A wireless communication-assisted percutaneous puncture robot system

Abstract

The present invention provides a wireless communication-assisted percutaneous puncture robot system, comprising: a host computer, configured to receive and obtain a target puncture position through a control interface and then send a control instruction to a slave computer; a slave computer, configured to receive various control instructions sent by the host computer, and control different working modes of an execution module according to the control instructions, so that the execution module is controlled in real time during operation along a preset path until the target puncture position is reached; the slave computer comprises a main control module, an execution module and a wireless communication module, the main control module and the execution module are connected through the wireless communication module, the execution module is bound to a target puncture site of a target object, and is configured to drive a corresponding motor driver according to a preset path to perform a puncture operation toward the target puncture position; the main control module is configured to control the corresponding motor driver in different working modes through a CAN interface, thereby realizing closed-loop control and multi-motor synchronous control, and more accurately finding the target puncture position.

Description

Technical Field

[0001] The present invention relates to the technical field of wireless control of interventional surgical robots, and in particular to a wireless communication-assisted percutaneous puncture robot system. Background Art

[0002] Interventional therapy is a minimally invasive treatment performed using modern high-tech means. Under the guidance of medical imaging equipment, specialized catheters, guidewires, and other precision instruments are introduced into the human body to diagnose and locally treat internal pathologies. Intervention is a series of minimally invasive treatment techniques that utilize puncture needles, catheters, and other interventional devices, guided and monitored by the equipment, to introduce them into the affected area of ​​the body. Puncture involves inserting a needle into a body cavity to extract secretions for testing, inject gas or contrast agents for angiography, or inject medications. Punctures are performed for blood tests, transfusions, infusions, and catheter placement for angiography.

[0003] The defects of existing equipment for puncture are: 1. Puncture is generally performed directly by hand. Since the puncture needle is long, manual puncture is prone to shaking, resulting in poor puncture effect; 2. It needs to be connected to a long and bulky communication line, and the doctor's operation is limited by the specific location, which is inconvenient for the doctor to operate. Summary of the Invention

[0004] The purpose of the present invention is to provide a wireless communication-assisted percutaneous puncture robot system that does not require long and bulky communication lines. The doctor's operation is not restricted by the specific location, which facilitates close-range operation and improves the efficiency of puncture.

[0005] The present invention provides a wireless communication-assisted percutaneous puncture robot system, comprising:

[0006] The upper computer is used to receive and obtain the target puncture position through the control interface and then send control instructions to the lower computer;

[0007] A lower computer, the lower computer being in communication with the upper computer and configured to receive various control instructions issued by the upper computer and control different working modes of the execution module according to the control instructions, so that the execution module is controlled in real time during operation along a preset path until the target puncture position is reached, the working modes including contour position mode, homing mode, and periodic synchronous position mode;

[0008] The lower computer includes a main control module, an execution module and a wireless communication module. The main control module and the execution module are connected via the wireless communication module.

[0009] The execution module has multiple motor drivers, and the execution module is bound to the target puncture site of the target object, and is used to drive the corresponding motor drivers according to a preset path to perform the puncture operation toward the target puncture site;

[0010] The main control module is used to control the corresponding motor driver to execute different working modes using the CANopen protocol through the CAN interface.

[0011] Preferably, controlling different working modes of the execution module according to the control instruction includes:

[0012] Based on the real-time operating system, the execution module starts the thread task corresponding to the periodic self-check mode, thereby performing comprehensive task detection;

[0013] Determine whether an abnormal state occurs based on the inspection results in the self-test mode, wherein the inspection in the self-test mode includes the working status of all drive shafts on the execution module, the running status of the host computer software, the mainboard operating temperature status, the power supply working status, the voltage working status, the current working status, the connectivity status of the communication cable, and the working status related to the system operation;

[0014] If an abnormal state result is detected, the system issues a prompt for the next step of instruction related to the abnormal state processing, and enters a dormant state after each check is completed according to a preset cycle.

[0015] Preferably, judging whether an abnormal state occurs according to the inspection result in the self-test mode further includes:

[0016] If no abnormal status result is detected, the debugging mode of the contour position mode is automatically started;

[0017] Determine whether the homing mode has been completed. If the homing mode has not been completed, continue to execute the contour position mode. If the homing mode has been completed, continue to the contour position mode and perform the homing operation to obtain the zero point of the coordinate system. After the homing operation is completed, the execution module accurately locates the target puncture position according to the collected image;

[0018] Among them, the contour position mode means that the host computer gives the absolute / relative position, speed, acceleration and deceleration parameters of the puncture target, and the trajectory generator inside the servo generates the position curve instruction of the puncture target according to these parameters, and realizes three-loop control through the internal drive module.

[0019] Preferably, after the homing is completed, the execution module accurately locates the target puncture position according to the collected image further includes:

[0020] Determine whether it is a fixed point trajectory control instruction. If it is, start the position interpolation mode to complete the multi-axis motor synchronization and meet the fixed point trajectory control at the end of the execution module. If it is not, return to the zero search mode and start the zero search mode to obtain the zero point of the coordinate system.

[0021] The fixed point trajectory control instruction refers to a fine-tuning or automatic distribution needle insertion instruction on the host computer.

[0022] Preferably, controlling different working modes of the execution module according to the control instruction includes:

[0023] The execution module is provided with a rotating shaft using a dual encoder. The speed loop commutation control of the motor on the execution module adopts an incremental encoder at the end of the motor, and the position loop adopts an actual end single-turn absolute encoder. After transmission with a preset reduction ratio, the rotating shaft is driven to move, and a magnetic encoder is used to directly detect the end position. The magnetic encoder is calibrated with a Heidenhain encoder, and the obtained calibration data is stored in the host computer and given to the control puncture target of the drive shaft after using the compensation algorithm.

[0024] Preferably, in the periodic synchronous position mode, the host computer sends a position instruction plan, and sends the planned puncture target position to the servo driver in a periodic synchronous manner, and the position, speed and torque control are completed inside the servo driver.

[0025] Preferably, judging whether an abnormal state occurs according to the inspection result in the self-test mode further includes:

[0026] Obtain fault codes and periodic detection data based on the abnormal status results and store them in the non-volatile storage of the lower computer. The periodic detection data includes the operating status of the execution module within a preset time recorded by the log system;

[0027] If the current abnormal state value is greater than the abnormal threshold, the lock storage operation is executed. When the upper computer GUI program communication is intact, the error factor is confirmed according to the fault code, and the corresponding abnormality elimination operation is performed according to the current error factor. Or, in the case of upper computer communication failure, the corresponding abnormality elimination operation is performed through the debugging serial port.

[0028] Preferably, controlling different working modes of the execution module according to the control instruction includes:

[0029] When the wireless communication module operates in AP mode, the execution module is used as an AP, and the mobile device or terminal is connected to the wireless communication module to achieve wireless control of the puncture operation of the execution module; and / or,

[0030] When the wireless communication module operates in STA mode, the execution module is used as a STA and forwarded through the AP to enable communication between devices. The mobile device or terminal remotely controls the puncture operation of the execution module by connecting to the wireless communication module; and / or,

[0031] When the wireless communication module operates in a mixed mode of AP and STA, when the execution module acts as an AP device, it is used to connect the AP device with a STA mode device; when the execution module acts as a STA device, it is used to connect the STA device with an AP mode device, thereby supporting the coexistence of AP mode and STA mode.

[0032] Preferably, the execution module is connected to the host computer via the wireless communication module, thereby ensuring that the execution module can be used normally in an environment where the distance between the execution module and the host computer is within 15m and the signal strength meets the preset execution requirements.

[0033] Preferably, the main control module adopts an STM32F407 chip, and the main control module includes an audible and visual alarm module and an emergency stop button for safe operation.

[0034] With respect to the prior art, the present invention has the following beneficial effects:

[0035] An embodiment of the present invention provides a wireless communication-assisted percutaneous puncture robot system. According to the lesion location given by the host computer, each motor driver can obtain the motor's travel distance and direction; no long and bulky communication lines are required, and the doctor's operation is not restricted by the specific location, which facilitates close-range operation; the system includes a main control module, a wireless communication module, and an execution module, making the entire system relatively simple; dual encoders are used to achieve closed-loop control, and multi-motor synchronous control can more accurately find the target puncture position. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 This is a principle block diagram of a wireless communication-assisted percutaneous puncture robot system according to one embodiment of the present invention;

[0037] Figure 2 This is a schematic diagram of the process of a wireless communication-assisted percutaneous puncture robot system according to one embodiment of the present invention;

[0038] Figure 3 2 is a schematic diagram of the main control module according to an embodiment of the present invention. DETAILED DESCRIPTION

[0039] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0040] See also Figure 1 As shown, this embodiment provides a wireless communication-assisted percutaneous puncture robot system, comprising:

[0041] The upper computer is used to receive and obtain the target puncture position through the control interface and then send control instructions to the lower computer;

[0042] The lower computer is communicatively connected to the upper computer and is used to receive various control instructions issued by the upper computer, and control the different working modes of the execution module according to the control instructions, so that the execution module is controlled in real time during the operation of the preset path until it reaches the target puncture position. The working modes include contour position mode, zero-seeking mode and periodic synchronous position mode; the target puncture position here is the lesion position extracted by CT coordinates.

[0043] The lower computer includes a main control module, an execution module and a wireless communication module. The main control module and the execution module are connected via the wireless communication module.

[0044] The execution module has multiple motor drivers, and the execution module is bound to the target puncture site of the target object, and is used to drive the corresponding motor drivers according to a preset path to perform the puncture operation toward the target puncture site;

[0045] The main control module is used to control the corresponding motor driver to execute different working modes using the CANopen protocol through the CAN interface;

[0046] The image acquisition module is used to acquire a CT image of the lesion location of the target object, extract the target puncture location from the CT image and upload it to the host computer.

[0047] The system execution process in this embodiment is as follows: First, the actuator is strapped to the patient's body. Then, the patient and the actuator take a Ct image. The lesion location is determined based on the Ct coordinates. Once the lesion location is determined, the lesion coordinates are input into the host computer, and the execution module begins operating according to a specific path. The puncture robot system used in this embodiment uses wireless control, eliminating the need for long and bulky communication cables. The doctor's operation is not restricted by a specific location, making close-range operation convenient. The puncture robot system comprises a main control module, a wireless communication module, and an execution module, making the entire system relatively simple. Wireless control also prevents packet loss during operation.

[0048] In this embodiment, the PPS is issued by the doctor. After the entire device is tied to the patient and the lesion location is confirmed through CT scanning, the doctor enters the coordinates of the lesion in the APP. Figure 2 As shown, controlling different working modes of the execution module according to the control instruction includes:

[0049] Based on the real-time operating system, the execution module starts the thread task corresponding to the periodic self-check mode, thereby performing comprehensive task detection;

[0050] Determine whether an abnormal state occurs based on the inspection results in the self-test mode. The inspection in the self-test mode includes the working status of all drive shafts on the execution module, the running status of the host computer software, the mainboard operating temperature status, the power supply working status, the voltage working status, the current working status, the connectivity status of the communication cable, and the working status related to the system operation;

[0051] If an abnormal state is detected, the system issues a prompt for the next step related to handling the abnormal state. The system also enters a dormant state after completing each pre-set periodic check. Prompts, such as when the emergency stop switch is pressed or when a limit is approaching, are provided to determine if the standard power supply or voltage has overcurrent and overvoltage protection. Communication line disconnection can also be detected. Pressing the emergency stop switch provides a low level to the MCU. The limit is approaching because each axis is equipped with a photoelectric switch and a Hall effect switch. This periodic self-test is understood to be a threaded task running in the real-time operating system after the embedded motherboard is started. It performs a full task check and then enters a dormant state. The test content includes the status of all drive axes, the operating status of the host computer software, the motherboard's operating temperature, whether the power supply, voltage, and current meet expectations, and the connectivity status of some important communication cables. It also provides prompts for certain conditions, such as when the emergency stop switch is pressed or when a limit is approaching.

[0052] In one embodiment, determining whether an abnormal state occurs according to the inspection result in the self-test mode further includes:

[0053] Obtain fault codes and periodic detection data based on the abnormal status results and store them in the non-volatile storage of the lower computer. The periodic detection data includes the operating status of the execution module within a preset time recorded by the log system;

[0054] If the current abnormal state value is greater than the abnormal threshold, a lock storage operation is executed. When the upper computer GUI program communication is intact, the error factor is confirmed according to the fault code, and corresponding abnormality elimination operations are performed according to the current error factor. Or, in the case of upper computer communication failure, corresponding abnormality elimination operations are performed through the debugging serial port. It can be understood that when a fault is obtained, a fault code will be stored in the non-volatile storage of the lower computer, which also includes some periodic data. The log system records the actuator system status for a period of time. Once there is a serious fault, the storage will be locked. When the upper computer GUI program communication is intact, the error cause can be confirmed according to the fault code, the error can be eliminated, and the error can be manually confirmed to be cleared. In the case of upper computer communication failure, the debugging serial port can be used for troubleshooting.

[0055] Preferably, judging whether an abnormal state occurs according to the inspection result in the self-test mode further includes:

[0056] If no abnormal status is detected, the debug mode of the contour position mode is automatically started; if manual jog control interaction is required, log in to the maintenance inspection interface to put the lower computer into debug mode. At this time, the actuator can perform contour position control without completing the establishment of the system coordinate system. It should be noted that there is no software limit at this time.

[0057] Determine whether the homing mode has been completed. If the homing mode has not been completed, continue to execute the contour position mode. If the homing mode has been completed, continue to the contour position mode and perform the homing operation to obtain the zero point of the coordinate system. After the homing operation is completed, the execution module accurately locates the target puncture position according to the collected image;

[0058] In profile position mode, the host computer specifies the absolute / relative position, speed, and acceleration / deceleration parameters of the puncture target. The trajectory generator within the servo generates the target's position curve based on these parameters, implementing three-loop control within the driver module. The robot's zeroing is determined because the position of each actuator axis is determined by coordinates, and each zero coordinate is fixed.

[0059] Preferably, after the homing is completed, the execution module further includes:

[0060] Determine whether it is a fixed point trajectory control instruction. If it is, start the position interpolation mode to complete the multi-axis motor synchronization and meet the fixed point trajectory control at the end of the execution module. If it is not, return to the zero search mode and start the zero search mode to obtain the zero point of the coordinate system.

[0061] Among them, the fixed point trajectory control instruction refers to fine-tuning or automatically distributing the needle insertion instruction on the host computer. The host computer calculates the trajectory sequence with a 10ms interval and completes the fixed point trajectory control through the position interpolation and synchronization function of the driver. The drive module used in this embodiment meets the definition in the CIA402 protocol and controls the state and operation mode of the system. For example, the drive and motion control are executed through the CiA402 plug-in module to start the position interpolation mode, that is, the cyclic synchronous position mode. In one embodiment, the control of the different working modes of the execution module according to the control instruction includes:

[0062] The execution module is equipped with a rotating shaft using dual encoders. The speed loop commutation control of the motor in the execution module uses an incremental encoder at the end of the motor, and the position loop uses a single-turn absolute encoder at the actual end. After transmission through a preset reduction ratio, the rotating shaft is driven. A magnetic encoder is used to directly detect the end position. The magnetic encoder is calibrated using a Heidenhain encoder. The calibration data is stored in the host computer and, after applying a compensation algorithm, is provided to the control puncture target of the drive shaft. The execution module used in this embodiment can be an actuator. The actuator has a rotating shaft using a dual encoder solution. The speed loop commutation control of the motor uses an incremental encoder at the end of the motor, and the position loop uses a single-turn absolute encoder at the actual end. The motor is a miniature brushless DC motor. After transmission through a reduction ratio of more than 30,000, the rotating shaft is driven. Due to gear machining errors, backlash, and installation operations, errors are easily introduced, resulting in the rotation axis's precision control failing to meet requirements. A Renishaw magnetic encoder is used to directly detect the end position. The Renishaw encoder is calibrated using a higher-precision Heidenhain encoder used in the tooling. The calibration data is stored in the host computer and, after applying a compensation algorithm, is provided to the control target of the drive shaft.

[0063] In one embodiment, in the periodic synchronous position mode, the host computer sends a position instruction plan, and sends the planned puncture target position to the servo driver in a periodic synchronous manner, and the position, speed, and torque control are completed inside the servo driver.

[0064] In one embodiment, controlling different working modes of the execution module according to the control instruction includes:

[0065] When the wireless communication module works in AP mode, the execution module is used as AP, and the mobile device or terminal is connected to the wireless communication module to realize wireless control of the puncture operation of the execution module; it can be understood that AP mode, AP is the abbreviation of Access Point, that is, wireless access point, it is the central node of a wireless network, and can be regarded as a server. As the central node of a network, it provides wireless access services, and other wireless devices are allowed to access this node. All wireless signal data of the devices accessing this node must pass through it to be exchanged and accessed with each other. General wireless routers, gateways, and hotspots work in AP mode, and AP nodes are allowed to connect to each other. When the wireless communication module works in AP mode, you can use a mobile phone or other communication device to connect to the wireless communication module to communicate directly with the module. The wireless communication module can realize centralized equipment management and local area network wireless control.

[0066] When the wireless communication module operates in STA mode, the execution module is used as STA, and forwarded through the AP to enable communication between devices. The mobile device or terminal remotely controls the execution module by connecting to the wireless communication module. It can be understood that the STA mode adopted in this embodiment is short for Station. It is a terminal station device in a wireless network and can be regarded as a client. Generally speaking, the device in STA mode does not accept wireless access itself. The device connects to the AP node for network access. Communication between devices in STA mode can be achieved through AP forwarding. When the wireless communication module operates in STA mode, it can be connected to the wireless network of the router. The mobile phone or computer can remotely control the device with the wireless communication module through the wireless network. When the connection is lost and the wireless network is restored, the wireless communication module can automatically connect to the previously saved access point.

[0067] When the wireless communication module operates in a hybrid mode of AP and STA, when the execution module functions as an AP device, it is used to connect the AP device to a STA mode device, and when the execution module functions as a STA device, it is used to connect the STA device to an AP mode device, thereby supporting the coexistence of both AP and STA modes. It can be understood that the AP+STA mode adopted in this embodiment is a hybrid mode, meaning that the wireless communication module supports both AP and STA modes when operating. When these two modes of the wireless communication module coexist, the module can function as a STA device to connect to other AP devices, and as an AP device to allow other STA mode devices to access the module. These two processes can occur simultaneously, allowing for seamless switching through Internet control and more convenient operation.

[0068] Based on the above-mentioned wireless communication mode, the wireless communication adopted in this embodiment is free from the constraints of cables, making it more convenient to deploy in the surgical environment. The actuator acts as a hotspot (AP) and the host computer (STA) communicates directly, reducing control delays. It can be used normally in an environment within 15 meters and under the condition that the signal strength meets the requirements. That is, the execution module and the host computer are connected via the wireless communication module, thereby ensuring that the execution module can be used normally in an environment within 15 meters of the host computer and the signal strength meets the preset execution requirements.

[0069] In one embodiment, the main control module uses an STM32F407 chip, which is also used for controlling the wireless communication module. The main control module includes an audible and visual alarm module and an emergency stop button for safe operation. The computer / host computer is connected to the main control module via a wireless connection, using an Espressif wireless module. The main control chip uses an STM32F407. The main control is driven by the motor driver in the actuator via the CAN bus and is equipped with an audible and visual alarm function. For safe operation, an emergency stop button is also provided to prevent the doctor from making mistakes during the operation. Figure 3 As shown in the figure, the STM32F407 chip ports are connected to the CAN module, wireless communication module, buzzer and network port respectively.

[0070] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A wireless communication-assisted percutaneous puncture robot system, characterized in that: include: The upper computer is used to receive and obtain the target puncture position through the control interface and then send control instructions to the lower computer; A lower computer, the lower computer being in communication with the upper computer and configured to receive various control instructions issued by the upper computer and control different working modes of the execution module according to the control instructions, so that the execution module is controlled in real time during operation along a preset path until the target puncture position is reached, the working modes including contour position mode, homing mode, and periodic synchronous position mode; The lower computer includes a main control module, an execution module and a wireless communication module. The main control module and the execution module are connected via the wireless communication module. The execution module has multiple motor drivers, and the execution module is bound to the target puncture site of the target object, and is used to drive the corresponding motor drivers according to a preset path to perform the puncture operation toward the target puncture site; The main control module is used to control the corresponding motor driver to execute different working modes using the CANopen protocol through the CAN interface; The controlling of different working modes of the execution module according to the control instruction includes: The execution module is provided with a rotating shaft using dual encoders. The speed loop commutation control of the motor on the execution module uses an incremental encoder at the end of the motor, and the position loop uses an actual end single-turn absolute encoder. After transmission with a preset reduction ratio, the rotating shaft is driven to move, and a magnetic encoder is used to directly detect the end position. The magnetic encoder is calibrated using a Heidenhain encoder. The obtained calibration data is stored in the host computer and, after using a compensation algorithm, is given to the drive shaft to control the puncture target; The controlling of different working modes of the execution module according to the control instruction includes: When the wireless communication module operates in AP mode, the execution module is used as an AP, and the mobile device or terminal is connected to the wireless communication module to achieve wireless control of the puncture operation of the execution module; and / or, When the wireless communication module operates in STA mode, the execution module is used as a STA and forwarded through the AP to enable communication between devices. The mobile device or terminal remotely controls the puncture operation of the execution module by connecting to the wireless communication module; and / or, When the wireless communication module operates in a mixed mode of AP and STA, when the execution module acts as an AP device, it is used to connect the AP device with a STA mode device; when the execution module acts as a STA device, it is used to connect the STA device with an AP mode device, thereby supporting the coexistence of AP mode and STA mode.

2. A wireless communication-assisted percutaneous puncture robot system according to claim 1, characterized in that: The controlling of different working modes of the execution module according to the control instruction includes: Based on the real-time operating system, the execution module starts the thread task corresponding to the periodic self-check mode, thereby performing comprehensive task detection; Determine whether an abnormal state occurs based on the inspection results in the self-test mode, wherein the inspection in the self-test mode includes the working status of all drive shafts on the execution module, the running status of the host computer software, the mainboard operating temperature status, the power supply working status, the voltage working status, the current working status, the connectivity status of the communication cable, and the working status related to the system operation; If an abnormal state result is detected, the system issues a prompt for the next step of instruction related to the abnormal state processing, and enters a dormant state after each check is completed according to a preset cycle.

3. A wireless communication-assisted percutaneous puncture robot system according to claim 2, characterized in that: The determining whether an abnormal state occurs according to the inspection result in the self-inspection mode further includes: If no abnormal status result is detected, the debugging mode of the contour position mode is automatically started, and the zero point of the coordinate system is obtained and transmitted to the contour position mode; Determine whether the homing mode in the debugging mode of the contour position mode has been completed. If the homing mode has not been completed, continue to execute the debugging mode of the contour position mode. If the homing mode has been completed, continue to execute the contour position mode and perform a homing operation to obtain the zero point of the coordinate system. After the homing operation is completed, the execution module accurately locates the target puncture position according to the collected image; Among them, the contour position mode means that the host computer gives the absolute / relative position, speed, acceleration and deceleration parameters of the puncture target, and the trajectory generator inside the servo generates the position curve instruction of the puncture target according to these parameters, and realizes three-loop control through the internal drive module.

4. A wireless communication-assisted percutaneous puncture robot system according to claim 3, characterized in that: After the homing is completed, the execution module accurately locates the target puncture position according to the collected image, further comprising: Determine whether it is a fixed point trajectory control instruction. If it is, start the position interpolation mode to complete the multi-axis motor synchronization and meet the fixed point trajectory control at the end of the execution module. If it is not, return to the zero search mode and start the zero search mode to obtain the zero point of the coordinate system. The fixed point trajectory control instruction refers to a fine-tuning or automatic distribution needle insertion instruction on the host computer.

5. The wireless communication-assisted percutaneous puncture robot system according to claim 1, characterized in that: In the periodic synchronous position mode, the host computer sends a position instruction plan, and sends the planned puncture target position to the servo driver in a periodic synchronous manner. The position, speed, and torque control are completed internally by the servo driver.

6. The wireless communication-assisted percutaneous puncture robot system according to claim 2, characterized in that: The determining whether an abnormal state occurs according to the inspection result in the self-inspection mode further includes: Obtain fault codes and periodic detection data based on the abnormal status results and store them in the non-volatile storage of the lower computer. The periodic detection data includes the operating status of the execution module within a preset time recorded by the log system; If the current abnormal state value is greater than the abnormal threshold, the lock storage operation is executed. When the upper computer GUI program communication is intact, the error factor is confirmed according to the fault code, and the corresponding abnormality elimination operation is performed according to the current error factor. Or, in the case of upper computer communication failure, the corresponding abnormality elimination operation is performed through the debugging serial port.

7. The wireless communication-assisted percutaneous puncture robot system according to claim 1, characterized in that: The execution module is connected to the host computer via the wireless communication module, thereby ensuring that the execution module can be used normally in an environment where the distance between the execution module and the host computer is within 15m and the signal strength meets the preset execution requirements.

8. The wireless communication-assisted percutaneous puncture robot system according to claim 1, characterized in that: The main control module adopts the STM32F407 chip, and the main control module includes an audible and visual alarm module and an emergency stop button for safe operation.

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