Computed tomography (CT) real-time intervention minimally invasive robot execution end mechanism and application method thereof

Abstract

The invention discloses a CT (computed tomography) perspective real-time intervention minimally invasive robot execution end mechanism and an application method thereof, and relates to the technical field of surgical robots, the CT perspective real-time intervention minimally invasive robot execution end mechanism specifically comprises a joint arm module which is provided with a multi-stage transmission joint arm, and the multi-stage transmission joint arm is provided with a pitching driving assembly and a needle advancing and retreating driving assembly corresponding to the head end position of the multi-stage transmission joint arm; the puncture driving module is arranged at the tail end kinetic energy output end of the multi-stage transmission joint arm in a transmission mode, the puncture driving module is in transmission connection with the pitching driving assembly through the multi-stage transmission joint arm, and the puncture end of the puncture driving module is in transmission connection with the needle advancing and retreating driving assembly. The whole gravity center is far away from the tail end position of the articulated arm module. The technical problems that in the prior art, a medical surgical robot is complex in control and high in cost, the expected precision requirement is difficult to meet, the risk that a patient is accidentally touched and damaged exists, and the overall safety is not high are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of surgical robots, and in particular to a CT fluoroscopic real-time interventional minimally invasive robot execution end mechanism and an application method thereof. Background Art

[0002] With the development of medical technology and the increasing difficulty and precision requirements for minimally invasive surgery, medical surgical robots have emerged, which can effectively solve the problems of time-consuming "blind puncture" by hand, puncture needle position deviation, intraoperative bleeding and other complications. At present, the control types of medical surgical robots are generally divided into planning, navigation and positioning and remote real-time interaction. However, no matter which form is used, there are defects such as complex control and high cost, and the control accuracy is difficult to achieve the expected effect, and there is still a risk of accidental damage to patients. Summary of the invention

[0003] To this end, the present invention provides a CT fluoroscopy real-time interventional minimally invasive robot execution end mechanism and an application method thereof, so as to solve the technical problems in the prior art of medical surgical robots, such as complex operation, high cost, difficulty in achieving the expected accuracy requirements, the risk of accidental damage to patients, and low overall safety.

[0004] In order to achieve the above object, the present invention provides the following technical solutions: A CT fluoroscopic real-time interventional minimally invasive robot execution end mechanism, comprising: The articulated arm module is configured as a multi-stage transmission articulated arm, wherein the multi-stage transmission articulated arm is respectively provided with a pitch drive assembly and an advance and retreat needle drive assembly corresponding to the head end position thereof; The puncture drive module, the base transmission assembly is arranged at the terminal kinetic energy output end of the multi-stage transmission joint arm, and the base of the puncture drive module is connected to the pitch drive component through the multi-stage transmission joint arm, and the puncture end of the puncture drive module is connected to the advance and retreat needle drive component to adjust the overall center of gravity away from the terminal position of the multi-stage transmission joint arm.

[0005] On the basis of the above technical solution, the present invention is further described as follows: As a further solution of the present invention, the articulated arm module comprises a first articulated arm, a second articulated arm and a third articulated arm which are sequentially connected in transmission, and the pitch drive assembly is configured as a motor drive assembly; One end of the first articulated arm is positioned and arranged, and the other end of the first articulated arm is fixedly connected with a first transmission shaft wheel; one end of the second articulated arm is connected to the first transmission shaft wheel by a transfer assembly; The motor drive assembly includes a motor base and a rotating shaft wheel portion mounted on the motor base, and the motor base portion of the motor drive assembly is fixedly connected to the side position of the second joint arm, and a first synchronous belt is mounted on the transmission sleeve between the rotating shaft wheel portion of the motor drive assembly and the first transmission shaft wheel, and the first transmission shaft wheel is driven by the first synchronous belt through the output of rotational kinetic energy of the motor drive assembly, and at the same time, with the help of the positioning setting function of the first joint arm, the motor drive assembly and the first synchronous belt are reversely rotated with the first transmission shaft wheel fixedly connected to the first joint arm as the axis, and synchronously drive the second joint arm to rotate with the first transmission shaft wheel as the axis; The other end of the second articulated arm is equipped with a second transmission shaft wheel, the second transmission shaft wheel is transmission-fixedly connected to one end of the third articulated arm, and a second synchronous belt is transmission-sleeved between the second transmission shaft wheel and the first transmission shaft wheel, the second transmission shaft wheel is synchronously rotated with the second articulated arm around the first transmission shaft wheel as the axis, and the second transmission shaft wheel is driven to rotate synchronously by the relative displacement generated between the second synchronous belt and the first transmission shaft wheel, and the third articulated arm forms a synchronous rotation effect around the second transmission shaft wheel as the axis; The third articulated wheel is a gear mounted on the cam face of the second transmission shaft wheel, and the third articulated wheel is a gear mounted on the cam face of the second transmission shaft wheel.

[0006] As a further embodiment of the present invention, A variable speed transmission is arranged between the first transmission shaft wheel, the second transmission shaft wheel and the third transmission shaft wheel, and the diameters of the circles on which the first transmission shaft wheel is located, the diameters of the circles on which the second transmission shaft wheel is located and the diameters of the circles on which the third transmission shaft wheel is located decrease in sequence.

[0007] As a further embodiment of the present invention, The puncture drive module includes a puncture drive slide assembly and a puncture needle body; The base of the puncture drive slide assembly is configured as a slide base, and the slide base is connected to the third transmission shaft wheel in a transmission fixed manner; The puncture drive slide assembly also includes a slide adjustment portion, a needle entry pulley and a needle withdrawal pulley; The slide adjustment part is slidably mounted on the slide base; The advance and retreat needle drive assembly is configured as an electrically controlled reel seat, the base of which is fixedly mounted on the second joint arm, and the electrically controlled reel seat has two steel wire winding ends; The needle-in pulley and the needle-retracting pulley are respectively installed on the slide base through transfer, and the two steel wire winding ends of the electric-controlled reel seat are respectively connected with the needle-in end and the needle-retracting end of the slide adjustment part after winding around the needle-in pulley and the needle-retracting pulley in a one-to-one correspondence, and the two steel wire winding ends of the electric-controlled reel seat respectively output kinetic energy to drive the steel wire transmission to complete the needle-in and needle-retracting actions of the slide adjustment part. At the same time, the weight of the end is reduced by arranging the electric-controlled reel seat at an end away from the end and arranging the steel wire remote transmission, so as to adjust the overall center of gravity away from the end position; The base part of the puncture needle body is fixedly assembled on the slide adjustment part through a locking seat, and the puncture needle body extends through a guide seat fixedly connected to the slide base.

[0008] As a further embodiment of the present invention, The puncture needle body has a puncture mark, and the connecting line figure formed by the axis point of the first transmission shaft wheel, the axis point of the second transmission shaft wheel, the axis point of the third transmission shaft wheel and the puncture mark based on the multi-stage transmission ratio setting always remains a parallelogram, and the puncture mark is accurately located in real time according to the current positions of the first transmission shaft wheel, the second transmission shaft wheel and the third transmission shaft wheel.

[0009] As a further embodiment of the present invention, The locking seat comprises a positioning lock shell, an elastic lock sleeve and a locking cap; The positioning lock shell is fixedly assembled on one side of the slide adjustment part in the needle insertion direction, the base part of the elastic locking sleeve is built-in and fixed inside the positioning lock shell, and the elastic locking sleeve forms an elastically compressible channel, the locking cap is detachably fixedly assembled on the positioning lock shell, and the locking cap correspondingly contacts and presses the elastic locking sleeve so that the elastic locking sleeve fixes the puncture needle body through its elastically compressible channel.

[0010] As a further embodiment of the present invention, The guide seat comprises two groups of guide bases, the two groups of guide bases are butt-jointed and arranged, and a guide channel is formed between the two groups of guide bases; The guide channel is limitedly arranged on the outer side of the puncture needle body.

[0011] As a further embodiment of the present invention, One end of the first articulated arm is positioned based on the transmission end of the kinetic energy output end of the adjustment drive module, and the adjustment drive module is configured to drive a robot arm and / or an XYZ axis transfer platform, and the adjustment drive module outputs a transfer drive energy corresponding to a plane.

[0012] A method for applying the CT fluoroscopic real-time interventional minimally invasive robot execution end mechanism, comprising the following steps: determining a puncture point based on an XYZ coordinate system, driving a puncture drive module to perform a pitch motion along an XZ plane by controlling a joint arm module to output kinetic energy, and driving a joint arm module and a puncture drive module to perform a transposition motion along a YZ plane by controlling a direction adjustment drive module to output a transposition drive energy; Based on the real-time and precise positioning of the puncture mark by the articulated arm module using the parallelogram architecture principle, the puncture drive module can form a circular directional spatial motion trajectory based on the puncture mark as the axis point, and then select and determine the best puncture direction corresponding to the puncture mark.

[0013] As a further solution of the present invention, the following steps are also included: A metal grid is configured according to the base body where the puncture mark is located, and the common cross-section layer is determined based on the correspondence between the puncture mark and the metal grid area; Construct fluoroscopic real-time simulation of needle insertion, and / or, through computer three-dimensional simulation of the dynamic process of intervention, continue to control the puncture drive module based on the cross-section to perform fixed-point rotation around the puncture mark, and finally determine the best puncture direction corresponding to the puncture mark, complete the puncture path selection and determine the needle insertion point corresponding to the substrate according to the puncture path. In this process, the positional relationship between the metal grid and the puncture drive module is calculated through the built-in rotary encoder of the execution end mechanism, that is, the corresponding binding of the substrate and the execution end mechanism is completed, thereby providing relative displacement data for the interventional puncture plan.

[0014] When the standard puncture path cannot be determined by the cross-section, the XYZ coordinate system is further constructed to adjust the puncture path. At this time, the needle insertion depth corresponding to the puncture mark is The corresponding rotation angle in the XZ plane is arctanx / z; The corresponding rotation angle in the YZ plane is arctany / z.

[0015] The present invention has the following beneficial effects: The actuator mechanism and method can effectively realize remote drive to complete the needle advancement and retraction action through multi-stage transmission action, and can also utilize remote drive to make the overall center of gravity shift closer to the base position, thereby reducing the motion inertia of the end position, improving the overall action function stability, and can realize real-time and accurate positioning of the puncture mark according to the current position of the multi-stage transmission action, thereby significantly improving the accuracy of needle puncture. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the implementation mode of the present invention or the technical solution in the prior art, the drawings required for the implementation mode or the description of the prior art will be briefly introduced below. The structures, proportions, sizes, etc. illustrated in this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read. Any structural modification, change in proportional relationship or adjustment of size should still fall within the scope of the technical contents disclosed in the present invention without affecting the effects and purposes that can be achieved by the present invention.

[0017] Figure 1 This is one of the overall side view assembly structure schematic diagrams of the CT fluoroscopic real-time interventional minimally invasive robot execution end mechanism provided in an embodiment of the present invention.

[0018] Figure 2 This is a second schematic diagram of the overall side view assembly structure of the CT fluoroscopic real-time interventional minimally invasive robot actuator mechanism provided in an embodiment of the present invention.

[0019] Figure 3 A schematic diagram of the side view assembly structure of the articulated arm module and the puncture drive module in the execution end mechanism of the CT fluoroscopic real-time interventional minimally invasive robot provided in an embodiment of the present invention.

[0020] Figure 4 A schematic diagram of the assembly structure of a locking seat in the execution end mechanism of a CT fluoroscopic real-time interventional minimally invasive robot provided in an embodiment of the present invention.

[0021] Figure 5 This is a schematic diagram of the assembly structure of the guide seat in the CT fluoroscopy real-time interventional minimally invasive robot execution end mechanism provided in an embodiment of the present invention.

[0022] Figure 6 A schematic diagram of the state structure of the CT fluoroscopic real-time interventional minimally invasive robot execution end mechanism performing pitch motion through a joint arm module and a puncture drive module provided in an embodiment of the present invention.

[0023] Figure 7 A schematic diagram of the state structure of the CT fluoroscopic real-time interventional minimally invasive robot execution end mechanism performing a transfer action by adjusting the driving module provided in an embodiment of the present invention.

[0024] Figure 8A schematic diagram of the state structure of a CT fluoroscopic real-time interventional minimally invasive robot execution end mechanism forming a circular directional space motion trajectory provided by an embodiment of the present invention.

[0025] Fig. 9 A schematic diagram of the installation state of the metal grid in the application method of the CT fluoroscopy real-time interventional minimally invasive robot execution end mechanism provided in an embodiment of the present invention.

[0026] Fig.10 This is one of the schematic diagrams of the corresponding states of the metal grid and the puncture mark in the application method of the CT fluoroscopy real-time interventional minimally invasive robot execution end mechanism provided in an embodiment of the present invention.

[0027] Fig.11 The second schematic diagram of the corresponding states of the metal grid and the puncture mark in the application method of the CT fluoroscopy real-time intervention minimally invasive robot execution end mechanism provided in an embodiment of the present invention.

[0028] Fig.12 A schematic diagram of the adjustment state of the puncture direction in the application method of the CT fluoroscopy real-time interventional minimally invasive robot execution end mechanism provided in an embodiment of the present invention.

[0029] In the accompanying drawings, the components represented by the reference numerals are listed as follows: A first articulated arm 1, a first transmission shaft wheel 11, a motor drive assembly 12, and a first synchronous belt 13; A second articulated arm 2, a second transmission shaft wheel 21, and a second synchronous belt 22; The third articulated arm 3, the transmission idler wheel 31, the third transmission shaft wheel 32, and the third synchronous belt 33; The puncture drive slide assembly 4 includes a slide base 41, a slide adjustment portion 42, an electric control reel seat 43, a needle-entering pulley 44, and a needle-retracting pulley 45; The puncture needle body 5, the locking seat 51, the positioning lock shell 511, the elastic locking sleeve 512, the locking cap 513, the guide seat 52, the guide base 521, and the guide channel 522; Direction adjustment drive module 6. DETAILED DESCRIPTION

[0030] The following is a description of the implementation of the present invention by specific embodiments. People familiar with the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0031] The terms such as "upper", "lower", "left", "right", and "middle" used in this specification are only for the convenience of description and are not intended to limit the scope of the invention. Changes or adjustments to their relative relationships should be regarded as within the scope of the invention without substantially changing the technical content.

[0032] like Figures 1 to 5 As shown, an embodiment of the present invention provides a CT fluoroscopic real-time interventional minimally invasive robot execution end mechanism, including a joint arm module and a puncture drive module, wherein the joint arm module includes a first joint arm 1, a second joint arm 2 and a third joint arm 3 which are sequentially connected and arranged in a transmission manner, and the puncture drive module includes a puncture drive slide assembly 4 and a puncture needle body 5. The mechanism can realize remote drive to complete the needle advance and retreat action through multi-stage transmission action, and at the same time make the overall center of gravity more offset to the basic position, reduce the motion inertia of the end position, and improve the overall action function stability. The specific settings are as follows: Please refer to Figures 1 to 3 One end of the first articulated arm 1 is arranged for transmission positioning based on the kinetic energy output end of the adjustment drive module 6, and the other end of the first articulated arm 1 is fixedly connected to a first transmission shaft wheel 11; one end of the second articulated arm 2 is connected to the first transmission shaft wheel 11 by a transfer assembly, and a motor drive assembly 12 is assembled on the side of the second articulated arm 2, the motor drive assembly 12 includes a motor base and a rotating shaft wheel portion assembled on the motor base, and the motor base of the motor drive assembly 12 is fixedly connected to the side of the second articulated arm 2, the motor A first synchronous belt 13 is installed in the transmission sleeve between the rotating shaft wheel part of the motor drive component 12 and the first transmission shaft wheel 11, so as to output the rotational kinetic energy through the motor drive component 12 and drive the first transmission shaft wheel 11 via the first synchronous belt 13. At the same time, with the help of the positioning setting function of the first joint arm 1 based on the adjustment drive module 6, the motor drive component 12 and the first synchronous belt 13 can reversely rotate with the first transmission shaft wheel 11 fixedly connected to the first joint arm 1 as the axis, and then use the reverse rotation action of the motor drive component 12 to synchronously drive the second joint arm 2 to rotate with the first transmission shaft wheel 11 as the axis.

[0033] The other end of the second articulated arm 2 is equipped with a second transmission shaft wheel 21, and the second transmission shaft wheel 21 is transmission-fixedly connected to one end of the third articulated arm 3, and a second synchronous belt 22 is transmission-sleeved between the second transmission shaft wheel 21 and the first transmission shaft wheel 11, so that the second transmission shaft wheel 21 can be synchronously rotated with the second articulated arm 2 around the first transmission shaft wheel 11 as the axis. At this time, a relative displacement is generated between the second synchronous belt 22 and the first transmission shaft wheel 11, and the displacement of the second synchronous belt 22 is used to further drive the second transmission shaft wheel 21 to rotate synchronously, so that the third articulated arm 3 can form a synchronous rotation effect around the second transmission shaft wheel 21 as the axis.

[0034] The middle position of the third articulated arm 3 is equipped with a transmission idler wheel 31, and the other end of the third articulated arm 3 is equipped with a third transmission shaft wheel 32. The third transmission shaft wheel 32 is transmission-fixedly connected to the base portion of the puncture drive slide assembly 4, and a third synchronous belt 33 is transmission-sleeved between the third transmission shaft wheel 32, the second transmission shaft wheel 21 and the transmission idler wheel 31, so that the third transmission shaft wheel 32 can be synchronously rotated with the third articulated arm 3 with the second transmission shaft wheel 21 as the axis. A relative displacement is generated between the synchronous belt 33 and the second transmission shaft wheel 21, and the displacement of the third synchronous belt 33 is used to further drive the third transmission shaft wheel 32 to rotate synchronously, so that the puncture drive slide assembly 4 can form a synchronous rotation effect with the third transmission shaft wheel 32 as the axis. The multi-stage transmission effect formed by the third joint arm 3 cooperating with the first joint arm 1 and the second joint arm 2 realizes the remote drive to complete the needle advancement and retraction action, thereby making the overall center of gravity shift closer to the basic position, effectively reducing the motion inertia of the terminal position, and improving the functional stability of the overall action.

[0035] A variable speed transmission is arranged between the first transmission shaft wheel 11, the second transmission shaft wheel 21 and the third transmission shaft wheel 32; specifically, the diameter of the circle on which the first transmission shaft wheel 11, the diameter of the circle on which the second transmission shaft wheel 21 and the diameter of the circle on which the third transmission shaft wheel 32 are located are successively reduced, so that the rotation angles of the second transmission shaft wheel 21 and the third transmission shaft wheel 32 can be adjusted through the transmission ratio setting, thereby improving the overall functional flexibility while effectively ensuring the overall transmission performance.

[0036] Please continue to refer to Figure 3The base of the puncture drive slide assembly 4 is set as a slide base 41, and the slide base 41 is connected to the third transmission shaft wheel 32 by transmission and fixed connection; the puncture drive slide assembly 4 also includes a slide adjustment part 42, an electric control reel seat 43, a needle feed pulley 44 and a needle withdrawal pulley 45; wherein, the slide adjustment part 42 is slidably assembled on the slide base 41; the base of the electric control reel seat 43 is fixedly assembled on the second joint arm 2, and the electric control reel seat 43 has two steel wire winding ends; the needle feed pulley 44 and the needle withdrawal pulley 45 are respectively assembled and connected to the slide The table base 41, the two steel wire winding ends of the electric-controlled reel seat 43 are respectively connected to the needle entry end and the needle withdrawal end of the slide adjustment part 42 after passing through the needle entry pulley 44 and the needle withdrawal pulley 45 in a one-to-one manner, so as to output kinetic energy through the two steel wire winding ends of the electric-controlled reel seat 43 to drive the steel wire transmission to complete the needle entry and withdrawal actions of the slide adjustment part 42, and at the same time, the weight of the end can be significantly reduced by arranging the electric-controlled reel seat 43 at an end away from the end and the steel wire remote transmission setting, thereby further making the overall center of gravity closer to the basic position, thereby ensuring the stability of the action function.

[0037] The puncture needle body 5 is transmission-fixedly assembled on the slide adjustment portion 42; specifically, the base portion of the puncture needle body 5 is transmission-fixedly assembled on the slide adjustment portion 42 through a locking seat 51, and the puncture needle body 5 extends through a guide seat 52 fixedly connected to the slide base 41, so that the puncture needle body 5 can synchronously complete the needle advancement and retraction action based on the slide adjustment portion 42, and at the same time, the guide seat 52 can be used to significantly improve the stability of the needle advancement and retraction action of the puncture needle body 5, thereby ensuring the operating effect.

[0038] For more details, please refer to Figure 4 The locking seat 51 includes a positioning lock shell 511, an elastic locking sleeve 512 and a locking cap 513; wherein the positioning lock shell 511 is fixedly assembled on one side of the needle insertion direction of the slide adjustment portion 42, the base portion of the elastic locking sleeve 512 is built-in and fixed inside the positioning lock shell 511, and the elastic locking sleeve 512 forms an elastically compressible channel, the locking cap 513 is detachably fixedly assembled on the positioning lock shell 511, and the locking cap 513 correspondingly contacts and presses the elastic locking sleeve 512, so that the elastic locking sleeve 512 fixes the puncture needle body 5 through its elastically compressible channel.

[0039] Please refer to Figure 5The guide seat 52 includes two groups of guide bases 521, which are connected to each other and form a guide channel 522 between the two groups of guide bases 521. The guide channel 522 is limitedly set on the outer side of the puncture needle body 5, so as to utilize the guide channel 522 to significantly improve the stability of the advancement and withdrawal of the puncture needle body 5, and at the same time avoid the bending and deformation of the needle body.

[0040] As a preferred solution of this embodiment, please refer to Figure 3 and Figure 6 The puncture needle body 5 has a puncture mark A, and the connecting line figure formed by the axis point of the first transmission shaft wheel 11, the axis point of the second transmission shaft wheel 21, the axis point of the third transmission shaft wheel 32 and the puncture mark A based on the multi-stage transmission ratio setting always remains as a parallelogram a, so as to achieve real-time and accurate positioning of the puncture mark A according to the current positions of the first transmission shaft wheel 11, the second transmission shaft wheel 21 and the third transmission shaft wheel 32, thereby significantly improving the accuracy of needle puncture in the subsequent fluoroscopic real-time intervention process.

[0041] As another preferred solution of this embodiment, the puncture needle body 5 is configured to be made of non-metallic material to further reduce the end movement inertia, while reducing the degree of absorption and scattering of radiation to reduce artifacts.

[0042] It should be noted that the adjustment drive module 6 may be used, but not limited to, a driving robot arm or an XYZ-axis transfer platform, so as to output transfer drive energy corresponding to a plane through the adjustment drive module 6 .

[0043] like Figures 6 to 8 As shown, the embodiment of the present invention also provides a method for applying the above-mentioned CT fluoroscopy real-time intervention minimally invasive robot execution end mechanism, which specifically includes the following steps: Based on the XYZ coordinate system, a puncture point A is determined, and the puncture drive module is driven to perform a pitch motion along the XZ plane by controlling the output kinetic energy of the joint arm module (refer to Figure 6 ), and at the same time, by controlling the output of the transfer drive module 6, the articulated arm module and the puncture drive module can be driven to transfer along the YZ plane (reference Figure 7 ), thereby, the articulated arm module can accurately locate the puncture point A in real time based on the parallelogram structure principle, so that the puncture drive module can form a circular adjustment space motion trajectory based on the puncture point A as the axis point, and then select and determine the best puncture direction corresponding to the puncture point A.

[0044] like Figures 9 to 12 As shown, the application method of the execution end mechanism also includes the following steps: A metal grid c is configured in correspondence with the base b where the puncture mark A is located, and a common cross-section d is determined based on the correspondence between the puncture mark A and the metal grid c area; Construct a fluoroscopic real-time simulation of needle insertion, and / or, through computer three-dimensional simulation of the dynamic process of intervention, continue to control the puncture drive module based on the cross-section d to perform fixed-point rotation around the puncture mark A, and finally determine the best puncture direction corresponding to the puncture mark A, and complete the puncture path selection and determine the needle insertion point corresponding to the substrate b according to the puncture path. In this process, the positional relationship between the metal grid c and the puncture drive module is calculated through the built-in rotary encoder of the execution end mechanism, that is, the corresponding binding of the substrate b and the execution end mechanism is completed, thereby providing relative displacement data for the interventional puncture plan.

[0045] An optional implementation scheme, when the standard puncture path cannot be determined in the cross-section d, the XYZ coordinate system is further constructed to adjust the puncture path e. At this time, the needle insertion depth corresponding to the puncture point A is

[0046] The corresponding rotation angle in the XZ plane is arctanx / z.

[0047] The corresponding rotation angle in the YZ plane is arctany / z.

[0048] Although the present invention has been described in detail above by general description and specific embodiments, it is obvious to those skilled in the art that some modifications or improvements can be made to the present invention. Therefore, these modifications or improvements made without departing from the spirit of the present invention all belong to the scope of protection claimed by the present invention.

Claims

1. A CT fluoroscopic real-time interventional minimally invasive robot execution end mechanism, characterized in that: include: The articulated arm module is configured as a multi-stage transmission articulated arm, wherein the multi-stage transmission articulated arm is respectively provided with a pitch drive assembly and an advance and retreat needle drive assembly corresponding to the head end position thereof; The puncture drive module, the base transmission assembly is arranged at the terminal kinetic energy output end of the multi-stage transmission joint arm, and the base of the puncture drive module is connected to the pitch drive component through the multi-stage transmission joint arm, and the puncture end of the puncture drive module is connected to the advance and retreat needle drive component to adjust the overall center of gravity away from the terminal position of the multi-stage transmission joint arm.

2. The CT fluoroscopic real-time interventional minimally invasive robot actuator mechanism according to claim 1, characterized in that: The articulated arm module comprises a first articulated arm, a second articulated arm and a third articulated arm which are sequentially connected and driven, and the pitch drive component is a motor drive component; One end of the first articulated arm is positioned and arranged, and the other end of the first articulated arm is fixedly connected with a first transmission shaft wheel; one end of the second articulated arm is connected to the first transmission shaft wheel by a transfer assembly; The motor drive assembly includes a motor base and a rotating shaft wheel portion mounted on the motor base, and the motor base portion of the motor drive assembly is fixedly connected to the side position of the second joint arm, and a first synchronous belt is mounted on the transmission sleeve between the rotating shaft wheel portion of the motor drive assembly and the first transmission shaft wheel, and the first transmission shaft wheel is driven by the first synchronous belt through the output of rotational kinetic energy of the motor drive assembly, and at the same time, with the help of the positioning setting function of the first joint arm, the motor drive assembly and the first synchronous belt are reversely rotated with the first transmission shaft wheel fixedly connected to the first joint arm as the axis, and synchronously drive the second joint arm to rotate with the first transmission shaft wheel as the axis; The other end of the second articulated arm is equipped with a second transmission shaft wheel, the second transmission shaft wheel is transmission-fixedly connected to one end of the third articulated arm, and a second synchronous belt is transmission-sleeved between the second transmission shaft wheel and the first transmission shaft wheel, the second transmission shaft wheel is synchronously rotated with the second articulated arm around the first transmission shaft wheel as the axis, and the second transmission shaft wheel is driven to rotate synchronously by the relative displacement generated between the second synchronous belt and the first transmission shaft wheel, and the third articulated arm forms a synchronous rotation effect around the second transmission shaft wheel as the axis; The third articulated wheel is a gear mounted on the cam face of the second transmission shaft wheel, and the third articulated wheel is a gear mounted on the cam face of the second transmission shaft wheel.

3. The CT fluoroscopic real-time interventional minimally invasive robot actuator mechanism according to claim 2, characterized in that: A variable speed transmission is arranged between the first transmission shaft wheel, the second transmission shaft wheel and the third transmission shaft wheel, and the diameters of the circles on which the first transmission shaft wheel is located, the diameters of the circles on which the second transmission shaft wheel is located and the diameters of the circles on which the third transmission shaft wheel is located decrease in sequence.

4. The CT fluoroscopic real-time interventional minimally invasive robot execution end mechanism according to claim 2, characterized in that: The puncture drive module includes a puncture drive slide assembly and a puncture needle body; The base of the puncture drive slide assembly is configured as a slide base, and the slide base is connected to the third transmission shaft wheel in a transmission fixed manner; The puncture drive slide assembly also includes a slide adjustment portion, a needle entry pulley and a needle withdrawal pulley; The slide adjustment part is slidably mounted on the slide base; The advance and retreat needle drive assembly is configured as an electrically controlled reel seat, the base of which is fixedly mounted on the second joint arm, and the electrically controlled reel seat has two steel wire winding ends; The needle-in pulley and the needle-retracting pulley are respectively installed on the slide base through transfer, and the two steel wire winding ends of the electric-controlled reel seat are respectively connected with the needle-in end and the needle-retracting end of the slide adjustment part after winding around the needle-in pulley and the needle-retracting pulley in a one-to-one correspondence, and the two steel wire winding ends of the electric-controlled reel seat respectively output kinetic energy to drive the steel wire transmission to complete the needle-in and needle-retracting actions of the slide adjustment part. At the same time, the weight of the end is reduced by arranging the electric-controlled reel seat at an end away from the end and arranging the steel wire remote transmission, so as to adjust the overall center of gravity away from the end position; The base part of the puncture needle body is fixedly assembled on the slide adjustment part through a locking seat, and the puncture needle body extends through a guide seat fixedly connected to the slide base.

5. The CT fluoroscopic real-time interventional minimally invasive robot actuator mechanism according to claim 4, characterized in that: The puncture needle body has a puncture mark, and the connecting line figure formed by the axis point of the first transmission shaft wheel, the axis point of the second transmission shaft wheel, the axis point of the third transmission shaft wheel and the puncture mark based on the multi-stage transmission ratio setting always remains a parallelogram, and the puncture mark is accurately located in real time according to the current positions of the first transmission shaft wheel, the second transmission shaft wheel and the third transmission shaft wheel.

6. The CT fluoroscopic real-time intervention minimally invasive robot actuator mechanism according to claim 4, characterized in that: The locking seat comprises a positioning lock shell, an elastic lock sleeve and a locking cap; The positioning lock shell is fixedly assembled on one side of the slide adjustment part in the needle insertion direction, the base part of the elastic locking sleeve is built-in and fixed inside the positioning lock shell, and the elastic locking sleeve forms an elastically compressible channel, the locking cap is detachably fixedly assembled on the positioning lock shell, and the locking cap correspondingly contacts and presses the elastic locking sleeve so that the elastic locking sleeve fixes the puncture needle body through its elastically compressible channel.

7. The CT fluoroscopic real-time interventional minimally invasive robot actuator mechanism according to claim 4, characterized in that: The guide seat comprises two groups of guide bases, the two groups of guide bases are butt-jointed and arranged, and a guide channel is formed between the two groups of guide bases; The guide channel is limitedly arranged on the outer side of the puncture needle body.

8. The CT fluoroscopic real-time interventional minimally invasive robot actuator mechanism according to claim 4, characterized in that: One end of the first articulated arm is positioned based on the transmission end of the kinetic energy output end of the adjustment drive module, and the adjustment drive module is configured to drive a robot arm and / or an XYZ axis transfer platform, and the adjustment drive module outputs a transfer drive energy corresponding to a plane.

9. A method for using the CT fluoroscopy real-time intervention minimally invasive robot execution end mechanism as described in any one of claims 1 to 8, characterized in that: The steps include: Determine a puncture point based on the XYZ coordinate system, drive the puncture drive module to perform a pitch motion along the XZ plane by controlling the output kinetic energy of the articulated arm module, and drive the articulated arm module and the puncture drive module to perform a transposition motion along the YZ plane by controlling the output of the transposition drive energy of the direction adjustment drive module; Based on the real-time and precise positioning of the puncture mark by the articulated arm module using the parallelogram architecture principle, the puncture drive module can form a circular directional spatial motion trajectory based on the puncture mark as the axis point, and then select and determine the best puncture direction corresponding to the puncture mark.

10. The application method of the CT fluoroscopic real-time interventional minimally invasive robot execution end mechanism according to claim 9, characterized in that: The following steps are also included: A metal grid is configured according to the base body where the puncture mark is located, and the common cross-section layer is determined based on the correspondence between the puncture mark and the metal grid area; Construct fluoroscopic real-time simulation of needle insertion, and / or, through computer three-dimensional simulation of the dynamic process of intervention, continue to control the puncture drive module based on the cross-section to perform fixed-point rotation around the puncture mark, and finally determine the best puncture direction corresponding to the puncture mark, complete the puncture path selection and determine the needle insertion point corresponding to the substrate according to the puncture path. In this process, the position relationship between the metal grid and the puncture drive module is calculated through the built-in rotary encoder of the execution end mechanism, that is, the corresponding binding of the substrate and the execution end mechanism is completed, thereby providing relative displacement data for the interventional puncture plan; When the standard puncture path cannot be determined by the cross-section, the XYZ coordinate system is further constructed to adjust the puncture path. At this time, the needle insertion depth corresponding to the puncture mark is The corresponding rotation angle in the XZ plane is arctanx / z; The corresponding rotation angle in the YZ plane is arctany / z.

Images