Puncture Robot System

Abstract

This application relates to a puncture robot system, comprising: a robot; a puncture needle mounted on the robot; a main control device communicatively connected to the robot, the main control device having an actuator for controlling the robot to drive the puncture needle to perform a puncture operation; a computed tomography (CT) scanner communicatively connected to the main control device for scanning and at least outputting an image of the area where the puncture needle is located; a slave force measuring device mounted on the puncture needle for detecting the puncture resistance during needle insertion; a drive unit connected to the actuator, the slave force measuring device communicatively connected to the drive unit, the drive unit for applying feedback resistance to the actuator based on the puncture resistance; and a master force measuring device mounted on the actuator for detecting the feedback resistance, the master force measuring device communicatively connected to the drive unit, the drive unit being able to perform negative feedback adjustment of the feedback resistance based on the magnitude of the puncture resistance and the feedback resistance, thereby reducing the difference between the feedback resistance and the puncture resistance. This puncture robot system can improve the feedback accuracy of puncture resistance.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to puncture robot systems. Background Technology

[0002] Aspiration, or biopsy, is a diagnostic and treatment technique that involves inserting a needle into a patient's body cavity to extract secretions for testing, injecting gas or contrast agents into the cavity for imaging examinations, or injecting medication into the cavity. Currently, aspiration is often performed under CT image guidance. By observing CT images, the operator can determine the position and orientation of the needle within the patient's body, allowing for timely adjustments to the needle's posture and successful completion of the puncture. However, because CT scans involve radiation, prolonged exposure to this environment can pose significant health risks to doctors. Therefore, when using CT image guidance for aspiration, a robot is typically installed inside the CT room, with the needle mounted on it. The doctor then remotely controls the robot from outside the CT room to guide the needle through the puncture. While the needle encounters resistance during insertion, remotely controlling the robot prevents the doctor from directly manipulating the needle, thus hindering the precise application of this resistance and potentially affecting the accuracy of the aspiration. Summary of the Invention

[0003] Therefore, it is necessary to provide a puncture robot system that allows the operator to feel the puncture resistance, thereby improving puncture accuracy.

[0004] A puncture robotic system, comprising:

[0005] robot;

[0006] A puncture needle is installed on the robot;

[0007] A main control device is communicatively connected to the robot. The main control device is equipped with an operator, which is used to control the robot to drive the puncture needle to perform a puncture operation.

[0008] A computed tomography (CT) scanner, communicatively connected to the main control device, is used to scan and at least output an image of the area where the puncture needle is located;

[0009] The end force measuring element is installed on the puncture needle and is used to detect the puncture resistance when the puncture needle is inserted.

[0010] A drive unit is connected to the manipulator, and the slave force measuring element is communicatively connected to the drive unit. The drive unit is used to apply feedback resistance to the manipulator based on the puncture resistance.

[0011] A main force measuring element is installed on the manipulator and is used to detect the feedback resistance. The main force measuring element is communicatively connected to the drive element. The drive element can perform negative feedback adjustment on the output feedback resistance based on the magnitude of the puncture resistance and the feedback resistance, so as to reduce the difference between the feedback resistance and the puncture resistance.

[0012] In one embodiment, the drive unit can perform negative feedback adjustment on the output feedback resistance based on the magnitude of the puncture resistance and the feedback resistance until the feedback resistance is equal to the puncture resistance.

[0013] In one embodiment, if the feedback resistance is less than the puncture resistance, the drive is configured to increase the current to increase the output feedback resistance; if the feedback resistance is greater than the puncture resistance, the drive is configured to decrease the current to decrease the output feedback resistance.

[0014] In one embodiment, a retainer is further included. The actuator includes a slip ring configured to move in a preset direction to cause the puncture needle to perform an insertion operation. The retainer is connected between the drive member and the slip ring. The output power of the drive member is used to cause the retainer to abut against the slip ring in the opposite direction of the preset direction to apply the feedback resistance to the slip ring.

[0015] In one embodiment, the main end force measuring element includes a main end pressure strain gauge, which is connected between the supporting member and the driving member. The output power is transmitted to the supporting member via the main end pressure strain gauge, so that the supporting member abuts against the slip ring. The main end pressure strain gauge can deform under the action of the output power, and the feedback resistance is measured based on the deformation.

[0016] In one embodiment, a transmission assembly is further included between the main end pressure strain gauge and the driving member, and the output power is transmitted to the main end pressure strain gauge via the transmission assembly.

[0017] In one embodiment, the transmission assembly includes a gear and a rack that mesh with each other, the gear being connected to the drive member, the rack being connected to the main end pressure strain gauge, and the drive member causing the rack to abut against the main end pressure strain gauge via the gear.

[0018] In one embodiment, the slave-end force measuring element includes a slave-end pressure strain gauge connected between the robot and the puncture needle. When the puncture needle is in the insertion state, the slave-end pressure strain gauge is resisted by the puncture needle and deformed, and the puncture resistance is measured based on the deformation.

[0019] In one embodiment, the main control device includes a carrier plate on which a display, which is communicatively connected to the computed tomography (CT) scanner, is mounted to display scanned images. An operator is mounted on the carrier plate and slidably connected to it, and the operator is slidable relative to the carrier plate.

[0020] In one embodiment, the main control device includes a control module, and the robot, the computed tomography (CT) scanner, the slave force measuring device, the drive device, and the master force measuring device are all communicatively connected to the control module.

[0021] The aforementioned puncture robot system scans and outputs images of the area where the puncture needle is located using a computed tomography (CT) scanner, allowing the operator to determine the needle's position and orientation based on the scanned images. The slave-end force sensor detects the puncture resistance during needle insertion, and the drive unit applies feedback resistance to the manipulator based on this resistance, allowing the operator to intuitively perceive the puncture resistance and improve puncture accuracy. Simultaneously, the master-end force sensor detects the feedback resistance applied to the manipulator, enabling the drive unit to perform negative feedback adjustment on the output feedback resistance based on the magnitude of the feedback resistance and the puncture resistance. This reduces the difference between the feedback resistance and the puncture resistance, thereby minimizing the deviation and improving the accuracy of the puncture resistance feedback. Thus, the operator can both visually see the needle's position and orientation through the scanned images and more accurately perceive the puncture resistance, helping to more precisely control the robot to guide the needle during puncture, thereby improving puncture success rate and efficiency. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of a puncture robot system in one embodiment of this application.

[0023] Figure 2 This is a schematic diagram of a puncture robot system in another embodiment of this application.

[0024] Figure 3 This is a front view of the main control device in one embodiment of this application.

[0025] Figure 4 This is a schematic diagram of the back of the main control device in one embodiment of this application.

[0026] Figure 5 This is a schematic diagram of components such as the operator, the main force measuring element, and the drive element in one embodiment of this application.

[0027] Figure 6 This is a schematic diagram of a puncture needle, a force measuring device at the end, and a robot in one embodiment of this application.

[0028] Figure 7 This is a schematic diagram illustrating the operation mode of the operator in one embodiment of this application.

[0029] Figure 8 This is a schematic diagram showing the positions of the operator, the operator mounting plate, and the support plate in one embodiment of this application.

[0030] Figure 9 This is a schematic diagram of the handle being in the retracted state in one embodiment of this application.

[0031] Figure 10 This is a schematic diagram of the main control device in another embodiment of this application.

[0032] Figure 11 This is a schematic diagram showing the positions of the operating trolley and the electrical cabinet in one embodiment of this application.

[0033] Figure label:

[0034] Robot 100, puncture end piece 110; puncture needle 210, fixing base 211, end pressure strain gauge 220, radiation shield 230;

[0035] Main control device 300, operating trolley 310, bearing plate 311, zero position slot 3111, lifting structure 312, storage slot 3121, base 313, casters 314, ground brake 315, handle 316, pressure sensor 3161, foot pedal 317, operator 320, rocker arm 321, slip ring 322, CT monitor 331, puncture monitor 332, CT control panel 341, operator control panel 342, operator mounting plate 350, drive component 361, gear 362, rack 363, main end pressure strain gauge 364, support component 365, electrical cabinet 370;

[0036] 400 computed tomography (CT) scanner;

[0037] CT room 510, local operation room 520, remote operation room 530. Detailed Implementation

[0038] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0039] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0040] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0041] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0042] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0043] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0044] See Figure 1 , Figure 5 and Figure 6 An embodiment of this application provides a puncture robot system including a robot 100, a puncture needle 210, a main control device 300, a computed tomography (CT) scanner 400, a drive unit 361, a slave force measuring device, and a master force measuring device. The puncture needle 210 is mounted on the robot 100. The main control device 300 is communicatively connected to the robot 100. The main control device 300 is equipped with an operator 320, which controls the robot 100 to drive the puncture needle 210 to perform a puncture operation. The CT scanner 400 is communicatively connected to the main control device 300 and is used to scan and at least output an image of the area where the puncture needle 210 is located. Both the slave and master force measuring devices are communicatively connected to the drive unit 361. The slave force measuring device is mounted on the puncture needle 210 and is used to detect the puncture resistance when the puncture needle 210 is inserted. A drive unit 361 is connected to the actuator 320 and is used to apply feedback resistance to the actuator 320 based on the puncture resistance. A main-end force measuring element is mounted on the actuator 320 and is used to detect the feedback resistance. The drive unit 361 can perform negative feedback adjustment of the output feedback resistance based on the magnitude of the puncture resistance and the feedback resistance to reduce the difference between the feedback resistance and the puncture resistance.

[0045] The aforementioned puncture robot system scans and outputs images of the area where the puncture needle 210 is located using a computed tomography (CT) scanner 400, allowing the operator to determine the position and orientation of the puncture needle 210 based on the scanned images. The slave-end force sensor detects the puncture resistance during needle insertion, and the drive unit 361 applies feedback resistance to the manipulator 320 based on this resistance, allowing the operator to intuitively perceive the puncture resistance and improve puncture accuracy. Simultaneously, the master-end force sensor detects the feedback resistance applied to the manipulator 320, enabling the drive unit 361 to perform negative feedback adjustment on the output feedback resistance based on the magnitude of the feedback resistance and the puncture resistance. This reduces the difference between the feedback resistance and the puncture resistance, thereby minimizing the deviation between them and improving the accuracy of the puncture resistance feedback. In this way, the operator can intuitively see the position and orientation of the puncture needle 210 through the scanned image, and can more accurately feel the puncture resistance. This helps the operator to more accurately control the robot 100 to drive the puncture needle 210 to puncture, thereby improving the puncture success rate and puncture efficiency.

[0046] Specifically, during needle insertion, the puncture needle 210 needs to penetrate multiple layers of tissue cells, such as the superficial skin, fat layer, and possibly encounter hard areas like bone. The resistance encountered by the puncture needle 210 varies as it passes through these areas. Therefore, by intuitively sensing the magnitude of the resistance and combining this with the position of the puncture needle 210 in the scanned image, the operator can more accurately determine the current puncture status, thereby more precisely adjusting subsequent needle insertion operations to ensure the puncture needle 210 reaches the lesion area more smoothly and efficiently. By improving the accuracy of puncture resistance feedback through the embodiments of this application, the operator's intuitive perception becomes more precise, leading to more accurate judgments and ultimately improving the success rate and efficiency of puncture.

[0047] See Figure 1 and Figure 6 Specifically, the robot 100 includes a robot body and a puncture end effector 110. The robot body includes multiple joints connected in sequence. The puncture end effector 110 is mounted on the end joints, and the puncture needle 210 is mounted on the puncture end effector 110. The robot body can drive the puncture end effector 110 and the puncture needle 210 to swing, thereby adjusting the orientation of the puncture needle 210. The drive structure in the puncture end effector 110 can drive the puncture needle 210 to extend or retract, thereby realizing needle insertion or withdrawal.

[0048] See Figure 5 and Figure 6 In some embodiments, if the feedback resistance is less than the puncture resistance, the drive 361 is configured to increase the current to increase the output feedback resistance; if the feedback resistance is greater than the puncture resistance, the drive 361 is configured to decrease the current to decrease the output feedback resistance.

[0049] Specifically, the puncture resistance information detected by the end force measuring device during needle insertion of the puncture needle 210 is transmitted back to the drive device 361. The drive device 361 outputs power based on the puncture resistance, which is ultimately applied to the manipulator 320, allowing the operator holding the manipulator 320 to feel the feedback resistance, thus visually simulating the puncture resistance. Understandably, the current in the drive device 361 affects its output power; the greater the current, the greater the output power. The magnitude of the output power is equal to the magnitude of the puncture resistance. Ideally, after the output power is transmitted to the manipulator 320, the magnitude of the feedback resistance applied to the manipulator 320 should be equal to the output power, i.e., equal to the puncture resistance. However, due to potential force loss along the path of the output power to the manipulator 320, the final feedback resistance applied to the manipulator 320 may be less than the output power, i.e., less than the puncture resistance. Alternatively, in other cases, the final feedback resistance applied to the manipulator 320 may be greater than the output power, i.e., greater than the puncture resistance. Therefore, after comparing the feedback resistance and the puncture resistance, if the feedback resistance is less than the puncture resistance, the current of the drive component 361 can be increased to increase the output power, thereby increasing the feedback resistance. This negative feedback adjustment reduces the difference between the feedback resistance and the puncture resistance. If the feedback resistance is greater than the puncture resistance, the current of the drive component 361 can be decreased to reduce the output power, thereby reducing the feedback resistance. This negative feedback adjustment further reduces the difference between the feedback resistance and the puncture resistance. In this way, the feedback resistance and the puncture resistance can be made as close as possible, allowing the feedback resistance felt by the operator's hand to more accurately reflect the actual puncture resistance. This helps the operator to more accurately control the robot 100 to drive the puncture needle 210, thereby improving the puncture success rate and efficiency.

[0050] See Figure 5 and Figure 6 In some embodiments, the drive 361 can perform negative feedback adjustment of the output feedback resistance based on the magnitude of the puncture resistance and the feedback resistance until the feedback resistance is equal to the puncture resistance.

[0051] Specifically, after comparing the feedback resistance and the puncture resistance, if the feedback resistance is less than the puncture resistance, the current of the drive component 361 can be increased to increase the output power, thereby increasing the feedback resistance. This is then adjusted through negative feedback to reduce the difference between the feedback resistance and the puncture resistance until they are equal. If the feedback resistance is greater than the puncture resistance, the current of the drive component 361 can be decreased to reduce the output power, thereby reducing the feedback resistance. This is again adjusted through negative feedback to reduce the difference between the feedback resistance and the puncture resistance until they are equal. In this way, the feedback resistance and the puncture resistance can be kept equal in real time, making the feedback resistance felt by the operator's hand more precise, further improving the puncture success rate and puncture efficiency.

[0052] Of course, in other embodiments, the difference between the feedback resistance and the puncture resistance can also be kept within a small range by adjusting the negative feedback.

[0053] See Figures 5 to 6 In some embodiments, a retainer 365 is also included. The actuator 320 includes a slip ring 322, which is configured to move in a preset direction to cause the puncture needle 210 to perform a needle insertion operation. The retainer 365 is connected between the drive member 361 and the slip ring 322. The output power of the drive member 361 is used to cause the retainer 365 to resist the slip ring 322 in the opposite direction of the preset direction to apply feedback resistance to the slip ring 322.

[0054] Specifically, the manipulator 320 includes a rocker arm 321 and a slip ring 322 slidably connected. The slip ring 322 can slide along the length of the rocker arm 321. The preset direction is along the length of the rocker arm 321 and towards the side closer to the drive member 361. When the slip ring 322 slides along the rocker arm 321 towards the side closer to the drive member 361, the puncture end member 110 drives the puncture needle 210 to perform an insertion operation; conversely, it performs a withdrawal operation. More specifically, the encoder on the manipulator 320 side can record the motion parameters of the manipulator 320 and transmit them to the encoder on the puncture end member 110 side. The encoder on the puncture end member 110 side transmits the motion parameters to the drive structure in the puncture end member 110. This drive structure drives the puncture needle 210 to move, thereby performing the action corresponding to the slip ring 322. The output power of the drive member 361 is transmitted to the abutment member 365, causing the abutment member 365 to abut against the slip ring 322 in the opposite direction of the preset direction, thereby preventing the operator from pushing the slip ring in the preset direction. In this way, the operator can feel the feedback resistance when pushing the slip ring 322 in the preset direction with his hand.

[0055] See Figure 5 In some embodiments, the main end force measuring element includes a main end pressure strain gauge 364, which is connected between the support member 365 and the drive member 361. The output power is transmitted to the support member 365 through the main end pressure strain gauge 364 so that the support member 365 abuts against the slip ring 322. The main end pressure strain gauge 364 can deform under the action of the output power and measure the feedback resistance based on the deformation.

[0056] Specifically, one end of the supporting member 365 is fixedly connected to the slip ring 322, and the other end is fixedly connected to the main end pressure strain gauge 364, which is also connected to the driving member 361. The output power from the driving member 361 is directed in the opposite direction to the main end pressure strain gauge 364, which in turn is directed to the supporting member 365, and then to the slip ring 322, so that the operator feels feedback resistance when pushing the slip ring 322 in the preset direction. When the output power is directed in the opposite direction to the main end pressure strain gauge 364, the main end pressure strain gauge 364 will deform, thereby generating a corresponding electrical signal based on the deformation. This electrical signal is transmitted to the control module, which processes the signal to obtain the feedback resistance.

[0057] See Figure 5 In some embodiments, a transmission assembly is also included between the main end pressure strain gauge 364 and the drive member 361, and the output power is transmitted to the main end pressure strain gauge 364 via the transmission assembly.

[0058] Specifically, the driving component 361 is a motor, whose output rotational power is converted into linear output power by a transmission assembly and applied to the main end pressure strain gauge 364. In other embodiments, the driving component 361 can be a cylinder, a linear motor, or an electric actuator, etc., to directly output linear output power.

[0059] See Figure 5 Furthermore, in some embodiments, the transmission assembly includes a gear 362 and a rack 363 that mesh with each other. The gear 362 is connected to a drive member 361, and the rack 363 is connected to a main end pressure strain gauge 364. The drive member 361 causes the rack 363 to abut against the main end pressure strain gauge 364 through the gear 362.

[0060] Specifically, the drive component 361 is a motor, and the gear 362 is connected to the motor's output shaft. Through a gear and rack structure, the rotational power is converted into linear output power, which is then applied to the main end pressure strain gauge 364. The motor only outputs forward rotational power, but its output shaft actually rotates in reverse. Specifically, when the operator's hand begins to push the slip ring 322 in a preset direction, the motor outputs forward rotational power, causing the gear 362 to tend to rotate forward, and the rack to tend to move in the opposite direction. During the sliding of the slip ring 322 in the preset direction, the rack actually moves along the preset direction; correspondingly, the gear 362 also rotates in reverse, and the motor output shaft also rotates in reverse.

[0061] In other embodiments, the transmission component may also be a lead screw assembly or other structure capable of converting between rotational and linear motion.

[0062] See Figure 6In some embodiments, the force measuring element includes a strain gauge 220 connected between the robot 100 and the puncture needle 210. When the puncture needle 210 is in the insertion state, the strain gauge 220 is held by the puncture needle 210 and deforms, and the puncture resistance is measured based on the deformation.

[0063] Specifically, the slave-end pressure strain gauge 220 is installed in the fixing seat 211 of the puncture needle 210 and connected between the puncture end piece 110 and the puncture needle 210. When the puncture needle 210 extends in a direction away from the puncture end piece 110, the needle insertion operation is performed. During the needle insertion process, the tissue cells exert puncture resistance on the puncture needle 210 in the opposite direction of the insertion direction, thereby causing the puncture needle 210 to squeeze the slave-end pressure strain gauge 220. The slave-end pressure strain gauge 220 deforms and generates a corresponding electrical signal based on the deformation. This electrical signal is transmitted to the control module, which processes the electrical signal to obtain the puncture resistance. The control module is communicatively connected to the drive unit 361. The master-end pressure strain gauge 364 and the slave-end pressure strain gauge 220 are both communicatively connected to the control module. The control module compares the received feedback resistance with the puncture resistance, and based on this, determines and controls the drive unit 361 to increase or decrease the current.

[0064] See Figure 6 In some embodiments, in order to reduce radiation to the slave end pressure strain gauge 220 and extend its service life, a radiation shield 230 is provided on the outside of the slave end pressure strain gauge 220.

[0065] See Figures 5 to 7 In some embodiments, the specific operation of the manipulator 320 is described. As previously mentioned, when the slip ring 322 slides along the rocker arm 321 toward the side closer to the drive member 361, the puncture end member 110 drives the puncture needle 210 to perform an insertion operation; conversely, it performs a retraction operation. When the rocker arm 321 rotates around the X-axis and / or Y-axis, the puncture needle 210 swings to adjust its orientation, wherein the X-axis, Y-axis, and the aforementioned preset direction are perpendicular to each other. In its natural state, the manipulator 320 is braked, and the three movements described above (movement of the slip ring 322 and rotation of the rocker arm 321) cannot occur. A button is provided on the slip ring 322; pressing this button is required to release the brake and perform the three movements described above. The rocker arm 321 can rotate around its own axis to adjust the orientation of the button, facilitating operation by the operator.

[0066] The slip ring 322 mentioned above slides along the rocker arm 321 toward the side closer to the drive member 361, which is the needle insertion mode; the slip ring 322 slides along the rocker arm 321 toward the side away from the drive member 361, which is the needle retraction mode; the rocker arm 321 rotates around the X-axis and / or Y-axis, which is the orientation adjustment mode.

[0067] In this embodiment, force feedback is only performed when the puncture needle 210 is in the needle insertion mode, and the corresponding component (e.g., the drive 361) is in the open state. In the needle withdrawal or orientation adjustment mode, this function cannot be used, and the corresponding component is in the closed state.

[0068] See Figure 3 , Figure 4 and Figure 8 In some embodiments, the main control device 300 includes a support plate 311, on which a display that is communicatively connected to the computed tomography scanning device 400 is mounted. The display is used to display scanned images. An operator 320 is mounted on the support plate 311 and the two are slidably connected. The operator 320 is slidable relative to the support plate 311.

[0069] Specifically, the operator 320 is mounted on the operator mounting plate 350 and the two are slidably connected. The operator mounting plate 350 is mounted below the support plate 311 and extends along the length of the support plate 311. The operator 320 can slide to the left or right side along the extension direction of the operator mounting plate 350 so that the operator can operate the operator 320 with both the left and right hands, making it more convenient to use.

[0070] The system includes two displays: a CT display 331 and a puncture display 332. Both are communicatively connected to the computed tomography (CT) scanner 400 and to the control module. The CT display 331 displays the CT imaging results of a human or animal, while the puncture display 332 displays the CT imaging of the puncture needle and target area.

[0071] See Figure 3 , Figure 4 and Figure 8 In some embodiments, the operator mounting plate 350 is mounted below the support plate 311 and the two are slidably connected. The support plate 311 is provided with a zero-position groove 3111. The operator mounting plate 350 can slide along the width direction of the support plate 311 until the operator 320 enters the zero-position groove 3111. Specifically, when the operator 320 is not needed, it can be returned to the zero-position groove 3111 to prevent the operator 320 from being accidentally touched.

[0072] Preferably, a locking structure can be provided to lock the operator 320 or the operator mounting plate 350, so that the operator 320 can be stably held in the zero-position slot 3111. In use, the locking structure must be unlocked before the operator 320 or the operator mounting plate 350 can be moved. For example, the locking structure may include a hook and a through hole, one of which is provided on the support plate 311 and the other is provided on the operator 320 or the operator mounting plate 350, with the hook engaging the through hole to achieve locking. Of course, other conventional locking structures are also possible.

[0073] See Figure 3 , Figure 4 and Figure 8 In some embodiments, the main control device 300 includes two separate operating trolleys 310. The two operating trolleys 310 have similar structures, and each operating trolley 310 includes a support plate 311, a lifting structure 312, and a base 313. In each operating trolley 310, one end of the lifting structure 312 is connected to the base 313, and the other end is connected to the support plate 311. The puncture monitor 332 and the CT monitor 331 are respectively placed on the two support plates 311, and the display panels of the puncture monitor 332 and the CT monitor 331 can be raised and lowered. The support plate 311 on which the CT monitor 331 is placed also has a CT control panel 341, and the support plate 311 on which the puncture monitor 332 is placed also has an operator control panel 342, and the aforementioned operator mounting plate 350 and operator 320 are installed thereon. Each support plate 311 also has components such as a mouse and keyboard. The CT control panel 341 is used to operate the computed tomography (CT) scanner 400, including functions such as volume adjustment, bed movement, and voice communication. The operator control panel 342 is equipped with the control buttons of the operator 320, including a puncture end button, an emergency stop button, a mode knob, indicator lights, etc.

[0074] The two operating carts 310 are separately configured, allowing either one or both to be used as needed. For example, when only a CT scan is required without puncture, only the operating cart 310 equipped with the CT monitor 331 can be used, while the cart 310 equipped with the puncture monitor 332 can be transported and stored to prevent damage due to misoperation. When puncture is required with the aid of a CT scan, both operating carts 310 are used simultaneously. Furthermore, the separate configuration of the two operating carts 310 allows for convenient operation by two separate operators when puncture is performed with the aid of a CT scan.

[0075] Preferably, the lifting structure 312 is equipped with components such as a linear motor or an electric push rod to drive the corresponding support plate 311 to rise and fall, so as to meet the usage needs of operators at different heights.

[0076] Preferably, each operating trolley 310 is equipped with casters 314 under its base 313, enabling the operating trolley 310 to move and making it more convenient to use. Preferably, in each operating trolley 310, at least two casters 314 are electric power-assisted casters, which can provide driving force and reduce the difficulty of handling in scenarios such as uphill transport.

[0077] Preferably, in each operating trolley 310, a ground brake 315 is also installed under the base 313. When the operating trolley 310 is moved to the position, the motor drives the ground brake 315 to extend downward and support it on the ground, thereby suspending the casters 314 and stabilizing the operating trolley 310 in the current position.

[0078] See Figure 3 , Figure 4 , Figure 8 and Figure 9 In some embodiments, the lifting structure 312 is also provided with a handle 316, which the operator can use to move the operating trolley 310.

[0079] Preferably, a pressure sensor 3161 is provided on the handle 316. The pressure sensor 3161 can sense the force applied by the operator's hand to the handle 316. The greater the force, the greater the difficulty of handling. If the sensed force exceeds the pressure threshold, the electric power-assisted casters are activated to provide assistance in handling and reduce the difficulty of handling.

[0080] The lifting structure 312 is also equipped with a foot pedal 317. After the load is moved into place, simply stepping on the foot pedal 317 will lock the casters 314. The specific locking method is existing technology and will not be described in detail here. After locking the casters 314, the ground brake 315 can be extended downwards and supported on the ground in the aforementioned manner.

[0081] Preferably, the lifting structure 312 is also provided with a storage slot 3121. After the transport is completed, the handle 316 can be rotated downwards to store it in the storage slot 3121, so as to reduce the space occupied and facilitate the placement of the trolley 310 against the wall. The pivot shaft that rotatably connects the handle 316 and the lifting structure 312 is provided with a zero-return damper. The zero-return damper can slowly and automatically return the handle 316 to the storage slot 3121 after the handle 316 is released.

[0082] See Figure 10 In some embodiments, the main control device 300 includes only one operating trolley 310, which is connected to... Figure 3 The difference in the illustrated embodiment is that the manipulator 320, CT monitor 331, puncture monitor 332, CT control panel 341, manipulator control panel 342, and manipulator mounting plate 350 are all mounted on the support plate 311 of this single operating trolley 310. This embodiment is equivalent to... Figure 3 In the illustrated embodiment, the puncture operating system and the scanning operating system are integrated together.

[0083] See Figure 3 , Figure 10 and Figure 11In some embodiments, the main control device 300 includes a control module, and the robot 100, the computed tomography scanning device 400, the slave force measuring device, the drive device 361, and the master force measuring device are all communicatively connected to the control module.

[0084] Specifically, in some embodiments, the main control device 300 includes a separate operating trolley 310 and an electrical cabinet 370, with the control module housed within the electrical cabinet 370. For example, the operating trolley 310 includes a support plate 311, and the electrical cabinet 370 is located below the support plate 311. Separating the electrical cabinet 370 from the operating trolley 310 facilitates maintenance of the control module within the electrical cabinet 370; maintenance can be performed simply by pulling out the electrical cabinet 370. Alternatively, in other embodiments, the lifting structure 312 is hollow inside to house the control module, meaning the control module is integrated into the operating trolley 310.

[0085] In addition, the above embodiments can be combined with Figure 10 The embodiment shown is similar, except that only one operating trolley 310 is provided; it can also be similar to... Figure 3 The embodiment shown is similar, with two separate operating trolleys 310.

[0086] See Figure 1 In some embodiments, the robot 100 and the computed tomography (CT) scanner 400 are housed within the CT room 510, while the main control unit 300 is located in a local operating room 520, which is separated from the CT room 510. The operator remotely controls the robot 100 to perform the puncture procedure using the puncture needle 210 from within the local operating room 520. Therefore, the operator is not exposed to radiation from prolonged exposure within the CT room 510, thus mitigating potential health risks.

[0087] See Figure 2 In some embodiments, the robot 100 and the computed tomography (CT) scanner 400 are located within the CT room 510, while a main control device 300 is located in the local operating room 520, which is separated from the CT room 510. A main control device 300 is also located in the remote operating room 530, and the main control device 300 in the remote operating room 530 is communicatively connected to the robot 100. The remote operating room 530 and the local operating room 520 can be located in two different locations, such as different cities. The operator can remotely control the robot 100 to perform a puncture operation with the puncture needle 210 from the local operating room 520, or remotely control the robot 100 to perform a puncture operation with the puncture needle 210 from the remote operating room 530. This enables surgical operations in a remote mode.

[0088] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0089] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A puncture robot system, characterized in that, The puncture robotic system includes: Robot (100); A puncture needle (210) is mounted on the robot (100); The main control device (300) is communicatively connected to the robot (100). The main control device (300) is equipped with an operator (320), which is used to control the robot (100) to drive the puncture needle (210) to perform a puncture operation. A computed tomography (CT) scanner (400) is communicatively connected to the main control device (300) and is used to scan and output at least an image of the area where the puncture needle (210) is located; The end force measuring element is installed on the puncture needle (210) and is used to detect the puncture resistance when the puncture needle (210) is inserted; A drive unit (361) is connected to the manipulator (320), and the slave force measuring element is communicatively connected to the drive unit (361). The drive unit (361) is used to apply feedback resistance to the manipulator (320) based on the puncture resistance. The main end force measuring element is installed on the manipulator (320) and is used to detect the feedback resistance. The main end force measuring element is communicatively connected to the drive element (361). The drive element (361) can perform negative feedback adjustment on the output feedback resistance based on the magnitude of the puncture resistance and the feedback resistance, so as to reduce the difference between the feedback resistance and the puncture resistance.

2. The puncture robot system according to claim 1, characterized in that, The drive unit (361) can perform negative feedback adjustment on the output feedback resistance based on the magnitude of the puncture resistance and the feedback resistance until the feedback resistance is equal to the puncture resistance.

3. The puncture robot system according to claim 1, characterized in that, If the feedback resistance is less than the puncture resistance, the drive (361) is configured to increase the current to increase the output feedback resistance; If the feedback resistance is greater than the puncture resistance, the drive (361) is configured to reduce the current to reduce the output feedback resistance.

4. The puncture robot system according to any one of claims 1 to 3, characterized in that, It also includes a retainer (365), the actuator (320) includes a slip ring (322) configured to move in a preset direction to cause the puncture needle (210) to perform a needle insertion operation, the retainer (365) is connected between the drive (361) and the slip ring (322), the output power of the drive (361) is used to cause the retainer (365) to abut against the slip ring (322) in the opposite direction of the preset direction to apply the feedback resistance to the slip ring (322).

5. The puncture robot system according to claim 4, characterized in that, The main end force measuring component includes a main end pressure strain gauge (364), which is connected between the supporting member (365) and the driving member (361). The output power is transmitted to the supporting member (365) via the main end pressure strain gauge (364) so ​​that the supporting member (365) abuts against the slip ring (322). The main end pressure strain gauge (364) can deform under the action of the output power and measure the feedback resistance based on the deformation.

6. The puncture robot system according to claim 5, characterized in that, It also includes a transmission assembly connecting the main end pressure strain gauge (364) and the drive member (361), and the output power is transmitted to the main end pressure strain gauge (364) via the transmission assembly.

7. The puncture robot system according to claim 6, characterized in that, The transmission assembly includes a gear (362) and a rack (363) that mesh with each other. The gear (362) is connected to the drive member (361), and the rack (363) is connected to the main end pressure strain gauge (364). The drive member (361) causes the rack (363) to abut against the main end pressure strain gauge (364) through the gear (362).

8. The puncture robot system according to any one of claims 1 to 3, characterized in that, The force measuring device includes a strain gauge (220) connected between the robot (100) and the puncture needle (210). When the puncture needle (210) is in the insertion state, the strain gauge (220) is held by the puncture needle (210) and deforms, and the puncture resistance is measured based on the deformation.

9. The puncture robot system according to any one of claims 1 to 3, characterized in that, The main control device (300) includes a support plate (311), on which a display is carried that is communicatively connected to the computed tomography scanning device (400). The display is used to display scanned images. The operator (320) is mounted on the support plate (311) and the two are slidably connected. The operator (320) can slide relative to the support plate (311).

10. The puncture robot system according to any one of claims 1 to 3, characterized in that, The main control device (300) includes a control module, and the robot (100), the computed tomography scanning device (400), the slave force measuring device, the drive device (361), and the master force measuring device are all communicatively connected to the control module.

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