, thereby ensuring that the interventional puncture surgery can be accurately, efficiently and safely completed, and the reliability and safety of the surgery are greatly improved. Moreover, the puncture robot has high integration and small overall volume, and is convenient to use with other medical equipment.

[0046] In the embodiment of the present application, the first rotating direction is Figure 4 the direction indicated by A in FIG. 1, the second rotating direction is Figure 4 the direction indicated by B in FIG. 1, the first translational direction is Figure 4 the direction indicated by X in FIG. 1, and the second translational direction is Figure 4 the direction indicated by Y in FIG. 1. Figure 4 Figure 4 In some specific embodiments of the present application, the puncture member is a puncture needle for assisting in puncture surgery.

[0047] In some specific embodiments of the present application, the puncture member is a biopsy needle for retrieving samples from a target.

[0048] In some specific embodiments of the present application, the puncture member is an injection needle for targeted injection of drugs.

[0049]

[0050] Figure 4 Figure 4 ​​​Structure schematic diagram of driving assembly of instrument driving assembly in the shown puncture robot; Figure 4 For Figure 6 Assembly schematic diagram of needle insertion fixing frame and puncture piece of the instrument driving assembly in the shown puncture robot.

[0051] In some embodiments of the present application, with reference to Figure 1 , the instrument driving assembly 100 comprises a driving assembly, the driving assembly comprises an instrument driving piece 110, a transmission assembly 120 and a driven assembly 130 connected in sequence, the driven assembly 130 is connected with the puncture piece 400, the driven assembly 130 comprises at least two groups of driven units 131, the at least two groups of driven units 131 are sequentially connected in series and arranged side by side in parallel, and a plurality of driven units 131 are arranged, which is beneficial to increase the stroke of the puncture piece 400, so that the puncture piece 400 can accurately realize the needle insertion operation and the needle withdrawal operation, and under the condition that the puncture piece 400 has the same stroke, the at least two groups of driven units 131 are sequentially connected in series and arranged side by side in parallel, which can greatly reduce the overall volume of the instrument driving assembly 100.

[0052] In some embodiments of the present application, with reference to Figure 1 to Figure 3 , the driven unit 131 comprises a driven ring line 1311 and a driven wheel 1312, the driven ring line 1311 is a 0-shaped structure with an open end 1313, the driven ring lines 1311 of adjacent driven assemblies 130 are connected at the open end 1313, which is beneficial to increase the stroke of the puncture piece 400; and the inner walls of both ends of the driven ring line 1311 are arranged around the driven wheel 1312, and the outer wall of the connection part 1314 of adjacent driven ring lines 1311 is provided with a guide wheel 132 to guide the driven ring line 1311, thereby facilitating the design of the driven assembly 130 into a predetermined structure to reduce the overall volume of the instrument driving assembly 100.

[0053] In some specific embodiments of the present application, with reference to Figure 5 , the driven assembly 130 comprises two groups of driven units 131, the two ends of the driven ring line 1311 in the two groups of driven units 131 are connected at the open end 1313 to form a closed ring line without opening, and the driven ring line 1311 constitutes an H-shaped structure under the guidance and limiting of the driven wheel 1312 and the guide wheel 132, which greatly increases the stroke of the puncture piece 400 under the condition that the driven ring line 1311 has the same height. The height of the driven ring line 1311 is the diameter of the driven ring line 1311 along the C direction indicated in the figure. Figure 6

[0054] In some specific embodiments of the present application, with reference to Figure 1 to Figure 5 ​The driven wheel 1312 is slidably contacted with the driven ring 1311, and the driven wheel 1312 is a gear.

[0055] In some specific embodiments of the present invention, reference is made to Figure 4 The guide wheel 132 is slidably contacted with the driven loop 1311, and the guide wheel 132 is provided with a groove to fit the driven loop 1311.

[0056] In some specific embodiments of the present invention, reference is made to Figure 5 The driven loop 1311 is an elliptical structure with an open end 1313, and the driven loop 1311 along... Figure 1 to Figure 3 The diameter of the direction indicated by C is greater than that of the driven loop 1311 along the line with... Figure 6 The diameter of the C-direction perpendicular to the direction of the instrument drive assembly 100 is beneficial to reducing the overall volume of the instrument drive assembly 100.

[0057] In some embodiments of the present invention, the transmission assembly includes a turbine and a worm gear, the turbine being sleeved around the worm gear and connected to the instrument drive component, and the worm gear being connected to the driven component via a connector. Specifically, refer to... Figure 1 to Figure 3 The transmission assembly 120 includes a first turbine 121 and a first worm gear 122. The first turbine 121 is sleeved on the first worm gear 122 and connected to the instrument drive 110. The first worm gear 122 is connected to the driven assembly 130 through a connector 140.

[0058] In some specific embodiments of the present invention, the connecting member 140 is a connecting belt, one end of which is sleeved on the first worm gear 122, and the other end is sleeved on the driven wheel 1312 of the driven assembly 130 near the first worm gear 122.

[0059] Figure 5 for Figure 6 The diagram shows the assembly of the first and second rotating components in the puncture robot.

[0060] In some embodiments of the present invention, reference is made to Figure 7 , Figure 1 and Figure 8, the instrument driving assembly 100 further comprises a needle insertion fixing frame 150, the driven assembly 130 is arranged on the needle insertion fixing frame 150, the first rotating assembly 200 comprises a rotating arm beam 210 and a first rotating driving assembly (not shown in the figure), one end of the rotating arm beam 210 is connected with the second rotating assembly 300, the other end of the rotating arm beam 210 is rotatably connected with the needle insertion fixing frame 150, the instrument driving member 110 and the transmission assembly 120 are arranged in a receiving cavity 211 of the rotating arm beam 210, the first rotating driving assembly (not shown in the figure) is arranged above the rotating arm beam 210, one end of the first rotating driving assembly (not shown in the figure) is rotatably connected with the rotating arm beam 210, and the other end of the first rotating driving assembly (not shown in the figure) is rotatably connected with the needle insertion fixing frame 150. The design is ingenious, which can well connect the first rotating assembly 200 and the instrument driving assembly 100, so that the puncture member 400 rotates in the first rotating direction to realize the pitching movement, and the structure is compact, which is beneficial to reducing the overall volume of the puncture robot.

[0061] In some embodiments of the present application, with reference to Figure 1 , the needle insertion fixing frame 150 comprises a connecting fixing frame 151, a separation fixing frame 152, a clamping member 153 and a guide member 154. The connecting fixing frame 151 is respectively provided with a first connecting part 1511 rotatably connected with the rotating arm beam 210 and a second connecting part 1512 rotatably connected with the first rotating driving assembly (not shown in the figure) at the first end of the rotating arm beam 210, and the connecting fixing frame 151 is provided with a receiving groove 1513 for accommodating the driven units 131 and the separation fixing frame 152 at the second end of the rotating arm beam 210. The separation fixing frame 152 is provided with a protruding part 1521 and an accommodation part 1522 for accommodating the driven units 131, the protruding part 1521 is clamped in the receiving groove 1513 and located between adjacent driven units 131. One end of the clamping member 153 is connected with the driven units 131 in the separation fixing frame 152, and the other end of the clamping member 153 is provided with a clamping part 1531 for clamping and fixing the puncture member 400. The guide member 154 is fixedly arranged at the bottom end of the second end of the connecting fixing frame 151, and the guide member 154 is provided with a through part 1541 for the puncture member 400 to pass through. By arranging the connecting fixing frame 151 and the separation fixing frame 152, the driven assembly 130 can be separated into several driven units 131, thereby facilitating the increase of the stroke of the puncture member 400; by arranging the clamping member 153 and the guide member 154, the stability and accuracy of the needle insertion direction of the puncture member 400 are ensured, thereby improving the puncture precision of the puncture operation and reducing the damage to the human body in the operation.

[0062] In some specific embodiments of the present application, referring to Figure 1 to Figure 3 and Figure 6 to Figure 8 , the driven assembly 130 includes two groups of driven units 131, namely a first group of driven units and a second group of driven units, the first group of driven units is arranged in the receiving groove 1513, the second group of driven units is arranged in the receiving portion 1522, and the protruding portion 1521 is located in the recess between the first group of driven units and the second group of driven units. The clamping piece 153 is fixed with the driven ring line 1311 of the second group of driven units in the partition fixing frame 152, so that the puncture piece 400 moves with the movement of the driven ring line 1311.

[0063] In some embodiments of the present application, the partition fixing frame 152 is provided with at least one, when the number of the partition fixing frame 152 is at least two, the partition fixing frame 152 has the following characteristics: at least two partition fixing frames 152 are sequentially connected and fixed by the receiving portion 1522 and the protruding portion 1521 of the adjacent partition fixing frame 152, and the driven unit 131 in the partition fixing frame 152 away from the rotary arm beam 210 is connected with the clamping piece 153. The connection of adjacent partition fixing frames 152 is simple and convenient, and the number of partition fixing frames 152 can be set according to the stroke of the puncture piece 400.

[0064] In some specific embodiments of the present application, the driven assembly 130 includes three groups of driven units 131, namely a first group of driven units, a second group of driven units and a third group of driven units, and the partition fixing frame 152 is provided with two, namely a first partition fixing frame and a second partition fixing frame. The protruding portion 1521 of the first partition fixing frame is clamped in the receiving groove 1513, and the protruding portion 1521 of the second partition fixing frame is clamped in the receiving portion 1522 of the first partition fixing frame. The first group of driven units is arranged in the receiving groove 1513, the second group of driven units is arranged in the receiving portion 1522 of the first partition fixing frame, and the third group of driven units is arranged in the receiving portion 1522 of the second partition fixing frame. And the protruding portion 1521 of the first partition fixing frame is located in the recess between the first group of driven units and the second group of driven units, and the protruding portion 1521 of the second partition fixing frame is located in the recess between the second group of driven units and the third group of driven units. The clamping piece 153 is fixed with the driven ring line 1311 of the third group of driven units in the second partition fixing frame, so that the puncture piece 400 moves with the movement of the driven ring line 1311.

[0065] In some embodiments of the present application, referring to Figure 1 to Figure 3 , Figure 6 to Figure 8The first rotary drive assembly includes a first rotary motion drive motor 220 and a first rotary motion lead screw 230. One end of the first rotary motion lead screw 230 is rotatably connected to the rotary arm beam 210, and the other end is rotatably connected to the needle insertion fixing frame 150. The first rotary motion drive motor 220 and the first rotary motion lead screw 230 are connected by gears, and the first rotary motion drive motor 220 is fixedly mounted above the first rotary motion lead screw 230 by a mounting component 240. The components are tightly connected, resulting in a compact structure that helps reduce the overall size of the puncture robot.

[0066] In some specific embodiments of the present invention, reference is made to Figure 1 to Figure 3 , Figure 6 to Figure 8 and Figure 3 One end of the first rotary motion lead screw 230 is rotatably connected to the rotary arm beam 210 via a pin and a connecting piece 250, and the other end of the first rotary motion lead screw 230 is rotatably connected to the second connecting part 1512 via a pin. The rotary arm beam 210 is rotatably connected to the first connecting part 1511 via a pin. The mounting piece 240 is sleeved on the first rotary motion drive motor 220, and the mounting piece 240 is fixedly mounted on the connecting piece 250.

[0067] Figure 1 to Figure 3 for Figure 9 The diagram shows the structure of the second rotating component in the puncture robot. Figure 1 for Figure 10 The diagram shows the assembly of the fixed support and rotating components in the puncture robot.

[0068] In some embodiments of the present invention, the puncture robot further includes an angle detection component, which includes a control module and a first angle detection element and a second angle detection element respectively connected to the control module. (See reference) Figure 1 , Figure 1 to Figure 3The second rotating assembly 300 comprises a second rotating driving assembly (not shown in the figure) and a rotating piece 310 connected in sequence, and the second rotating driving assembly (not shown in the figure) is connected with the control module, the first angle detecting piece (not shown in the figure) is arranged on the second rotating driving assembly (not shown in the figure) to detect the first rotating angle of the second rotating driving assembly (not shown in the figure), and the second angle detecting piece 500 is arranged on the rotating piece 310 to detect the second rotating angle of the rotating piece 310, and the control module is used for adjusting the working of the second rotating driving assembly (not shown in the figure) according to the comparison information of the first rotating angle and the second rotating angle. By arranging the first angle detecting piece to monitor the rotating angle of the second rotating driving assembly, i.e. the power source, and arranging the second angle detecting piece to detect the actual rotating angle of the rotating piece, i.e. the working end, the double closed-loop control is realized, the double closed-loop control mode can more accurately realize the deflection of the angle, so that the precision positioning of the surgical instrument is realized, and the safety of the operation is improved.

[0069] In some embodiments of the present application, with reference to Figure 9 、 Figure 10 The second rotating driving assembly comprises a second rotating motion driving motor 320, a driving gear 330, a driven gear 340, a worm 350 and a worm wheel 360, the driving gear 330 is connected with the second rotating motion driving motor 320, the driving gear 330 and the driven gear 340 are engaged, the driven gear 340 is connected with the worm 350, the worm wheel 360 is sleeved outside the worm 350 and engaged with the rotating piece 310, and the rotating piece 310 is connected with the first rotating assembly 200. The worm wheel 360 and the worm 350 have high positioning accuracy, and are beneficial to improving the accuracy of the deflection angle of the puncture piece 400.

[0070] Specifically, the driving gear 330 is connected with the output shaft of the second rotating motion driving motor 320, the driven gear 340 is connected with the rotating shaft of the worm 350, the worm wheel 360 is connected with the rotating piece 310, and the rotating piece 310 is connected with the rotating arm beam 210. Therefore, the driving torque of the second rotating motion driving motor 320 is transmitted to the worm 350 through the driving gear 330 and the driven gear 340, and then transmitted to the rotating piece 310 through the worm 350 and the worm wheel 360, so that the rotating piece 310 is driven to realize a certain angle deflection, so that the first rotating assembly 200, the instrument driving assembly 100 and the puncture piece 400 connected with the rotating piece 310 in sequence realize a certain angle deflection.

[0071] In some embodiments of the present application, with reference to Figure 1 to Figure 3 、 Figure 1 to Figure 3The second rotating assembly 300 further comprises a fixed support 370 and a cover plate 380, the lower part of the fixed support 370 is provided with a through fixed part for mounting the rotating part 310, and the upper part of the fixed support 370 and the cover plate 380 are provided with a mounting groove for mounting the second rotating driving assembly (not shown in the figure). The second rotating driving assembly (not shown in the figure) and the rotating part 310 are both mounted on the fixed support 370, the parts are closely connected, the structure is compact, and the overall volume of the puncture robot can be reduced.

[0072] In some embodiments of the present application, the first angle detection part and the second angle detection part each comprise any one of an incremental encoder and an absolute encoder.

[0073] In some specific embodiments of the present application, the first angle detection part is an incremental encoder, which is arranged on the second rotating motion driving motor 320 to monitor the rotation angle of the second rotating motion driving motor 320. The second angle detection part is an absolute encoder, the code disc of the absolute encoder is arranged on the main rotating shaft of the rotating part 310, and the code disc performs deflection motion together with the main rotating shaft of the rotating part 310; the reading head of the absolute encoder is arranged on the fixed support 370, and the reading head is used to read the rotation angle of the code disc, so as to monitor the actual rotation angle of the rotating part 310.

[0074] In some specific embodiments of the present application, the second rotating motion driving motor 320 is a direct current motor with a large reduction ratio.

[0075] In some embodiments of the present application, with reference to Figure 9 The puncture robot further comprises a rotating angle limiting assembly 600, which is arranged on the rotating part 310 to limit the rotation angle of the rotating part 310, and the rotation angle of the rotating part 310 is -60°-60°. In order to avoid the failure of the first rotating assembly 200 driving the instrument driving assembly 100 and the puncture part 400 to rotate in the second rotating direction and causing interference and damage to other parts. Wherein, the 60° is the maximum angle of the rotating part 310 rotating in the clockwise direction indicated by B, and the -60° is the maximum angle of the rotating part 310 rotating in the counterclockwise direction indicated by B.

[0076] In some specific embodiments of the present application, the rotation angle of the rotating part 310 is -45°-45°, the 45° is the maximum angle of the rotating part 310 rotating in the clockwise direction indicated by B, and the -45° is the maximum angle of the rotating part 310 rotating in the counterclockwise direction indicated by B.

[0077] In some embodiments of the present invention, reference is made to Figure 10 The rotation angle limiting component 600 includes an arc-shaped limiting groove 610 and a limiting rod 620. The arc-shaped limiting groove 610 is disposed on the rotating part of the rotating component 310 along the circumferential direction. The limiting rod 620 is fixedly disposed on the cover plate 380 and passes through the arc-shaped limiting groove 610. The rotation angle limiting component 600 has a simple structure and can effectively limit the maximum rotation angle of the rotating component 310 in both forward and reverse directions. This prevents the first rotating component 200 from malfunctioning and causing interference damage to other components when it sequentially drives the instrument driving component 100 and the puncture component 400 to rotate in the second rotation direction under the drive of the second rotating component 300.

[0078] Figure 1 to Figure 3 for Figure 9 The diagram shows the assembly of the second moving component and the first moving support in the puncture robot. Figure 1 to Figure 3 for Figure 9 The diagram shows the structure of the second movable support in the puncture robot.

[0079] In some embodiments of the present invention, reference is made to Figure 10 , ​ and ​ The moving components include a first moving component 700 and a second moving component 800. The first moving component 700 includes a first linear motion drive component 710, a first linear motion guide rail 720, a first moving support 730, and a base 740. The first linear motion drive component 710 and the first linear motion guide rail 720 are fixedly disposed on the base 740 along the first translational direction. The first moving support 730 is connected to the first linear motion drive component 710 and slidably disposed on the first linear motion guide rail 720. The second moving component 800 includes a second linear motion drive component 810, a second linear motion guide rail 820, and a second moving support 830. The second linear motion drive component 810 and the second linear motion guide rail 820 are fixedly disposed on the first moving support 730 along the second translational direction. One end of the second moving support 830 is connected to the second linear motion drive component 810 and slidably disposed on the second linear motion guide rail 820. The other end of the second moving support 830 is fixedly connected to the second rotating component 300. The components are tightly connected and the structure is compact, which helps to reduce the overall size of the puncture robot.

[0080] In some embodiments of the present invention, reference is made to ​The first linear motion driving assembly 710 comprises a first linear motion driving motor 711, a first linear motion screw rod 712 and a first screw rod nut 713. The first linear motion driving motor 711 is connected with the first linear motion screw rod 712 through a gear, and the first linear motion screw rod 712 is fixedly arranged above the first linear motion driving motor 711. Two first linear motion guide rails 720 are arranged on the two sides of the base 740, and the two ends of the bottom of the first moving support 730 are respectively arranged on the two first linear motion guide rails 720 through sliding blocks. The first linear motion screw rod 712 and the first linear motion driving motor 711 are arranged outside one of the first linear motion guide rails 720. The first linear motion screw rod 712 is connected with the first moving support 730 through the first screw rod nut 713, and the first moving support 730 is driven to move along the first translation direction by the first linear motion driving motor 711 and the first linear motion screw rod 712.

[0081] In some embodiments of the present application, with reference to ​ 、 ​ and ​ , the second linear motion driving assembly 810 comprises a second linear motion driving motor 811, a second linear motion screw rod 812 and a second screw rod nut 813. The second linear motion driving motor 811 is connected with the second linear motion screw rod 812 through a gear, and the second linear motion screw rod 812 is fixedly arranged above the second linear motion driving motor 811. Two second linear motion guide rails 820 are arranged on the upper and lower parts of the first moving support 730, so that the stability of the puncture member 400 is better and the puncture precision is higher. The upper and lower parts of the second moving support 830 are respectively arranged on the two second linear motion guide rails 820 through sliding blocks. The second linear motion screw rod 812 is connected with the second moving support 830 through the second screw rod nut 813, and the second moving support 830 is driven to move along the second translation direction by the second linear motion driving motor 811 and the second linear motion screw rod 812. Under the driving of the first linear motion driving motor 711, the second moving support 830 can move along the first translation direction with the first moving support 730.

[0082] In some embodiments of the present application, with reference to ​ 、 ​ , the first moving support 730 is in a frame structure, so that the second linear motion driving assembly 810 can be arranged in the frame-shaped accommodating cavity of the first moving support 730, has the advantages of high integration and compact structure, and is beneficial to reducing the overall volume of the puncture robot.

[0083] In some embodiments of the present application, with reference to ​ 、 ​ and ​ , the second moving support 830 comprises a support plate 831 at the first end of the first moving support 730, and a sliding block connected with the second linear motion guide rail 820 is arranged above and below the support plate 831. The second end of the second moving support 830 is fixedly connected with the fixed support 370 by a screw.

[0084] In some embodiments of the present application, the control method of the puncture robot comprises the following steps:

[0085] The instrument driving assembly drives the puncture member to move towards or away from the target site;

[0086] The first rotating assembly drives the instrument driving assembly to rotate in a first rotating direction, so that the instrument driving assembly drives the puncture member to perform a pitching motion;

[0087] The second rotating assembly drives the first rotating assembly to rotate in a second rotating direction, so that the first rotating assembly drives the instrument driving assembly and the puncture member to perform a yawing motion;

[0088] The moving assembly drives the second rotating assembly to move in a first translational direction and / or a second translational direction, so that the second rotating assembly drives the first rotating assembly, the instrument driving assembly and the puncture member to perform a translational motion.

[0089] Specifically, the puncture member moves in a first translational direction and / or a second translational direction through the moving assembly, so that the puncture member can quickly and accurately position the target site. The puncture member performs a pitching motion and a yawing motion through the first rotating assembly and the second rotating assembly, so that the accuracy of the puncture path of the operation is improved. Moreover, the puncture member can perform a needle insertion operation or a needle withdrawal operation relative to the target site under the driving of the instrument driving assembly. That is, through the first rotating assembly, the second rotating assembly, the moving assembly and the instrument driving assembly, the puncture member has five degrees of freedom for posture adjustment, greatly enriching the posture types of the puncture member, and the motion posture adjustment of the puncture member is simple and convenient, the target position directional accuracy is high, and the stability is good. Therefore, the puncture member can quickly and accurately adjust to the applicable posture and angle according to the target site and the puncture path, so as to ensure that the interventional puncture operation can be accurately, efficiently and safely completed, and the reliability and safety of the operation are greatly improved.

[0090] In some embodiments of the present application, the control method of the puncture robot further comprises the following steps:

[0091] The first angle detecting member detects the first rotation angle of the second rotation driving assembly and transmits to the control module;

[0092] The second angle detecting member detects the second rotation angle of the rotation member and transmits to the control module;

[0093] The control module adjusts the operation of the second rotation driving assembly according to the comparison information of the first rotation angle and the second rotation angle. By setting the first angle detecting member to monitor the rotation angle of the second rotation driving assembly, i.e. the power source, and setting the second angle detecting member to detect the actual rotation angle of the rotation member, i.e. the working end, the double closed-loop control is realized. The double closed-loop control mode can more accurately realize the deflection of the angle, so as to realize the accurate positioning of the surgical instrument and improve the safety of the operation.

[0094] Although the embodiments of the present application have been described in detail above, it is obvious to those skilled in the art that various modifications and changes can be made to the embodiments. However, it should be understood that such modifications and changes belong to the scope and spirit of the present application described in the claims. Moreover, the present application described herein can have other embodiments and can be implemented or realized in various ways.

Claims

1. A puncture robot, characterized in that, include: An instrument driving assembly is connected to a puncture component, the instrument driving assembly being used to drive the puncture component to move toward or away from the target site; The instrument driving assembly includes an instrument driving component, a transmission component, and a driven component connected in sequence. The driven component is connected to the puncture component. The driven component includes at least two sets of driven units, which are connected in series and arranged in parallel. Each driven unit includes a driven loop and a driven wheel. The driven loop has an O-shaped structure with an open end, and the inner walls of both ends of the driven loop are wound around the driven wheel. The driven loops of adjacent driven components are connected at the open end, and the outer wall of the connection between adjacent driven loops is provided with a guide wheel. The two ends of the driven loops in the two sets of driven units are connected at the open end to form a closed loop without an opening, and the driven loop forms an H-shaped structure under the guidance and limitation of the driven wheel and the guide wheel. A first rotating component is connected to the instrument driving component. The first rotating component is used to drive the instrument driving component to rotate along a first rotation direction so that the puncture piece can perform pitching motion. The second rotating component is connected to the first rotating component. The second rotating component is used to drive the first rotating component to rotate along the second rotating direction so that the puncture member can deflect. The second rotating direction is perpendicular to the first rotating direction. A movable component is connected to the second rotating component. The movable component is used to drive the second rotating component to move along a first translational direction and / or a second translational direction, so that the puncture member performs a translational movement, and the first translational direction and the second translational direction are set perpendicularly.

2. The puncture robot according to claim 1, characterized in that, It also includes an angle detection component, which includes a control module and a first angle detection element and a second angle detection element respectively connected to the control module. The second rotation component includes a second rotation drive component and a rotating component connected in sequence, and the second rotation drive component is connected to the control module. The first angle detection element is disposed on the second rotation drive component to detect a first rotation angle of the second rotation drive component, and the second angle detection element is disposed on the rotating component to detect a second rotation angle of the rotating component. The control module is used to adjust the operation of the second rotation drive component according to the comparison information of the first rotation angle and the second rotation angle.

3. The puncture robot according to claim 2, characterized in that, It also includes a rotation angle limiting component, which is disposed on the rotating member to limit the rotation angle of the rotating member, wherein the rotation angle of the rotating member is -60° to 60°.

4. The puncture robot according to claim 1, characterized in that, The instrument drive assembly further includes a needle insertion holder, the driven assembly is disposed on the needle insertion holder, the first rotating assembly includes a rotating arm beam and a first rotating drive assembly, one end of the rotating arm beam is connected to the second rotating assembly, the other end of the rotating arm beam is rotatably connected to the needle insertion holder, the instrument drive component and the transmission assembly are disposed in the receiving cavity of the rotating arm beam, the first rotating drive assembly is disposed above the rotating arm beam, and one end of the first rotating drive assembly is rotatably connected to the rotating arm beam, and the other end of the first rotating drive assembly is rotatably connected to the needle insertion holder.

5. The puncture robot according to claim 4, characterized in that, The needle insertion fixing frame includes a connecting fixing frame, a separating fixing frame, a clamping component, and a guide component; The first end of the connecting fixing frame facing the slewing beam is provided with a first connecting part that is rotatably connected to the slewing beam and a second connecting part that is rotatably connected to the first rotary drive assembly. The second end of the connecting fixing frame facing away from the slewing beam is provided with a receiving groove for accommodating the driven unit and the separating fixing frame. The partition fixing frame has a protrusion and a receiving portion for accommodating the driven unit. The protrusion is engaged with the receiving groove and is located between adjacent driven units. One end of the clamping member is connected to the driven unit in the partition fixing frame, and the other end of the clamping member is provided with a clamping part for clamping and fixing the puncture piece; The guide is fixedly disposed at the bottom end of the second end of the connecting bracket, and the guide is provided with a through portion for the piercing member to pass through.

6. The puncture robot according to claim 3, characterized in that, The second rotary drive assembly includes a second rotary motion drive motor, a drive gear, a driven gear, a worm, and a worm wheel. The drive gear is connected to the second rotary motion drive motor, and the drive gear and the driven gear mesh. The driven gear is connected to the worm. The worm wheel is sleeved on the outside of the worm and meshes with the rotating component. The rotating component is connected to the first rotary assembly. The second rotating assembly further includes a fixed support and a cover plate. The lower part of the fixed support is provided with a through fixing part for mounting the rotating component, and the upper part of the fixed support and the cover plate are provided with a mounting groove for mounting the second rotating drive assembly.

7. The puncture robot according to claim 6, characterized in that, The rotation angle limiting component includes an arc-shaped limiting groove and a limiting rod. The arc-shaped limiting groove is disposed on the rotating part of the rotating component along the circumferential direction of the rotating component, and the limiting rod is fixedly disposed on the cover plate and passes through the arc-shaped limiting groove.

8. The puncture robot according to claim 1, characterized in that, The moving component includes a first moving component and a second moving component; The first moving component includes a first linear motion drive component, a first linear motion guide rail, a first moving support, and a base. The first linear motion drive component and the first linear motion guide rail are fixedly disposed on the base along the first translation direction. The first moving support is connected to the first linear motion drive component and is slidably disposed on the first linear motion guide rail. The second moving component includes a second linear motion drive component, a second linear motion guide rail, and a second moving support. The second linear motion drive component and the second linear motion guide rail are fixedly disposed on the first moving support along the second translation direction. One end of the second moving support is connected to the second linear motion drive component and slidably disposed on the second linear motion guide rail. The other end of the second moving support is connected and fixedly disposed to the second rotating component.

9. The puncture robot according to claim 5, characterized in that, The partition fixing bracket is provided at least once. When the number of partition fixing brackets is at least 2, the partition fixing bracket has the following characteristics: At least two of the partition brackets are sequentially connected and fixed by engaging the protrusion of the adjacent partition bracket with the receiving portion, and the driven unit in the partition bracket away from the swivel beam is connected to the clamping member.

10. The puncture robot according to claim 4, characterized in that, The transmission assembly includes a turbine and a worm gear. The turbine is sleeved on the outside of the worm gear and connected to the instrument drive component. The worm gear is connected to the driven component via a connector. The first rotary drive assembly includes a first rotary motion drive motor and a first rotary motion lead screw. One end of the first rotary motion lead screw is rotatably connected to the rotary arm beam, and the other end of the first rotary motion lead screw is rotatably connected to the needle insertion fixing frame. The first rotary motion drive motor and the first rotary motion lead screw are connected by gears, and the first rotary motion drive motor is fixedly mounted above the first rotary motion lead screw by a mounting component.

11. The puncture robot according to claim 2, characterized in that, Both the first angle detection element and the second angle detection element include either an incremental encoder or an absolute encoder.

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