A liver puncture surgery robot

Abstract

The application provides a liver puncture operation robot, which comprises a six-degree-of-freedom mechanical arm, a puncture needle posture adjusting mechanism, a supporting limiting mechanism and a transmission mechanism, the one end of the puncture needle posture adjusting mechanism is connected to the end of the six-degree-of-freedom mechanical arm, the driving mechanism is used for providing power for the posture adjustment of the puncture needle, the supporting limiting mechanism is connected to the output end of the driving mechanism, the one end of the transmission mechanism is connected with the supporting limiting mechanism, the transmission mechanism converts the power into up-down movement, left-right movement and rotary movement through a double parallel link mechanism, the ultrasonic probe clamping mechanism is connected to the supporting limiting mechanism and is used for realizing ultrasonic imaging in the puncture process, the puncture needle clamping guiding mechanism is connected to the other end of the transmission mechanism, and the puncture needle of the puncture needle clamping guiding mechanism is located in the ultrasonic imaging plane. The application can realize accurate adjustment of the spatial position and posture of the puncture needle and accurate positioning of the needle insertion depth and angle.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, in particular to a liver puncture surgery robot. BACKGROUND

[0002] Minimally invasive puncture surgery is widely recognized as the preferred treatment for liver cancer in clinical treatment. However, traditional puncture surgery has many problems, such as long operation time, excessive dependence on the skill level of the doctor, and limited field of view of the doctor due to narrow operation space. These problems seriously affect the efficiency and accuracy of the operation, and increase the risk and pain of the patient.

[0003] Compared with traditional puncture surgery, puncture surgery robots, with the help of medical images and navigation positioning technology, can help doctors quickly and accurately locate the position of liver tumors, have outstanding advantages in precise puncture ablation, and can ensure the stability and accuracy of the puncture needle, including the positioning accuracy of the target area and the puncture depth and angle of the puncture needle. Moreover, it will not produce shaking due to the fatigue of the doctor, reducing the adverse effects of human factors on puncture surgery, not only reducing the operation time, but also reducing the operation risk and the pain of the patient, and improving the success rate of the operation and the treatment effect.

[0004] In the traditional liver puncture surgery process, the doctor holds the ultrasonic probe and the puncture needle at the same time, and adjusts the position, depth and angle of the puncture needle in real time using the ultrasonic image. Based on the analysis of the liver puncture surgery process, the development of a puncture surgery robot with force feedback function has become a focus and difficulty of the puncture surgery robot system, and has important research value and broad application prospect.

[0005] Through the search of the prior art, it is found that the application number 201811554888.8 of the Chinese invention patent discloses an arc-shaped guide rail RCM needle insertion device for minimally invasive surgery puncture robot, which comprises an arc-shaped guide rail, a needle insertion mechanism arranged on the arc-shaped guide rail, an arc-shaped motion driving mechanism and a rotating driving mechanism. Although the puncture needle insertion angle and posture can be adjusted, the mechanism lacks force feedback function and cannot guarantee the depth of needle insertion.

[0006] The application number 201920095918.7 of the Chinese invention patent discloses a puncture robot, which comprises an image information display device for displaying a tomographic scanning device, a six-degree-of-freedom mechanical arm and a force feedback operation table for controlling the movement of the six-degree-of-freedom mechanical arm. The six-degree-of-freedom mechanical arm adjusts the linear motion and the rotating mechanism motion; the force feedback operation table includes a force feedback mechanism and an operation mechanism for detecting the puncture force and making adjustments. The mechanism cannot guarantee the puncture needle in the ultrasonic probe plane, and inevitably has the problem of electromagnetic interference. SUMMARY

[0007] In view of the defects in the prior art, the present application aims to provide a liver puncture surgery robot.

[0008] According to one aspect of the present application, a liver puncture surgery robot is provided, comprising:

[0009] a six-degree-of-freedom mechanical arm;

[0010] a puncture needle posture adjustment mechanism connected to the end of the six-degree-of-freedom mechanical arm, the puncture needle posture adjustment mechanism comprising a driving mechanism, a support limiting mechanism and a transmission mechanism, the driving mechanism being used to provide power for puncture needle posture adjustment, the support limiting mechanism being connected to the output end of the driving mechanism; one end of the transmission mechanism being connected to the support limiting mechanism, the support limiting mechanism providing limiting and supporting functions for the transmission mechanism, the transmission mechanism converting power into up-down movement, left-right movement and rotary movement through a double-parallel-link mechanism;

[0011] an ultrasonic probe clamping mechanism connected to the support limiting mechanism, the ultrasonic probe clamping mechanism being used to realize ultrasonic imaging during the puncture process;

[0012] a puncture needle clamping and guiding mechanism connected to the other end of the transmission mechanism, the puncture needle of the puncture needle clamping and guiding mechanism being located in the ultrasonic imaging plane.

[0013] Optionally, the driving mechanism comprises:

[0014] a clamping connector having a frame structure, comprising a top plate, a bottom plate and a side plate, the side plate being connected to the end of the six-degree-of-freedom mechanical arm, the lower surface of the top plate being connected to a motor;

[0015] a connecting fixing member connected to the output end of the motor;

[0016] a limiting through-hole bearing passing through the connecting fixing member, one end of the limiting through-hole bearing being connected to the top plate and the other end being connected to the bottom plate;

[0017] two lead screw motors connected above the connecting fixing member, the transmission shaft of the lead screw motor passing through the bottom plate and being connected to the support limiting mechanism.

[0018] Optionally, the support limiting mechanism comprises:

[0019] a support limiting structure for realizing support and limiting of the transmission mechanism;

[0020] A bearing is arranged on the upper surface of the support limiting structure, and the bearing is in clearance fit with the transmission shaft of the lead screw motor; the support limiting mechanism rotates under the drive of one of the lead screw motors and moves left and right under the drive of both of the lead screw motors.

[0021] Optionally, the transmission mechanism comprises:

[0022] Double parallel guide rails are arranged inside the support limiting structure;

[0023] A guide rail connecting piece is connected to the end of the double parallel guide rails; the up-down movement, left-right movement and rotation movement of the puncture needle are realized through the double parallel guide rails and the guide rail connecting piece;

[0024] A puncture needle sliding rail is connected to the other end of the guide rail connecting piece, and the puncture needle sliding rail is used to realize the forward-backward adjustment of the puncture needle.

[0025] Optionally, the inside of the support limiting structure is provided with a support structure matched with the double parallel guide rails, and the two guide rails of the double parallel guide rails are respectively arranged on the support structure; a rack is arranged on each of the two guide rails, and a gear connected to the end of the transmission shaft of the lead screw motor is engaged with the racks.

[0026] Optionally, the other end of the puncture needle sliding rail is provided with a sliding rail limiter, and the sliding rail limiter and the puncture needle sliding rail are fastened by a set screw.

[0027] Optionally, the ultrasonic probe clamping mechanism comprises:

[0028] A support connecting piece is connected to the support limiting mechanism;

[0029] A sensor fixing piece is connected to one side of the support connecting piece;

[0030] A probe clamping plate is connected to the other side of the sensor fixing piece;

[0031] A sliding rail is arranged on the other side of the probe clamping plate, and the sliding rail is arranged along the length direction of the probe clamping plate, and an ultrasonic probe is connected to the sliding rail.

[0032] Optionally, the puncture needle clamping and guiding mechanism comprises:

[0033] A puncture needle is connected to one end of a six-dimensional force sensor, and the six-dimensional force sensor is used to detect the force of the puncture needle in real time;

[0034] A puncture needle guide rail is arranged on the other end of the puncture needle,

[0035] A slide rail slider is arranged on the puncture needle guide rail, and the slide rail slider cooperates with the puncture needle slide rail to realize forward and backward adjustment of the puncture needle.

[0036] Optionally, the six-dimensional force sensor is connected with the puncture needle through a sleeve fixing part, the sleeve fixing part comprises an upper sleeve fixing part and a lower sleeve fixing part, the six-dimensional force sensor is clamped between the upper sleeve fixing part and the lower sleeve fixing part, and the puncture needle passes through the center of the sleeve fixing part.

[0037] Optionally, the puncture needle guide rail comprises a puncture needle inner guide rail and a puncture needle outer guide rail for guiding puncture needles of different models, and the puncture needle inner guide rail is connected with the puncture needle outer guide rail through a buckle.

[0038] Compared with the prior art, the robot has at least one of the following beneficial effects:

[0039] 1. The robot provided by the application can realize accurate adjustment of the spatial position and attitude of the puncture needle through mutual cooperation between mechanisms, ensure that the puncture needle is in the imaging plane of the ultrasonic probe, realize accurate positioning of the puncture depth and angle of the puncture needle, and enable the doctor to not need to consider the puncture depth and angle during puncture, thereby assisting the doctor to quickly perform puncture during surgery.

[0040] 2. The robot provided by the application can realize needle insertion through the puncture needle clamping and guiding mechanism, and the driving mechanism is separated from the puncture needle clamping and guiding mechanism through the double-parallel connecting rod mechanism, so that the influence of electromagnetic interference during navigation is fully avoided. BRIEF DESCRIPTION OF DRAWINGS

[0041] Other features, objects and advantages of the application will become more apparent from the following detailed description of non-limiting embodiments, made with reference to the accompanying drawings:

[0042] Figure 1 is a structural schematic diagram of a liver puncture surgery robot in an embodiment of the application;

[0043] Figure 2 is a structural schematic diagram of a puncture needle attitude adjustment mechanism in an embodiment of the application;

[0044] Figure 3 is a structural schematic diagram of a driving mechanism in an embodiment of the application;

[0045] Figure 4 is a structural schematic diagram of a support limiting mechanism in an embodiment of the application;

[0046] Figure 5 is a structural schematic diagram of a transmission mechanism in an embodiment of the application;

[0047] Figure 6is a structural schematic diagram of an ultrasonic probe clamping mechanism in an embodiment of the present application;

[0048] Figure 7 is a whole structural schematic diagram of a puncture needle clamping and guiding mechanism in an embodiment of the present application;

[0049] Figure 8 is a partial structural schematic diagram of a puncture needle clamping and guiding mechanism in an embodiment of the present application Figure 1 ;

[0050] Figure 9 is a partial structural schematic diagram of a puncture needle clamping and guiding mechanism in an embodiment of the present application Figure 2 ;

[0051] Figure 10 is a partial structural schematic diagram of a puncture needle clamping and guiding mechanism in an embodiment of the present application Figure 3 ;

[0052] Figure 11 is a partial structural schematic diagram of a puncture needle clamping and guiding mechanism in an embodiment of the present application Figure 4 ;

[0053] Corresponding to the figure mark in the figure is:

[0054] 1-6-DOF mechanical arm, 2-puncture needle posture adjusting mechanism, 3-ultrasonic probe clamping mechanism, 4-puncture needle clamping and guiding mechanism;

[0055] 21-driving mechanism, 22-supporting and limiting mechanism, 23-transmission mechanism;

[0056] 211-clamping connecting piece, 212-connecting fixed piece, 213-limiting through hole bearing, 214-gear, 215-screw motor, 216-motor;

[0057] 221-supporting and limiting structural piece, 222-bearing;

[0058] 231-double parallel guide rail, 232-guide rail connecting piece, 233-puncture needle sliding rail, 234-sliding rail limiter, 235-tightening screw one, 236-rack;

[0059] 31-ultrasonic probe, 32-probe clamping plate, 33-sliding rail, 34-connecting piece, 35-sensor fixed piece, 36-supporting connecting piece;

[0060] 41-6D force sensor, 42-sleeve upper fixed piece, 43-sleeve lower fixed piece, 44-tightening bolt two, 45-puncture needle, 46-puncture needle inner guide rail, 47-puncture needle outer guide rail, 48-sliding rail sliding block, 49-tightening bolt three;

[0061] 451-puncture needle core, 452-puncture needle sleeve. DETAILED DESCRIPTION

[0062] The application will be described in detail below with reference to specific embodiments. The following examples will help those skilled in the art to further understand the application, but do not limit the application in any form. It should be noted that for those skilled in the art, without departing from the concept of the application, a number of modifications and improvements can be made. These are all within the scope of the present application.

[0063] The embodiment of the application provides a liver puncture surgery robot, which comprises a six-degree-of-freedom mechanical arm 1, a puncture needle posture adjusting mechanism 2, an ultrasonic probe clamping mechanism 3 and a puncture needle clamping guiding mechanism 4. One end of the puncture needle posture adjusting mechanism 2 is connected to the tail end of the six-degree-of-freedom mechanical arm 1. The puncture needle posture adjusting mechanism 2 comprises a driving mechanism 21, a supporting and limiting mechanism 22 and a transmission mechanism 23. The driving mechanism 21 is used for providing power for adjusting the posture of the puncture needle. The supporting and limiting mechanism 22 is connected to the output end of the driving mechanism 21. One end of the transmission mechanism 23 is connected to the supporting and limiting mechanism 22. The supporting and limiting mechanism 22 provides limiting and supporting actions for the transmission mechanism 23. The transmission mechanism 23 converts power into up-down movement, left-right movement and rotary movement through a double-parallel connecting rod mechanism. The ultrasonic probe clamping mechanism 3 is connected to the supporting and limiting mechanism 22. The ultrasonic probe clamping mechanism 3 is used for realizing ultrasonic imaging in the puncture process. The puncture needle clamping guiding mechanism 4 is connected to the other end of the transmission mechanism 23. The puncture needle 45 of the puncture needle clamping guiding mechanism 4 is located in the ultrasonic imaging plane.

[0064] In the embodiment of the present application, under the guidance of external electromagnetic navigation (such as NDI electromagnetic navigation device for tracking the three-dimensional coordinates and three-dimensional angles of a point in space), the six-degree-of-freedom mechanical arm 1 can be moved to a specified position and angle during the operation to realize surgical navigation and intraoperative coarse positioning; the puncture needle posture adjusting mechanism 2 is used to adjust the spatial posture information of the puncture needle, so that the puncture needle is located in the plane of the ultrasound probe, and realizes intraoperative fine positioning; the ultrasound probe clamping mechanism 3 is used to quickly clamp the ultrasound probe and provide real-time force feedback information; the puncture needle clamping and guiding mechanism 4 is used to quickly clamp and guide different models of puncture needles, and provides real-time force feedback of the puncture needle. The driving mechanism 21 is located at the end flange of the six-degree-of-freedom mechanical arm 1, and the position of the puncture needle 45 is relatively far from the driving mechanism 21. In the puncture process, the spatial angle and position of the puncture needle 45 need to be tracked. Since the motor of the driving mechanism 21 can cause electromagnetic interference, when the puncture needle 45 is relatively far from the driving mechanism 21, the electromagnetic interference can be relatively reduced or avoided when tracking the puncture needle 45. In the embodiment of the present application, the robot separates the driving mechanism 21 from the puncture needle clamping and guiding mechanism 4, and transmits through double parallel link mechanisms, which can avoid the electromagnetic interference caused by the motor of the driving mechanism 21, so as to fully avoid the electromagnetic interference of the liver puncture robot during the operation. Through the adjustment of the three degrees of freedom of up-down movement, left-right movement and rotary movement, the spatial posture of the puncture needle can be accurately adjusted, the puncture depth and angle during the puncture process can be ensured, the doctor can be assisted to quickly position and puncture the lesion during the operation, and the learning curve of the doctor can be reduced.

[0065] In the embodiment of the present application, the six-degree-of-freedom mechanical arm 1 has six independent movement degrees of freedom, good accuracy and flexibility, compact structure and small volume, so that the mechanical arm can perform complex movement in three-dimensional space, which can improve the accuracy and safety of the operation. In addition, the influence of the doctor's hand tremor on the operation can be eliminated, which is beneficial to improve the success rate of the operation.

[0066] The driving mechanism 21 provides power support for the in-plane posture adjustment of the ultrasonic probe puncture needle. In some embodiments, the driving mechanism 21 includes a clamping connector 211, a connecting fixed part 212, a limiting through-hole bearing 213, and a lead screw motor 215. The clamping connector 211 is used to fix the puncture robot at the end of the six-degree-of-freedom mechanical arm 1. The clamping connector 211 has a frame structure, which includes a top plate, a bottom plate, and a side plate. The side plate is connected to the end of the six-degree-of-freedom mechanical arm 1. The lower surface of the top plate is connected to a motor 216 for realizing the up-down movement of the puncture needle. The motor 216 is exemplarily a lead screw motor. The connecting fixed part 212 is connected to the output end of the motor 216. The limiting through-hole bearing 213 passes through the connecting fixed part 212. One end of the limiting through-hole bearing 213 is connected to the top plate, and the other end is connected to the bottom plate. The clamping connector 211 and the connecting fixed part 212 are connected through the limiting through-hole bearing 213 to improve the strength of the whole robot. Specifically, the connecting fixed part 212 has two through holes that are tightly matched with the limiting through-hole bearing 213. The top plate and the bottom plate are both provided with bearings that are tightly matched with the limiting through-hole bearing 213 to prevent the limiting through-hole bearing 213 from moving upward or downward. The through hole of the connecting fixed part 212 is provided with a bearing to ensure that the connecting fixed part 212 can move up and down along the limiting through-hole bearing. Two lead screw motors 215 are connected above the connecting fixed part 212. The two lead screw motors 215 are arranged in the length direction above the connecting fixed part 212. The transmission shaft of the lead screw motor 215 passes through the bottom plate and is connected to the support limiting mechanism 22. In the embodiment of the application, the motor 216 above is connected to the lead screw motor 215 through the connecting fixed part 212. The connecting fixed part 212 is limited and supported by the limiting through-hole bearing 213 to ensure that the connecting fixed part 212 can drive the lead screw motor 215 to move up and down along the limiting through-hole bearing 213. The rotation movement is realized by the movement of one of the lead screw motors 215. The left-right movement is realized by the simultaneous movement of the two lead screw motors 215.

[0067] To realize the limiting and supporting effect on the transmission mechanism 23, in some embodiments, the support limiting mechanism 22 includes a support limiting structure 221 and a bearing 222. The support limiting structure 221 is tightly matched with the double parallel link mechanism to realize the support and limitation of the transmission mechanism 23. The bearing 222 is arranged on the upper surface of the support limiting structure 221. The bearing 222 is gap-fitted with the transmission shaft of the lead screw motor 215. The support limiting mechanism 22 rotates under the drive of one of the lead screw motors 215 and moves left and right under the drive of the two lead screw motors 215.

[0068] The transmission mechanism 23 converts the power of the driving mechanism 21 into up-down movement, left-right movement and rotary movement through a double parallel linkage mechanism. In some embodiments, the transmission mechanism 23 includes a double parallel guide rail 231, a guide rail connecting piece 232 and a puncture needle sliding rail 233. The double parallel guide rail 231 is located inside the support limiting structure 221, and the lead screw motor 215 drives the double parallel guide rail 231 to move left and right inside the support limiting structure 221. The guide rail connecting piece 232 is connected to one end of the double parallel guide rail 231. The double parallel guide rail 231 and the guide rail connecting piece 232 realize movement conversion and power transmission, and realize the up-down movement, left-right movement and rotary movement of the puncture needle. The up-down movement is realized by driving the support limiting mechanism 22 up and down by the driving mechanism 21, the left-right movement is realized by driving the double parallel guide rail 231 by the driving mechanism 21, and the rotary movement is realized by rotating the guide rail connecting piece 232 relative to the double parallel guide rail 231. The puncture needle sliding rail 233 is connected to the other end of the guide rail connecting piece 232, and is used to realize the forward and backward adjustment of the puncture needle to ensure that the puncture needle is in the plane of the ultrasonic probe. The transmission mechanism 23 in the embodiments of the present application can ensure the accuracy and reliability of the movement, realize the precise control of the movement trajectory of the puncture needle, and ensure the stable movement of the puncture needle.

[0069] In order to realize the limiting effect of the double parallel guide rail 231, in some embodiments, the inside of the support limiting structure 221 is provided with a support structure matched with the double parallel guide rail 231, and the two guide rails of the double parallel guide rail 231 are located on the support structure respectively. The two guide rails are respectively provided with a rack 236, and the transmission shaft of the lead screw motor 215 is connected to a gear 214, and the gear 214 is engaged with the rack 236, thereby realizing the transmission of the power of the driving mechanism 21.

[0070] Exemplarily, the double parallel guide rail 231 has two guide rails arranged in parallel (including an upper guide rail and a lower guide rail), each guide rail is in the shape of U, and the two straight guide rails of the U-shaped guide rail form a cavity on the opposite sides, and the rack 236 is located in the cavity. Two lead screw motors 215 are engaged with two racks 236 respectively. Exemplarily, the left lead screw motor 215 is engaged with the lower rack 236, and the right lead screw motor 215 is engaged with the upper rack 236. The inside of the support limiting structure 221 is provided with a protrusion along the length direction, the lower guide rail of the double parallel guide rail 231 is located at the bottom of the support limiting structure 221, and the upper guide rail is located on the protruding structure, thereby realizing the supporting effect of the double parallel guide rail 231.

[0071] In some embodiments, the other end of the puncture needle sliding rail 233 is provided with a sliding rail limiter 234, which limits the position of the puncture needle sliding rail 233 and ensures that the puncture needle does not slide out of the puncture needle sliding rail 233; the sliding rail limiter 234 and the puncture needle sliding rail 233 are fastened by a fastening screw 235, which can also avoid the force deviation of the sliding rail limiter 234.

[0072] In some embodiments, the ultrasonic probe clamping mechanism 3 includes a support connecting piece 36, a sensor fixing piece 35, a probe clamping plate 32, and a sliding rail 33. The support connecting piece 36 is connected with the support limiting mechanism 22, which is used to realize the quick clamping and fixing of the ultrasonic probe clamping mechanism 3 and the overall mechanism. One side of the sensor fixing piece 35 is connected with the support connecting piece 36, which is used to realize the quick clamping of the sensor to detect the stress of the ultrasonic probe. The other side of the probe clamping plate 32 is connected with the other side of the sensor fixing piece 35 through a connecting piece 34. The sliding rail 33 is arranged on the other side of the probe clamping plate 32, and the sliding rail 33 is arranged along the length direction of the probe clamping plate 32. The ultrasonic probe 31 is connected with the sliding rail 33. The ultrasonic probe 31 is clamped flexibly by the probe clamping plate 32 and the sliding rail 33, and is fixed by a fastening bolt and a nut.

[0073] In some embodiments, the puncture needle clamping and guiding mechanism 4 includes a puncture needle 45, a puncture needle guide rail, and a sliding rail sliding block 48. One end of the puncture needle 45 is connected with the six-dimensional force sensor 41, which is used to detect the stress of the puncture needle 45 in real time. The other end of the puncture needle 45 passes through the puncture needle guide rail. The sliding rail sliding block 48 is located on the puncture needle guide rail. The position of the sliding rail sliding block 48 is quickly fixed by a fastening bolt 49. The sliding rail sliding block 48 cooperates with the puncture needle sliding rail 233 to realize the forward and backward adjustment of the puncture needle 45.

[0074] In some embodiments, the six-dimensional force sensor 41 is connected with the puncture needle 45 through a sleeve fixing piece. The sleeve fixing piece includes a sleeve upper fixing piece 42 and a sleeve lower fixing piece 43. The six-dimensional force sensor 41 is clamped between the sleeve upper fixing piece 42 and the sleeve lower fixing piece 43. The puncture needle 45 passes through the center of the sleeve fixing piece. In this way, the six-dimensional force sensor 41 is quickly clamped. The puncture needle 45 is quickly clamped by a fastening bolt 44.

[0075] In some embodiments, the puncture needle guide rail includes a puncture needle inner guide rail 46 and a puncture needle outer guide rail 47. According to the relative positions of the two, the puncture needle inner guide rail 46 is inside the puncture needle outer guide rail 47, and the two are connected by a concave-convex buckle. The puncture needle inner guide rail 46 and the puncture needle outer guide rail 47 are respectively used to guide different models of puncture needles 45.

[0076] The robot in the above embodiment can realize rapid clamping of the puncture needle and real-time force feedback, which helps to improve the actual clinical operation feeling of the doctor and plays an important auxiliary role in the operation guidance and operation training of the doctor.

[0077] In some embodiments, the puncture needle 45 comprises a puncture needle core 451 and a puncture needle sleeve 452 for guiding the support of the puncture needle core 451 for puncture.

[0078] The liver puncture operation robot provided in the above embodiment can realize ultrasound-guided liver puncture, including adjustment of the spatial position and attitude of the puncture needle and adjustment of the depth and angle of the puncture needle, and has a force feedback function.

[0079] The working process of the operation robot in the above embodiment for liver puncture is as follows:

[0080] 1. The puncture needle attitude adjustment mechanism 2, the ultrasonic probe clamping mechanism 3, and the puncture needle clamping and guiding mechanism 4 are sequentially assembled and fixed on the six-degree-of-freedom mechanical arm 1 to complete the preoperative preparation work.

[0081] 2. During the intraoperative operation process, the operator adjusts the spatial position, attitude, and needle insertion depth and angle of the puncture needle 45 in sequence, and finally performs puncture needle insertion to complete the puncture.

[0082] Specifically, the ultrasonic probe 31 is in constant force contact with the human skin: the six-degree-of-freedom mechanical arm 1 is adjusted so that the ultrasonic probe 31 is in close contact with the human skin with a certain force.

[0083] Rapid clamping and adjustment of the puncture needle: the operator rapidly clamps the puncture needle 45 with the six-dimensional force sensor 41 through the upper and lower sensor sleeve fixing members 42 and 43, and fixes it through the locking bolt 44, then inserts the slide rail slider 48 into the puncture needle slide rail 233, and adjusts the puncture needle 45 in the imaging plane of the ultrasonic probe according to the ultrasonic probe imaging through the puncture needle attitude adjustment mechanism 2.

[0084] Adjustment of the puncture needle insertion depth and angle: the operator adjusts the up-down, left-right, and rotation movements of the puncture needle 45 in the imaging plane of the ultrasonic probe according to the pre-set puncture needle insertion depth and angle through the control of the lead screw motor 215.

[0085] Piercing the needle: the operator pierces the piercing needle 45 along the inner guide rail 46 or the outer guide rail 47 of the piercing needle until it cannot move any further, at which point the piercing is complete, because the depth and angle of the needle can be controlled by the up-down, left-right and rotational movement of the piercing needle clamping guide mechanism 4, and the operator does not need to consider the depth and angle of the needle according to the ultrasound probe imaging during the piercing operation. In this process, the real force of the piercing needle 45 is sensed in real time by the six-dimensional force sensor 41, and feedback and voice prompts are provided to novice or inexperienced doctors based on the piercing force of expert doctors, so as to assist the novice or inexperienced doctors in the piercing operation.

[0086] The robot in the above embodiment of the application can accurately adjust the spatial position and attitude of the piercing needle, accurately position the depth and angle of the needle, and fully avoid the influence of electromagnetic interference in the navigation process. Since the piercing method has force feedback, the real clinical operation of the doctor is improved through real-time force feedback of the piercing needle, which plays an important auxiliary role in the operation guidance and operation training of the doctor.

[0087] The specific embodiments of the application are described above. It should be understood that the application is not limited to the above specific embodiments, and those skilled in the art can make various modifications or changes within the scope of the claims, which does not affect the essential content of the application. The above preferred features can be used in combination in the case of no conflict.

Claims

1. A liver puncture surgery robot characterized by comprising: The utility model relates to a kind of medical equipment, including: Six degrees of freedom mechanical arm; Puncture needle posture adjustment mechanism, one end is connected to the six degrees of freedom mechanical arm end, the puncture needle posture adjustment mechanism includes drive mechanism, support limiting mechanism and transmission mechanism, the drive mechanism is used to provide the power of puncture needle posture adjustment, the support limiting mechanism is connected to the output end of the drive mechanism;Transmission mechanism one end is connected with the support limiting mechanism, the support limiting mechanism provides limiting and support effect for the transmission mechanism, the transmission mechanism is converted into up-down movement, left-right movement and rotation movement by double parallel link mechanism with power; Ultrasound probe clamping mechanism is connected to the support limiting mechanism, and the ultrasound probe clamping mechanism is used to realize the ultrasound imaging of puncture process; Puncture needle clamping guide mechanism is connected to the other end of the transmission mechanism, and the puncture needle of the puncture needle clamping guide mechanism is located in the ultrasound imaging plane; The drive mechanism includes: Clamping connector, the clamping connector has frame structure, including top plate, bottom plate and side plate, the side plate is connected with the six degrees of freedom mechanical arm end, the lower surface of the top plate is connected motor; Connecting fixed part is connected to the output end of the motor; Limiting through-hole bearing passes through the connecting fixed part, one end of the limiting through-hole bearing is connected with the top plate, and the other end is connected with the bottom plate; Two lead screws motors are connected above the connecting fixed part, and the transmission shaft of the lead screw motor passes through the bottom plate and is connected with the support limiting mechanism; The support limiting mechanism includes: Support limiting structural member is used to realize the support and limiting of the transmission mechanism; Bearing is arranged on the upper surface of the support limiting structural member, and the bearing is matched with the transmission shaft of the lead screw motor;The support limiting mechanism rotates under the drive of one of the lead screw motors and moves left and right under the common drive of two lead screw motors; The transmission mechanism includes: Double parallel guide rail is located in the inside of the support limiting structural member; Guide rail connector one end is connected with the end of the double parallel guide rail;Through the double parallel guide rail and the guide rail connector, up-down movement, left-right movement and rotation movement of puncture needle are realized; Puncture needle slide rail one end is connected with the other end of the guide rail connector, and the puncture needle slide rail is used to realize the front and back adjustment of puncture needle.

2. The liver puncture surgery robot according to claim 1, characterized by, Support structure matching the double parallel guide rail is arranged in the inside of the support limiting structural member, and two guide rails of the double parallel guide rail are located on the support structure respectively;Two guide rails are respectively provided with rack, the transmission shaft end of the lead screw motor is connected with gear, and the gear is engaged with the rack.

3. The liver puncture surgery robot according to claim 1, characterized by, The other end of the puncture needle slide rail is provided with slide rail limiter, and the slide rail limiter and the puncture needle slide rail are fastened by a set screw.

4. The liver puncture surgery robot according to claim 1, characterized by, The ultrasound probe clamping mechanism includes: Support connector is connected with the support limiting mechanism; Sensor fixed part one side is connected with the support connector; Probe clamping plate one side is connected with the other side of the sensor fixed part; A slide rail is arranged on the other side of the probe clamping plate, and the ultrasonic probe is connected to the slide rail.

5. The liver puncture surgery robot according to claim 1, characterized by, The puncture needle clamping guide mechanism comprises: A puncture needle is connected to a six-dimensional force sensor at one end, which is used to detect the force acting on the puncture needle in real time; A puncture needle guide rail through which the other end of the puncture needle passes, A slide rail slider on the puncture needle guide rail cooperates with the puncture needle guide rail to adjust the forward and backward movement of the puncture needle.

6. The liver puncture surgery robot according to claim 5, characterized by, The six-dimensional force sensor is connected to the puncture needle through a sleeve fixing part, the sleeve fixing part comprises an upper sleeve fixing part and a lower sleeve fixing part, the six-dimensional force sensor is clamped between the upper sleeve fixing part and the lower sleeve fixing part, and the puncture needle passes through the center of the sleeve fixing part.

7. The liver puncture surgery robot according to claim 5, characterized by, The puncture needle guide rail comprises a puncture needle inner guide rail and a puncture needle outer guide rail for guiding different models of puncture needles, and the puncture needle inner guide rail and the puncture needle outer guide rail are connected through buckles.

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