Percutaneous puncture surgical robot system and control method

Abstract

The invention relates to the medical instrument technology, and discloses a percutaneous puncture surgery robot system and a control method, and the percutaneous puncture surgery robot system comprises a bearing trolley, a clamping device, a mechanical arm, a positioning identification system, a puncture needle placing rack, a puncture base plate group and a diagnostic bed; adjusting the position between the puncture base plate group and the patient on the diagnostic bed, so that the puncture base plate group is arranged above the focus; the positioning recognition system is used for positioning the positions of related parts, registering an image coordinate system and a patient coordinate system and planning a needle inserting path; the mechanical arm is used for clamping the puncture needles on the puncture needle placing frame into the puncture base plate group one by one through the clamping device and separating the lower cover plate for limiting the rotation of the positioning ball in the puncture base plate group; based on the corresponding needle inserting path, the puncture needles on the puncture base plate set reach the position above the focus position, and after the corresponding needle inserting angle is adjusted, multi-angle puncture is formed. According to the percutaneous puncture surgical robot system, multi-angle puncture can be efficiently and flexibly achieved in a high-precision mode.

Description

Technical Field

[0001] The present application relates to the field of medical device technology, and in particular to a control method, a control device, a computer device, and a computer-readable storage medium for a percutaneous puncture surgical robot system. Background Art

[0002] Percutaneous puncture surgery is a minimally invasive surgical method that uses imaging technology to guide the puncture needle through the patient's skin to reach the target site for pathological tissue sampling or lesion treatment. However, traditional percutaneous puncture surgery still has some problems and limitations: (1) The current manual percutaneous puncture method relies on the doctor's surgical experience and hand feel, lacks precise guidance, and is difficult to match with preoperative planning. In addition, in treatments that require precise control of the dose, manual puncture is difficult to ensure uniform distribution of the dose, affecting the treatment effect.

[0003] (2) In multi-needle puncture surgery, the first needle is usually punctured automatically, while subsequent multi-needle punctures rely on manual operation by the doctor. Therefore, the accuracy of the first needle directly affects the surgical results, and requires high experience and skills of the surgeon. In addition, manual puncture is prone to errors, resulting in inconsistent positions between needles, affecting the overall effect of the surgery.

[0004] (3) The coplanar template-assisted puncture method is suitable for multi-needle puncture within a plane, but not for multi-angle puncture. When the lesion position changes during surgery, it is difficult to adjust the puncture angle and avoid bony structures. In addition, the template is fixed on a certain plane and cannot be adjusted in real time according to changes in the lesion position during surgery.

[0005] (4) The production cycle of 3D printed template-assisted CT-guided puncture is long. A 3D printed template needs to be customized for each operation. The production cycle of the template is long, which affects the timeliness of the operation. In addition, the resetting requirements of the 3D printed template are high. If the lesion shifts or the patient's position changes, the 3D printed template will become invalid and need to be remade.

[0006] (5) Existing percutaneous surgical robots usually consist of two carrying trolleys, which are placed on the left and right sides of the patient respectively. They occupy a large area and are not suitable for hospitals with limited operating room space.

[0007] The above contents are only used to assist in understanding the technical solution of the present application and do not constitute an admission that the above contents are prior art. Summary of the invention

[0008] The main purpose of this application is to provide a percutaneous puncture surgical robot system and a control method for a percutaneous puncture surgical robot system, aiming to propose a percutaneous puncture surgical robot system to achieve multi-angle puncture efficiently, accurately and flexibly, reduce dependence on doctor's experience and operation, reduce surgical risks and improve surgical success rate.

[0009] To achieve the above-mentioned purpose, the present application provides a percutaneous puncture surgical robot system, comprising: a carrying trolley, a clamping device, a mechanical arm, a positioning and identification system, a puncture needle placement rack, a puncture substrate group and a diagnostic bed; wherein the clamping device is arranged at the end of the mechanical arm; the base of the mechanical arm and the first adjustable bracket supporting the positioning and identification system are both mounted on the carrying trolley through a rotating device; The puncture substrate set is fixed on the diagnostic bed by a second adjustable bracket, and the relative position between the puncture substrate set and the patient on the diagnostic bed can be adjusted by adjusting the second adjustable bracket, so that the puncture substrate set is placed above the patient's lesion; The positioning and identification system is used to locate the positions of the clamping device, the puncture needle, the puncture needle placement rack, and the puncture base plate group, and to align the image coordinate system with the patient coordinate system, and form a needle insertion path through three-dimensional surgical planning; wherein, the lesion position targeted by the needle insertion path is obtained based on the patient's preoperative CT image data; The robotic arm is used to clamp multiple puncture needles on the puncture needle placement rack into the puncture substrate group one by one through a clamping device, and to separate the lower cover plate that limits the rotation of the positioning beads in the puncture substrate group; and based on the corresponding needle insertion path, each puncture needle on the puncture substrate group is made to reach above the lesion position, and after adjusting the corresponding needle insertion angle, multi-angle puncture is formed.

[0010] Optionally, the percutaneous puncture surgical robot system also includes a data display screen for displaying relevant images and data during the percutaneous puncture surgery.

[0011] Optionally, the clamping device, the puncture needle placement rack, the puncture needle, and the puncture substrate assembly are respectively provided with positioning marks that can be identified by a positioning identification system.

[0012] Optionally, when the robotic arm controls the clamping device to move toward the puncture needle placement rack, the puncture needle or the puncture substrate group, a motion trajectory of the robotic arm is generated based on the respective positioning marks of the clamping device and the target, and the current posture of the robotic arm.

[0013] Optionally, the puncture needle placement rack includes a placement base plate and a puncture needle sleeve; wherein the placement base plate is provided with a positioning groove for placing the puncture needle sleeve; the puncture needle sleeve is used to place the puncture needle; The puncture needle sleeve comprises a sleeve body and a sleeve limiter arranged at the top of the sleeve body; the sleeve body is matched with the positioning groove; the outer diameter of the sleeve limiter is larger than the inner diameter of the positioning groove.

[0014] Optionally, the puncture substrate assembly includes an upper cover plate, a middle plate, a lower cover plate, a plurality of positioning beads and a power locking mechanism; A through hole matching the puncture needle body is provided at the center axis of the positioning bead; the upper cover plate and the middle plate are both provided with a plurality of slot hole structures, so that the positioning bead is installed between the upper cover plate and the middle plate, and the upper part of the upper cover plate and the lower part of the middle plate are connected through the through hole; The lower cover plate is provided with a plurality of guide grooves whose number and position correspond to the positioning beads, and are used to guide the tail end of the puncture needle passing through the positioning beads through the puncture substrate group, and vertically located above the patient's lesion; After the puncture needles are inserted into the puncture base plate group one by one, the lower cover plate is removed; after each puncture needle reaches above the lesion position and the corresponding needle insertion angle is adjusted respectively, the upper cover plate and the middle plate are driven by the power locking mechanism to clamp the positioning beads to uniformly fix the puncture needles.

[0015] Optionally, the lower cover plate is provided with a protruding handle outside the setting area of ​​the guide groove; The mechanical arm is also used to clamp the protruding handle through the clamping device after the puncture needles are inserted into the puncture substrate group one by one, and after the lower cover plate is moved downward in the vertical direction to below the tail end of the puncture needle, control the lower cover plate to move horizontally out of the lower area of ​​the puncture substrate group, and then place the lower cover plate outside the operation area; The mechanical arm controls the clamping device to return from the placement position of the lower cover plate to the puncture substrate group and adjust the corresponding needle insertion angles based on the corresponding needle insertion paths to form multi-angle puncture.

[0016] Optionally, a first positioning piece is provided on the corner of the middle plate, and a first positioning hole matched with the first positioning piece is provided on the corners of the upper cover plate and the lower cover plate; A groove opening downward is provided next to the through hole of the positioning bead; the middle plate is provided with a plurality of second positioning holes whose number and position correspond one-to-one to the grooves; the lower cover plate protrudes upward and is provided with a plurality of second positioning members whose number and position correspond one-to-one to the grooves; when the second positioning member passes through the second positioning hole and is inserted into the groove, the through hole of the positioning bead is coaxial with the guide groove.

[0017] To achieve the above-mentioned purpose, the present application also provides a control method of a percutaneous puncture surgical robot system, wherein the percutaneous puncture surgical robot system is the percutaneous puncture surgical robot system as described above; the control method of the percutaneous puncture surgical robot system comprises: Based on the positioning and recognition system, the positions of the clamping device, the puncture needle, the puncture needle placement rack, and the puncture base plate group are located, and the image coordinate system and the patient coordinate system are aligned, and the needle insertion path is formed through three-dimensional surgical planning; wherein, the lesion position targeted by the needle insertion path is obtained based on the patient's preoperative CT image data; According to the positioning positions of the clamping device, the puncture needle, the puncture needle placement rack, and the puncture substrate group, the robot arm is controlled to use the clamping device to clamp the multiple puncture needles on the puncture needle placement rack into the puncture substrate group one by one, and based on the corresponding needle insertion path, each puncture needle on the puncture substrate group is made to reach above the lesion position, and the corresponding needle insertion angles are adjusted respectively to form multi-angle puncture; and the relevant images and data during the percutaneous puncture operation are displayed on the data display screen of the percutaneous puncture surgery robot system.

[0018] Optionally, the control method of the percutaneous puncture surgical robot system further includes: Based on the registered image coordinate system and patient coordinate system, the current relative position between the puncture base plate group and the patient lesion is obtained; Based on the current relative position, the second adjustable support is controlled to move so that the puncture base plate assembly moves above the patient's lesion.

[0019] The percutaneous puncture surgical robot system and the control method of the percutaneous puncture surgical robot system provided in the present application realize contactless medical automation by integrating components such as a carrying trolley, a robotic arm, a positioning and recognition system, and a puncture substrate group. At the same time, through surgical planning, image registration, and intraoperative navigation, the puncture needle is punctured above the lesion along the planned path, and then the puncture needle angle is automatically adjusted according to the preoperative plan to achieve multi-angle puncture. The needle insertion angle can be flexibly adjusted to effectively avoid key tissues or structures not related to the operation, and various preoperative preparations are automatically completed to facilitate the doctor to perform the corresponding puncture operations later, thereby realizing high-precision, automated, and flexible percutaneous puncture surgery, significantly improving the efficiency, safety, and adaptability of the operation, reducing the dependence on the doctor's experience and operation, reducing surgical risks, and improving the success rate of the operation. It can be applied to a variety of percutaneous puncture surgery scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the overall structure of a percutaneous puncture surgical robot system in one embodiment of the present application; Figure 2 This is a schematic diagram of the partial structure of a percutaneous puncture surgical robot system in one embodiment of the present application; Figure 3 This is a schematic diagram of the structure of the puncture needle placement stand in one embodiment of the present application; Figure 4 This is a schematic diagram of the structure of a puncture needle sleeve in one embodiment of the present application; Figure 5This is a schematic diagram of the structure of a puncture needle in one embodiment of the present application; Figure 6 This is a schematic diagram of the structure decomposition of the puncture substrate assembly in one embodiment of the present application; Figure 7 This is a structural schematic diagram of a puncture substrate assembly in one embodiment of the present application with the lower cover plate removed; Figure 8 This is a schematic diagram of the structure of a clamping device for clamping a lower cover plate protrusion in one embodiment of the present application; Fig. 9 A partial cross-sectional view of a puncture substrate assembly in one embodiment of the present application; Fig.10 Schematic diagram of the control method steps of a percutaneous puncture surgical robot system in one embodiment of the present application.

[0021] Description of reference numerals: 1. Carrying trolley; 2. Clamping device; 3. First positioning mark; 4. Mechanical arm; 5. Data display screen; 6. Positioning identification system; 7. First adjustable bracket; 8. Rotating device; 9. Puncture needle placement rack; 10. Puncture base plate group; 11. Diagnostic bed; 91. Placement base plate; 92. Second positioning mark; 93. Puncture needle sleeve; 94. Puncture needle; 101. Upper cover plate; 102. Middle plate; 103. Positioning bead; 104. Fourth positioning mark; 105. Second adjustable bracket; 106. First positioning member; 107. Lower cover plate; 108. Power locking mechanism; 911, positioning groove; 931, sleeve limit; 932, sleeve body; 941, third positioning mark; 942, needle body; 943, tail end; 1071, guide groove; 1072, second positioning member; 1073, protruding handle.

[0022] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0023] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0024] In addition, if the descriptions of "first", "second", etc. are involved in this application, they are only used for descriptive purposes (such as for distinguishing the same or similar features), and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in this field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0025] In one embodiment, a percutaneous puncture surgical robot system is provided, referring to Figure 1 The percutaneous puncture surgical robot system includes: a carrying trolley 1, a clamping device 2, a mechanical arm 4, a positioning and identification system 6, a puncture needle placement rack 9, a puncture substrate group 10 and a diagnostic bed 11; wherein the clamping device 2 is arranged at the end of the mechanical arm 4; the base of the mechanical arm 4 and the first adjustable bracket 7 supporting the positioning and identification system 6 are both installed on the carrying trolley 1 through a rotating device 8; The puncture substrate set 10 is fixed on the diagnosis bed 11 through the second adjustable bracket 105, and the relative position between the puncture substrate set 10 and the patient on the diagnosis bed 11 can be adjusted by adjusting the second adjustable bracket 105, so that the puncture substrate set 10 is placed above the patient's lesion; The positioning and identification system 6 is used to locate the positions of the clamping device 2, the puncture needle 94, the puncture needle placement frame 9, and the puncture substrate group 10, and to register the image coordinate system with the patient coordinate system, and form a needle insertion path through three-dimensional surgical planning; wherein the lesion position targeted by the needle insertion path is obtained based on the patient's preoperative CT image data; The robot arm 4 is used to clamp the multiple puncture needles 94 on the puncture needle placement rack 9 into the puncture substrate group 10 one by one through the clamping device 2, and based on the corresponding needle insertion path, make the puncture needles 94 on each puncture substrate group 10 reach above the lesion position, and adjust the corresponding needle insertion angles respectively to form multi-angle puncture.

[0026] In this embodiment, the carrying trolley 1 serves as the base of the entire system, carrying components such as the mechanical arm 4 and the positioning and identification system 6. The carrying trolley 1 has wheels, and can be easily moved in the operating room to adapt to different operating environments.

[0027] Optionally, the carrier trolley 1 adopts a four-wheel design with a locking function to ensure stability during surgery. The carrier trolley 1 is designed with multiple interfaces to facilitate installation and connection of other components.

[0028] The clamping device 2 is installed at the end of the mechanical arm 4, and is used to clamp and release the puncture needle 94. Among them, the high-precision sensor and driver are used to ensure the accurate clamping and placement of the puncture needle 94. It can clamp puncture needles 94 of different diameters and lengths, which is suitable for various surgical needs. The clamping device 2 can be provided with a safety mechanism to prevent the puncture needle 94 from being damaged by excessive clamping force.

[0029] The mechanical arm 4 is used to accurately control the movement and positioning of the puncture needle 94. The mechanical arm 4 is composed of a plurality of interconnected joints, each of which can be rotated or turned to facilitate the clamping device 2 to reach the specified position. The mechanical arm 4 can use a high-precision servo motor and controller to ensure the accuracy and repeatability of each movement step. The mechanical arm 4 can also be integrated with a force sensor to monitor the resistance during the puncture process in real time to ensure that the puncture needle 94 safely reaches the position above the lesion.

[0030] The positioning and recognition system 6 is used for real-time positioning and registration to generate an accurate puncture path. The positioning and recognition system 6 may have a multimodal imaging function, which can convert the patient's preoperative CT image data into a three-dimensional model for surgical planning. That is, through image registration technology, the three-dimensional model is accurately matched with the actual position in the patient's body to ensure the accuracy of the puncture path. Based on the preoperative CT image data and real-time position information, the optimal puncture path is generated, including multiple puncture points and angles.

[0031] The positioning and identification system 6 is supported by the first adjustable bracket 7, and the angle can be freely adjusted to identify the precise posture information of the positioning mark. The first adjustable bracket 7 and the base of the mechanical arm 4 are set on the carrier trolley 1 through the rotating device 8, and the rotating device 8 can effectively prevent the mechanical arm 4 and the positioning and identification system 6 from interfering with each other when adjusting the angle.

[0032] The puncture needle placement rack 9 is used to store and arrange multiple puncture needles 94, and its setting position can be located within the range of movement of the mechanical arm 4, so that the mechanical arm 4 can extract the puncture needles 94 one by one.

[0033] The puncture substrate assembly 10 is used to fix the puncture needle 94 to ensure the accurate positioning and insertion angle of the puncture needle 94. The puncture substrate assembly 10 is fixed on the diagnostic bed 11 through the second adjustable bracket 105. The second adjustable bracket 105 is adjusted according to the position of the patient's lesion to place the puncture substrate assembly 10 at an appropriate position above the lesion. That is, through the second adjustable bracket 105, the puncture substrate assembly 10 can be adjusted in multiple planes and angles to adapt to different lesion positions.

[0034] Among them, the clamping device 2, the puncture needle 94, the puncture needle placement rack 9, and the puncture substrate group 10 are all provided with positioning marks that can be recognized by the positioning identification system 6. Based on the positioning identification system 6, the corresponding positioning positions of the clamping device 2, the puncture needle 94, the puncture needle placement rack 9, and the puncture substrate group 10 can be obtained.

[0035] The diagnostic bed 11 is used to support the patient and cooperate with the adjustment of the puncture base plate group 10 to ensure the accurate alignment of the lesion position. The diagnostic bed 11 can be adjusted electrically or manually to adapt to different patient positions; and a locking device is designed to ensure the stability of the patient during the operation.

[0036] An example of the workflow of a percutaneous surgical robotic system is as follows: (1) Preoperative preparation Preoperative imaging: CT imaging technology is used to obtain the patient's preoperative CT image data to obtain detailed information on the patient's lesion location, size, morphology and surrounding tissues, providing data support for surgical planning.

[0037] Image processing: The preoperative CT image data is imported into the positioning recognition system 6 of the system for 3D modeling. The lesion area and surrounding tissues (such as bones, blood vessels, nerves, etc.) are segmented through image processing algorithms. Based on the segmented image data, a 3D model of the lesion and its surrounding tissues is generated. An image coordinate system is established in the 3D model for subsequent path planning and intraoperative registration. Finally, a 3D model containing the lesion and key anatomical structures (such as bones, blood vessels, nerves, etc.) is generated.

[0038] Path planning: Based on the three-dimensional model, the optimal puncture path is designed, including the needle point, path and angle, to effectively avoid key opening parts not related to the surgery, such as bone structures, aorta, etc. Among them, the location, size and morphology of the lesion are determined in the three-dimensional model; the key anatomical structures around the lesion are identified and marked as avoidance areas; the best needle point is selected on the patient's body surface to ensure that the puncture path is the shortest and avoids key structures; a straight path from the needle point to the lesion is designed to ensure that the puncture needle 94 can reach the target directly; for complex lesions, a multi-angle puncture path is designed to ensure that the entire lesion area is covered; by adjusting the needle point and angle, the puncture path is ensured to avoid key structures such as bones, large blood vessels, and nerves; and, the path with the least damage to surrounding tissues is selected to reduce postoperative complications. In addition, the puncture path can be simulated in the three-dimensional model to ensure the feasibility and safety of the path. Finally, a three-dimensional surgical plan containing the needle point, puncture path and angle is generated for intraoperative guidance.

[0039] (2) Intraoperative operation The patient is positioned on the diagnostic bed 11 to ensure the accuracy of the lesion location (corresponding body surface reference points can be marked before surgery). Then, the position of the puncture substrate assembly 10 is adjusted through the second adjustable bracket 105 so that it is placed above the lesion location and aligned with the lesion location.

[0040] The three-dimensional model is registered with the actual position in the patient's body by the positioning recognition system 6 to ensure the accuracy of the puncture path. The preoperatively marked body surface reference points are matched with the reference points in the three-dimensional model, and then the preoperatively planned three-dimensional model is accurately aligned with the patient's actual anatomical structure through the image registration algorithm.

[0041] On the basis of using the positioning recognition system 6 to obtain the corresponding positioning positions of the clamping device 2, the puncture needle 94, the puncture needle placement rack 9, and the puncture substrate group 10, the robot arm 4 is controlled to move to the puncture needle placement rack 9, and then the clamping device 2 is used to clamp the puncture needle 94, and the puncture needle 94 is carried to the location of the puncture substrate group 10, and the puncture needle 94 is placed at the corresponding position of the puncture substrate group 10. In this way, the robot arm 4 and the clamping device 2 can be used to extract the puncture needles 94 from the puncture needle placement rack 9 one by one and place them at the corresponding positions of the puncture substrate group 10.

[0042] Then, the robot arm 4 moves the puncture needle 94 from the insertion point of the puncture substrate group 10 according to the path planned before the operation, so that the puncture needle 94 is gradually advanced toward the lesion position along the path, and the position and angle of the puncture needle 94 are adjusted in real time, so that the puncture needle 94 is accurately moved one by one above the lesion position, and the corresponding insertion angle is adjusted (the insertion path and angle of each puncture needle 94 are determined by the preoperative three-dimensional surgical planning). After ensuring that the puncture needle 94 safely reaches the target position, the puncture needle 94 is fixed above the lesion position based on the puncture substrate group 10, forming a multi-angle puncture state, which is convenient for the doctor to complete subsequent puncture operations.

[0043] During the needle insertion process, the robotic arm 4 can dynamically adjust the angle and position of the puncture needle 94 according to real-time feedback (such as force feedback, imaging feedback). The high-precision sensors (such as force sensors, position sensors) integrated in the robotic arm 4 can monitor the resistance, position changes, etc. during the puncture process in real time.

[0044] (3) Postoperative treatment The robot arm 4 takes out the puncture needles 94 one by one and puts them back into the puncture needle placement rack 9. The puncture substrate set 10 is cleaned and disinfected to ensure the sterility of the surgical environment. All data during the operation, including the puncture path, time, etc., are recorded to facilitate postoperative analysis and evaluation.

[0045] In this way, the accuracy of the puncture path is ensured through three-dimensional modeling and path planning. The real-time registration and guidance of the positioning recognition system 6 ensures that the puncture path is consistent with the planned path. The high-precision motion control of the mechanical arm 4 ensures the precise positioning of the puncture needle 94 and the accuracy of the needle insertion angle.

[0046] The robot arm 4 and the clamping device 2 work together to automatically clamp, position and fix the puncture needle 94, reducing human error. The robot arm 4 can perform multiple needle punctures one by one to ensure the accuracy and position consistency of each needle.

[0047] Optionally, the force sensor integrated in the mechanical arm 4 can monitor the resistance during the puncture process in real time to prevent damage caused by excessive needle insertion. The clamping device 2 and the puncture substrate assembly 10 are provided with a safety mechanism to ensure safety during the operation.

[0048] By integrating all components into the carrying trolley 1, the structure is compact and occupies less space in the operating room. In addition, the mobility of the carrying trolley 1 makes it suitable for different surgical environments.

[0049] Application scenario examples: Obtain lesion tissue samples for pathological analysis through precise puncture paths; achieve high-precision drug injection or physical therapy in treatments such as tumor ablation and cyst aspiration; achieve precise puncture and treatment in interventional surgeries such as percutaneous puncture angioplasty; improve surgical efficiency and safety in emergency surgeries that require fast and precise puncture.

[0050] The percutaneous puncture surgical robot system proposed in one embodiment realizes contactless medical automation by integrating components such as a carrying trolley, a robotic arm, a positioning and recognition system, and a puncture substrate group. At the same time, through surgical planning, image registration, and intraoperative navigation, the puncture needle is punctured along the planned path to above the predetermined lesion location, and then the puncture needle angle is automatically adjusted according to the preoperative plan to achieve multi-angle puncture. The needle insertion angle can be flexibly adjusted to effectively avoid key tissues or structures not related to the operation, and various preoperative preparations are automatically completed to facilitate the doctor to perform the corresponding puncture operation later, thereby realizing high-precision, automated, and flexible percutaneous puncture surgery, significantly improving the efficiency, safety, and adaptability of the operation, reducing the dependence on the doctor's experience and operation, reducing the surgical risk, and improving the success rate of the operation. It can be applied to a variety of percutaneous puncture surgery scenarios.

[0051] Moreover, the percutaneous surgical robot system does not require special surgical parts for each operation. For different patients and when encountering lesion displacement, it can be adjusted to the appropriate surgical procedure according to the preoperative plan. At the same time, only one carrying trolley is needed to perform the operation, which occupies a small space and is suitable for all hospital operating room environments.

[0052] In one embodiment, based on the above embodiment, referring to Figure 1 and Figure 2 The percutaneous puncture surgical robot system also includes a data display screen 5 for displaying relevant images and data during the percutaneous puncture surgery.

[0053] In this embodiment, in the percutaneous puncture surgical robot system, the data display screen 5 can be integrated into the carrier trolley 1. In some optional cases, it can also be independently set up and establish a communication connection with the robot system to perform data exchange.

[0054] Optionally, pre-operative images, i.e., pre-operative CT, MRI or ultrasound images of the patient, can be displayed on the data display screen 5, which are used for lesion localization and surgical path planning. During the operation, ultrasound or fluoroscopic imaging can be integrated to monitor the position and progress of the puncture needle 94 in real time.

[0055] Optionally, it displays the pre-set needle insertion path, including the three-dimensional coordinates of the target lesion and the optimal needle insertion angle; it provides real-time navigation guidance, compares the deviation between the actual needle insertion path and the planned path, and helps doctors make adjustments.

[0056] If the robot arm 4 is equipped with a force sensor, the data display screen 5 will display the force applied to the tissue in real time to prevent damage caused by excessive force.

[0057] Optionally, the data display screen 5 allows the doctor to operate through the touch screen, such as adjusting the view, confirming the steps, etc. Among them, a user-friendly interface is designed to reduce the learning curve and enable the doctor to quickly get started.

[0058] When it detects that the puncture needle 94 deviates from the path, encounters abnormal resistance or other potential risks, the system will issue visual and audible alarms.

[0059] Optionally, provide step-by-step instructions for surgical procedures to ensure standardization and consistency of surgical procedures.

[0060] The Data Display 5 in the percutaneous surgical robotic system not only provides doctors with necessary visual information and data support, but also greatly enhances the precision and safety of surgery through its advanced functions and user-friendly design, aiming to provide medical professionals with real-time visual feedback and key data to support them in performing precise percutaneous surgery.

[0061] In one embodiment, based on the above embodiment, the clamping device, the puncture needle placement rack, the puncture needle, and the puncture substrate assembly are respectively provided with positioning marks that can be identified by a positioning identification system.

[0062] In this embodiment, refer to Figures 1 to 3The positioning mark corresponding to the clamping device 2 is marked as the first positioning mark 3, the positioning mark corresponding to the puncture needle placement rack 9 is marked as the second positioning mark 92, the positioning mark corresponding to the puncture needle 94 is marked as the third positioning mark 941, and the positioning mark corresponding to the puncture substrate group 10 is marked as the fourth positioning mark 104.

[0063] Among them, the first positioning mark 3 is used to help the positioning and recognition system 6 to accurately identify the position and posture of the clamping device 2, ensuring that the clamping device 2 always remains at a predetermined position and angle during the operation, which is crucial for the accurate placement of the puncture needle 94 and the tracking of the needle insertion path. The first positioning mark 3 can be used as a reference point to calibrate the data of the robot arm 4 and the positioning and recognition system 6. Through calibration, the system error can be reduced and the accuracy and safety of the operation can be improved.

[0064] Among them, the second positioning mark 92 is used to provide positioning information so that the positioning identification system 6 can accurately identify the position of the puncture needle placement rack 9.

[0065] The third positioning mark 941 is used to provide positioning information so that the positioning identification system 6 can accurately identify the position and posture of the puncture needle 94 in space.

[0066] The fourth positioning mark 104 is used to provide positioning information so that the positioning and identification system 6 can accurately identify the position of the puncture substrate assembly 10 in space.

[0067] In one embodiment, based on the above embodiment, when the robotic arm 4 controls the clamping device 2 to move toward the puncture needle placement rack 9, the puncture needle 94 or the puncture substrate group 10, the motion trajectory of the robotic arm 4 is generated based on the respective positioning marks of the clamping device 2 and the target, and the current posture of the robotic arm 4.

[0068] In this embodiment, in the percutaneous puncture surgical robot system, when the robot arm 4 needs to control the clamping device 2 to move toward the puncture needle placement rack 9, the puncture needle 94 or the puncture substrate group 10, the system will accurately generate the motion trajectory of the robot arm 4 with the help of the positioning marks of each component and the current posture information of the robot arm 4. This process is the key link to achieve accurate operation of the robot arm 4, which ensures that the clamping device 2 can accurately reach the target position and complete the operations such as grabbing and transferring the puncture needle 94.

[0069] The positioning marks are specific markers installed on the clamping device 2, the puncture needle placement frame 9, the puncture needle 94 and the puncture substrate group 10, and these markers can be optical markers, electromagnetic markers, etc. The positioning recognition system 6 can recognize these positioning marks through corresponding sensors, thereby accurately obtaining the position information of each component in space.

[0070] The posture of the robot arm 4 refers to the position and angle information of the robot arm 4 in space. The robot arm 4 is usually equipped with a variety of sensors, such as joint angle sensors, position sensors, etc. These sensors can monitor the angle and position changes of each joint of the robot arm 4 in real time. By processing these sensor data, the system can accurately calculate the current posture of the robot arm 4. For example, the angle sensor of each joint can measure the rotation angle of the joint. By combining this angle information with the kinematic model of the robot arm 4, the position and posture of the end of the robot arm 4 can be determined.

[0071] After obtaining the positioning identification information of the gripper 2 and the target and the current posture of the robot 4, the system will use the motion planning algorithm to generate the motion trajectory of the robot 4. The motion planning algorithm will comprehensively consider multiple factors, such as the kinematic constraints of the robot 4, the position of obstacles, the position and posture of the target, etc., to ensure that the generated motion trajectory is feasible and safe.

[0072] Specifically, the motion planning algorithm will first determine the target position and posture that the end of the robot arm 4 needs to move to based on the position information of the clamping device 2 and the target. Then, combined with the current posture of the robot arm 4, the angles that each joint of the robot arm 4 needs to rotate are calculated through inverse kinematics. During the calculation process, the algorithm will consider factors such as the range of motion limit and joint speed limit of the robot arm 4 to avoid collisions or situations where the robot arm 4 exceeds its movement capacity. Finally, based on the calculated joint angle sequence, the motion trajectory of the robot arm 4 is generated, which describes the angle values ​​of each joint of the robot arm 4 at each moment.

[0073] An example of a scene of grabbing a puncture needle 94: Assume that before the operation begins, a plurality of puncture needles 94 are placed on the puncture needle placement rack 9, each puncture needle 94 and the puncture needle placement rack 9 are equipped with a positioning mark, and the clamping device 2 at the end of the robot arm 4 is also equipped with a positioning mark. The positioning recognition system 6 monitors the position information of these positioning marks in real time through the camera, and the sensor of the robot arm 4 feeds back the current posture information of the robot arm 4 in real time.

[0074] When the puncture needle 94 needs to be grabbed, the system first determines the position and posture of the clamping device 2 and the target puncture needle according to the information obtained by the positioning and recognition system 6. Assume that the target puncture needle is located at a specific position of the puncture needle placement rack 9, and its coordinates are (x 1 ,y 1 ,z 1 ), the posture is θ 1 ; The current position coordinates of the clamping device 2 (x 0 ,y 0 ,z 0 ), the posture is θ 0Then, the system uses the inverse kinematics algorithm to calculate the angles that each joint of the robot arm 4 needs to rotate according to the kinematic model and current posture of the robot arm 4, so that the clamping device 2 can accurately move to the position of the target puncture needle and adjust to a suitable posture for grasping. For example, by calculating that joint A needs to rotate α 1 degrees, joint B needs to rotate α 2 Degrees, and so on.

[0075] Finally, the system generates the motion trajectory of the robot arm 4 according to the calculated joint angle sequence. The robot arm 4 gradually adjusts the angles of each joint according to the generated motion trajectory, so that the clamping device 2 moves accurately to the position of the target puncture needle and completes the grasping operation.

[0076] An example of a scenario in which the puncture needle 94 is transferred to the puncture substrate assembly 10: After the clamping device 2 grabs the puncture needle 94, it needs to be transferred to the puncture substrate set 10. Similarly, the system will generate a new motion trajectory based on the positioning identification of the clamping device 2 (carrying the puncture needle 94 at this time) and the puncture substrate set 10 obtained by the positioning recognition system 6, as well as the current posture information of the robot arm 4.

[0077] Assume that the target placement position coordinates on the puncture substrate assembly 10 are (x 2 ,y 2 ,z 2 ), the posture is θ 2 The system will again use the inverse kinematics algorithm to calculate the angles that each joint of the robot arm 4 needs to rotate, so that the clamping device 2 can accurately place the puncture needle 94 at the target position of the puncture substrate group 10. The robot arm 4 adjusts the angles of each joint according to the newly generated motion trajectory, accurately places the puncture needle 94 in the puncture substrate group 10, and completes the transfer operation of the puncture needle 94.

[0078] In this way, the method of generating the motion trajectory based on the positioning mark and the posture of the robot arm 4 can ensure that the robot arm 4 can accurately and safely complete various operations during the operation, thereby improving the reliability and effectiveness of the percutaneous puncture surgical robot system.

[0079] In one embodiment, based on the above embodiment, referring to Figure 3 and Figure 4 The puncture needle placement rack 9 includes a placement base plate 91 and a puncture needle sleeve 93; wherein the placement base plate 91 is provided with a positioning groove 911 for placing the puncture needle sleeve 93; the puncture needle sleeve 93 is used to place the puncture needle 94; The puncture needle sleeve 93 includes a sleeve body 932 and a sleeve limiter 931 disposed at the top of the sleeve body 932 ; the sleeve body 932 is adapted to the positioning groove 911 ; the outer diameter of the sleeve limiter 931 is greater than the inner diameter of the positioning groove 911 .

[0080] In this embodiment, the placement substrate 91 serves as the basic structure of the puncture needle placement rack 9, providing a stable working platform and providing a stable and easy-to-identify and operate environment for the clamping device 2 of the mechanical arm 4 to take and place the puncture needle 94. A plurality of positioning grooves 911 are provided on the placement substrate 91, and these positioning grooves 911 are specially designed for placing the puncture needle sleeve 93. The shape and size of the positioning groove 911 are adapted to the sleeve body 932 of the puncture needle sleeve 93, and can provide accurate positioning and stable support for the sleeve body 932, and its diameter and depth are precisely designed according to the actual size of the sleeve body 932 to ensure that the sleeve body 932 can be tightly embedded in the positioning groove 911 without shaking or displacement.

[0081] Optionally, the second positioning mark 92 is disposed on the placement substrate 91 .

[0082] The puncture needle sleeve 93 is a disposable consumable material, which is used to place and protect the puncture needle 94 to ensure the stability and safety of the puncture needle 94 during preparation and use.

[0083] The position of the positioning groove 911 is reasonably designed to ensure that the puncture needles 94 are arranged neatly, which is convenient for the mechanical arm 4 to grasp and place.

[0084] The design of the puncture needle placement rack 9 ensures the accurate placement and management of the puncture needle 94, improving the accuracy and efficiency of the operation. By integrating the placement substrate 91, the second positioning mark 92 and the puncture needle sleeve 93, the system can work efficiently in a complex surgical environment, ensuring the safety and success rate of the operation.

[0085] Optionally, the sleeve body 932 is the main part of the puncture needle sleeve 93, which is adapted to the positioning groove 911 on the substrate 91. Its internal space is used to accommodate the puncture needle 94, and can provide protection for the puncture needle 94 to prevent the puncture needle 94 from being damaged or contaminated during storage. For example, the inner diameter of the sleeve body 932 will be designed according to the outer diameter of the puncture needle 94 to ensure that the puncture needle 94 can be smoothly inserted into the sleeve body 932 and has a certain stability in the sleeve body 932.

[0086] Optionally, the sleeve limiter 931 is disposed at the top of the sleeve body 932, and its outer diameter is larger than the inner diameter of the positioning groove 911. When the puncture needle sleeve 93 is placed in the positioning groove 911, the sleeve limiter 931 can prevent the sleeve body 932 from completely sinking into the positioning groove 911, thereby playing a role of limiting and fixing.

[0087] The puncture needle placement rack 9 has a second positioning mark 92, and the spatial position information can be recognized by the positioning identification system 6. The puncture needle sleeve 93 is a disposable consumable. The sleeve limit 931 ensures the height direction consistency of the puncture needle sleeve 93, and is also convenient for grabbing and replacing. The sleeve body 932 of the puncture needle sleeve 93 is arranged to fit closely with the positioning groove 911 on the base plate to ensure the position accuracy of the puncture needle sleeve 93. This design not only improves the accuracy and efficiency of the operation, but also enhances the safety and reliability of the system.

[0088] In one embodiment, based on the above embodiment, referring to Figure 5 and Figure 6 The puncture substrate assembly 10 includes an upper cover plate 101, a middle plate 102, a lower cover plate 107, a plurality of positioning beads 103 and a power locking mechanism 108; A through hole matching the puncture needle body 942 is provided at the central axis of the positioning bead 103; the upper cover plate 101 and the middle plate 102 are both provided with a plurality of slot structures, so that the positioning bead 103 is installed between the upper cover plate 101 and the middle plate 102, and the upper part of the upper cover plate 101 and the lower part of the middle plate are connected through the through hole; The lower cover plate 107 is provided with a plurality of guide grooves 1071 whose number and position correspond to the positioning beads 103 one by one, and are used to guide the tail end 943 of the puncture needle passing through the positioning beads 103 and the puncture substrate assembly 10 to be vertically located above the patient's lesion; After the puncture needles 94 are inserted into the puncture substrate assembly 10 one by one, the lower cover plate 107 is removed; after each puncture needle 94 reaches above the lesion position and adjusts the corresponding needle insertion angle respectively, the power locking mechanism 108 drives the upper cover plate 101 and the middle plate 102 to clamp the positioning beads 103 to uniformly fix the puncture needles 94.

[0089] In this embodiment, the puncture substrate assembly 10 is an important component in the percutaneous puncture surgical robot system, which is used to accurately guide and fix the puncture needle 94 to ensure that its position and angle are accurate during the puncture process.

[0090] The upper cover plate 101 and the middle plate 102 of the piercing substrate assembly 10 are provided with a plurality of slot structures facing each other. The upper and lower slot structures of the upper cover plate 101 and the middle plate 102 cooperate with each other to clamp the positioning beads 103 placed therein.

[0091] The lower cover plate 107 is provided with a plurality of guide grooves 1071 corresponding to the positions of the slot structures (i.e. the positions where the positioning beads 103 are placed) to ensure that the puncture needle 94 is inserted vertically.

[0092] A through hole matching the puncture needle body 942 is provided at the central axis of the positioning bead 103 to ensure that the puncture needle 94 can pass through smoothly and be fixed.

[0093] The power locking mechanism 108 drives the upper cover plate 101 and the middle plate 102 to clamp the positioning beads 103 to fix the position of the puncture needle 94. The power locking mechanism 108 can use a motor, a cylinder or other mechanical devices to achieve an automatic locking function.

[0094] The fourth positioning mark 104 set on the puncture substrate group 10 can be accurately positioned by the positioning recognition system 6, and there is no need to manually pick up the puncture needle 94 and then place the puncture substrate, which greatly reduces the doctor's workload and improves the accuracy of the operation; the positioning recognition system 6 is used to align the image coordinate system with the patient coordinate system, and form a needle insertion path through three-dimensional surgical planning, which can effectively avoid bony structures or aortas; the puncture substrate group 10 adopts a ball structure design, which can achieve multi-angle puncture; a guide groove 1071 is set on the lower cover plate 107 of the puncture substrate group 10, which is convenient for the clamping device 2 to grab the puncture needle 94 and insert it from the positioning bead 103 on the puncture substrate group 10, so that when the tail end 943 of the puncture needle passing through the positioning bead 103 passes through the guide groove 1071, it is guided by the guide groove 1071 vertically above the lesion position.

[0095] Reference Figure 7 After all the puncture needles 94 are inserted into the puncture substrate assembly 10 one by one, the lower cover 107 is removed; at this time, the tail end 943 of each puncture needle starts from the vertical position above the lesion position, and the needle can be inserted and the corresponding needle insertion angle can be adjusted (adjusted by the robot arm 4 by clamping the puncture needle 94 through the clamping device 2).

[0096] The third positioning mark 941 is set on the puncture needle 94, which can be recognized by the positioning recognition system 6 as position information. According to the preoperative plan, the clamping device 2 adjusts the puncture needle 94 to the corresponding insertion angle. After all puncture needles have completed the insertion angle adjustment, the upper cover plate 101 and the middle plate 102 can be locked by the power locking mechanism 108 to increase the friction and prevent the positioning bead 103 from rotating. The upper cover plate 101 and the middle plate 102 are provided with a slot structure matching the positioning bead 103, so that the positioning bead 103 can rotate freely between the two plates. When the external force is applied to the two plates by the power locking mechanism 108, the positioning bead 103 is locked, and the increased friction effectively prevents the positioning bead 103 from rotating, so that the puncture needle 94 passes the expected planned path, which is convenient for doctors to perform subsequent medical operations.

[0097] In this way, the puncture base plate assembly 10 is well designed, and the upper cover plate 101, the middle plate 102, the lower cover plate 107, the positioning beads 103 and the power locking mechanism 108 work together to achieve accurate guidance and fixation of the puncture needle 94. This design significantly improves the efficiency and effect of percutaneous puncture surgery and brings better treatment experience to patients.

[0098] In one embodiment, based on the above embodiment, referring to Figure 8The lower cover plate 107 is provided with a protruding handle 1073 outside the setting area of ​​the guide groove 1071; The robot arm 4 is also used to clamp the protruding handle 1073 through the clamping device 2 after the puncture needles 94 are inserted into the puncture substrate group 10 one by one, and after the lower cover plate 107 is moved downward in the vertical direction to below the tail end 943 of the puncture needle, control the lower cover plate 107 to move horizontally out of the lower area of ​​the puncture substrate group 10, and then place the lower cover plate 107 outside the surgical area; The robot arm 4 controls the clamping device 2 to return from the placement position of the lower cover plate 107 to the puncture substrate assembly 10 and adjusts the corresponding needle insertion angles based on the corresponding needle insertion paths to form multi-angle puncture.

[0099] In this embodiment, the lower cover plate 107 is provided with a lug 1073 outside the setting area of ​​the guide groove 1071, and the lug 1073 provides a convenient grasping position for the clamping device 2 of the robot arm 4. Since the guide groove 1071 is used to guide the puncture needle 94, the lug 1073 provided in this area may interfere with the normal insertion and movement of the puncture needle 94. Therefore, the lug 1073 is provided outside the setting area of ​​the guide groove 1071, which can ensure that the operation of the puncture needle 94 is not affected, and can facilitate the robot arm 4 to accurately identify and clamp the lower cover plate 107.

[0100] When all puncture needles 94 are inserted into the puncture substrate assembly 10 one by one, the robot arm 4 starts to remove the lower cover 107. The robot arm 4 accurately controls the clamping device 2 to move to the position of the lug 1073 of the lower cover 107 according to the information provided by the positioning recognition system 6, and firmly clamps it.

[0101] After the robot arm 4 holds the lug 1073, it controls the lower cover plate 107 to move vertically downward to below the puncture needle tail end 943. The purpose of this operation is to make the lower cover plate 107 avoid the puncture needle 94 and create space for subsequent translation operations.

[0102] When the lower cover plate 107 moves below the puncture needle tail end 943, the robot arm 4 controls the lower cover plate 107 to perform a translation operation to move it out of the area below the puncture substrate assembly 10. The translation direction and distance can also be precisely controlled according to the actual situation of the surgical area and the motion plan of the robot arm 4.

[0103] After the robot arm 4 moves the lower cover plate 107 out of the area below the puncture substrate assembly 10, it will continue to move it to a designated position outside the surgical area for placement. This can prevent the lower cover plate 107 from interfering with the operation during the operation, and also facilitate subsequent cleaning and disinfection of the lower cover plate 107.

[0104] After placing the lower cover plate 107 outside the surgical area, the robot arm 4 controls the clamping device 2 to return from the placement position of the lower cover plate 107 to the puncture substrate group 10. At this time, the puncture substrate group 10 is no longer blocked by the lower cover plate 107, and the robot arm 4 can smoothly perform the puncture operation of each puncture needle 94. The robot arm 4 will accurately control the insertion process of the puncture needle 94 and adjust the corresponding insertion angle according to the needle insertion path and angle planned before the operation, ensuring that all puncture needles 94 can accurately reach the position above the lesion at the corresponding angle, and realize multi-angle puncture.

[0105] In one embodiment, based on the above embodiment, referring to Figure 6 and Fig. 9 , a first positioning member 106 is provided on the corner of the middle plate 102, and a first positioning hole adapted to the first positioning member 106 is provided on the corners of the upper cover plate 101 and the lower cover plate 107; A downward-opening groove is provided next to the through hole of the positioning bead 103; the middle plate 102 is provided with a plurality of second positioning holes whose number and position correspond one-to-one to the grooves; the lower cover plate 107 protrudes upward and is provided with a plurality of second positioning members 1072 whose number and position correspond one-to-one to the grooves; when the second positioning member 1072 passes through the second positioning hole and is inserted into the groove, the through hole of the positioning bead 103 is coaxial with the guide groove 1071.

[0106] In this embodiment, each corner of the middle plate 102 is provided with a first positioning member 106 that protrudes upward and downward at the same time, and the corners of the upper cover plate 101 and the lower cover plate 107 are provided with a first positioning hole that matches with the first positioning member 106. This design helps to ensure accurate alignment and stable connection between the components, thereby ensuring the structural integrity and functional accuracy of the entire puncture substrate assembly 10.

[0107] The first positioning member 106 is inserted into the first positioning hole to ensure that the upper cover plate 101, the middle plate 102 and the lower cover plate 107 are accurately aligned during assembly to avoid puncture errors caused by position deviation. The first positioning member 106 cooperates with the first positioning hole to enhance the connection stability between the plates and prevent displacement or loosening during surgery.

[0108] The design of the first positioning member 106 and the first positioning hole makes the assembly process faster and more convenient, thereby improving the efficiency of surgical preparation.

[0109] The first positioning member 106 may be in the shape of a column, a pin, or other shapes, matching the first positioning hole.

[0110] The size of the first positioning hole is slightly larger than that of the first positioning member 106 to facilitate insertion, but should not be too large to avoid affecting the alignment accuracy.

[0111] The first positioning member 106 on the middle plate 102 cooperates with the first positioning holes on the upper cover plate 101 and the lower cover plate 107, which not only ensures the precise alignment and stable connection of the components, but also simplifies the assembly process and improves the efficiency and accuracy of the surgical operation.

[0112] A groove opening downward is provided beside the through hole of the positioning bead 103. The groove serves as a positioning matching structure, which provides a specific position reference for the accurate connection between the middle plate 102 and the lower cover plate 107 and the positioning bead 103. The size and shape of the groove are precisely designed to match the second positioning hole of the middle plate 102 and the second positioning member 1072 of the lower cover plate 107 to ensure accurate positioning.

[0113] The middle plate 102 is provided with a plurality of second positioning holes, the number and position of which correspond to the grooves on the positioning beads 103. The second positioning holes play a transitional role in connecting the positioning beads 103 and the lower cover plate 107. They not only provide a passage for the second positioning member 1072 of the lower cover plate 107 to pass through, but also constrain the movement of the second positioning member 1072 to a certain extent, ensuring that it can be accurately inserted into the groove of the positioning beads 103.

[0114] The lower cover plate 107 is upwardly protruding and provided with a plurality of second positioning members 1072. Similarly, the number and position of these second positioning members 1072 correspond to the grooves of the positioning beads 103. When the assembly and positioning operation of the puncture substrate assembly 10 is performed, the second positioning members 1072 need to pass through the second positioning holes of the middle plate 102 and be inserted into the grooves of the positioning beads 103. This design forms a close connection and positioning relationship between the lower cover plate 107, the middle plate 102 and the positioning beads 103. For example, the second positioning member 1072 can be designed to be cylindrical, and the specific shape depends on the actual positioning requirements and manufacturing process.

[0115] When the second positioning member 1072 passes through the second positioning hole and is inserted into the groove, the through hole of the positioning bead 103 is coaxial with the guide groove 1071. The realization of this coaxial relationship ensures that the puncture needle 94 can accurately move along the direction of the guide groove 1071 after passing through the through hole of the positioning bead 103, thereby improving the accuracy and success rate of puncture.

[0116] When assembling the puncture substrate assembly 10, first place the positioning bead 103 between the upper cover plate 101 and the middle plate 102. Then, place the middle plate 102 so that the second positioning hole is aligned with the groove of the positioning bead 103. Finally, install the lower cover plate 107 in place so that the second positioning member 1072 passes through the second positioning hole and is inserted into the groove.

[0117] During the placement operation of the puncture needle 94, the guide groove 1071 guides the tail end 943 of the puncture needle to be located vertically above the patient's lesion, and the coaxial through hole ensures that the puncture needle 94 will not deviate when passing through the puncture substrate group 10. After the puncture needles 94 are all placed in the puncture substrate group 10, the lower cover plate 107 is removed to unlock the angle adjustment constraint of the puncture needle 94. At this time, the robot arm 4 can control the puncture needle 94 through the clamping device 2 to take the tail end 943 above the lesion position as the starting point, and puncture the lesion position in combination with the needle insertion path and angle planned before the operation. After all the puncture needles 94 are inserted, the positioning beads 103 are uniformly locked by the power locking mechanism 108, thereby locking the insertion angle of the puncture needle 94. During subsequent surgical operations (such as biopsy sampling, injection of therapeutic drugs, etc.), the puncture needle 94 can remain stable and will not change its angle due to external force or slight movement of tissue, ensuring the accuracy and safety of the operation.

[0118] During the placement operation of the puncture needle 94, the guide groove 1071 and the coaxial through hole play a key positioning and guiding function. The guide groove 1071 is set on the lower cover plate 107, and its function is to guide the tail end 943 of the puncture needle so that it is precisely vertically located above the patient's lesion. This is like setting an initial accurate "position" for the puncture needle 94 to ensure the accuracy of the puncture starting point. Although the lower cover plate 107 plays an important role in guiding the positioning of the puncture needle 94 in the early stage, it will limit the angle adjustment of the puncture needle 94 after the puncture needle 94 is initially placed. Therefore, it is necessary to remove the lower cover plate 107 to unlock the angle adjustment constraint of the puncture needle 94. After removing the lower cover plate 107, the puncture needle 94 is no longer fixed by the guide groove 1071 of the lower cover plate 107, and the robotic arm 4 can flexibly adjust the angle of the puncture needle 94 according to actual needs.

[0119] In one embodiment, based on the above-mentioned percutaneous puncture surgical robot system, a control method for the percutaneous puncture surgical robot system is proposed; Fig.10 , the control method of the percutaneous puncture surgical robot system includes: Step S10: Based on the positioning and recognition system, the positions of the clamping device, the puncture needle, the puncture needle placement rack, and the puncture substrate group are positioned, and the image coordinate system and the patient coordinate system are registered, and a needle insertion path is formed through three-dimensional surgical planning; wherein the lesion position targeted by the needle insertion path is obtained based on the patient's preoperative CT image data; Step S20, according to the positioning positions of the clamping device, the puncture needle, the puncture needle placement rack, and the puncture substrate group, control the robotic arm to use the clamping device to clamp the multiple puncture needles on the puncture needle placement rack one by one into the puncture substrate group, and based on the corresponding needle insertion path, make the puncture needles on the puncture substrate group reach above the lesion position, and adjust the corresponding needle insertion angles respectively to form multi-angle puncture; and display the relevant images and data during the percutaneous puncture operation on the data display screen of the percutaneous puncture surgery robot system.

[0120] In this embodiment, the execution terminal of the embodiment may be the system terminal, or may be other equipment or devices (such as a control device) that controls the percutaneous puncture surgical robot system.

[0121] Since the control method of the percutaneous puncture surgical robot system adopts all the technical solutions of all the above embodiments, it at least has all the technical effects brought by the technical solutions of the above embodiments, which will not be described one by one here.

[0122] In one embodiment, based on the above-mentioned percutaneous puncture surgical robot system, the control method of the percutaneous puncture surgical robot system further includes: Based on the registered image coordinate system and patient coordinate system, the current relative position between the puncture base plate group and the patient lesion is obtained; Based on the current relative position, the second adjustable support is controlled to move so that the puncture base plate assembly moves above the patient's lesion.

[0123] In this embodiment, the registration of the image coordinate system and the patient coordinate system has been completed in step S10, which makes it possible to associate the lesion position information obtained based on the image data with the puncture substrate group position information in the actual physical space. Using the positioning recognition system, the position of the puncture substrate group in the patient coordinate system can be obtained in real time. Combined with the position of the lesion in the patient coordinate system determined by the preoperative CT image data, the current relative position between the puncture substrate group and the patient's lesion can be calculated, including the distance, angle and other parameters between the two.

[0124] The second adjustable support is an important component in the percutaneous puncture surgical robot system. It has multiple degrees of freedom and can flexibly move and adjust its posture in three-dimensional space. By controlling the activity of the second adjustable support, the position and direction of the puncture substrate group can be accurately changed.

[0125] Based on the current relative position obtained, the system will calculate the direction and distance that the puncture substrate group needs to move. Then, the second adjustable bracket is controlled to move accordingly through motor drive, hydraulic control, etc., so that the puncture substrate group gradually moves above the lesion position. During the movement, the positioning recognition system will monitor the position of the puncture substrate group in real time to ensure that it reaches the target position accurately.

[0126] Moving the puncture base plate assembly to above the patient's lesion can make it easier for the puncture needle to puncture in the direction of the lesion in subsequent operations, reduce the deviation of the puncture path, improve the accuracy and success rate of the puncture, and further enhance the automation level of the system.

[0127] Optionally, in the process of controlling the activity of the second adjustable support, more sensors are added to monitor the movement state of the support and the position change of the puncture substrate set in real time. Once a deviation is found, timely adjustments are made to ensure that the puncture substrate set can be accurately moved above the lesion position.

[0128] Optionally, an intelligent algorithm can be introduced to automatically plan the optimal movement path of the second adjustable bracket according to the current relative position between the puncture base plate group and the patient's lesion, avoiding collision with surrounding equipment or the patient's body during movement, and improving the safety and efficiency of the operation.

[0129] Optionally, a variety of positioning and monitoring technologies, such as visual sensors, laser rangefinders, etc., can be combined to more comprehensively and accurately obtain the relative position information between the puncture substrate group and the patient's lesion, further improving the accuracy of control.

[0130] In summary, the percutaneous puncture surgical robot system and the control method of the percutaneous puncture surgical robot system provided in the embodiments of the present application realize contactless medical automation by integrating components such as a carrying trolley, a robotic arm, a positioning identification system, and a puncture substrate group. At the same time, through surgical planning, image registration, and intraoperative navigation, the puncture needle is punctured along the planned path to above the predetermined lesion position, and then the puncture needle angle is automatically adjusted according to the preoperative plan to achieve multi-angle puncture. The needle insertion angle can be flexibly adjusted to effectively avoid key tissues or structures not related to the operation, and various preoperative preparations are automatically completed to facilitate the doctor to perform the corresponding puncture operations later, thereby realizing high-precision, automated, and flexible percutaneous puncture surgery, significantly improving the efficiency, safety, and adaptability of the operation, reducing the dependence on the doctor's experience and operation, reducing the surgical risk, and improving the success rate of the operation. It can be applicable to a variety of percutaneous puncture surgery scenarios.

[0131] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media provided in this application and used in the embodiments may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (SSRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0132] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, device, article or method including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, device, article or method. In the absence of further restrictions, an element defined by the sentence "includes a ..." does not exclude the presence of other identical elements in the process, device, article or method including the element.

[0133] The above description is only a preferred embodiment of the present application, and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly used in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A percutaneous puncture surgical robot system, characterized in that: include: A carrying trolley, a clamping device, a mechanical arm, a positioning and identification system, a puncture needle placement rack, a puncture substrate assembly and a diagnostic bed; wherein the clamping device is arranged at the end of the mechanical arm; the base of the mechanical arm and the first adjustable bracket supporting the positioning and identification system are both mounted on the carrying trolley through a rotating device; The puncture substrate set is fixed on the diagnostic bed by a second adjustable bracket, and the relative position between the puncture substrate set and the patient on the diagnostic bed can be adjusted by adjusting the second adjustable bracket, so that the puncture substrate set is placed above the patient's lesion; The positioning and identification system is used to locate the positions of the clamping device, the puncture needle, the puncture needle placement rack, and the puncture base plate group, and to align the image coordinate system with the patient coordinate system, and form a needle insertion path through three-dimensional surgical planning; wherein, the lesion position targeted by the needle insertion path is obtained based on the patient's preoperative CT image data; The robotic arm is used to clamp multiple puncture needles on the puncture needle placement rack into the puncture substrate group one by one through a clamping device, and based on the corresponding needle insertion path, make each puncture needle on the puncture substrate group reach the top of the lesion position, and adjust the corresponding needle insertion angles respectively to form multi-angle puncture.

2. The percutaneous puncture surgical robot system according to claim 1, characterized in that: The percutaneous puncture surgical robot system also includes a data display screen for displaying relevant images and data during the percutaneous puncture surgery.

3. The percutaneous puncture surgical robot system according to claim 1, characterized in that: The clamping device, the puncture needle placement rack, the puncture needle, and the puncture substrate assembly are respectively provided with positioning marks that can be identified by a positioning identification system.

4. The percutaneous puncture surgical robot system according to claim 3, characterized in that: When the robotic arm controls the clamping device to move toward the puncture needle placement rack, the puncture needle or the puncture substrate group, the motion trajectory of the robotic arm is generated based on the respective positioning marks of the clamping device and the target, and the current posture of the robotic arm.

5. The percutaneous puncture surgical robot system according to any one of claims 1 to 4, characterized in that: The puncture needle placement rack includes a placement base plate and a puncture needle sleeve; wherein the placement base plate is provided with a positioning groove for placing the puncture needle sleeve; the puncture needle sleeve is used to place the puncture needle; The puncture needle sleeve comprises a sleeve body and a sleeve limiter arranged at the top of the sleeve body; the sleeve body is matched with the positioning groove; the outer diameter of the sleeve limiter is larger than the inner diameter of the positioning groove.

6. The percutaneous puncture surgical robot system according to any one of claims 1 to 4, characterized in that: The puncture substrate assembly includes an upper cover plate, a middle plate, a lower cover plate, a plurality of positioning beads and a power locking mechanism; A through hole matching the puncture needle body is provided at the center axis of the positioning bead; the upper cover plate and the middle plate are both provided with a plurality of slot hole structures, so that the positioning bead is installed between the upper cover plate and the middle plate, and the upper part of the upper cover plate and the lower part of the middle plate are connected through the through hole; The lower cover plate is provided with a plurality of guide grooves whose number and position correspond to the positioning beads, and are used to guide the tail end of the puncture needle passing through the positioning beads through the puncture substrate group, and vertically located above the patient's lesion; After the puncture needles are inserted into the puncture base plate group one by one, the lower cover plate is removed; after each puncture needle reaches above the lesion position and the corresponding needle insertion angle is adjusted respectively, the upper cover plate and the middle plate are driven by the power locking mechanism to clamp the positioning beads to uniformly fix the puncture needles.

7. The percutaneous puncture surgical robot system according to claim 6, characterized in that: The lower cover plate is provided with a protruding handle outside the setting area of ​​the guide groove; The mechanical arm is also used to clamp the protruding handle through the clamping device after the puncture needles are inserted into the puncture substrate group one by one, and after the lower cover plate is moved downward in the vertical direction to below the tail end of the puncture needle, control the lower cover plate to move horizontally out of the lower area of ​​the puncture substrate group, and then place the lower cover plate outside the operation area; The mechanical arm controls the clamping device to return from the placement position of the lower cover plate to the puncture substrate group and adjust the corresponding needle insertion angles based on the corresponding needle insertion paths to form multi-angle puncture.

8. The percutaneous puncture surgical robot system according to claim 6, characterized in that: A first positioning piece is provided on the corner of the middle plate, and a first positioning hole matched with the first positioning piece is provided on the corners of the upper cover plate and the lower cover plate; A groove opening downward is provided next to the through hole of the positioning bead; the middle plate is provided with a plurality of second positioning holes whose number and position correspond one-to-one to the grooves; the lower cover plate protrudes upward and is provided with a plurality of second positioning members whose number and position correspond one-to-one to the grooves; when the second positioning member passes through the second positioning hole and is inserted into the groove, the through hole of the positioning bead is coaxial with the guide groove.

9. A control method for a percutaneous puncture surgical robot system, characterized in that: The percutaneous puncture surgical robot system is a percutaneous puncture surgical robot system as claimed in any one of claims 1 to 8; the control method of the percutaneous puncture surgical robot system comprises: Based on the positioning and recognition system, the positions of the clamping device, the puncture needle, the puncture needle placement rack, and the puncture base plate group are located, and the image coordinate system and the patient coordinate system are aligned, and the needle insertion path is formed through three-dimensional surgical planning; wherein, the lesion position targeted by the needle insertion path is obtained based on the patient's preoperative CT image data; According to the positioning positions of the clamping device, the puncture needle, the puncture needle placement rack, and the puncture substrate group, the robot arm is controlled to use the clamping device to clamp the multiple puncture needles on the puncture needle placement rack into the puncture substrate group one by one, and based on the corresponding needle insertion path, each puncture needle on the puncture substrate group is made to reach above the lesion position, and the corresponding needle insertion angles are adjusted respectively to form multi-angle puncture; and the relevant images and data during the percutaneous puncture operation are displayed on the data display screen of the percutaneous puncture surgery robot system.

10. The control method of the percutaneous puncture surgical robot system according to claim 9, characterized in that: The control method of the percutaneous puncture surgical robot system also includes: Based on the registered image coordinate system and patient coordinate system, the current relative position between the puncture base plate group and the patient lesion is obtained; Based on the current relative position, the second adjustable support is controlled to move so that the puncture base plate assembly moves above the patient's lesion.

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