Prostate biopsy robot

Abstract

The present application relates to a prostate biopsy robot, specifically to the field of transperineal prostate biopsy. The robot comprises an ultrasound probe, a bottom moving mechanism, an intermediate moving mechanism, a top moving mechanism, a biopsy gun guide assembly, and a motion control mechanism. The bottom moving mechanism is configured to perform circular motion around a first telecentric fixed point to align the ultrasound probe with the anus of a target subject. The intermediate moving mechanism is provided on the bottom moving mechanism and is configured to drive the ultrasound probe to perform pitch motion, using the end of the ultrasound probe closest to the anus as a second telecentric fixed point. The top moving mechanism is provided on the intermediate moving mechanism and is configured to drive the ultrasound probe into the anus. The motion control mechanism is configured to acquire an ultrasound image of the target subject's prostate, fuse the prostate MRI image with the currently acquired ultrasound image, and control the movement of the biopsy gun guide assembly based on the fused image, so that the biopsy gun guide assembly moves to the target area for puncture. The present application has the advantage of improving the accuracy of the biopsy gun guide assembly in puncturing prostate lesions.

Description

Technical Field

[0001] The present application relates to the field of transperineal prostate biopsy, and in particular to a prostate biopsy robot. Background Art

[0002] When an abnormality occurs in the prostate, an ultrasound probe needs to be inserted from the target subject's anus into the rectum. The ultrasound probe will rotate in the target subject's rectum and perform ultrasound scanning on the area where the prostate is located to obtain a series of continuous sagittal plane ultrasound images of the prostate, thereby determining the location of the prostate cancer lesion. Tissue sampling of the prostate lesion is then performed through the biopsy gun guide component.

[0003] In related technologies, a pre-made template is used to guide the biopsy gun guide component to take samples with the help of the puncture target point of the template. However, due to the low accuracy of the puncture target point, the number of punctures is high, the infection complications are high, and there are certain false positives. Summary of the Invention

[0004] The present application aims to at least solve the technical problem in the prior art that the biopsy gun guide assembly has low accuracy in puncturing prostate lesions. To this end, the present application proposes a prostate biopsy robot.

[0005] The present application provides a prostate biopsy robot, comprising:

[0006] Ultrasound probe;

[0007] a bottom moving mechanism, configured to perform circular motion around a first telecentric fixed point so as to align the ultrasound probe with the anus of the target subject;

[0008] an intermediate moving mechanism, disposed on the bottom moving mechanism, for driving the ultrasound probe to perform a pitch motion with the end of the ultrasound probe close to the anus serving as a second telecentric fixed point, so that the axial direction of the ultrasound probe is aligned with the direction of the rectum connected to the anus;

[0009] A top moving mechanism is provided on the middle moving mechanism; the ultrasound probe is provided on the top moving mechanism; the top moving mechanism is used to drive the ultrasound probe to be inserted into the anus to obtain an ultrasound image of the target object in real time;

[0010] a biopsy gun guide assembly, movably disposed on the top moving mechanism, the biopsy gun guide assembly being used for installing the biopsy gun;

[0011] a movement control mechanism connected to the ultrasound probe and the biopsy gun guide assembly, respectively, for acquiring a prostate ultrasound image of the target object, wherein the prostate MRI image indicates an area to be tested, fusing the prostate MRI image with the currently acquired ultrasound image, and controlling the movement of the biopsy gun guide assembly based on the fused image, so that the biopsy gun guide assembly moves to the area to be tested for puncture.

[0012] By adopting the above technical solution, on the one hand, the biopsy gun of the biopsy gun guide assembly is controlled by the mobile control mechanism to move to the area to be tested for puncture, which can improve the puncture accuracy of the biopsy gun of the biopsy gun guide assembly at the prostate lesion point corresponding to the area to be tested, so that the sampling result is reliable; on the other hand, the ultrasound probe is moved in a circle around the second telecentric fixed point through the bottom moving mechanism to achieve adjustment of the circumferential angle, and is moved in a pitching motion around the second telecentric fixed point through the middle moving mechanism to achieve adjustment of the pitch angle, that is, the position of the end of the ultrasound probe close to the anus does not change, thereby protecting the anus of the target subject.

[0013] According to one embodiment of the present application, the bottom moving mechanism includes:

[0014] base;

[0015] A first arc-shaped track is located below the base; a rack is provided on the side wall of the first arc-shaped track;

[0016] at least one first gear rotatably disposed on the base and meshing with a rack on a side wall of the first arc-shaped track;

[0017] At least one first guide wheel assembly includes at least one first guide wheel, wherein the first guide wheel is connected to the other opposite side wall of the first arc-shaped track in a guiding manner.

[0018] By adopting the above technical solution, when the base can move more smoothly along the first arc track through the first guide wheel set and the first gear, the ultrasonic probe can make a circular motion around the second telecentric fixed point to achieve circumferential angle adjustment.

[0019] According to one embodiment of the present application, the intermediate movement mechanism includes:

[0020] At least two first lifting assemblies are arranged in parallel on the base; each of the first lifting assemblies has a first moving block that moves in a vertical direction, and the first moving blocks of the at least two first lifting assemblies are sequentially arranged on the top moving mechanism along the axial direction of the ultrasonic probe, and the movement speed of the first moving blocks of the at least two first lifting assemblies gradually increases along the axial direction of the ultrasonic probe.

[0021] By adopting the above technical solution, the first moving block away from the ultrasonic probe has a faster vertical speed than the first moving block close to the ultrasonic probe, so that the ultrasonic probe can perform pitch motion around the second telecentric fixed point to achieve pitch angle adjustment.

[0022] According to one embodiment of the present application, the top moving mechanism includes:

[0023] The first linear motion assembly is arranged side by side with the ultrasonic probe; the first motion blocks of the at least two first lifting assemblies are arranged on the first linear motion assembly; the first linear motion assembly is used to drive the ultrasonic probe to perform linear motion along the axial direction of the ultrasonic probe.

[0024] By adopting the above technical solution, the first linear motion assembly can drive the ultrasonic probe to advance or retreat along the axial direction of the ultrasonic probe, so that the ultrasonic probe is inserted into the rectum from the anus of the target object, or is removed from the anus of the target object.

[0025] According to one embodiment of the present application, the top moving mechanism further includes:

[0026] The first rotating assembly is sleeved outside the ultrasonic probe and rotatably arranged on the first linear motion assembly, and is used for driving the ultrasonic probe to rotate around the axis of the ultrasonic probe.

[0027] By adopting the above technical solution, the first rotating assembly drives the ultrasonic probe to rotate around the axis of the ultrasonic probe, so that the ultrasonic probe rotates in the rectum of the target object and performs ultrasonic scanning on the area where the prostate of the target object is located.

[0028] According to one embodiment of the present application, the first rotating assembly includes:

[0029] a first mounting seat, fixed on the first linear motion assembly;

[0030] a third gear rotatably disposed in the first mounting seat;

[0031] The fourth gear is sleeved on the outside of the ultrasonic probe and meshes with the third gear.

[0032] By adopting the above technical solution, the third gear is rotated, thereby driving the fourth gear and the ultrasonic probe to rotate synchronously, so that the ultrasonic probe rotates around the axis of the ultrasonic probe.

[0033] According to one embodiment of the present application, the movement control mechanism includes:

[0034] a second rotating assembly, rotatably disposed on the top moving mechanism, for driving the biopsy gun guide assembly to perform circular motion around the axis of the ultrasound probe;

[0035] a second lifting assembly, disposed on the second rotating assembly, for driving the biopsy gun guide assembly to move closer to or away from the ultrasound probe;

[0036] The second linear motion assembly is arranged on the second lifting assembly. The biopsy gun guide assembly is arranged side by side on the second linear motion mechanism. The second linear motion mechanism is used to drive the biopsy gun of the biopsy gun guide assembly to puncture.

[0037] By adopting the above technical solution, the biopsy gun guide assembly performs circular motion around the axis of the ultrasound probe through the second rotating assembly, so that the biopsy gun guide assembly rotates to a position coplanar with the sagittal plane of the ultrasound probe. In this way, the motion trajectory of the biopsy gun guide assembly in the area coplanar with the sagittal plane of the ultrasound probe can be predicted; then, the second lifting assembly is used to approach or move away from the ultrasound probe, and the second linear motion mechanism is used to pierce the prostate lesion point corresponding to the area to be tested.

[0038] According to one embodiment of the present application, the second rotating assembly includes:

[0039] At least one second curved track, each second curved track is arranged around the ultrasound probe, and the center of each second curved track is located on the axis of the ultrasound probe; the outer annular wall surface of each second curved track is paved with a second rack, and the inner annular wall surface of each second curved track is provided with a guide groove;

[0040] at least one gear set corresponding to each of the second arc-shaped tracks; each gear set includes at least one fifth gear, the fifth gear meshing with the second rack on the outer ring wall of the corresponding second arc-shaped track;

[0041] At least one second guide wheel group corresponds to the second arc-shaped track one by one; each second guide wheel group includes at least one second guide wheel, and the second guide wheel cooperates with the guide groove of the inner ring wall of the corresponding second arc-shaped track.

[0042] By adopting the above technical solution, the fifth gear of the gear set can be driven by the motor to rotate, and the fifth gear of the gear set is engaged with the second rack on the outer ring wall of the corresponding second arc track, that is, the second arc track can rotate synchronously with the fifth gear. In this process, the second guide wheel of the second guide wheel group cooperates with the guide groove on the inner ring wall of the corresponding second arc track. The guide groove has the functions of guiding and limiting, and is used to make the rotation process of the second arc track smoother.

[0043] According to one embodiment of the present application, the second lifting assembly includes at least two second motion blocks that move radially along the ultrasound probe. The second motion blocks of the second lifting assembly are rotatably connected to the biopsy gun guide assembly and are sequentially arranged on the second linear motion assembly along the axial direction of the biopsy gun guide assembly. The movement speed of the second motion blocks of the second lifting assembly gradually increases along the axial direction of the biopsy gun guide assembly, or the movement speed of the second motion blocks of the second lifting assembly is equal.

[0044] By adopting the above technical solution, the angle between the biopsy gun guide assembly and the ultrasound probe is adjustable, and the distance between the biopsy gun guide assembly and the ultrasound probe is also adjustable. That is, the biopsy gun guide assembly has the freedom to rotate and the freedom to move toward the ultrasound probe. This design makes it easier for doctors to select the appropriate angle of the biopsy gun of the biopsy gun guide assembly to pierce the prostate lesion corresponding to the area to be tested.

[0045] According to one embodiment of the present application, the prostate biopsy robot further includes:

[0046] The cart has universal wheels at the bottom and an adjustment mechanism installed on the cart. The adjustment mechanism is used to adjust the position of the ultrasound probe so that the ultrasound probe is close to the anus of the target object.

[0047] By adopting the above technical solution, the target object can be quickly approached by the cart, and the position of the base of the bottom moving mechanism can be adjusted by the adjustment mechanism, so as to roughly adjust the position of the ultrasound probe away from the anus of the target object.

[0048] In summary, the present application includes at least one of the following beneficial technical effects: on the one hand, the biopsy gun of the biopsy gun guide assembly is controlled by the mobile control mechanism to move to the area to be tested for puncture, which can improve the puncture accuracy of the biopsy gun of the biopsy gun guide assembly on the prostate lesion point corresponding to the area to be tested, so that the sampling result is reliable; on the other hand, the ultrasound probe makes a circular motion around the second telecentric fixed point through the bottom moving mechanism to achieve the adjustment of the circumferential angle, and can make a pitch motion around the second telecentric fixed point through the middle moving mechanism to achieve the adjustment of the pitch angle, that is, the position of the end of the ultrasound probe close to the anus will not change, thereby protecting the anus of the target object. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 This is one of the structural schematic diagrams of the prostate biopsy robot provided in the embodiments of the present application;

[0050] Figure 2 This is the second structural diagram of the prostate biopsy robot provided in an embodiment of the present application;

[0051] Figure 3 This is the third structural diagram of the prostate biopsy robot provided in the embodiment of the present application;

[0052] Figure 4 This is the fourth structural diagram of the prostate biopsy robot provided in an embodiment of the present application;

[0053] Figure 5 It is a structural diagram of the bottom moving mechanism provided in an embodiment of the present application;

[0054] Figure 6 This is one of the structural diagrams of the intermediate moving mechanism provided in the embodiment of the present application;

[0055] Figure 7 This is the second structural diagram of the intermediate moving mechanism provided in the embodiment of the present application;

[0056] Figure 8 This is the fifth structural diagram of the prostate biopsy robot provided in the embodiment of the present application;

[0057] Figure 9 It is a structural diagram of the top moving mechanism and the moving control mechanism provided in an embodiment of the present application;

[0058] Figure 10 yes Figure 9 One of the partial structural diagrams;

[0059] Figure 11 yes Figure 10 A partial enlarged view of point A in the middle;

[0060] Figure 12 yes Figure 10 The second schematic diagram of the partial structure;

[0061] Figure 13 This is one of the structural diagrams of the second lifting assembly provided in the embodiment of the present application;

[0062] Figure 14 This is the second structural diagram of the second lifting assembly provided in the embodiment of the present application;

[0063] Figure 15 This is a schematic structural diagram of a second lifting assembly and a second linear motion assembly provided in an embodiment of the present application;

[0064] Figure 16 is a structural schematic diagram of a second rotating assembly provided in an embodiment of the present application;

[0065] Figure 17 This is the sixth structural diagram of the prostate biopsy robot provided in the embodiment of the present application;

[0066] Figure 18 This is the seventh structural diagram of the prostate biopsy robot provided in the embodiment of the present application.

[0067] Reference numerals:

[0068] 100. Ultrasonic probe;

[0069] 200, bottom moving mechanism; 210, base; 211, window; 220, first arc-shaped track; 221, outer annular wall; 222, inner annular wall; 22a, first guide surface; 22b, second guide surface; 230, first gear; 240, first guide wheel;

[0070] 300, intermediate moving mechanism; 310, first lifting assembly; 311, first moving block; 312, lifting seat; 313, transmission unit;

[0071] 400, top moving mechanism; 410, first linear motion assembly; 411, base; 420, first rotating assembly; 421, first mounting seat; 4211, limit opening; 422, third gear; 423, fourth gear; 424, mounting sleeve;

[0072] 500, biopsy gun guide assembly;

[0073] 600, movement control mechanism; 610, second rotating assembly; 611, second curved track; 6111, second rack; 6112, guide groove; 6113, placement port; 612, fifth gear; 613, second guide wheel; 620, second lifting assembly; 621, second motion block; 622, seat; 630, second linear motion assembly; 631, second mounting seat;

[0074] 700, cart;

[0075] 800, adjustment mechanism; 810, first adjustment mechanism; 820, second adjustment mechanism; 830, third adjustment mechanism;

[0076] b. The second telecentric fixed point; a. The first telecentric fixed point. DETAILED DESCRIPTION

[0077] The following describes in detail embodiments of the present application. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application and are not to be construed as limiting the present application.

[0078] First, in order to facilitate the description of the relative position relationship and setting points of each mechanism in this application, the implementation scenario of the embodiment of this application is explained here.

[0079] When an abnormality occurs in the prostate, a magnetic resonance imaging (MRI) examination of the prostate area will be performed first to obtain a preoperative MRI contour image of the prostate. The doctor will then manually segment the preoperative MRI contour image of the prostate patient and mark the puncture area.

[0080] Afterwards, the doctor inserts the ultrasound probe into the patient's anus and performs an ultrasound scan of the prostate area to obtain a series of continuous sagittal plane ultrasound images of the prostate. The doctor then registers the preoperatively annotated MRI contour image information to the sagittal plane ultrasound image, that is, the image fusion is performed by registering the prostate area manually segmented by the MRI contour image with the prostate area automatically segmented by the sagittal plane ultrasound image.

[0081] After that, the doctor will use the biopsy gun guide component to take tissue samples from the prostate lesion point corresponding to the area to be tested based on the area to be tested marked after image fusion.

[0082] During actual surgery, doctors may judge the location of the prostate lesion corresponding to the area to be tested marked after image fusion based on their own experience, and use the biopsy gun guide component to puncture the prostate lesion corresponding to the puncture area. This will involve a lot of randomness, and there is a high possibility that the biopsy gun guide component will not successfully pass through the prostate lesion, resulting in a false positive result.

[0083] Reference below Figures 1-17 A prostate biopsy robot according to an embodiment of the present application is described.

[0084] like Figure 1 As shown, the prostate biopsy robot includes an ultrasound probe 100 , a bottom moving mechanism 200 , a middle moving mechanism 300 , a top moving mechanism 400 , a biopsy gun guide assembly 500 and a moving control mechanism 600 .

[0085] The bottom moving mechanism 200 is used to perform circular motion around the first telecentric fixed point a so that the ultrasound probe 100 is aligned with the anus of the target object, which may be a patient.

[0086] The intermediate moving mechanism 300 is arranged on the bottom moving mechanism 200, and is used to drive the ultrasonic probe 100 to perform pitch motion with the end of the ultrasonic probe 100 close to the anus as the second telecentric fixed point b, so that the axial direction of the ultrasonic probe 100 is consistent with the direction of the rectum connected to the anus.

[0087] like Figure 2 、 Figure 3 and Figure 4 As shown, the vertical projection of the second telecentric fixed point b toward the ground passes through the first telecentric fixed point a, that is, when the bottom moving mechanism 200 makes a circular motion around the first telecentric fixed point a, the ultrasonic probe 100 also makes a circular motion around the second telecentric fixed point b.

[0088] That is, if Figure 3 As shown, the ultrasonic probe 100 can make a circular motion around the second telecentric fixed point b through the bottom moving mechanism 200; Figure 4 As shown, the ultrasound probe 100 can perform pitch motion around the second telecentric fixed point b through the intermediate moving mechanism 300.

[0089] like Figure 1 As shown, the top moving mechanism 400 is arranged on the middle moving mechanism 300; the ultrasound probe 100 is arranged on the top moving mechanism 400; the top moving mechanism 400 is used to drive the ultrasound probe 100 to be inserted into the anus to obtain an ultrasound image of the target object in real time.

[0090] The biopsy gun guide assembly 500 is movably disposed on the top moving mechanism 400 , and the biopsy gun guide assembly 500 is used to install the biopsy gun.

[0091] In actual implementation, a guide hole is defined at the end of the biopsy gun guide assembly 500, into which the biopsy gun is mounted and can pass. A movement control mechanism 600 is connected to the ultrasound probe 100 and the biopsy gun guide assembly 500, respectively, to acquire an ultrasound image of the prostate of the target subject. The prostate MRI image identifies the area to be tested, fuses the prostate MRI image with the currently acquired ultrasound image, and controls the movement of the biopsy gun guide assembly 500 based on the fused image, thereby moving the biopsy gun of the biopsy gun guide assembly 500 to the area to be tested for puncture.

[0092] Specifically, the doctor inserts the ultrasound probe 100 from the anus into the rectum of the target subject and performs ultrasound scanning on the prostate area of ​​the target subject.

[0093] However, due to the size of the target subject's prostate, the position of the ultrasound probe 100 at the target subject's anus needs to be changed. For example, the circumferential angle or pitch angle of the ultrasound probe 100 may need to be adjusted, and then the probe 100 needs to be inserted into the rectum to scan the prostate lesion point corresponding to the area to be tested.

[0094] Related Art When the circumferential angle or the pitch angle of the ultrasonic probe 100 is adjusted, the position of the ultrasonic probe 100 at one end of the anus may change, which may cause damage to the anus of the target object.

[0095] It should be noted that the target subject is often locally anesthetized, for example, the perineum and prostate of the target subject are anesthetized, but the rectum and anus are not anesthetized. During the operation, the doctor will constantly ask the target subject whether the adjustment of the ultrasound probe 100 will cause pain and discomfort.

[0096] In the above embodiment of the present application, the end of the ultrasound probe 100 close to the anus serves as the second telecentric fixed point b. The ultrasound probe 100 can make circular motion around the second telecentric fixed point b to adjust the circumferential angle, and can make pitch motion around the second telecentric fixed point b to adjust the pitch angle. That is, the position of the end of the ultrasound probe 100 close to the anus will not change, thereby protecting the anus of the target object and making the target object more comfortable during the operation.

[0097] In addition, the movement control mechanism 600 obtains a prostate MRI image of the target object, and fuses the prostate MRI image with the currently acquired ultrasound image, and controls the movement of the biopsy gun guide assembly 500 according to the fused image, so that the biopsy gun of the biopsy gun guide assembly 500 moves to the area to be tested for puncture.

[0098] Compared with relying on the doctor's experience to use a biopsy gun to manually puncture the prostate lesion point corresponding to the area to be tested for sampling, or using a pre-made template to manually guide the biopsy gun for sampling with the help of the puncture target point of the template, the present application has the advantage of automatic sampling. The biopsy gun of the biopsy gun guide assembly 500 has higher accuracy in puncturing the prostate lesion and the sampling results are more reliable.

[0099] In summary, according to the prostate biopsy robot provided in the embodiment of the present application, on the one hand, the biopsy gun guide assembly 500 is controlled by the mobile control mechanism 600 to move to the area to be tested for puncture, which can improve the puncture accuracy of the biopsy gun of the biopsy gun guide assembly 500 on the prostate lesion point corresponding to the area to be tested, so that the sampling result is reliable; on the other hand, the ultrasound probe 100 performs circular motion around the second telecentric fixed point b through the bottom moving mechanism 200 to achieve adjustment of the circumferential angle, and can perform pitch motion around the second telecentric fixed point b through the intermediate moving mechanism 300 to achieve adjustment of the pitch angle, that is, the position of the end of the ultrasound probe 100 close to the anus will not change, thereby protecting the anus of the target object.

[0100] like Figure 5 As shown, in some embodiments, the bottom moving mechanism 200 includes: a base 210 , a first arc-shaped track 220 , at least one first gear 230 , and at least one first guide wheel 240 set.

[0101] The first arc track 220 is located below the base 210 , and a rack is provided on the side wall of the first arc track 220 . The rack can be provided on the outer ring wall 221 and / or the inner ring wall 222 of the first arc track 220 , which is not limited in this embodiment.

[0102] At least one first gear 230 is rotatably disposed on the base 210 and meshes with a rack on a side wall of the first arc-shaped track 220 .

[0103] The first guide wheel 240 group includes at least one first guide wheel 240 , and the first guide wheel 240 is at least connected to the other opposite side wall of the first arc-shaped track 220 for guiding.

[0104] For example, when the rack is arranged on the outer annular wall surface 221 of the first curved track 220, the first guide wheel 240 can be arranged on the inner annular wall surface 222 of the curved track, or when the rack is arranged on the inner annular wall surface 222 of the first curved track 220, the first guide wheel 240 can be arranged on the outer annular wall surface 221 of the curved track.

[0105] Of course, when the rack is arranged on the outer annular wall 221 of the first curved track 220 and / or on the inner annular wall 222 of the first curved track 220, it should also be allowed that the first guide wheel 240 is simultaneously guided and connected to the outer annular wall 221 of the first curved track 220 and the inner annular wall 222 of the first curved track 220.

[0106] In this embodiment, the base 210 can move more smoothly along the first arc track 220 through the first guide wheel 240 group and the first gear 230, so that the ultrasound probe 100 can perform a circular motion around the second telecentric fixed point b to achieve circumferential angle adjustment.

[0107] like Figure 5 As shown, illustratively, the outer annular wall surface 221 and the inner annular wall surface 222 of the first arc-shaped track 220 both include a first guide surface 22a and a second guide surface 22b. A rack is laid on the first guide surface 22a of the outer annular wall surface 221 of the first arc-shaped track 220, and the second guide surface 22b is directly above the first guide surface 22a and protrudes toward one side of the first guide surface 22a. The first guide wheel 240 is circumferentially provided with an annular groove, which is guide-connected to the second guide surface 22b.

[0108] In actual implementation, the first guide wheel 240 group has four first guide wheels 240, wherein two first guide wheels 240 of the first guide wheel 240 group are guide-connected to the second guide surface 22b of the outer annular wall 221 of the first curved track 220, and the other two first guide wheels 240 of the first guide wheel 240 group are guide-connected to the second guide surface 22b of the inner annular wall 222 of the first curved track 220.

[0109] In actual implementation, the bottom moving mechanism 200 has a motor, which is mounted on the base 210 , and the output shaft of the motor is fixedly connected to the first gear 230 . The motor includes but is not limited to a servo motor or a stepper motor.

[0110] like Figure 6 、 Figure 7 and Figure 8As shown, in some embodiments, the intermediate moving mechanism 300 includes: at least two first lifting assemblies 310 .

[0111] At least two first lifting assemblies 310 are arranged in parallel on the base 210, and each first lifting assembly 310 has a first moving block 311 that moves in the vertical direction. The first moving blocks 311 of the at least two first lifting assemblies 310 are arranged in sequence on the top moving mechanism 400 along the axial direction of the ultrasonic probe 100, and the movement speed of the first moving blocks 311 of the at least two first lifting assemblies 310 gradually increases along the axial direction of the ultrasonic probe 100.

[0112] In this embodiment, the first motion block 311 moving away from the ultrasound probe 100 has a faster vertical speed than the first motion block 311 moving close to the ultrasound probe 100, so that the ultrasound probe 100 performs a pitch motion around the second telecentric fixed point b to adjust the pitch angle.

[0113] Illustratively, the at least two first lifting assemblies 310 each include a lifting base 312 and a transmission part 313 .

[0114] The lifting seat 312 is rotatably mounted on one end of the top moving mechanism 400 away from the second telecentric fixed point b of the ultrasonic probe 100 through the first moving block 311. The transmission part 313 is mounted on the base 210, and the power end of the transmission part 313 is connected to the lifting seat 312 to enable the lifting seat 312 to move in the vertical direction.

[0115] The first motion block 311 away from the ultrasonic probe 100 moves faster than the first motion block 311 close to the ultrasonic probe 100, so that the ultrasonic probe 100 performs pitch motion around the second telecentric fixed point b to adjust the pitch angle.

[0116] In actual implementation, the lifting base 312 has oppositely disposed side walls, the first moving block 311 is installed on the side walls of the lifting base 312 , and is rotatably connected to the top moving mechanism 400 via a bearing.

[0117] like Figure 8 As shown, in actual implementation, the base 210 is provided with windows 211 corresponding to the number of the at least two first lifting assemblies 310 , and the lifting seats 312 of the first lifting assemblies 310 are guided through the windows 211 .

[0118] In actual implementation, the transmission part 313 may include a motor, a coupling and a screw. The output shaft of the motor is axially connected to the screw through the coupling. The screw is threadedly connected to the lifting seat 312 to enable the lifting seat 312 to move in the vertical direction.

[0119] The motor includes but is not limited to a servo motor or a stepper motor, and the lead screw includes but is not limited to a self-locking lead screw.

[0120] It should be noted that a force control sensor may be installed on the top moving mechanism 400 , and the pitch angle of the ultrasound probe 100 of the prostate biopsy robot may be adjusted through the force control sensor.

[0121] like Figure 9 and Figure 10 As shown, in some embodiments, the top moving mechanism 400 includes: a first linear motion component 410 .

[0122] The first linear motion assembly 410 is arranged side by side with the ultrasonic probe 100, and the first motion blocks 311 of at least two first lifting assemblies 310 are arranged on the first linear motion assembly 410; the first linear motion assembly 410 is used to drive the ultrasonic probe 100 to move linearly along the axial direction of the ultrasonic probe 100.

[0123] In this embodiment, the first linear motion assembly 410 can drive the ultrasound probe 100 to advance or retreat along the axial direction of the ultrasound probe 100 so that the ultrasound probe 100 is inserted into the rectum from the anus of the target object, or is removed from the anus of the target object.

[0124] like Figure 10 and Figure 11 As shown, in some embodiments, the top moving mechanism 400 further includes: a first rotating component 420 .

[0125] The first rotating assembly 420 is sleeved on the outside of the ultrasonic probe 100 and rotatably disposed on the first linear motion assembly 410 , and is used to drive the ultrasonic probe 100 to rotate around the axis of the ultrasonic probe 100 .

[0126] In this embodiment, the first rotating assembly 420 drives the ultrasound probe 100 to rotate around the axis of the ultrasound probe 100 so that the ultrasound probe 100 rotates in the rectum of the target subject to perform ultrasound scanning on the region where the prostate of the target subject is located.

[0127] like Figure 11 As shown, illustratively, the first rotating assembly 420 includes: a first mounting seat 421 , a third gear 422 and a fourth gear 423 .

[0128] The first mounting seat 421 is disposed on the first linear motion assembly 410 .

[0129] The third gear 422 is rotatably disposed in the first mounting seat 421 .

[0130] The fourth gear 423 is sleeved on the outside of the ultrasound probe 100 and meshes with the third gear 422 .

[0131] In this example, the third gear 422 is rotated, thereby driving the fourth gear 423 and the ultrasound probe 100 to rotate synchronously, so that the ultrasound probe 100 rotates around the axis of the ultrasound probe 100 .

[0132] In practice, the end of the first mounting base 421 facing away from the screw rod defines a limiting opening 4211. The end of the fourth gear 423 facing away from the ultrasound probe 100 is located within the limiting opening 4211 and meshes with the third gear 422. This design ensures that when the first mounting base 421 moves, the ultrasound probe 100 can also move with the first mounting base 421.

[0133] In actual implementation, a motor is further installed in the first mounting seat 421 , and the output shaft of the motor is power-connected to the third gear 422 . The motor includes but is not limited to a servo motor or a stepper motor.

[0134] like Figure 10 As shown, illustratively, the first linear motion assembly 410 includes: a base 411, a motor, a screw and a synchronous wheel set.

[0135] The first moving blocks 311 of at least two first lifting assemblies 310 are rotatably mounted on a base 411. The base 411 is provided with a bar hole. The motor is mounted on the bottom wall of the base 411. The output shaft of the motor is axially fixed to the screw rod through a synchronous wheel set. The first mounting seat 421 of the first rotating assembly 420 passes through the bar hole of the base 411 and is threadedly connected to the screw rod.

[0136] In this example, the output shaft of the motor drives the screw to rotate through the synchronous wheel set, so that the first mounting seat 421 of the first rotating component 420 can move along the strip hole of the base 411, thereby making the ultrasonic probe 100 move linearly along the axial direction of the ultrasonic probe 100.

[0137] In actual implementation, the motor includes but is not limited to a servo motor or a stepper motor, and the lead screw includes but is not limited to a self-locking lead screw.

[0138] In actual implementation, a protective cover is further installed on the bottom wall of the base 411 , and a space for accommodating the motor, the lead screw and the synchronous wheel set is formed between the protective cover and the bottom wall of the base 411 .

[0139] like Figure 12 As shown, in some embodiments, the movement control mechanism 600 includes: a second rotation component 610 , a second lifting component 620 and a second linear motion component 630 .

[0140] The second rotating assembly 610 is rotatably disposed on the top moving mechanism 400 , and is used to drive the biopsy gun guide assembly 500 to perform circular motion around the axis of the ultrasound probe 100 .

[0141] The second lifting assembly 620 is disposed on the second rotating assembly 610 and is used to drive the biopsy gun guide assembly 500 to move closer to or away from the ultrasound probe 100 .

[0142] The second linear motion assembly 630 is disposed on the second lifting assembly 620 , and the biopsy gun guide assembly 500 is disposed side by side on the second linear motion mechanism. The second linear motion mechanism is used to drive the biopsy gun of the biopsy gun guide assembly 500 to perform puncture.

[0143] Among them, the mobile control mechanism 600 obtains a prostate MRI image of the target object, fuses the prostate MRI image with the currently obtained ultrasound image, and controls the movement of the biopsy gun guide assembly 500 according to the fused image. Therefore, the biopsy gun guide assembly 500 needs to have a high degree of freedom so that the biopsy gun guide assembly 500 can move to the area to be tested for puncture.

[0144] In this embodiment, the biopsy gun guide assembly 500 performs circular motion around the axis of the ultrasound probe 100 via the second rotating assembly 610, so that the biopsy gun guide assembly 500 rotates to a position coplanar with the sagittal plane of the ultrasound probe 100. This allows for predicting the motion trajectory of the biopsy gun guide assembly 500 in the region coplanar with the sagittal plane of the ultrasound probe 100. The biopsy gun guide assembly 500 then moves closer to or further away from the ultrasound probe 100 via the second lifting assembly 620, and the biopsy gun guide assembly 500 is pierced toward the prostate lesion point corresponding to the area to be tested via the second linear motion mechanism.

[0145] It should be noted that the puncture biopsy of prostate lesions can be divided into transperineal prostate puncture biopsy and transrectal prostate puncture biopsy. Compared with transrectal prostate puncture biopsy, which punctures the rectum,

[0146] It may cause rectal damage and infection. It is safer to puncture the skin during transperineal prostate puncture biopsy. This application uses transperineal prostate puncture biopsy as an example.

[0147] In the case of transperineal prostate puncture biopsy, doctors tend to choose a position where the end of the biopsy gun guide assembly 500 facing away from the target object's anus is at a greater distance from the ultrasound probe 100, while the end of the biopsy gun guide assembly 500 close to the target object's anus is at a smaller distance from the ultrasound probe 100, so as to puncture the prostate lesion corresponding to the area to be tested, thereby avoiding the human bones and urethra.

[0148] like Figure 13 and Figure 14As shown, illustratively, the second lifting assembly 620 includes at least two second motion blocks 621 that move radially along the ultrasound probe 100. The second motion blocks 621 of the second lifting assembly 620 are rotatably connected to the biopsy gun guide assembly 500 and are sequentially arranged on the second linear motion assembly 630 along the axial direction of the biopsy gun guide assembly 500. The movement speed of the second motion blocks 621 of the second lifting assembly 620 gradually increases along the axial direction of the biopsy gun guide assembly 500, or the movement speed of the second motion blocks 621 of the second lifting assembly 620 is equal.

[0149] In this embodiment, according to the difference in the movement speed of the movement block, the second lifting assembly 620 can be in at least one of the following structural forms:

[0150] First, when the movement speed of the second movement block 621 of the second lifting assembly 620 gradually increases along the axial direction of the biopsy gun guide assembly 500 , the biopsy gun guide assembly 500 is not parallel to the ultrasound probe 100 .

[0151] In this embodiment, the movement speed of the second moving block 621 away from the anus of the target object is greater than the movement speed of the second moving block 621 close to the anus of the target object, so that the distance between the end of the biopsy gun guide assembly 500 away from the anus of the target object and the ultrasound probe 100 is greater, thereby ensuring that the biopsy gun guide assembly 500 pierces the prostate lesion point corresponding to the area to be tested and can avoid the bones and urethra of the human body.

[0152] Secondly, when the movement speeds of the second movement block 621 of the second lifting assembly 620 are equal, the biopsy gun guide assembly 500 is parallel to the ultrasonic probe 100 .

[0153] In this embodiment, the movement speed of the second movement block 621 away from the anus of the target object is equal to the movement speed of the second movement block 621 close to the anus of the target object, thereby making the biopsy gun guide assembly 500 parallel to the ultrasound probe 100 and approaching or moving away from the ultrasound probe 100 in the radial direction.

[0154] In the above two embodiments, the angle between the biopsy gun guide assembly 500 and the ultrasound probe 100 is adjustable, and the distance between the biopsy gun guide assembly 500 and the ultrasound probe 100 is also adjustable. That is, the biopsy gun installed at the end of the biopsy gun guide assembly 500 has the freedom to rotate and move toward the ultrasound probe 100. This design makes it easier for doctors to select the biopsy gun of the biopsy gun guide assembly 500 to pierce the prostate lesion corresponding to the area to be tested at an appropriate angle.

[0155] It should be noted that when the ultrasound probe 100 makes a circular motion around the second telecentric fixed point b, or makes a pitch motion around the second telecentric fixed point b, during this process, the position of the end of the biopsy gun guide assembly 500 close to the anus of the target object may not change, thereby making it easier for the prostate biopsy robot to locate the prostate lesion.

[0156] like Figure 12 and 15 As shown, in actual implementation, the second lifting assembly 620 includes: a base 622, two motors, two synchronous pulleys, two screw rods and two second motion blocks 621.

[0157] The two motors are mounted on the base 622 , and the output shafts of the two motors are connected to the corresponding screw rods through synchronous pulleys. The two screw rods are parallel to each other and are threadedly connected to the corresponding second motion blocks 621 . The two second motion blocks 621 are both rotatably connected to the biopsy gun guide assembly 500 .

[0158] The second linear motion assembly 630 is connected to the base 622 to drive the biopsy gun of the biopsy gun guide assembly 500 to penetrate the prostate lesion point corresponding to the area to be tested.

[0159] like Figure 12 and Figure 15 As shown, in actual implementation, the second linear motion assembly 630 includes: a second mounting seat 631, a motor, a synchronous pulley and a screw.

[0160] The second mounting seat 631 is mounted on the second rotating assembly 610 , the motor is mounted on the second mounting seat 631 , and the output shaft of the motor is connected to the screw rod through a synchronous pulley, and the screw rod is threadedly connected to the seat body 622 .

[0161] like Figure 12 and Figure 16 As shown, exemplarily, the second rotating assembly 610 includes: at least one second arc-shaped track 611 , at least one gear set and at least one second guide wheel set 613 .

[0162] The second mounting seat 631 is installed on the second arc-shaped track 611. Each second arc-shaped track 611 is arranged around the ultrasonic probe 100, and the center of each second arc-shaped track 611 is located on the axis of the ultrasonic probe 100. The outer ring wall of each second arc-shaped track 611 is paved with a second rack 6111, and the inner ring wall of each second arc-shaped track 611 is provided with a guide groove 6112.

[0163] The gear sets correspond to the second arc-shaped tracks 611 one by one. Each gear set includes at least one fifth gear 612 . The fifth gear 612 is meshed with the second rack 6111 on the outer ring wall of the corresponding second arc-shaped track 611 .

[0164] The second guide wheel 613 groups correspond one-to-one to the second arc-shaped tracks 611 ; each second guide wheel 613 group includes at least one second guide wheel 613 , and the second guide wheel 613 cooperates with the guide groove 6112 on the inner ring wall of the corresponding second arc-shaped track 611 .

[0165] In this embodiment, the fifth gear 612 of the gear set can be driven by a motor to rotate, and the fifth gear 612 of the gear set is engaged with the second rack 6111 on the outer ring wall of the corresponding second arcuate track 611, that is, the second arcuate track 611 can rotate synchronously with the fifth gear 612. During this process, the second guide wheel 613 of the second guide wheel 613 group cooperates with the guide groove 6112 on the inner ring wall of the corresponding second arcuate track 611. The guide groove 6112 has a guiding and limiting function, which is used to make the rotation process of the second arcuate track 611 smoother, thereby realizing the circular motion of the biopsy gun guide assembly 500 around the axis of the ultrasound probe 100.

[0166] like Figure 16 As shown, in actual implementation, the outer ring wall of the second arc-shaped track 611 is also provided with a guide groove 6112 , and the guide groove 6112 is located on both sides of the second rack 6111 on the outer ring wall of the second arc-shaped track 611 .

[0167] The housing of the second guide wheel group 613 is mounted on the base 411 of the first linear motion assembly 410 , and the second guide wheels 613 of the second guide wheel group 613 cooperate with the corresponding guide grooves 6112 of the second arc-shaped track 611 .

[0168] like Figure 15 and Figure 16 As shown, in actual implementation, the number of the second arc-shaped tracks 611 is two, and the second mounting seat 631 of the second linear motion component 630 is mounted on the second arc-shaped track 611 of the second rotation component 610 .

[0169] like Figure 16 As shown, the number of the second curved rails 611 of the second rotating component 610 is two, and the second mounting seat 631 of the second linear motion component 630 is installed on the second curved rail 611 of the second rotating component 610. The middle part of each second curved rail 611 is hollowed out and connected to the placement opening 6113 opened on the second curved rail 611.

[0170] like Figure 9 、 Figure 10 and Figure 11 As shown, the fourth gear 423 of the first rotating assembly 420 is mounted on the outside of the ultrasound probe 100 through a mounting sleeve 424. The top cover of the mounting sleeve 424 is snap-connected with the bottom shell of the mounting sleeve 424. The bottom shell of the mounting sleeve 424 has a limiting slot.

[0171] When the top cover of the mounting sleeve 424 is opened from the bottom shell of the mounting sleeve 424, the ultrasonic probe 100 can be placed in the limiting slot of the bottom shell of the mounting sleeve 424 from the placement opening 6113 of the second arc-shaped track 611. The limiting slot engages with the metal protrusion on the ultrasonic probe 100 to ensure the installation accuracy of the ultrasonic probe 100. Finally, the top cover of the mounting sleeve 424 and the bottom shell of the mounting sleeve 424 are snapped together. The top cover of the mounting sleeve 424 can press the ultrasonic probe 100 to ensure that its position will not change during movement.

[0172] like Figure 17 and Figure 18 As shown, in some embodiments, the prostate biopsy robot further includes: a cart 700 .

[0173] Universal wheels are provided at the bottom of the cart 700 , and an adjustment mechanism 800 is installed on the cart 700 . The adjustment mechanism 800 is used to adjust the position of the base 210 of the bottom moving mechanism 200 .

[0174] In this embodiment, the cart 700 can quickly approach the target object, and the position of the base 210 of the bottom moving mechanism 200 can be adjusted by the adjustment mechanism 800, thereby roughly adjusting the position of the ultrasound probe 100 from the anus of the target object.

[0175] like Figure 17 and Figure 18 As shown, exemplarily, the adjustment mechanism 800 includes: a first adjustment mechanism 810 , a second adjustment mechanism 820 and a third adjustment mechanism 830 .

[0176] The power end of the first adjustment mechanism 810 is connected to the base 210 to drive the first arc track 220 of the bottom moving mechanism 200 to move along the Z-axis direction.

[0177] The power end of the second adjusting mechanism 820 is connected to the first adjusting mechanism 810 to drive the first adjusting mechanism 810 to move along the Y-axis direction.

[0178] The power end of the third adjustment mechanism 830 is connected to the second adjustment mechanism 820 to drive the second adjustment mechanism 820 to move along the X-axis direction.

[0179] In this embodiment, the position of the ultrasound probe 100 from the anus of the target object can be roughly adjusted by the first adjustment mechanism 810 , the second adjustment mechanism 820 , and the third adjustment mechanism 830 .

[0180] It should be noted that the doctor can use the cart 700 to move the prostate biopsy robot between the legs of the target object, and then use the first adjustment mechanism 810, the second adjustment mechanism 820 and the third adjustment mechanism 830 to make the ultrasound probe 100 of the prostate biopsy robot close to and align with the anus of the target object, without the need for the doctor to carry the prostate biopsy robot to a suitable position and make the ultrasound probe 100 of the prostate biopsy robot close to and align with the anus of the target object at that position.

[0181] That is, the above embodiment of the present application can roughly adjust the position of the ultrasound probe 100 from the target object's anus, so that the top moving mechanism 400 drives the ultrasound probe 100 to be inserted into the anus with sufficient travel, while also reducing the burden on the doctor to move the prostate biopsy robot.

[0182] In actual implementation, the first adjustment mechanism 810 , the second adjustment mechanism 820 and the third adjustment mechanism 830 all include: a motor, a synchronous pulley, a screw and a bracket.

[0183] The motor of the first adjustment mechanism 810 is connected to the screw through a synchronous pulley, and the screw is threadedly connected to the first arc track 220 of the bottom moving mechanism 200 to drive the base 210 to move along the Z-axis direction.

[0184] The motor of the second adjustment mechanism 820 is connected to the screw through a synchronous pulley, and the screw is threadedly connected to the bracket of the first adjustment mechanism 810 to drive the first adjustment mechanism 810 to move along the Y-axis direction.

[0185] The motor of the third adjustment mechanism 830 is connected to the screw through a synchronous pulley, and the screw is threadedly connected to the bracket of the second adjustment mechanism 820 to drive the second adjustment mechanism 820 to move along the X-axis direction.

[0186] It should be noted that the prostate biopsy robot can be connected to other electronic devices when in use. The electronic devices are used to monitor the movement of the ultrasound probe 100 and the biopsy gun guide assembly 500 described below. The electronic devices include but are not limited to computers, mobile phones and wearable devices.

[0187] Taking the electronic device as a computer as an example, the electronic device can input motion control information of the ultrasonic probe 100, such as information of the ultrasonic probe 100 performing rotational motion around the axis of the ultrasonic probe 100, information of the ultrasonic probe 100 performing linear motion along the axial direction of the ultrasonic probe 100, information of the ultrasonic probe 100 performing circular motion around the second telecentric fixed point b, information of the ultrasonic probe 100 performing pitch motion around the second telecentric fixed point b, etc.

[0188] The motion control information of the biopsy gun guide assembly 500 may also be input, such as information about the biopsy gun guide assembly 500 making circular motion around the axis of the ultrasound probe 100 via the second rotating assembly 610, information about the biopsy gun guide assembly 500 approaching or moving away from the ultrasound probe 100 via the second lifting assembly 620, information about the biopsy gun guide assembly 500 performing puncture via the second linear motion assembly 630, etc.

[0189] The electronic device then sends the motion control information instructions based on the ultrasound probe 100 and the biopsy gun guide assembly 500 to the controller of the prostate biopsy robot, and the controller runs the program in the readable storage medium to output the instructions.

[0190] The following describes an embodiment of the present application from a possible assembly angle of the ultrasound probe 100.

[0191] like Figure 9 、 Figure 10 and Figure 11 As shown, the middle portion of each second arc-shaped track 611 of the second rotating assembly 610 is hollowed out, and a placement opening 6113 is opened on the second arc-shaped track 611 , and the placement opening 6113 is connected to the hollowed-out area in the middle portion of the second arc-shaped track 611 .

[0192] The fourth gear 423 of the first rotating assembly 420 is mounted on the outside of the ultrasonic probe 100 through a mounting sleeve 424. The bottom shell of the mounting sleeve 424 has a limiting slot. The top cover of the mounting sleeve 424 can be snapped with the bottom shell of the mounting sleeve 424 and form an accommodating space with the limiting slot of the bottom shell of the mounting sleeve 424. The accommodating space is used to accommodate the ultrasonic probe 100 and place the ultrasonic probe 100 in the center of the hollow area.

[0193] In this embodiment, the top cover of the mounting sleeve 424 can be opened from the bottom shell of the mounting sleeve 424, and the ultrasonic probe 100 can be placed in the limiting slot of the bottom shell of the mounting sleeve 424 from the placement opening 6113 of the second arc track 611. The limiting slot engages with the metal protrusion on the ultrasonic probe 100 to ensure the installation accuracy of the ultrasonic probe 100, and the top cover of the mounting sleeve 424 and the bottom shell of the mounting sleeve 424 are snapped together. The top cover of the mounting sleeve 424 can press the ultrasonic probe 100 to ensure that its position does not change during movement.

[0194] Among them, a pressure sensor that contacts the metal protrusion can be installed in the limit slot. When the limit slot is engaged with the metal protrusion on the ultrasound probe 100, the preset pressure value of the pressure sensor is equal to the actual pressure value. When the limit slot is not engaged with the metal protrusion on the ultrasound probe 100, the preset pressure value of the pressure sensor is not equal to the actual pressure value. In this way, it can be determined whether the ultrasound probe 100 is correctly connected to the prostate biopsy robot.

[0195] It should be noted that since the second curved track 611 is rotatably arranged around the ultrasound probe 100, that is, the placement opening 6113 of the second curved track 611 can be rotated to a suitable position, at this suitable position, the doctor can conveniently place the ultrasound probe 100 from the placement opening 6113 of the second curved track 611 into the limiting slot of the bottom shell of the mounting sleeve 424.

[0196] In summary, the prostate biopsy robot provided in the embodiments of the present application has at least the following advantages:

[0197] 1. The biopsy gun of the biopsy gun guide assembly is controlled by the mobile control mechanism to move to the area to be tested for puncture, which can improve the puncture accuracy of the biopsy gun of the biopsy gun guide assembly on the prostate lesion point corresponding to the area to be tested, making the sampling result reliable.

[0198] 2. The ultrasonic probe makes circular motion around the second telecentric fixed point through the bottom moving mechanism to achieve adjustment of the circumferential angle, and makes pitch motion around the second telecentric fixed point through the middle moving mechanism to achieve adjustment of the pitch angle, that is, the position of the end of the ultrasonic probe close to the anus does not change, thereby protecting the anus of the target subject.

[0199] 3. The prostate puncture biopsy robot in the related art is large in size and inconvenient for doctors to operate. The present application can roughly adjust the position of the ultrasound probe from the target object's anus so that the top moving mechanism can drive the ultrasound probe to insert into the anus with sufficient stroke, while also reducing the burden on doctors to move the prostate biopsy robot. It has a high degree of automation, and the top moving mechanism is small in size, making it convenient for doctors to operate.

[0200] The above are all preferred embodiments of the present application, and are not intended to limit the scope of protection of the present application. Therefore, any equivalent changes made based on the structure, shape, and principle of the present application should be included in the scope of protection of the present application.

Claims

1. A prostate biopsy robot, characterized in that: include: Ultrasonic probe (100); a bottom moving mechanism (200) for performing circular motion around a first telecentric fixed point (a) so as to align the ultrasonic probe (100) with the anus of a target subject; an intermediate moving mechanism (300) disposed on the bottom moving mechanism (200) and configured to drive the ultrasonic probe (100) to perform a pitching motion with the end of the ultrasonic probe (100) close to the anus as a second telecentric fixed point (b), so that the axial direction of the ultrasonic probe (100) is aligned with the direction of the rectum connected to the anus; A top moving mechanism (400) is provided on the middle moving mechanism (300); the ultrasound probe (100) is provided on the top moving mechanism (400); the top moving mechanism (400) is used to drive the ultrasound probe (100) to be inserted into the anus to obtain an ultrasound image of the target object in real time; A biopsy gun guide assembly (500) is movably arranged on the top moving mechanism (400), and the biopsy gun guide assembly (500) is used to install the biopsy gun; A movement control mechanism (600) is connected to the ultrasound probe (100) and the biopsy gun guide assembly (500), respectively, and is used to obtain a prostate ultrasound image of the target object, wherein a region to be tested is marked in a prostate MRI image, fuse the prostate MRI image with the currently acquired ultrasound image, and control the movement of the biopsy gun guide assembly (500) based on the fused image, so that the biopsy gun of the biopsy gun guide assembly (500) moves to the region to be tested for puncture.

2. The prostate biopsy robot according to claim 1, characterized in that: The bottom moving mechanism (200) comprises: Base (210); A first arc-shaped track (220) is located below the base (210); a rack is provided on the side wall of the first arc-shaped track (220); at least one first gear (230) rotatably disposed on the base (210) and meshing with a rack on a side wall of the first arc-shaped track (220); At least one first guide wheel (240) group includes at least one first guide wheel (240), wherein the first guide wheel (240) is connected to the other opposite side wall of the first arc-shaped track (220) in a guiding manner.

3. The prostate biopsy robot according to claim 2, characterized in that: The intermediate moving mechanism (300) comprises: At least two first lifting assemblies (310) are arranged in parallel on the base (210); each first lifting assembly (310) has a first moving block (311) that moves in a vertical direction, the first moving blocks (311) of the at least two first lifting assemblies (310) are sequentially arranged on the top moving mechanism (400) along the axial direction of the ultrasonic probe (100), and the moving speed of the first moving blocks (311) of the at least two first lifting assemblies (310) gradually increases along the axial direction of the ultrasonic probe (100).

4. The prostate biopsy robot according to claim 3, characterized in that: The top moving mechanism (400) comprises: A first linear motion assembly (410) is arranged side by side with the ultrasonic probe (100); the first motion blocks (311) of the at least two first lifting assemblies (310) are arranged on the first linear motion assembly (410); and the first linear motion assembly (410) is used to drive the ultrasonic probe (100) to perform linear motion along the axial direction of the ultrasonic probe (100).

5. The prostate biopsy robot according to claim 4, characterized in that: The top moving mechanism (400) further comprises: The first rotating assembly (420) is sleeved outside the ultrasonic probe (100) and rotatably arranged on the first linear motion assembly (410), and is used to drive the ultrasonic probe (100) to rotate around the axis of the ultrasonic probe (100).

6. The prostate biopsy robot according to claim 5, characterized in that: The first rotating assembly (420) includes: A first mounting seat (421) is provided on the first linear motion component (410); a third gear (422) rotatably disposed in the first mounting seat (421); The fourth gear (423) is sleeved outside the ultrasonic probe (100) and meshes with the third gear (422).

7. The prostate biopsy robot according to claim 1, characterized in that: The movement control mechanism (600) comprises: a second rotating assembly (610) rotatably disposed on the top moving mechanism (400) and configured to drive the biopsy gun guide assembly (500) to perform circular motion around the axis of the ultrasonic probe (100); a second lifting assembly (620), disposed on the second rotating assembly (610), for driving the biopsy gun guide assembly (500) to move closer to or away from the ultrasound probe (100); The second linear motion assembly (630) is arranged on the second lifting assembly (620), and the biopsy gun guide assembly (500) is arranged side by side on the second linear motion assembly (630). The second linear motion assembly (630) is used to drive the biopsy gun of the biopsy gun guide assembly (500) to puncture.

8. The prostate biopsy robot according to claim 7, characterized in that: The second rotating assembly (610) comprises: At least one second arc-shaped track (611), each second arc-shaped track (611) is arranged around the ultrasonic probe (100), and the center of each second arc-shaped track (611) is located on the axis of the ultrasonic probe (100); the outer ring wall surface of each second arc-shaped track (611) is paved with a second rack (6111), and the inner ring wall surface of each second arc-shaped track (611) is provided with a guide groove (6112); at least one gear set corresponding to each of the second arc-shaped tracks (611); each gear set comprising at least one fifth gear (612), the fifth gear (612) being meshed with a second rack (6111) on the outer ring wall of the corresponding second arc-shaped track (611); At least one second guide wheel (613) group corresponds to each of the second arc-shaped tracks (611); each second guide wheel (613) group includes at least one second guide wheel (613), and the second guide wheel (613) cooperates with the guide groove (6112) on the inner ring wall of the corresponding second arc-shaped track (611).

9. The prostate biopsy robot according to claim 7, characterized in that: The second lifting assembly (620) includes at least two second motion blocks (621) that move radially along the ultrasonic probe (100). The second motion blocks (621) of the second lifting assembly (620) are rotatably connected to the biopsy gun guide assembly (500) and are sequentially arranged on the second linear motion assembly (630) along the axial direction of the biopsy gun guide assembly (500). The movement speed of the second motion blocks (621) of the second lifting assembly (620) gradually increases along the axial direction of the biopsy gun guide assembly (500), or the movement speed of the second motion blocks (621) of the second lifting assembly (620) is equal.

10. The prostate biopsy robot according to any one of claims 1 to 9, characterized in that: The prostate biopsy robot further comprises: A cart (700) is provided with universal wheels at the bottom. An adjustment mechanism (800) is installed on the cart (700). The adjustment mechanism (800) is used to adjust the position of the ultrasound probe (100) so that the ultrasound probe (100) is close to the anus of the target object.

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