Lung puncture robot and master-slave control puncture system with force feedback

Abstract

The invention provides a lung puncture robot and a master-slave control puncture system with force feedback, and the robot comprises an upper translation mechanism with a Corexy structure; the lower layer translation mechanism is provided with a Corexy structure; the bracket is connected with the lower surface of the upper-layer translation mechanism and the upper surface of the lower-layer translation mechanism; one end of the puncture needle inserting mechanism is rotationally connected to the upper-layer translation mechanism, and the other end of the puncture needle inserting mechanism is rotationally connected to the lower-layer translation mechanism; the upper-layer translation mechanism and the lower-layer translation mechanism drive the puncture needle inserting mechanism to move in the X direction and the Y direction; the puncture needle is connected to the puncture needle inserting mechanism and used for executing puncture operation. The robot has five degrees of freedom, has the characteristics of small size and light weight, can enter a CT scanning hole together with a patient, and effectively compensates the influence of respiratory movement on an operation; according to the puncture system, the safety and efficiency of lung puncture operation can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical equipment, and in particular to a lung puncture robot and a master-slave control puncture system with force feedback. Background Art

[0002] As a common medical procedure, lung puncture surgery is widely used in the diagnosis and treatment of lung diseases, especially in the early screening and biopsy of lung cancer. However, during the operation, the doctor needs to accurately locate the target lesion within a certain time window and perform the puncture operation, which requires a high level of technical skills and surgical environment. Especially when the patient's physical condition is unstable or the tumor site is relatively hidden, the success rate and safety of the operation will be affected to a certain extent. In addition, during the lung puncture operation, CT images are usually required for real-time guidance and positioning. Although CT scans can provide accurate lung images, long-term exposure to CT radiation poses potential risks to the health of patients and medical staff. Especially when multiple lung puncture operations are performed, patients and doctors may unknowingly receive excessive radiation, which poses a threat to their physical health.

[0003] With the continuous development of medical technology, the application of robotic technology in surgical operations has gradually increased, which can effectively improve the accuracy and safety of surgery. In particular, through the precise robot control system, it can overcome the errors caused by human factors in traditional surgery and provide a more stable surgical process. However, the existing robots are generally large in size and weight, and the robots cannot enter the CT scanning hole with the patient.

[0004] After searching, it was found that the Chinese invention patent with application publication number CN114469282A discloses an orthogonal structure five-degree-of-freedom puncture robot, including two layers of driving platforms; the driving platforms each include a base, a translation assembly, a linear driving assembly, a driving connecting rod, a bracket, a slider and a connecting joint; the translation assembly drives the bracket to translate linearly; the first end of the driving connecting rod is hinged to the linear driving assembly through a vertical axis, and the second end is hinged to the slider through a vertical axis; the slider is arranged on the bracket and can slide along the translation direction perpendicular to the bracket; the connecting joint is hinged to the slider through a Y-direction rotating shaft; the first fixed part and the second fixed part are respectively hinged to the connecting joint of one driving platform and the connecting joint of the other driving platform through an X-direction horizontal axis; and also includes a needle feeding mechanism, which is composed of a lifting motor and a pneumatic clamp. This patent guides the insertion position and posture of the puncture needle by driving the two layers of driving assemblies, and realizes the movement of the puncture needle in its axial direction through the needle feeding mechanism. The robot cannot complete the puncture function autonomously, and the master-slave control technology has limited application in lung puncture surgery. It cannot fully meet the needs of the surgery and cannot guarantee the accuracy and safety of the surgical process. Summary of the invention

[0005] In view of the defects in the prior art, the object of the present invention is to provide a lung puncture robot and a master-slave control puncture system with force feedback.

[0006] According to one aspect of the present invention, there is provided a lung puncture robot, comprising:

[0007] An upper translation mechanism, wherein the upper translation mechanism has a Corexy structure;

[0008] A lower translation mechanism, wherein the lower translation mechanism has a Corexy structure;

[0009] A bracket connecting the lower surface of the upper translation mechanism and the upper surface of the lower translation mechanism;

[0010] A puncture needle insertion mechanism, one end of which is rotatably connected to the upper translation mechanism, and the other end of which is rotatably connected to the lower translation mechanism; the upper translation mechanism and the lower translation mechanism drive the puncture needle insertion mechanism to move in the X direction and the Y direction;

[0011] The puncture needle is connected to the puncture needle insertion mechanism and is used to perform the puncture operation.

[0012] Optionally, the upper translation mechanism comprises:

[0013] An upper bracket, having a frame-shaped structure with an opening on one side, comprising a first upper frame, a second upper frame and a third upper frame arranged in sequence, wherein the second upper frame is opposite to the opening of the upper bracket;

[0014] Motor 1, located at one end of the second upper frame close to the first upper frame;

[0015] Motor 2, located at one end of the second upper frame close to the third upper frame;

[0016] An upper slide rail is arranged on the inner side of the third upper frame, and the upper slide rail is arranged along the length direction of the third upper frame;

[0017] An upper connecting rod, one end of which is connected to an upper slider, the upper slider moves along the upper slide rail, and the other end of the upper connecting rod is provided with a first upper connecting member and a first lower connecting member, the first lower connecting member is connected to the upper surface of the first upper frame;

[0018] An upper transmission wheel assembly, comprising a first transmission wheel and a second transmission wheel arranged on the outer side of the motor 1, a third transmission wheel and a fourth transmission wheel arranged on the outer side of the motor 2, a fifth transmission wheel located at one end of the opening of the first upper frame close to the upper bracket, a sixth transmission wheel located at one end of the opening of the upper bracket of the third upper frame, a seventh transmission wheel and an eighth transmission wheel located at one end of the upper connecting rod, and a ninth transmission wheel and a tenth transmission wheel located at the other end of the upper connecting rod, wherein the first transmission wheel and the third transmission wheel are located on a side away from the opening of the upper bracket, and the seventh transmission wheel and the ninth transmission wheel are located on a side close to the opening of the upper bracket;

[0019] A first conveyor belt is sequentially wound around the first motor, the second conveyor wheel, the fifth conveyor wheel, the seventh conveyor wheel, the tenth conveyor wheel and the first conveyor wheel;

[0020] The second conveyor belt is sequentially wound around the second motor, the fourth conveyor wheel, the sixth conveyor wheel, the ninth conveyor wheel, the eighth conveyor wheel and the third conveyor wheel.

[0021] Optionally, the lower translation mechanism comprises:

[0022] A lower bracket, having a frame-shaped structure with an opening on one side, comprising a first lower frame, a second lower frame and a third lower frame arranged in sequence, wherein the second lower frame is opposite to the opening of the lower bracket;

[0023] Motor three, located at one end of the second lower frame close to the first lower frame;

[0024] Motor 4 is located at one end of the second lower frame close to the third lower frame;

[0025] A lower sliding rail is arranged on the inner side of the third lower frame, and the lower sliding rail is arranged along the length direction of the third lower frame;

[0026] A lower connecting rod, one end of which is connected to the lower slider, the lower slider moves along the lower sliding rail, and the other end of the lower connecting rod is provided with a second upper connecting member and a second lower connecting member, the second lower connecting member is connected to the upper surface of the first lower frame;

[0027] A lower transmission wheel assembly, comprising an eleventh transmission wheel and a twelfth transmission wheel arranged on the outer side of the motor three, a thirteenth transmission wheel and a fourteenth transmission wheel arranged on the outer side of the motor four, a fifteenth transmission wheel located at one end of the opening of the first lower frame close to the lower bracket, a sixteenth transmission wheel located at one end of the opening of the lower bracket of the third lower frame, a seventeenth transmission wheel and an eighteenth transmission wheel located at one end of the lower connecting rod, and a nineteenth transmission wheel and a twentieth transmission wheel located at the other end of the lower connecting rod, wherein the eleventh transmission wheel and the thirteenth transmission wheel are located on a side away from the opening of the lower bracket, and the seventeenth transmission wheel and the nineteenth transmission wheel are located on a side close to the opening of the lower bracket;

[0028] a third conveyor belt, sequentially wound around the third motor, the twelfth conveyor wheel, the fifteenth conveyor wheel, the seventeenth conveyor wheel, the twentieth conveyor wheel and the eleventh conveyor wheel;

[0029] The fourth conveyor belt is sequentially arranged on the fourth motor, the fourteenth conveyor wheel, the sixteenth conveyor wheel, the nineteenth conveyor wheel, the eighteenth conveyor wheel and the thirteenth conveyor wheel.

[0030] Optionally, a first belt clamp for fixing the first conveyor belt and the second conveyor belt is provided on a side surface of the upper connecting rod.

[0031] Optionally, a slider connector 2 is provided on the side of the upper connecting rod, and the slider connector 2 is connected to one end of the ball joint through the ball joint connector 1, and the other end of the ball joint is connected to the puncture needle insertion mechanism slider through the ball joint connector 2.

[0032] Optionally, the side surface of the lower connecting rod is connected to a universal joint connecting piece, the universal joint connecting piece is connected to the universal joint through a second connecting shaft, and the inner wall of the universal joint is provided with a first connecting shaft connected to the puncture needle insertion mechanism.

[0033] Optionally, the puncture needle insertion mechanism comprises:

[0034] A connecting rod, one side of which is provided with a puncture needle insertion mechanism slide rail, along which the puncture needle insertion mechanism slider slides; the connecting shaft 1 passes through the connecting rod;

[0035] A puncture needle fixing plate, located on the other side of the connecting rod, and used to fix the puncture needle;

[0036] The motor five is located at the other side of the connecting rod, and the motor five is fixed above the puncture needle fixing plate, and the motor five drives the puncture needle fixing plate to move up and down.

[0037] According to another aspect of the present invention, a master-slave control puncture system with force feedback is provided, which includes the above-mentioned lung puncture robot, and also includes a master hand and a host computer, the lung puncture robot and the master hand are respectively connected to the host computer, and the lung puncture robot serves as a slave hand to complete the positioning and orientation of the puncture needle and the final puncture process; the host computer transmits the position information of the master hand to the slave hand, so that the robot reaches the target position; the host computer is also used to feedback the force condition of the puncture needle and transmit the force of the puncture needle to the master hand.

[0038] Furthermore, the host computer transmits the force of the puncture needle to the master hand through master-slave mapping.

[0039] Furthermore, when the force sensor at the end of the puncture needle detects that the force on the needle tip of the puncture needle is greater than a preset value, the host computer controls the lung puncture robot to stop moving.

[0040] Compared with the prior art, the present invention has at least one of the following beneficial effects:

[0041] 1. The lung puncture robot provided by the present invention uses two superimposed Cartesian platforms and an innovative Corexy winding method. The motor pulls the conveyor belt to achieve two translations and two orientations, thereby realizing four degrees of freedom of the robot and one degree of freedom of the puncture needle puncture process in the puncture needle insertion mechanism. The robot has a total of five degrees of freedom, with a total size of 315×210×225mm and a total weight of 1.8kg. The robot can enter the CT scanning hole together with the patient while ensuring the comfort when fixed on the patient's body, thereby effectively compensating for the influence of respiratory movement on the operation.

[0042] 2. The master-slave control puncture system with force feedback provided by the present invention improves the safety of the puncture process by transmitting the force of the puncture needle tip to the master hand, so that the doctor can remotely control the master hand to operate the robot to complete the puncture process. By adopting high-precision positioning technology and real-time force feedback mechanism, the present invention significantly improves the safety and efficiency of lung puncture surgery and promotes the development of lung puncture surgery towards higher precision and intelligence. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0044] Figure 1 This is a schematic diagram of the structure of a lung puncture robot in one embodiment of the present invention;

[0045] Figure 2 It is a schematic structural diagram of the upper translation mechanism of the lung puncture robot in one embodiment of the present invention;

[0046] Figure 3 It is a schematic structural diagram of the lower translation mechanism of the lung puncture robot in one embodiment of the present invention;

[0047] Figure 4 A schematic diagram of the Corexy mechanism winding of a lung puncture robot in one embodiment of the present invention;

[0048] Figure 5 It is a structural schematic diagram of the puncture needle insertion mechanism of the lung puncture robot in one embodiment of the present invention;

[0049] Figure 6 Schematic diagram of the principle of a master-slave control puncture system with force feedback in one embodiment of the present invention.

[0050] The reference numerals in the figure correspond to: 1-upper translation mechanism, 2-puncture needle mechanism, 3-puncture needle, 4-lower translation mechanism, 5-bracket, 201-upper bracket, 202-motor 1, 203-motor 2, 204-third transmission wheel, 205-screw, 206-upper slide rail, 207-upper slider, 208-slider connector 1, 209-first upper connector, 210-first lower connector, 211-slider connector 2, 212-first belt clip, 213-ball hinge connector one, 214-ball hinge, 215-puncture needle insertion mechanism slider, 216-ball hinge connector two, 301-motor three, 302-motor four, 305-universal joint connector, 306-connecting shaft one, 307-universal joint, 308-connecting shaft two, 401-connecting rod, 402-motor five, 403-guide column, 404-puncture needle fixing plate, 405-puncture needle insertion mechanism slide rail. DETAILED DESCRIPTION

[0051] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several variations and improvements may be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0052] Reference Figure 1A lung puncture robot provided by an embodiment of the present invention comprises an upper translation mechanism 1, a lower translation mechanism 4, a bracket 5, a puncture needle insertion mechanism 2 and a puncture needle 3, wherein: the upper translation mechanism 1 and the lower translation mechanism 4 have a Corexy structure (i.e., a Cartesian platform); the bracket 5 connects the lower surface of the upper translation mechanism 1 with the upper surface of the lower translation mechanism 4, and comprises rod-shaped connectors at four corners; one end of the puncture needle insertion mechanism 2 is rotatably connected to the upper translation mechanism 1, and the other end is rotatably connected to the lower translation mechanism 4 to realize rotation around the X direction and the Y direction; the upper translation mechanism 1 and the lower translation mechanism 4 drive the puncture needle insertion mechanism 2 to move in the X direction and the Y direction; the puncture needle 3 is connected to the puncture needle insertion mechanism 2 for performing a puncture operation.

[0053] The four degrees of freedom of positioning and orientation of the robot in the embodiment of the present invention are realized based on the Corexy structure by two superimposed identical Cartesian platforms, and each Cartesian platform realizes translation in the X and Y directions by synchronously pulling the conveyor belt through a motor.

[0054] Reference Figure 2 and Figure 4In some embodiments, the upper translation mechanism 1 includes an upper bracket 201, a motor 1 202, a motor 203, an upper slide rail 206, an upper connecting rod, an upper transmission wheel assembly, a first conveyor belt and a second conveyor belt, wherein: the upper bracket 201 has a frame-type structure with an opening on one side, including a first upper frame, a second upper frame and a third upper frame arranged in sequence, wherein the second upper frame is opposite to the opening of the upper bracket 201; the motor 1 202 is located at one end of the second upper frame close to the first upper frame; the motor 203 is located at one end of the second upper frame close to the third upper frame; the upper slide rail 206 is arranged on the inner side of the third upper frame, and the upper slide rail 206 is arranged along the length direction of the third upper frame; one end of the upper connecting rod is connected to the upper slider 207 through a slider connector 1 208, and the upper slider 207 moves along the upper slide rail 206, and the other end of the upper connecting rod is provided with a first upper connector 209 and a first lower connector 210 for fixing the transmission wheel, and the first upper connector 2 09 is symmetrical with the first lower connecting member 210, and the first lower connecting member 210 is connected to the upper surface of the first upper frame; the upper transmission wheel assembly includes a first transmission wheel and a second transmission wheel arranged on the outside of the motor 1 202, a third transmission wheel 204 and a fourth transmission wheel arranged on the outside of the motor 203, a fifth transmission wheel located at an opening end of the first upper frame close to the upper bracket 201, a sixth transmission wheel located at an opening end of the upper bracket 201 of the third upper frame, a seventh transmission wheel and an eighth transmission wheel located at one end of the upper connecting rod, and a ninth transmission wheel and a tenth transmission wheel located at the other end of the upper connecting rod, wherein the first transmission wheel and the third transmission wheel 204 are located on the side away from the opening of the upper bracket 201, and the seventh transmission wheel and the ninth transmission wheel are located on the side close to the opening of the upper bracket 201; taking the third transmission wheel 204 as an example, it is fixed to the upper bracket 201 by screws 205, and the other transmission wheels adopt the same installation and fixing method as the third transmission wheel 204; Figure 4 As shown by the red line in the middle, the first conveyor belt is sequentially wound around the first motor, the second conveyor wheel, the fifth conveyor wheel, the seventh conveyor wheel, the tenth conveyor wheel and the first conveyor wheel; Figure 4 As shown by the middle blue line, the second conveyor belt is sequentially disposed on the second motor, the fourth conveyor wheel, the sixth conveyor wheel, the ninth conveyor wheel, the eighth conveyor wheel and the third conveyor wheel 204 .

[0055] Reference Figure 3 and Figure 4In some embodiments, the structure of the lower translation mechanism 4 is the same as that of the upper translation mechanism 1, and the placement directions of the two are opposite, that is, the two are symmetrically arranged, and the lower translation mechanism 4 includes a lower bracket, a motor three 301, a motor four 302, a lower slide rail, a lower connecting rod, a lower transmission wheel assembly, a third conveyor belt and a fourth conveyor belt, wherein: the lower bracket has a frame-type structure with an opening on one side, including a first lower frame, a second lower frame and a third lower frame arranged in sequence, wherein the second lower frame is opposite to the opening of the lower bracket; the motor three 301 is located at one end of the second lower frame close to the first lower frame; the motor four 302 is located at one end of the second lower frame close to the third lower frame; the lower slide rail is arranged on the inner side of the third lower frame, and the lower slide rail is arranged along the length direction of the third lower frame; one end of the lower connecting rod is connected to the lower slider, and the lower slider moves along the lower slide rail, and the other end of the lower connecting rod is provided with a second upper connecting member and a second lower connecting member, and the second lower connecting member is connected to the upper surface of the first lower frame; the lower transmission wheel assembly includes a lower connecting member, a lower connecting member and a lower connecting member, and the ... The feeding wheel assembly includes an eleventh transmission wheel and a twelfth transmission wheel arranged on the outside of motor three 301, a thirteenth transmission wheel and a fourteenth transmission wheel arranged on the outside of motor four 302, a fifteenth transmission wheel located at one end of the opening of the first lower frame close to the lower bracket, a sixteenth transmission wheel located at one end of the opening of the lower bracket of the third lower frame, a seventeenth transmission wheel and an eighteenth transmission wheel located at one end of the lower connecting rod, and a nineteenth transmission wheel and a twentieth transmission wheel located at the other end of the lower connecting rod, wherein the eleventh transmission wheel and the thirteenth transmission wheel are located on the side away from the opening of the lower bracket, and the seventeenth transmission wheel and the nineteenth transmission wheel are located on the side close to the opening of the lower bracket; the third conveyor belt is sequentially wound around the third motor, the twelfth transmission wheel, the fifteenth transmission wheel, the seventeenth transmission wheel, the twentieth transmission wheel and the eleventh transmission wheel; the fourth conveyor belt is sequentially wound around the fourth motor, the fourteenth transmission wheel, the sixteenth transmission wheel, the nineteenth transmission wheel, the eighteenth transmission wheel and the thirteenth transmission wheel.

[0056] In some embodiments, the side of the upper connecting rod is provided with a first belt clamp 212 for fixing the first conveyor belt and the second conveyor belt. The side of the lower connecting rod is provided with a second belt clamp for fixing the third conveyor belt and the fourth conveyor belt.

[0057] like Figure 4 The winding diagram of the Corexy structure corresponding to the upper translation mechanism 1 is shown. The Corexy structure is a parallel motion platform, driven by two motors on the same layer, which can provide two degrees of freedom Cartesian motion. The compact structure of the Corexy mechanism can ensure the miniaturization of the robot, and the conveyor drive ensures the lightweight design of the robot. At the same time, the two motors of the Corexy structure remain fixed during the movement, which can make the movement more agile and fast, and achieve higher positioning accuracy.

[0058] In the Corexy structure, the relationship between motor rotation and moving position is shown in the following formula:

[0059]

[0060] Among them, ΔX and ΔY are the relative displacements at the corresponding positions of the belt clips, that is, the displacements of the upper translation mechanism 1 (or the lower translation mechanism 4), and ΔA and ΔB are the distances corresponding to the number of revolutions of the motor itself, that is, the distances driven by the conveyor belt to move. Figure 4 The red and blue lines in the figure convert the motor's rotational motion into the module's translational motion. When the motors run in the same rotational direction and speed, the motor's motion is converted into the module's translational motion in the X direction; when the motors run in the opposite direction and at the same rotational speed, the motor's motion is converted into the module's translational motion in the Y direction. This position conversion relationship can be integrated into a control motherboard, allowing the computer to quickly and accurately send position signals to the mechanism to precisely control the robot's motion.

[0061] Continue to refer to Figure 2 In some embodiments, in order to facilitate the connection between the upper translation mechanism 1 and the upper part of the puncture needle insertion mechanism 2, a ball joint connection method is adopted between the two. Specifically, a slider connector 211 is provided on the side of the upper connecting rod, and the slider connector 211 is connected to one end of the ball joint 214 through the ball joint connector 213, and the other end of the ball joint 214 is connected to the puncture needle insertion mechanism slider 215 through the ball joint connector 216.

[0062] Continue to refer to Figure 3 In some embodiments, in order to facilitate the connection between the lower translation mechanism 4 and the lower part of the puncture needle insertion mechanism 2, a universal joint connection method is adopted between the two. Specifically, the side of the lower connecting rod is connected to the universal joint connector 305, and the universal joint connector 305 is connected to the universal joint 307 through the second connecting shaft 308. The inner wall of the universal joint 307 is provided with a connecting shaft 1 306 connected to the puncture needle insertion mechanism 2. The connection method of the puncture needle insertion mechanism 2 with the upper translation mechanism 1 and the lower translation mechanism 4 is convenient for assembly and convenient for the movement of the puncture needle insertion mechanism 2.

[0063] In the above embodiment of the present invention, the four degrees of freedom of translation and orientation of the robot are realized by two superimposed Corexy structures, and the puncture needle mechanism 2 connects the two Cartesian platforms through the ball joint and the universal joint 307, so that the puncture needle 3 can realize five degrees of freedom in a suitable working space. When the two mechanisms are running at the same time, the needle tip can move on the XY plane to realize the positioning of the puncture needle 3; when the bottom Corexy structure is stationary and only the top Corexy structure moves, the needle tip can rotate around the x and y axes to realize the orientation of the puncture needle 3.

[0064] Reference Figure 5In some embodiments, the puncture needle mechanism 2 includes a connecting rod 401, a motor 402 and a puncture needle fixing plate 404. A puncture needle mechanism slide rail 405 is provided on one side of the connecting rod 401. The puncture needle mechanism slide rail 405 is a groove-shaped structure located on the back of the puncture needle mechanism 2. The puncture needle mechanism slider 215 slides along the puncture needle mechanism slide rail 405. Since the end of the ball joint 214 is connected to the puncture needle mechanism slider 215, the puncture needle mechanism slide rail 405 is connected to the puncture needle mechanism slider 215 is connected to the ball joint 214; the connecting shaft 306 passes through the connecting rod 401; the puncture needle fixing plate 404 is located on the other side of the connecting rod 401, and the puncture needle fixing plate 404 is used to fix the puncture needle 3. The motor 5 402 is fixed on the other side of the connecting rod 401, and is located above the puncture needle fixing plate 404. Specifically, the nut of the motor 5 402 has a small hole in one circle, and the screw passes through the small hole to connect the motor 5 402 to the top of the puncture needle fixing plate 404. The motor 5 402 is a screw stepping motor. The puncture needle insertion mechanism 2 converts the rotational motion of the screw motor into the linear motion of the puncture needle fixing plate 404 through the motor 5 402, and the puncture needle fixing plate 404 drives the puncture needle 3 to move up and down, thereby realizing the needle insertion and withdrawal process of the puncture needle 3.

[0065] In order to guide the linear movement of the puncture needle fixing plate 404, in a further embodiment, the puncture needle insertion mechanism 2 also includes a guide column 403, which is parallel to the screw of the motor five 402. Both ends of the guide column 402 are provided with threads, and the guide column 403 is connected to the puncture needle fixing plate 404 through a nut. Under the action of the motor five 402, the puncture needle fixing plate 404 moves up and down along the guide column 403.

[0066] In the above embodiment, the main structure of the robot is made of 3D printed photosensitive resin material to reduce the overall weight and avoid metal artifacts caused by CT scanning.

[0067] In order to meet the requirements of lung puncture surgery, the robot provided by the above embodiment of the present invention includes a total of five degrees of freedom, which are two degrees of freedom of translation of the robot along the X and Y directions, two degrees of freedom of rotation around the X and Y directions (mimicking the doctor's wrist joints), and one degree of freedom of puncture of the puncture needle 3 in the puncture needle insertion mechanism 2. Among them, two degrees of freedom of translation and two degrees of freedom of orientation are realized by a motor pulling a conveyor belt based on two superimposed Cartesian platforms through an innovative corexy winding method. One degree of freedom of the puncture needle insertion mechanism 2 is controlled by motor 5 402 to realize the puncture needle insertion process. The total size of the robot is 315×210×225mm, and the total weight is 1.8kg. The robot can enter the CT scanning hole together with the patient, while ensuring the comfort when fixed on the patient's body, thereby effectively compensating for the influence of respiratory movement on the operation.

[0068] The design of the upper translation mechanism 1 and the lower translation mechanism 4 in the above embodiment of the present invention is based on the winding method of Corexy and adopts a wire drive method, so that the mechanism can meet the design requirements of miniaturization and lightness while meeting the requirements of precision and stability. The above robot can be fixed to the body by straps, and an arc curve can be designed at the joint with the human body. The body-fixed installation method can compensate for the influence of respiratory movement. The weight of the above robot device is less than 2Kg, so that the comfort when fixed on the patient's body can be guaranteed.

[0069] In the above embodiment of the present invention, the robot has high positioning accuracy. A force sensor is fixed to the end of the puncture needle 3. The force sensor detects the force state of the needle tip of the puncture needle 3, and real-time force feedback can be achieved.

[0070] Another embodiment of the present invention provides a master-slave control puncture system with force feedback, referring to Figure 6 The system includes the lung puncture robot in the above embodiment, and also includes a master hand and a host computer (i.e., a control system). The lung puncture robot and the master hand are respectively connected to the host computer. The lung puncture robot serves as a slave hand, and is used to complete the positioning and orientation of the puncture needle 3 and the final puncture process; the host computer transmits the position information of the master hand to the slave hand, so that the robot reaches the target position; a force sensor is provided on the puncture needle 3 of the lung puncture robot, and the force sensor is connected to the host computer. The host computer is also used to feedback the force condition of the puncture needle 3 according to the measurement value of the force sensor, and transmit the force of the puncture needle 3 to the master hand.

[0071] In some embodiments, the host computer transmits the force of the puncture needle 3 to the master hand through master-slave mapping. Figure 6 In the figure, P represents the hand posture, F represents the force on the puncture needle tip read by the sensor, and F f Indicates the force mapped to the main hand; the force sensor fixed at the end of the puncture needle 3 can monitor the force state of the needle tip of the puncture needle 3 in real time. After processing and amplifying the signal, it is converted into a force signal that is easy for the doctor to perceive, and the signal is fed back to the main hand. The signal processing and amplification are based on forward kinematics, inverse kinematics, force sensors, image information, etc. Therefore, during the operation, the doctor's hand can perceive the force state of the puncture needle 3 in the three directions of X, Y, and Z.

[0072] In some embodiments, when the force sensor at the end of the puncture needle 3 detects that the force on the tip of the puncture needle 3 is greater than a preset value, the host computer controls the lung puncture robot to stop moving to avoid tissue tearing and strain. For example, based on the maximum puncture force collected by the doctor during normal surgery, the preset value is 4N. Through this safety protection mechanism, the safety of puncture can be effectively guaranteed.

[0073] In the embodiment of the present invention, the master hand has a force feedback system, which can achieve a better human-computer interaction effect and enhance the doctor's sense of surgical presence. The slave hand is the above-mentioned five-degree-of-freedom puncture robot, which is used to complete the positioning and orientation of the puncture needle and the final puncture process. The host computer serves as a decision-making layer, which transmits the position information of the master hand to the slave hand so that the robot reaches the target position; at the same time, it feeds back the force of the puncture needle to the system, and transmits the force of the puncture needle to the master hand through the master-slave mapping algorithm, and adds a safety protection mechanism to ensure the safety of the surgical process.

[0074] In the above embodiment of the present invention, the robot has the characteristics of small size and light weight, and can be conveniently placed in the CT room and fixed on the patient, thereby effectively compensating for the impact of respiratory movement on the operation. A real-time force feedback system is added to the puncture system, and the force condition of the puncture needle tip is transmitted to the master hand through a master-slave mapping algorithm, thereby improving the safety during the puncture process. The system can provide real-time feedback, precise control, and simplify the operation process during the operation, allowing the doctor to remotely control the master hand to operate the robot to complete the puncture process. By adopting high-precision positioning technology and real-time force feedback mechanism, the above embodiment of the present invention can significantly improve the safety and efficiency of lung puncture surgery, thereby promoting lung puncture surgery to develop in the direction of higher precision and intelligence.

[0075] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various modifications or variations within the scope of the claims, which does not affect the essence of the present invention. The above preferred features can be used in any combination without conflicting with each other.

Claims

1. A lung puncture robot, characterized in that: include: An upper translation mechanism, wherein the upper translation mechanism has a Corexy structure; A lower translation mechanism, wherein the lower translation mechanism has a Corexy structure; A bracket connecting the lower surface of the upper translation mechanism and the upper surface of the lower translation mechanism; A puncture needle insertion mechanism, one end of which is rotatably connected to the upper translation mechanism, and the other end of which is rotatably connected to the lower translation mechanism; the upper translation mechanism and the lower translation mechanism drive the puncture needle insertion mechanism to move in the X direction and the Y direction; The puncture needle is connected to the puncture needle insertion mechanism and is used to perform the puncture operation.

2. The lung puncture robot according to claim 1, characterized in that: The upper translation mechanism comprises: An upper bracket, having a frame-shaped structure with an opening on one side, comprising a first upper frame, a second upper frame and a third upper frame arranged in sequence, wherein the second upper frame is opposite to the opening of the upper bracket; Motor 1, located at one end of the second upper frame close to the first upper frame; Motor 2, located at one end of the second upper frame close to the third upper frame; An upper slide rail is arranged on the inner side of the third upper frame, and the upper slide rail is arranged along the length direction of the third upper frame; An upper connecting rod, one end of which is connected to an upper slider, the upper slider moves along the upper slide rail, and the other end of the upper connecting rod is provided with a first upper connecting member and a first lower connecting member, the first lower connecting member is connected to the upper surface of the first upper frame; An upper transmission wheel assembly, comprising a first transmission wheel and a second transmission wheel arranged on the outer side of the motor 1, a third transmission wheel and a fourth transmission wheel arranged on the outer side of the motor 2, a fifth transmission wheel located at one end of the opening of the first upper frame close to the upper bracket, a sixth transmission wheel located at one end of the opening of the upper bracket of the third upper frame, a seventh transmission wheel and an eighth transmission wheel located at one end of the upper connecting rod, and a ninth transmission wheel and a tenth transmission wheel located at the other end of the upper connecting rod, wherein the first transmission wheel and the third transmission wheel are located on a side away from the opening of the upper bracket, and the seventh transmission wheel and the ninth transmission wheel are located on a side close to the opening of the upper bracket; A first conveyor belt is sequentially wound around the first motor, the second conveyor wheel, the fifth conveyor wheel, the seventh conveyor wheel, the tenth conveyor wheel and the first conveyor wheel; The second conveyor belt is sequentially wound around the second motor, the fourth conveyor wheel, the sixth conveyor wheel, the ninth conveyor wheel, the eighth conveyor wheel and the third conveyor wheel.

3. The lung puncture robot according to claim 2, characterized in that: The lower translation mechanism comprises: A lower bracket, having a frame-shaped structure with an opening on one side, comprising a first lower frame, a second lower frame and a third lower frame arranged in sequence, wherein the second lower frame is opposite to the opening of the lower bracket; Motor three, located at one end of the second lower frame close to the first lower frame; Motor 4 is located at one end of the second lower frame close to the third lower frame; A lower sliding rail is arranged on the inner side of the third lower frame, and the lower sliding rail is arranged along the length direction of the third lower frame; A lower connecting rod, one end of which is connected to the lower slider, the lower slider moves along the lower sliding rail, and the other end of the lower connecting rod is provided with a second upper connecting member and a second lower connecting member, the second lower connecting member is connected to the upper surface of the first lower frame; A lower transmission wheel assembly, comprising an eleventh transmission wheel and a twelfth transmission wheel arranged on the outer side of the motor three, a thirteenth transmission wheel and a fourteenth transmission wheel arranged on the outer side of the motor four, a fifteenth transmission wheel located at one end of the opening of the first lower frame close to the lower bracket, a sixteenth transmission wheel located at one end of the opening of the lower bracket of the third lower frame, a seventeenth transmission wheel and an eighteenth transmission wheel located at one end of the lower connecting rod, and a nineteenth transmission wheel and a twentieth transmission wheel located at the other end of the lower connecting rod, wherein the eleventh transmission wheel and the thirteenth transmission wheel are located on a side away from the opening of the lower bracket, and the seventeenth transmission wheel and the nineteenth transmission wheel are located on a side close to the opening of the lower bracket; a third conveyor belt, sequentially wound around the third motor, the twelfth conveyor wheel, the fifteenth conveyor wheel, the seventeenth conveyor wheel, the twentieth conveyor wheel and the eleventh conveyor wheel; The fourth conveyor belt is sequentially arranged on the fourth motor, the fourteenth conveyor wheel, the sixteenth conveyor wheel, the nineteenth conveyor wheel, the eighteenth conveyor wheel and the thirteenth conveyor wheel.

4. The lung puncture robot according to claim 3, characterized in that: A first belt clamp for fixing the first conveyor belt and the second conveyor belt is provided on the side surface of the upper connecting rod.

5. The lung puncture robot according to claim 3, characterized in that: A slider connector 2 is provided on the side of the upper connecting rod, and the slider connector 2 is connected to one end of the ball joint through the ball joint connector 1, and the other end of the ball joint is connected to the puncture needle insertion mechanism slider through the ball joint connector 2.

6. The lung puncture robot according to claim 5, characterized in that: The side surface of the lower connecting rod is connected to a universal joint connecting piece, and the universal joint connecting piece is connected to the universal joint through a second connecting shaft, and a first connecting shaft connected to the puncture needle insertion mechanism is provided on the inner wall of the universal joint.

7. The lung puncture robot according to claim 6, characterized in that: The puncture needle insertion mechanism comprises: A connecting rod, one side of which is provided with a puncture needle insertion mechanism slide rail, along which the puncture needle insertion mechanism slider slides; the connecting shaft 1 passes through the connecting rod; A puncture needle fixing plate, located on the other side of the connecting rod, and used to fix the puncture needle; The motor five is located at the other side of the connecting rod, and the motor five is fixed above the puncture needle fixing plate, and the motor five drives the puncture needle fixing plate to move up and down.

8. A master-slave control puncture system with force feedback, characterized in that: The lung puncture robot comprises the lung puncture robot as described in any one of claims 1 to 7, and further comprises a master hand and a host computer, wherein the lung puncture robot and the master hand are respectively connected to the host computer, and the lung puncture robot serves as a slave hand, and is used to complete the positioning and orientation of the puncture needle and the final puncture process; the host computer transmits the position information of the master hand to the slave hand, so that the robot reaches the target position; the host computer is also used to feedback the force condition of the puncture needle and transmit the force of the puncture needle to the master hand.

9. The master-slave control puncture system with force feedback according to claim 8, characterized in that: The host computer transmits the force of the puncture needle to the master hand through master-slave mapping.

10. The master-slave control puncture system with force feedback according to claim 8, characterized in that: When the force sensor at the end of the puncture needle detects that the force on the needle tip of the puncture needle is greater than a preset value, the host computer controls the lung puncture robot to stop moving.

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