Miniaturized series-parallel puncture robot kinematics analysis method and analysis equipment

Abstract

The invention discloses a kinematics analysis method and kinematics analysis equipment for a miniaturized series-parallel puncture robot, and the method is characterized in that the method comprises the steps: obtaining the structural parameters of an upper-layer motion platform and a lower-layer motion platform through a geometric analysis method, the structure parameters comprise position coordinates of first key points on the upper-layer motion platform and the lower-layer motion platform in a base coordinate system and angle information of key components; establishing a DH model of a series structure part of the upper-layer motion platform and the lower-layer motion platform according to the position coordinates and the angle information; the DH parameters of the DH model are calculated, and the DH parameters which cannot be obtained through the geometric analysis method serve as unknown quantities to be obtained through a numerical method; calculating the tail end pose of the tail end relative to the base coordinate system according to the DH parameter; according to the tail end pose, a transformation matrix of any point on the puncture needle relative to the base coordinate system is obtained through derivation. The technical effect that kinematics analysis can be more efficiently carried out on the hybrid robot is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of robot kinematic analysis. Specifically, it relates to a kinematic analysis method and analysis device for a miniaturized hybrid serial-parallel puncture robot. Background Technique

[0002] Chinese patent document CN114469286B discloses a miniaturized puncture robot, which is used to install a puncture needle. For this miniaturized puncture robot, structurally, it is horizontally placed during normal operation. The power part consists of two drive components in the upper motion platform and two drive components in the lower motion platform. For the upper motion platform, the rear ends of the two drive components are installed on the base through bearings, and fixed short rods are provided at the front ends. The two fixed short rods are connected through bearings. One of the fixed short rods is connected to a rotating link, and the rotating link is rotatably connected to a terminal bearing, and the terminal bearing can slide on the terminal bracket. The lower motion platform is similar in structure to the upper motion platform, except that the rotating link of the lower motion platform is directly rotatably connected to the terminal bracket.

[0003] As can be seen from the above, the structural characteristics of this miniaturized puncture robot are as follows: for the upper layer, the left and right drive components are in parallel, and then in series with the rotating link and the terminal bearing; the same is true for the lower layer; finally, the upper and lower layers are in parallel through the terminal bearing and the optical rod of the terminal bracket, and the upper and lower layers together determine the position and attitude of the puncture needle in the terminal sleeve.

[0004] Since this robot contains both serial and parallel structures, the DH modeling method cannot be directly used, and simply using the geometric method will significantly increase the complexity, resulting in difficult kinematic analysis and making it difficult to correctly control the puncture needle to the set position during the operation. Summary of the Invention

[0005] The main object of the present invention is to provide a kinematic analysis method for a miniaturized hybrid serial-parallel puncture robot to solve the problem of difficult kinematic analysis for robots with serial and parallel structures in the related art.

[0006] To achieve the above object, the present invention provides a kinematic analysis method for a miniaturized hybrid serial-parallel puncture robot, including: Obtaining the structural parameters of the upper motion platform and the lower motion platform by using geometric analysis, where the structural parameters include the position coordinates of the first key points on the upper motion platform and the lower motion platform in the base coordinate system, and the angle information of the key components; Establishing a DH model for the serial structure part of the upper motion platform and the lower motion platform according to the position coordinates and the angle information; Calculating the DH parameters of the DH model, and using the numerical method to solve the DH parameters that cannot be obtained by geometric analysis as unknowns; Solve the end pose of the end effector relative to the base coordinate system according to the DH parameters; Derive the transformation matrix of any point on the puncture needle relative to the base coordinate system according to the end pose.

[0007] Furthermore, the key components include a first fixed short rod connected between the driving component and the rotating link. The angle information includes the angles between the first fixed short rod and the connecting lines of at least two second key points. The second key points include the rotation center point of the first fixed short rod and the rotation center point of the rear end of the driving component fixedly connected to the first fixed short rod.

[0008] Furthermore, the base coordinate system is a coordinate system established with the intersection point of the rotation center points of the rear ends of the two driving components in the upper motion platform and the rotation center points of the rear ends of the two driving components in the lower motion platform as the origin. O 0 。

[0009] Furthermore, the first key points include the rotation center point of the first fixed short rod in the upper motion platform O 2+ , and the rotation center point of the first fixed short rod in the lower motion platform O 2- , and the distance between the rotation center points of the upper and lower opposite driving components at the rear ends in the upper motion platform and the lower motion platform l h ; Let O 2+ The position coordinates in the base coordinate system be （x 2+ ，y 2+ ，z 2+ ） , Let O 2- The position coordinates in the base coordinate system be （x 2- ，y 2- ，z 2- ） 。

[0010] Furthermore, use geometric analysis to obtain the structural parameters of the lower motion platform and the upper motion platform. The structural parameters include the position coordinates of the first key points on the lower motion platform and the upper motion platform in the base coordinate system, including: Use geometric analysis to obtain the distances between the rotation center points of the rear ends of the two driving components in the lower motion platform and the rotation center point of the first fixed short rod, and denote them as l1 and l 2 ; By using geometric analysis method, obtain the distances between the rotation centers of the rear ends of the two drive components in the upper moving platform and the rotation center of the first fixed short rod, and denote them as l 3 and l 4 ; Based on l 1 、l 2 、l 3 , l 4 and l h , deduce to obtain O 2+ （x 2+ ，y 2+ ，z 2+ ） and O 2- （x 2- ，y 2- ， z 2- ） .

[0011] Furthermore, let the included angle between the connection lines of the key components of the upper moving platform and at least two second key points be β + , and let the included angle between the connection lines of the key components of the lower moving platform and at least two second key points be β - ; ; ; wherein, e is the distance between the center of the extension rod of the drive component and the rotation center of the first fixed short rod.

[0012] Furthermore, the process of solving the DH parameters by using the numerical method includes: Establish a homogeneous transformation matrix: ; ; wherein, In the DH model, it is the pose expression of the corresponding point on the end with the upper-layer moving platform O 3+ . In the DH model, it is the pose expression of the corresponding point on the end with the lower-layer moving platform O 3- ; According to the DH parameters, for the i-th joint, the transformation relationship between the i-th link and the i-th coordinate system is as follows: ; According to the geometric relationship, the following system of equations is obtained: ; Solve the numerical solution of the system of equations to obtain the unknowns in the DH parameters.

[0013] Furthermore, according to the DH parameters, calculate the end pose of the end relative to the base coordinate system, including: Substitute the solution results of θ 2- and θ 3- in the unknowns into the formula to obtain the pose of O 3- in the end; Substitute the solution results of θ 2+ and θ 3+ in the unknowns into the formula to obtain the pose of O 3+ in the end.

[0014] Furthermore, according to the end pose, deduce the transformation matrix of any point on the puncture needle relative to the base coordinate system, including: Suppose the position coordinates of any point on the puncture needle relative to O 3- are (t x , t y , t z ), then its homogeneous transformation matrix relative to O 3- is: ; The transformation matrix of any point on the puncture needle relative to the base coordinate system T is: .

[0015] According to another aspect of the present invention, there is provided a kinematic analysis device for a puncture surgery robot, including: a processor and a memory connected to the processor; wherein, the memory stores instructions executable by the processor, and the instructions are executed by the processor to enable the processor to execute the above-mentioned kinematic analysis method of the miniaturized hybrid puncture robot.

[0016] In the embodiment of the present invention, the structural parameters of the upper moving platform and the lower moving platform are obtained by using geometric analysis method. The structural parameters include the position coordinates of the first key points on the upper moving platform and the lower moving platform in the base coordinate system, and the angle information of the key components. According to the position coordinates and the angle information, the DH model of the series structure part of the upper moving platform and the lower moving platform is established. Calculate the DH parameters of the DH model. For the DH parameters that cannot be obtained by the geometric analysis method, they are solved as unknowns by using numerical methods. According to the DH parameters, the end pose of the end relative to the base coordinate system is solved. According to the end pose, the transformation matrix of any point on the puncture needle relative to the base coordinate system is deduced, achieving the purpose of organically combining the geometric analysis method and the DH modeling method. First, some DH parameters are obtained by the geometric method. For the DH parameters that cannot be directly obtained, they are used as unknowns, and the unknowns are solved by using numerical methods through geometric relations to obtain the complete DH parameters. Then, the expression of the end pose is obtained according to the complete DH parameters, thus realizing the technical effect of being able to perform kinematic analysis on the hybrid robot more efficiently, and further solving the problem that the kinematic analysis method in the related technology is not applicable to the kinematic analysis of the hybrid robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings constituting a part of the present invention are used to provide a further understanding of the present invention, making other features, objects, and advantages of the present invention more obvious. The schematic embodiments and their descriptions of the present invention are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings: Figure 1 is a schematic structural diagram of a miniaturized hybrid puncture robot according to an embodiment of the present invention; Figure 2 is a schematic flowchart of a kinematic analysis method according to an embodiment of the present invention; Figure 3 is a simplified configuration schematic diagram of the drive assembly according to an embodiment of the present invention; Figure 4 is a schematic DH model diagram of a miniaturized hybrid puncture robot according to an embodiment of the present invention; Among them, 1 is the lower moving platform, 2 is the upper moving platform, 3 is the end bracket, 4 is the first fixed short rod, 5 is the second fixed short rod, 6 is the rotating link, 7 is the drive assembly, 71 is the first drive assembly, 72 is the second drive assembly, 73 is the third drive assembly, 74 is the fourth drive assembly, and 8 is the end bearing. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0018] To enable those skilled in the art to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0019] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily need to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so as to implement the embodiments of the present invention described herein.

[0020] In the present invention, the orientation or positional relationship indicated by terms such as "upper", "lower", "inner", etc. is based on the orientation or positional relationship shown in the drawings. These terms are mainly used to better describe the present invention and its embodiments, and are not used to limit that the indicated device, element or component must have a specific orientation, or be constructed and operated in a specific orientation.

[0021] Moreover, in addition to being able to represent an orientation or positional relationship, some of the above terms may also be used to represent other meanings. For example, the term "upper" may also be used to represent a certain attachment relationship or connection relationship in some cases. For those of ordinary skill in the art, the specific meanings of these terms in the present invention can be understood according to specific circumstances.

[0022] In addition, terms such as "arranged", "provided with", "connected", "fixed", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, or there is internal communication between two devices, elements or components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0023] In addition, the meaning of the term "plurality" should be two or more.

[0024] It should be noted that, without conflict, the embodiments in the present invention and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the drawings and in conjunction with the embodiments.

[0025] The kinematic analysis method in the present invention is used to perform kinematic analysis on a miniaturized puncture robot disclosed in Chinese patent document CN114469286B. As Figure 1As shown in the figure, an embodiment of the present invention provides a miniaturized hybrid puncture robot, which includes an upper-layer moving platform 2, a lower-layer moving platform 1, and a terminal bracket 3. For the upper-layer moving platform 2, the rear ends of two driving components 7 are installed on the base through bearings, and a first fixed short rod 4 and a second fixed short rod 5 are respectively arranged at the front ends. The two fixed short rods are connected by bearings. The first fixed short rod 4 is connected to a rotating link 6, and the rotating link 6 is rotatably connected to a terminal bearing 8, and the terminal bearing 8 can slide on the terminal bracket 3. The lower-layer moving platform 1 is similar in structure to the upper-layer moving platform 2, except that the rotating link 6 of the lower-layer moving platform 1 is directly rotatably connected to the terminal bracket 3.

[0026] For the convenience of description, in this embodiment, the two driving components 7 of the lower-layer moving platform 1 are respectively denoted as a first driving component 71 and a second driving component 72, and the first fixed short rod 4 of the lower layer is fixed on the extension rod of the first driving component 71. The two driving components 7 of the upper-layer moving platform 2 are respectively a third driving component 73 and a fourth driving component 74, and the first fixed short rod 4 of the upper layer is fixed on the extension rod of the third driving component 73. The base coordinate system is established with the intersection point of the rotation center points at the rear ends of the two driving components 7 in the upper-layer moving platform 2 and the rotation center points at the rear ends of the two driving components 7 in the lower-layer moving platform 1 as the origin. O 0 That is, the base coordinate system is the intersection point of the connection line of the rotation center points at the rear ends of the first driving component 71 and the fourth driving component 74 and the connection line of the rotation center points at the rear ends of the second driving component 72 and the third driving component 73. In the base coordinate system, the x-axis is perpendicular to the plane formed by the four rotation center points, and the positive direction is towards the terminal extension direction, the z-axis is perpendicular to the horizontal plane upwards, and the y-axis is determined by the right-hand rule.

[0027] For the lower-layer moving platform 1, a first fixed short rod 4 and a second fixed short rod 5 are respectively fixed at the front ends of the first driving component 71 and the second driving component 72. The two fixed short rods are connected by bearings, and the bearing center point is used as the rotation center point of the first fixed short rod 4 and the second fixed short rod 5 of the lower layer. O 2- Similarly for the upper-layer moving platform 2, the bearing center point of the upper layer is used as the rotation center point of the first fixed short rod 4 and the second fixed short rod 5 of the upper layer. O 2+ The midpoint of the connection line of the rotation center points of the first driving component 71 and the second driving component 72 is O 1- , and the connection line of the rotation center points of the third driving component 73 and the fourth driving component 74 is O 1+ .

[0028] Suppose: l l: The distance between the rear rotation center points of the first driving component 71 and the second driving component 72 is equal to the distance between the rear rotation center points of the third driving component 73 and the fourth driving component 74; l h : The distance between the upper and lower layer driving components 7, that is, the distance between the rear rotation center points of the first driving component 71 and the third driving component 73, is equal to the distance between the rear rotation center points of the second driving component 72 and the fourth driving component 74; l g1 : O 2- The length to the center point of the front rotation axis of the rotating link 6; l g2 : The length from the center point of the front rotation axis of the rotating link 6 to the center point of the sleeve on the end bracket 3; O 2+ The position coordinates of （x 2+ ，y 2+ ，z 2+ ） ; O 2- The position coordinates of （x 2- ，y 2- ，z 2- ） 。

[0029] As Figure 2 shown, the embodiment of the present invention provides a kinematic analysis method for a miniaturized hybrid puncture robot, including: S10. Obtain the structural parameters of the upper motion platform 2 and the lower motion platform 1 by using geometric analysis method. The structural parameters include the position coordinates of the first key points on the upper motion platform 2 and the lower motion platform 1 in the base coordinate system, and the angle information of the key components; S20. Establish the DH model of the series structure part of the upper motion platform 2 and the lower motion platform 1 according to the position coordinates and the angle information; S30. Calculate the DH parameters of the DH model. For the DH parameters that cannot be obtained by geometric analysis method, solve them as unknowns by using numerical method; S40. Solve the end pose of the end relative to the base coordinate system according to the DH parameters; S50. Derive the transformation matrix of any point on the puncture needle relative to the base coordinate system according to the end pose.

[0030] The present invention achieves the organic combination of geometric analysis method and DH modeling method. First, some DH parameters are obtained by geometric analysis method. For the DH parameters that cannot be directly obtained, they are regarded as unknowns, and the unknowns are solved by numerical method through geometric relations to obtain the complete DH parameters. Then, the expression of the end pose is obtained according to the complete DH parameters, thereby achieving the technical effect of being able to perform kinematic analysis on the hybrid robot more efficiently, and further solving the problem that the kinematic analysis method in the related technology is not applicable to the kinematic analysis of the hybrid robot.

[0031] In one embodiment, the first key points include the rotation center point of the first fixed short rod 4 in the lower moving platform 1 O 2- , and the rotation center point of the first fixed short rod 4 in the upper moving platform 2 O 2+ , and the distance between the rotation center points at the rear ends of the two driving components 7 that are opposite to each other up and down in the upper moving platform 2 and the lower moving platform 1 l h , that is, the distance between the rotation center points at the rear ends of the first driving component 71 and the third driving component 73 is equal to the distance between the rotation center points at the rear ends of the second driving component 72 and the fourth driving component 74.

[0032] The structural parameters of the lower moving platform 1 and the upper moving platform 2 are obtained by using the geometric analysis method. The structural parameters include the position coordinates of the first key points on the lower moving platform 1 and the upper moving platform 2 in the base coordinate system, including: By using the geometric analysis method, the distances between the rotation center points at the rear ends of the two driving components 7 in the lower moving platform 1 and the rotation center point of the first fixed short rod 4 are obtained, and are respectively denoted as l 1 and l 2 ; By using the geometric analysis method, the distances between the rotation center points at the rear ends of the two driving components 7 in the upper moving platform 2 and the rotation center point of the first fixed short rod 4 are obtained, and are respectively denoted as l 3 and l 4 ; Based on l 1 、l 2 、l 3 , l 4 and l h , it is derived by using the geometric analysis method to obtain O2+ （x 2+ ，y 2+ ，z 2+ ） and O 2- （x 2- ，y 2- ， z 2- ） 。

[0033] Specifically, in this embodiment, as Figure 3 shown, for a single-layer drive assembly, its configuration is triangular. When the elongation of the drive motor in the drive assembly 7 is 0, the initial length of the electric cylinder is set to m 0 , and the elongation of the motor is Δm i (i = 1, 2, 3, 4); the distance between the center of the elongation rod of the electric cylinder and the rotation center point of the first fixed short rod 4 is e, which is 90 degrees to the elongation rod of the electric cylinder; the distance between the front and rear bearings of the drive assembly is set to l i : the distance from the rotation center point of the i-th drive assembly at the rear end to the rotation center point of the first fixed short rod 4 (i = 1, 2, 3, 4). It can be deduced by the geometric method that , and then l 1 、l 2 、l 3 、 l 4 。

[0034] Furthermore, the included angle between the connection lines of the key components of the upper-layer moving platform 2 and at least two second key points is set to β + , and the included angle between the connection lines of the key components of the lower-layer moving platform 1 and at least two second key points is set to β - ; ; ; Specifically, in this embodiment, the parallel structure of each layer in the puncture robot is simplified as Figure 3The configuration shown. The first fixed short rod 4 of the first drive assembly 71 and the third drive assembly 73 forms a fixed angle with the front link of the bearing, denoted as γ. Since γ is not equal to 90°, there is no need to add a horizontal guide rail at the front end to ensure that the fixed short rod is parallel to the x-axis. This design will cause the rotation angles of the upper and lower layers of the rotating link 6 to be unequal, and thus the relative rotation around the z-axis will occur between the upper and lower layers at the position of the connection end. Therefore, the end is designed as a bearing structure. Let the angle formed by the first fixed short rod 4 of the first drive assembly 71 in the lower layer and the virtual straight line l1 be β - , and the angle formed by the first fixed short rod 4 of the third drive assembly 73 in the upper layer and l 3 the virtual straight line be β + . According to the simplified configuration, it can be obtained by geometric analysis that: ; Solving gives:

[0035] Similarly, it can be obtained that:

[0036] It is easy to obtain from the analysis of the structural characteristics that: , , and finally O 2+ （x 2+ ，y 2+ ，z 2+ ） and O 2- （x 2- ， y 2- ，z 2- ） .

[0037] Establish the DH model of the series structure part in the upper and lower motion platforms, as Figure 4 shown. The y-direction is determined by the right-hand rule and is omitted in the figure. In Figure 4 use 1 # to represent the first drive assembly, 2 # to represent the second drive assembly, 3 # to represent the third drive assembly, and 4 # to represent the fourth drive assembly. In the DH model established above, O 3+ is the upper part of the end puncture needle and O2+ The vertically corresponding position O 3- is the upper part of the end puncture needle and O 2- the vertically corresponding position. The distance along the xi-axis from the intersection of the zi-1 axis and the xi-axis to the Oi origin is represented by the length a; the torsional angle α of the rod represents the angle of rotation around the xi-axis from zi-1 to zi; the offset di of the rod represents the distance along the zi-1 axis from the intersection of the zi-1 axis and the xi-axis to the Oi-1 origin; the rotation angle θ of the rod represents the angle of rotation around the zi-1 axis from xi-1 to xi.

[0038] The DH parameters of the lower moving platform are calculated as shown in Table 1-1, and the DH parameters of the upper model are shown in Table 1-2.

[0039] Table 1-1 DH parameter table of the lower moving platform ; ; ; ; Table 1-2 DH parameter table of the upper moving platform ; ; ; ; According to the above content, there are unknowns in the DH parameters of the upper and lower moving platforms, which are respectively θ 2- 、 θ 3- 、 θ 2+ 、 θ 3+ , and these unknowns cannot be directly obtained by the geometric method. Therefore, in this embodiment, the numerical method is used to solve them, and the process is as follows: The end pose is represented by a 4×4 homogeneous transformation matrix as: ; Establish a homogeneous transformation matrix: ; ; Among them, is the pose expression of the corresponding point on the end and the upper moving platform in the DH model O 3+ , For the corresponding point on the end effector and the lower moving platform in the DH model O 3- pose expression; According to the DH parameters, for the i-th joint, the transformation relationship between the i-th link and the i-th coordinate system is as follows: ; ; From the geometric relationship, the axes z 3- and z 3+ have the same attitude, perpendicular to and perpendicular to resulting in the following system of equations: ; The equations contain four unknowns, θ 2+ , θ 3+ , θ 2- , θ 3- , and are non-linear equations, making it difficult to solve their analytical solutions. Therefore, the Newton method is used to solve the numerical solutions of the above system of four linear equations to obtain the unknowns in the DH parameters.

[0040] Furthermore, according to the DH parameter solution, the end pose of the end effector relative to the base coordinate system is calculated, including: Substitute the solution results of θ 2- , θ 3- in the unknowns into the formula to obtain the pose of O 3- in the end effector; Substitute the solution results of θ 2+ , θ 3+ in the unknowns into the formula to obtain the pose of O 3+ in the end effector.

[0041] Furthermore, according to the end pose, the transformation matrix of any point on the puncture needle relative to the base coordinate system is derived, including: Let the position coordinates of any point on the puncture needle relative to O 3- be (t x , t y , t z ), then its homogeneous transformation matrix relative to O 3- is: ; The transformation matrix of any point on the puncture needle relative to the base coordinate system T is: .

[0042] According to another aspect of the present invention, there is provided a kinematic analysis device for a puncture surgery robot, including: a processor and a memory connected to the processor; wherein, the memory stores instructions executable by the processor, and when the instructions are executed by the processor, the processor is enabled to execute the above-mentioned kinematic analysis method for the miniaturized hybrid puncture robot.

[0043] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A kinematic analysis method for a miniaturized hybrid puncture robot, characterized in that: include: The structural parameters of the upper motion platform and the lower motion platform are obtained by using a geometric analysis method, wherein the structural parameters include the position coordinates of the first key points on the upper motion platform and the lower motion platform in a base coordinate system, and the angle information of key components; Establishing a DH model of the serial structure of the upper motion platform and the lower motion platform according to the position coordinates and the angle information; Calculating the DH parameters of the DH model, and using a numerical method to solve the DH parameters that cannot be obtained by the geometric analysis method as unknown quantities; Calculate the terminal position and posture of the terminal relative to the base coordinate system according to the DH parameters; According to the terminal position and posture, a transformation matrix of any point on the puncture needle relative to the base coordinate system is derived.

2. The kinematic analysis method of a miniaturized hybrid puncture robot according to claim 1, characterized in that: The key component includes a first fixed short rod connected between the driving assembly and the rotating connecting rod, the angle information includes the angle between the first fixed short rod and the line connecting at least two second key points, and the second key points include the rotation center point of the first fixed short rod and the rotation center point of the rear end of the driving assembly fixedly connected to the first fixed short rod.

3. The kinematic analysis method of a miniaturized hybrid puncture robot according to claim 1, characterized in that: The base coordinate system is a coordinate system established with the intersection of the rotation center point of the rear end of the two drive components in the upper motion platform and the rotation center point of the rear end of the two drive components in the lower motion platform as the origin. O 0 .

4. The kinematic analysis method of a miniaturized hybrid puncture robot according to claim 2, characterized in that: The first key point includes the rotation center point of the first fixed short rod in the upper motion platform O 2+ , and the rotation center point of the first fixed short rod in the lower motion platform O 2- , and the distance between the rotation center points of the two drive components facing each other in the upper and lower motion platforms at the rear end l h ; set up O 2+ The position coordinates in the base coordinate system are （x 2+ ，y 2+ ，z 2+ ） ,set up O 2- The position coordinates in the base coordinate system are （x 2- ， y 2- ，z 2- ） .

5. The kinematic analysis method of a miniaturized hybrid puncture robot according to claim 4, characterized in that: The geometric analysis method is used to obtain the structural parameters of the lower motion platform and the upper motion platform. The structural parameters include the position coordinates of the first key point on the lower motion platform and the upper motion platform in the base coordinate system, including: The geometric analysis method is used to obtain the distances between the rotation center points of the rear ends of the two driving components in the lower motion platform and the rotation center points of the first fixed short rod, which are recorded as l 1 and l 2 ; The geometric analysis method is used to obtain the distances between the rotation center points of the rear ends of the two drive components in the upper motion platform and the rotation center points of the first fixed short rod, which are respectively recorded as l 3 and l 4 ; based on l 1 、l 2 、l 3 , l 4 and l h , derived by geometric analysis O 2+ （x 2+ ，y 2+ ，z 2+ ） as well as O 2- （x 2- ，y 2- ，z 2- ） .

6. The kinematic analysis method of a miniaturized hybrid puncture robot according to claim 5, characterized in that: The angle between the key component of the upper motion platform and the line connecting at least two second key points is set to β + The angle between the key component of the lower motion platform and the line connecting at least two second key points is set to β - ; ； ； in, e It is the distance between the center of the extension rod of the driving assembly and the rotation center point of the first fixed short rod.

7. The kinematic analysis method of a miniaturized hybrid puncture robot according to claim 6, characterized in that: The process of solving DH parameters using numerical methods includes: Create a homogeneous transformation matrix: ； ； in, In the DH model, the point on the end corresponding to the upper motion platform O 3+ The pose expression of In the DH model, the corresponding point on the upper end and the lower motion platform O 3- The pose expression of ; According to the DH parameters, for the i-th joint, the transformation relationship between the i-th link and the i-th coordinate system is as follows: ; According to the geometric relationship, the following equations are obtained: ； The unknown quantities in the DH parameters are obtained by numerically solving the system of equations.

8. The kinematic analysis method of a miniaturized hybrid puncture robot according to claim 7, characterized in that: Solving the terminal position and posture of the terminal relative to the base coordinate system according to the DH parameters includes: The unknown quantity θ 2- ,θ 3- Substitute the solution into the formula , to obtain the terminal O 3- 's posture; The unknown quantity θ 2+ ,θ 3+ Substitute the solution into the formula , to obtain the terminal O 3+ 's posture.

9. The kinematic analysis method of a miniaturized hybrid puncture robot according to claim 8, characterized in that: According to the terminal position, the transformation matrix of any point on the puncture needle relative to the base coordinate system is derived, including: Assume that any point on the puncture needle is relative to O 3- The position coordinates are (t x ,t y ,t z ), then its relative O 3- The homogeneous transformation matrix is: ； The transformation matrix of any point on the puncture needle relative to the base coordinate system T for: 。 10. A kinematic analysis device for a puncture surgical robot, characterized in that: include: A processor and a memory connected to the processor; wherein the memory stores instructions executable by the processor, and the instructions are executed by the processor so that the processor executes the kinematic analysis method of the miniaturized hybrid puncture robot as described in any one of claims 1-9.

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