Flexible marker based puncture robot system and its non-invasive positioning method

Abstract

The present application provides a flexible marker-based puncture robot system and a non-invasive positioning method thereof, and relates to the technical field of puncture surgery robots, which comprises a collaborative robot, a plurality of flexible adhesive tracking markers, a positioning tool pen, a visual system for scanning and acquiring position information, and a processor connected to the visual system and the collaborative robot, wherein the collaborative robot comprises a robot body and an actuator, the actuator comprises a linear driver and a puncture needle, the processor is used for determining puncture entry point coordinates to lesion point coordinates and controlling the collaborative robot to drive the puncture needle to puncture from the puncture entry point to the lesion point, and the puncture entry point coordinates to the lesion point coordinates are determined according to the following method. The present application has the beneficial effects of improving the accuracy of puncture positioning, reducing the number and size of surgical wounds, and avoiding secondary damage in the positioning process without damaging the patient's tissues and bones for positioning and planning.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of puncture surgical robots, and in particular to a puncture robot system based on a flexible marker and a non-invasive positioning method thereof. BACKGROUND

[0002] Safe and accurate puncture positioning is a key step of minimally invasive spinal surgery and one of the technical difficulties of the surgery, and the accuracy of puncture positioning directly affects the final clinical effect of the surgery. Compared with the traditional open surgery under direct vision, the positioning means of percutaneous puncture surgery is limited, and the commonly used puncture surgery equipment uses methods such as a repeated fluoroscopy positioning method based on a guide wire and a positioning method based on a rigid frame for lesion point positioning.

[0003] The repeated fluoroscopy positioning method based on the guide wire is to puncture by combining preoperative X-ray fluoroscopy with guide wire marking a puncture line, and after puncture, fluoroscopy needs to be performed again to determine whether the target is punctured, and the puncture process needs to be adjusted multiple times, which increases the radiation dose of the doctor and the patient and the probability of complications.

[0004] The positioning method based on the rigid frame is to fix a non-visible rigid marker under X-ray on the patient's bone through a screw, and track the position of the rigid frame by using an infrared optical positioning method. The fixed frame needs to punch a hole on the patient's bone, and needs a larger window area of the anatomical tissue, which is not less than the traditional open surgery, and causes greater secondary damage to the patient, greater damage to the paraspinal muscles, and may damage important joint ligaments and other structures, and is prone to complications. SUMMARY

[0005] Therefore, in order to solve the above problems in the puncture surgery equipment for lesion point positioning in minimally invasive spinal surgery, embodiments of the present application provide a puncture robot system based on a flexible marker and a non-invasive positioning method thereof.

[0006] Embodiments of the present application provide a puncture robot system based on a flexible marker, which comprises:

[0007] A collaborative robot comprising a robot body and an effector, the effector comprising a linear actuator and a puncture needle, the linear actuator being mounted at the end of the robot body, and the puncture needle being mounted on the linear actuator and being driven to move by the linear actuator;

[0008] A plurality of flexible adhesive tracking markers;

[0009] A positioning tool pen;

[0010] A vision system for scanning and acquiring position information;

[0011] The processor, connected to the vision system and the collaborative robot, is used to determine the coordinates of the puncture needle entry point to the lesion point coordinates, and to control the collaborative robot to drive the puncture needle entry point to the lesion point. The coordinates of the puncture needle entry point to the lesion point coordinates are determined according to the following method:

[0012] Acquire lumbar spine CT data, including the lumbar spine and multiple flexible adhesive tracking markers attached near the lumbar spine. Establish a three-dimensional model based on the CT data and map it onto the three-dimensional model coordinate system O. ct The position P of each flexible adhesive tracking mark is determined internally. ct (m), puncture entry point and lesion points Location;

[0013] As the robot's end effector moves, it scans via the vision system in the vision system coordinate system O. eye The internal coordinate system O corresponds to the K points of the robot body end-effector movement. end The origin position P end (i) simultaneously determine the actuator coordinate system O end The origin is in the base coordinate system O base The position below P base (i) Calculate the visual system coordinate system O eye To base coordinate system O base Transformation matrix

[0014] When the tip of the positioning tool touches each of the flexible adhesive tracking marks, the vision system scans the area based on the coordinates of each flexible adhesive tracking mark in the vision system coordinate system O. eye The position below P pen (m) and in the three-dimensional model coordinate system O ct The position below P ct (m), calculate the coordinate system O of the three-dimensional model. ct To the visual system coordinate system O eye Transformation matrix

[0015] Simultaneous transformation matrix and transformation matrix Calculate the coordinate system O of the 3D model ct To base coordinate system O base Transformation matrix According to the transformation matrix puncture entry point and lesion points Transform position coordinates into base coordinate system O base The puncture entry point below and the position coordinates of the lesion points.

[0016] Further, a mark plate fixedly installed on the linear driver is further included, and a plurality of positioning marks are arranged on the mark plate.

[0017] Further, the positioning marks are spheres, and the mark plate is installed on one side of the bottom of the linear driver, and each of the positioning marks is located on both sides of the linear driver.

[0018] Further, the flexible adhesive tracking mark is provided with a positioning hole, and the pen tip of the positioning tool pen can be inserted into the positioning hole.

[0019] Further, the flexible adhesive tracking mark includes a hard base plate and an adhesive layer, the adhesive layer is arranged on one side of the hard base plate, and the positioning hole is arranged on the other side of the hard base plate.

[0020] Further, the positioning tool pen is provided with a plurality of calibration marks at the rear end.

[0021] Further, the robot body is a six-degree-of-freedom robot, the linear driver includes a linear motor and a sliding bracket, the sliding bracket is installed on the sliding seat of the linear motor, and the sliding bracket is connected to the puncture needle.

[0022] Further, the sliding bracket is connected to the puncture needle through a puncture needle chuck, and the puncture needle chuck is a three-jaw chuck.

[0023] Further, the visual system includes an adjustable tripod and a camera installed on the adjustable tripod.

[0024] In addition, the embodiment of the present application also provides a non-invasive positioning method of the above-mentioned puncture robot system based on flexible markers, which includes the following steps:

[0025] S1, respectively paste all the flexible adhesive tracking marks on both sides of the lumbar vertebrae;

[0026] S2, obtain CT data of the lumbar vertebrae, the CT data includes the lumbar vertebrae and a plurality of flexible adhesive tracking marks pasted near the lumbar vertebrae, establish a three-dimensional model according to the CT data, and determine the positions P ct (m) of each flexible adhesive tracking mark in the three-dimensional model coordinate system O ct (m), the puncture entry point and the position of the lesion point.

[0027] ​​S3. Control the robot's end effector to move within the field of view of the vision system, and scan the robot's end effector through the vision system in the vision system coordinate system O. eye Determine the actuator coordinate system O corresponding to the K points of the robot's end effector movement. end The origin position P end (i) simultaneously determine the actuator coordinate system O end The origin is in the base coordinate system O. base The position below P base (i) Calculate the visual system coordinate system O eye To base coordinate system O base Transformation matrix

[0028] S4. Control the tip of the positioning tool pen to touch each of the flexible adhesive tracking marks respectively, and simultaneously scan with the vision system to determine the position P of each flexible adhesive tracking mark in the vision system coordinate system. pen (m) and in the three-dimensional model coordinate system O ct The position below P ct (m), calculate the coordinate system O of the three-dimensional model. ct To the visual system coordinate system O eye Transformation matrix

[0029] S5, Simultaneous Transformation Matrices and transformation matrix Calculate the coordinate system O of the 3D model ct To base coordinate system O base Transformation matrix According to the transformation matrix puncture entry point and lesion points Transform position coordinates into base coordinate system O base The puncture entry point below and lesion points The location coordinates.

[0030] The beneficial effects of the technical solutions provided by the embodiments of the present invention are as follows:

[0031] 1. The flexible marker-based puncture robot system and its non-invasive positioning method of the present application, by pasting flexible adhesive tracking markers on the skin surface on both sides of the lumbar vertebrae, establishing a three-dimensional model using CT data to correlate the position of the flexible adhesive tracking markers, the puncture entry point and the lesion point position, then tracking the motion of the flexible adhesive tracking markers and the end of the robot body using a vision system, establishing the conversion relationship of the three-dimensional model coordinate system to the base coordinate system, and finally converting the coordinates of the puncture entry point and the lesion point position in the three-dimensional model coordinate system to the coordinates of the puncture entry point and the lesion point position in the base coordinate system, so as to determine the puncture motion trajectory of the puncture needle, improve the accuracy of puncture positioning, reduce the number and size of surgical wounds, thereby reducing soft tissue damage, surgical infection rate, recovery time and postoperative pain, while reducing the physical labor of doctors and reducing radiation exposure, thereby reducing the risk of the patient and the patient.

[0032] 2. The flexible marker-based puncture robot system and its non-invasive positioning method of the present application, by placing flexible adhesive tracking markers on the skin of the patient, so that positioning and planning can be performed without damaging the patient's tissues and bones, avoiding secondary injury during the positioning process, reducing the three-dimensional imagination ability and learning curve of the doctor, achieving rapid preoperative planning, and because the flexible adhesive tracking markers are pasted on the skin surface, they will move with physiological movements such as breathing during the operation, so that the patient's physiological movements can be detected and adapted in real time, thereby reducing the positioning error.

[0033] 3. The flexible marker-based puncture robot system and its non-invasive positioning method of the present application, starting from the specific needs of puncture surgery and combining the patient's CT data obtained before the operation, so that the doctor can directly plan the puncture angle and distance in three-dimensional space, assisting the doctor to perform percutaneous puncture conveniently, efficiently and safely, establishing a new diagnosis and treatment method, and solving the problems of steep learning curve, high requirement for three-dimensional imagination ability, difficult planning and complex positioning principle in traditional positioning methods. BRIEF DESCRIPTION OF DRAWINGS

[0034] Figure 1 is a schematic diagram of a flexible marker-based puncture robot system of the present application;

[0035] Figure 2 is a schematic diagram of a collaborative robot;

[0036] Figure 3 is a schematic diagram of an actuator;

[0037] Figure 4 is a schematic diagram of a marker plate;

[0038] Figure 5 is a transformation diagram of various coordinates in the non-invasive positioning method of the flexible marker-based puncture robot system of the present application.

[0039] In the figure: 1, robot body; 2, adapter flange; 3, actuator; 4, linear motor; 5, puncture needle chuck; 6, sliding seat; 7, computer; 8, puncture needle; 9, flexible adhesive tracking marker; 10, positioning tool pen; 11, calibration marker; 12, camera; 13, adjustable tripod; 14, sliding support; 15, roller; 16, jack; 17, mobile base; 18, marker plate; 19, positioning marker; 100, lumbar vertebrae. DETAILED DESCRIPTION

[0040] To make the objects, technical solutions and advantages of the present application clearer, the following further describes the embodiments of the present application with reference to the drawings. The following introduces a relatively preferred one of multiple possible embodiments of the present application, which is intended to provide a basic understanding of the present application, but is not intended to identify key or decisive elements or limit the scope of protection.

[0041] In all examples shown and discussed herein, any specific values should be interpreted as merely illustrative and not as a limitation. Thus, other examples of example embodiments can have different values.

[0042] Techniques, methods, and equipment known to those of ordinary skill in the relevant art can not be discussed in detail, but should be considered part of the specification where appropriate.

[0043] It should be noted that similar reference numbers and letters represent similar items in the following drawings, and thus, once an item is defined in one drawing, it need not be discussed further in subsequent drawings. It should also be understood that the dimensions of the various parts shown in the drawings are not drawn to scale for ease of description.

[0044] It should be further noted that unless otherwise explicitly specified and limited, the terms “mounting”, “connecting” should be interpreted broadly, for example, can be fixed connection, can also be detachable connection, or integral connection; can be mechanical connection, can also be electrical connection; can be directly connected, can also be indirectly connected through an intermediate medium, can be internal communication of two elements. For those of ordinary skill in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0045] Reference Figure 1 The embodiment of the present application provides a puncture robot system based on a flexible marker, which is applied to minimally invasive spinal surgery, and in particular to positioning puncture of a lesion point on a lumbar vertebra. The puncture robot system based on the flexible marker mainly comprises a collaborative robot, multiple flexible adhesive tracking markers 9, a positioning tool pen 10, a vision system and a processor.

[0046] As shown in Figure 2 The collaborative robot mainly comprises a robot body 1 and an effector 3. The robot body 1 is generally a multi-degree-of-freedom robot and can move in multiple degrees of freedom. As described in the embodiment, the robot body 1 is a six-degree-of-freedom robot. The robot body 1 is generally mounted on a mobile base 17, and the bottom of the mobile base 17 is provided with a rolling wheel 15, so that the robot body 1 can be freely moved to a working position.

[0047] As shown in Figure 3 The effector 3 comprises a linear drive and a puncture needle 8. The linear drive is mounted at the end of the robot body 1, and the puncture needle 8 is mounted on the linear drive and driven by the linear drive to move.

[0048] The linear drive can select various existing linear drive mechanisms as long as it can drive the puncture needle to move linearly. In this embodiment, the linear drive comprises a linear motor 4 and a sliding bracket 14 mounted on the slide 6 of the linear motor 4, and the sliding bracket 14 is connected to the puncture needle 8. The linear motor 4 is mounted at the end of the robot body 1. As shown in Figure 3 The bottom of the linear motor 4 is fixedly mounted on the adapter flange 2 at the end of the robot body 1.

[0049] The sliding bracket 14 connects the puncture needle 8 through a puncture needle chuck 5, and the axis of the puncture needle 8 is parallel to the movement direction of the linear motor 4. The puncture needle chuck 5 can select a three-jaw chuck. The puncture needle chuck 5 can clamp the puncture needle 8 when it is closed, and the puncture needle 8 can be released when the puncture needle chuck 5 is opened.

[0050] In order to accurately position the end of the robot body 1 when the effector 3 is scanned, the flexible marker-based puncture robot system further comprises a marker plate 18 fixedly mounted on the linear drive, and a plurality of positioning markers 19 are arranged on the marker plate 18. The positioning markers 19 can be arranged in various markers that can be scanned by the vision system. As shown in Figure 4 In this embodiment, the positioning markers 19 are spheres, and the marker plate 18 is mounted on one side of the linear motor 4 at the bottom, and each positioning marker 19 is located on both sides of the linear motor 4.

[0051] The flexible adhesive tracking marker 9 can be directly pasted on the surface of the patient's skin. The number of flexible adhesive tracking markers 9 can be flexibly selected according to the actual application scene, and generally four or more are selected, such as five in this embodiment.

[0052] The flexible adhesive tracking marker 9 can be set as various markers that can be scanned by the vision system. In this embodiment, the flexible adhesive tracking marker 9 comprises a hard base plate and an adhesive layer, the hard base plate is selected as a stainless steel disc, and the adhesive layer is set on one side of the hard base plate. The adhesive layer is made of gel material, which can ensure that the flexible adhesive tracking marker 9 is effectively fixed on the skin during the operation. Preferably, in some other embodiments, the side surface of the adhesive layer away from the hard base plate is provided with a tear-off protective film, which is torn off when the flexible adhesive tracking marker is needed to be pasted, so as to avoid invalidation of the adhesive layer.

[0053] The positioning tool pen 10 is used to cooperate with the flexible adhesive tracking marker 9 to track the position change of the flexible adhesive tracking marker 9. Generally, the flexible adhesive tracking marker 9 is provided with a positioning hole, which is set on the side of the hard base plate away from the adhesive layer, and is set at the center of the hard base plate. The tip of the positioning tool pen 10 can be inserted into the positioning hole.

[0054] In order to facilitate accurate positioning of the position of the tip of the positioning tool pen 10 when the executor 3 is scanned, the rear end of the positioning tool pen 10 is provided with a plurality of calibration markers 11. The calibration markers 11 can be set as various markers that can be scanned by the vision system. In this embodiment, the calibration markers 11 are set as disc markers. The rear end of the positioning tool pen 10 is provided with two branches arranged in bifurcation, the end of each branch is provided with one calibration marker 11, and one calibration marker 11 is arranged on each side of the middle of the positioning tool pen 10.

[0055] The top of the sliding bracket 14 is provided with a plurality of insertion holes 16, the insertion holes 16 are tapered round holes, and each insertion hole 16 is arranged symmetrically with respect to the center line of the sliding bracket 14. The tip of the positioning tool pen 10 can be inserted into the insertion hole 16, which provides a stable initial calibration plane for the positioning tool pen 10.

[0056] The vision system is used to scan and obtain position information. The vision system generally comprises an adjustable tripod 13 and a camera 12 installed on the adjustable tripod 13. The position of the camera 12 can be adjusted by the adjustable tripod 13, so that the camera 12 obtains the required field of view. The camera 12 can be selected as an infrared camera, a double-focus camera or a stereophotographic infrared camera.

[0057] The processor is connected to the vision system and the collaborative robot respectively. The processor is generally a computer 7 connected to the robot body 1, the linear motor 4 and the camera 12 respectively through an Ethernet interface. The processor is used to determine the puncture entry point coordinate to the lesion point coordinate of the puncture needle, and control the collaborative robot to drive the puncture entry point to the lesion point of the puncture needle.

[0058] As shown in Figure 5 , the puncture entry point coordinate to the lesion point coordinate of the puncture needle is determined by the following method:

[0059] Obtain the CT data of the lumbar vertebrae, which includes the lumbar vertebrae and a plurality of flexible adhesive tracking markers attached near the lumbar vertebrae. The m flexible adhesive tracking markers 9 are fixed on the surface of the waist skin in advance, to ensure that the flexible adhesive tracking markers do not interfere with the planned puncture area, and are distributed on both sides of the lumbar vertebrae 100. By scanning the lumbar vertebrae 100 of the patient with a CT scanning device, the CT data of the lumbar vertebrae including the flexible adhesive tracking markers can be obtained.

[0060] A three-dimensional model is established according to the CT data, and the positions of the m flexible adhesive tracking markers P ct (m), the puncture entry point and the lesion point are determined in the three-dimensional model coordinate system O ct .

[0061] When the robot body 1 moves at the end, it is scanned by the vision system to ensure that each flexible adhesive tracking marker 9 is within the field of view of the vision system. The origin position P eye (i) of the actuator coordinate system O end corresponding to the K points of the robot body 1 moving at the end is determined in the vision system coordinate system O end , and the position P end (i) of the origin of the actuator coordinate system O base in the base coordinate system O base is determined, and the origin of the actuator coordinate system O end is the position of the robot body at the end.

[0062] According to the K positions P eye (i) of the robot body 1 at the end in the vision system coordinate system O end , i=1…k and its K coordinates P base (i), i=1…k in the base coordinate system O base , the transformation matrix eye from the vision system coordinate system O base to the base coordinate system O

[0063] Moving the positioning tool pen 10 into the visual system field of view and inserting the positioning tool pen tip 10 into the insertion hole 16 ensures that the positioning tool pen 10 is directly facing the visual system, and the visual system is used to establish the positioning tool pen coordinate system O pen .

[0064] Controlling the positioning tool pen 10 tip to sequentially insert into the positioning holes of the flexible adhesive tracking markers 9, and when the positioning tool pen 10 tip touches each of the flexible adhesive tracking markers 9, scanning through the visual system, according to the positions P eye (m) of the m flexible adhesive tracking markers 9 in the visual system coordinate system O pen and the positions P ct (m) in the three-dimensional model coordinate system O ct , when the positioning tool pen tip sequentially inserts into the positioning holes of the flexible adhesive tracking markers, the position of the positioning tool pen tip is the position of the flexible adhesive tracking markers.

[0065] According to the positions P eye (m) of the m flexible adhesive tracking markers 9 in the visual system coordinate system O pen and the positions P ct (m) in the three-dimensional model coordinate system O ct , the transformation matrix ct from the three-dimensional model coordinate system O eye to the visual system coordinate system O

[0066] The transformation matrix and the transformation matrix are calculated simultaneously to obtain the transformation matrix ct from the three-dimensional model coordinate system O base to the base coordinate system O According to the transformation matrix , the position coordinates of the puncture entry point and the lesion point are converted to the position coordinates of the puncture entry point and the lesion point in the base coordinate system O base .

[0067] According to the positions of the puncture entry point and the lesion point , the puncture motion trajectory of the robot body 1 is planned, and when reaching the specified puncture entry point, the posture is adjusted to make the puncture needle 8 coincide with the point and the point The vectors formed are collinear, and the processor controls the linear motor to move forward, driving the sliding support to move so that the puncture needle 8 passes through the puncture entry point and reaches the lesion.

[0068] In addition, such as Figure 5 As shown, embodiments of the present invention also provide a non-invasive localization method for the above-mentioned puncture robot system based on flexible markers, comprising the following steps:

[0069] S1. Attach all flexible adhesive tracking markers 9 to both sides of the lumbar vertebra 100: Attach and fix m flexible adhesive tracking markers 9 to the skin surface of the lumbar region, ensuring that the flexible adhesive tracking markers 9 do not interfere with the planned puncture area, and that they are distributed on both sides of the lumbar vertebra 100.

[0070] Establish various reference coordinate systems, with the collaborative robot's base coordinate system O. base Built on the bottom of the mobile base 17, the processor establishes the actuator coordinate system O based on the plurality of positioning marks. end Visual system coordinate system O eye Established on the camera focal plane of the vision system, the 3D model coordinate system O ct It is built on CT scanning equipment.

[0071] S2. Acquire lumbar spine CT data, the CT data including the lumbar spine and multiple flexible adhesive tracking markers attached near the lumbar spine. By scanning the lumbar spine at 100° using a CT scanner, lumbar spine CT data including the flexible adhesive tracking markers can be obtained. A three-dimensional model is constructed based on the CT data, and the model is mapped to the three-dimensional coordinate system O. ct The position P of each flexible adhesive tracking mark is determined internally. ct (m), puncture entry point and lesion points The location.

[0072] S3. Control the end effector of the robot body 1 to move within the field of view of the vision system, ensuring that each of the flexible adhesive tracking markers 9 is within the field of view of the vision system. Scan the end effector of the robot body 1 through the vision system in the vision system coordinate system O. eye The internal coordinate system O corresponds to the K points of movement of the robot's end effector 1. end The origin position P end (i) simultaneously determine the actuator coordinate system O end The origin is in the base coordinate system O. base The position below P base (i) The actuator coordinate system O end The origin is the end position of the robot body.

[0073] According to the end of the robot body 1 in the visual system coordinate system O eye K positions P within end (i), i = 1…k and its coordinate system O base K coordinates P below base (i), i = 1…k, calculate the visual system coordinate system O eye To base coordinate system O base Transformation matrix

[0074] S4. Move the positioning tool pen 10 into the field of view of the vision system, and insert the tip of the positioning tool pen 10 into the socket, ensuring that the front of the positioning tool pen 10 is facing the vision system. Use the vision system to establish the positioning tool pen coordinate system O. pen .

[0075] The positioning tool pen 10 is controlled to insert its tip into the positioning hole of the flexible adhesive tracking mark 9 in sequence. When the tip of the positioning tool pen 10 touches each of the flexible adhesive tracking marks 9, it is scanned by the vision system. Based on the m flexible adhesive tracking marks 9 in the vision system coordinate system O... eye The position below P pen (m) and in the three-dimensional model coordinate system O ct The position below P ct (m) When the tip of the positioning tool pen 10 is inserted into the positioning hole of the flexible adhesive tracking mark 9 in sequence, the position of the tip of the positioning tool pen 10 is the position of the flexible adhesive tracking mark 9.

[0076] Based on m flexible adhesive tracking markers 9 in the vision system coordinate system O eye The position below P pen (m) and its coordinates in the three-dimensional model coordinate system O ct The position below P ct (m), calculate the coordinate system O of the three-dimensional model. ct To the visual system coordinate system O eye Transformation matrix

[0077] S5, Simultaneous Transformation Matrices and transformation matrix Calculate the coordinate system O of the 3D model ct To base coordinate system O base Transformation matrix According to the transformation matrix puncture entry point and lesion points Transform position coordinates into base coordinate system O base The puncture entry point below and lesion points The position coordinates of the puncture entry point and the lesion point can be determined.

[0078] In this article, the front, back, up, down and other orientation words are defined by the position of the parts in the figure and the position of the parts relative to each other in the figure, just to express the technical solution clearly and conveniently. It should be understood that they are relative concepts, which can be changed accordingly according to different ways of use and placement, and the use of the orientation words should not limit the scope of the application.

[0079] In the case of no conflict, the above-mentioned embodiments and features in the embodiments can be combined with each other. The above-mentioned is only the preferred embodiment of the application, and is not used to limit the application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the application should be included in the protection scope of the application.

Claims

1. A puncture robot system based on flexible markers, characterized in that, include: A collaborative robot includes a robot body and an actuator, the actuator including a linear actuator and a puncture needle, the linear actuator being mounted at the end of the robot body, and the puncture needle being mounted on the linear actuator and driven by the linear actuator to move. Multiple flexible adhesive tracking markers; Positioning tool pen; A vision system, used to scan and acquire location information; The processor, connected to the vision system and the collaborative robot, is used to determine the coordinates of the puncture needle entry point to the lesion point coordinates, and to control the collaborative robot to drive the puncture needle entry point to the lesion point. The coordinates of the puncture needle entry point to the lesion point coordinates are determined according to the following method: Acquire lumbar spine CT data, including the lumbar spine and multiple flexible adhesive tracking markers attached near the lumbar spine. Establish a three-dimensional model based on the CT data and map it onto the three-dimensional model coordinate system O. ct The position P of each flexible adhesive tracking mark is determined internally. ct (m), puncture entry point and lesion points Location; As the robot's end effector moves, it scans via the vision system in the vision system coordinate system O. eye The internal coordinate system O corresponds to the K points of the robot body end-effector movement. end The origin position P end (i) simultaneously determine the actuator coordinate system O end The origin is in the base coordinate system O base The position below P base (i) Calculate the visual system coordinate system O eye To base coordinate system O base Transformation matrix When the tip of the positioning tool touches each of the flexible adhesive tracking marks, the vision system scans the area based on the coordinates of each flexible adhesive tracking mark in the vision system coordinate system O. eye The position below P pen (m) and in the three-dimensional model coordinate system O ct The position below P ct (m), calculate the coordinate system O of the three-dimensional model. ct To the visual system coordinate system O eye Transformation matrix Joint transformation matrix and transformation matrix Calculate the coordinate system O of the 3D model ct To base coordinate system O base Transformation matrix According to the transformation matrix puncture entry point and lesion points Transform position coordinates into base coordinate system O base The puncture entry point below and lesion points Position coordinates; It also includes a marking plate fixedly mounted on the linear drive, the marking plate having multiple positioning marks; The positioning mark is a sphere, and the marking plate is mounted on one side of the bottom of the linear actuator, with each positioning mark located on both sides of the linear actuator.

2. The puncture robot system based on flexible markers as described in claim 1, characterized in that: The flexible adhesive tracking mark is provided with a positioning hole, and the tip of the positioning tool pen can be inserted into the positioning hole.

3. The puncture robot system based on flexible markers as described in claim 2, characterized in that: The flexible adhesive tracking marker includes a rigid chassis and an adhesive layer, with the adhesive layer disposed on one side of the rigid chassis and the positioning hole disposed on the other side of the rigid chassis.

4. The puncture robot system based on flexible markers as described in claim 1, characterized in that: The positioning tool pen has multiple calibration marks at its rear end.

5. The puncture robot system based on flexible markers as described in claim 1, characterized in that: The robot body is a six-degree-of-freedom robot, and the linear actuator includes a linear motor and a sliding bracket. The sliding bracket is mounted on the slide of the linear motor and is connected to the puncture needle.

6. The puncture robot system based on flexible markers as described in claim 5, characterized in that: The sliding support is connected to the puncture needle via a puncture needle clamp, which is a three-jaw clamp.

7. The puncture robot system based on flexible markers as described in claim 1, characterized in that: The vision system includes an adjustable tripod and a camera mounted on the adjustable tripod.

8. The non-invasive positioning method for a puncture robot system based on flexible markers as described in any one of claims 1 to 7, characterized in that, Includes the following steps: S1. Attach all flexible adhesive tracking markers to both sides of the lumbar spine; S2. Acquire lumbar spine CT data, the CT data including the lumbar spine and multiple flexible adhesive tracking markers attached near the lumbar spine; establish a three-dimensional model based on the CT data, and map the model onto the three-dimensional model coordinate system O. ct The position P of each flexible adhesive tracking mark is determined internally. ct (m), puncture entry point and lesion points Location; S3. Control the robot's end effector to move within the field of view of the vision system, and scan the robot's end effector through the vision system in the vision system coordinate system O. eye The internal coordinate system O corresponds to the K points of the robot body end-effector movement. end The origin position P end (i) simultaneously determine the actuator coordinate system O end The origin is in the base coordinate system O. base The position below P base (i) Calculate the visual system coordinate system O eye To base coordinate system O base Transformation matrix S4. Control the tip of the positioning tool pen to touch each of the flexible adhesive tracking marks respectively, and simultaneously scan through the vision system, based on the coordinates of each flexible adhesive tracking mark in the vision system coordinate system O. eye The position below P pen (m) and in the three-dimensional model coordinate system O ct The position below P ct (m), calculate the coordinate system O of the three-dimensional model. ct To the visual system coordinate system O eye Transformation matrix S5, Joint Transformation Matrix and transformation matrix Calculate the coordinate system O of the 3D model ct To base coordinate system O base Transformation matrix According to the transformation matrix puncture entry point and lesion points Transform position coordinates into base coordinate system O base The puncture entry point below and lesion points The location coordinates.

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