Medical puncture auxiliary robot and positioning method thereof

Abstract

The invention relates to the technical field of medical instruments, and particularly discloses a medical puncture auxiliary robot and a positioning method thereof.The medical puncture auxiliary robot comprises a mounting frame, a placement groove is formed in the top of the mounting frame, and a first electric telescopic rod is fixedly connected to the inner wall of the placement groove; through the arrangement of the first electric telescopic rod, the mechanical arm, the first arc-shaped clamping plate, the second arc-shaped clamping plate and the puncture needle main body, during use, the first electric telescopic rod drives the mechanical arm to adjust the position in the vertical direction through telescopic motion, so that the height of the puncture needle is controlled; a mounting block at the front end of the mechanical arm drives an assembling block to move horizontally through a second electric telescopic rod, the horizontal position of the puncture needle is further adjusted, a first arc-shaped clamping plate and a second arc-shaped clamping plate are connected through a hinge and can be opened and closed to clamp a puncture needle body, and a sensor assembly on the inner side of the puncture needle body monitors the state and position of the puncture needle in real time. Therefore, the robot can accurately position the puncture point, stably control the puncture needle and feed back operation data in real time.

Description

Technical Field

[0001] The present invention belongs to the technical field of medical devices, and particularly relates to a medical puncture assistance robot and its positioning method. Background Technique

[0002] In the technical field of medical devices, medical puncture, as an important diagnostic and treatment means, is widely used in multiple clinical departments, such as oncology, respiratory medicine, etc. With the rapid development of medical imaging technologies (such as CT, MRI), doctors can more accurately locate lesions, which provides a more precise target guidance for medical puncture. However, traditional medical puncture surgeries mainly rely on doctors' experience and technical levels, and manual operations have problems such as inaccurate positioning and deviation of the puncture path. Especially when dealing with small lesions (such as pulmonary nodules with a diameter less than 1 cm) or lesions adjacent to important blood vessels and nerves, the risk increases significantly.

[0003] Although some devices and technologies for assisting puncture have emerged in recent years, such as puncture guiding frames, ultrasound guidance, etc., these methods still have certain limitations. For example, although the puncture guiding frame can provide a certain direction guidance, it is difficult to achieve precise three-dimensional positioning under complex anatomical structures; although ultrasound guidance can display the puncture path in real time, its imaging quality and penetration depth are limited, and the guiding effect for deep lesions is not ideal. More importantly, most of the existing auxiliary puncture devices lack an intelligent control system and cannot achieve real-time monitoring and automatic adjustment during the puncture process, resulting in difficulties in further improving the puncture accuracy and safety. Therefore, it is necessary for staff to improve them. Summary of the Invention

[0004] The purpose of the present invention is to provide a medical puncture assistance robot and its positioning method to solve the problems proposed in the above background technique.

[0005] To achieve the above purpose, the present invention provides the following technical solutions:

[0006] A medical puncture assistance robot, comprising:

[0007] An installation frame;

[0008] A placement groove is opened at the top of the installation frame, and a first electric telescopic rod is fixedly connected to the inner wall of the placement groove, and a robotic arm is installed at the output end of the first electric telescopic rod;

[0009] An installation block is fixedly connected to the front end of the robotic arm, a second electric telescopic rod is fixedly connected to the surface of the installation block, an assembly block is installed at the output end of the second electric telescopic rod, and a support frame is inserted into the inner wall of the assembly block;

[0010] The top of the support frame is fixedly connected with a first arc-shaped splint. The top of the first arc-shaped splint is rotatably connected with a second arc-shaped splint through a hinge. A puncture needle body is inserted inside the first arc-shaped splint and the second arc-shaped splint. A sensor assembly is arranged on the inner wall of the puncture needle body.

[0011] Preferably, one side of the first arc-shaped splint is fixedly connected with a first fixing block. A distributor is fixedly connected to the inner wall of the first fixing block. The top of the distributor is electrically connected to an iron core, and the surface of the iron core is fixedly connected to the top of the first fixing block.

[0012] Preferably, one side of the second arc-shaped splint is fixedly connected with a second fixing block. A negative magnetic attraction block is fixedly connected to the bottom of the second fixing block, and the bottom of the negative magnetic attraction block is lapped on the top of the iron core. A socket box is fixedly connected to the top of the second arc-shaped splint. An air pump is fixedly connected to the inner wall of the socket box. A connecting air pipe is installed at the output end of the air pump. The front end of the connecting air pipe is fixedly connected with an airbag. The surface of the airbag is inserted into the inner wall of the second arc-shaped splint. The surface of the airbag is lapped on the surface of the puncture needle body. An anti-slip pad is fixedly connected to the surface of the airbag.

[0013] Preferably, a mounting plate is fixedly connected to the top of the mounting block. A receiver is fixedly connected to the back of the mounting plate. A mounting clip block is fixedly connected to the surface of the mounting plate. A motor box is fixedly connected to one side of the mounting clip block. A first servo motor is fixedly connected to the inner wall of the motor box. A driving rod is installed at the output end of the first servo motor. A camera is fixedly connected to the front end of the driving rod, and the surface of the camera is rotatably connected to the inner wall of the mounting clip block.

[0014] Preferably, a second servo motor is fixedly connected to the inner wall of the mounting frame. A transmission rod is installed at the output end of the second servo motor, and the top end of the transmission rod is fixedly connected to the bottom end of the first electric telescopic rod.

[0015] Preferably, a display screen is fixedly connected to the top of the mounting frame. A scanning plate is fixedly connected to one side of the display screen at the top of the mounting frame.

[0016] Preferably, a handrail is fixedly connected to the top of one side of the mounting frame. Universal wheels are fixedly connected to the four corners at the bottom of the mounting frame.

[0017] A positioning method for a medical puncture assistance robot includes the following steps:

[0018] S1. Initial positioning stage: Read the patient's medical image or identity information through the scanning plate, transmit it to the control system. The receiver receives the puncture target position data input from the outside, generates an initial puncture path plan in combination with the scanning data, and the display screen real-time displays the path plan and the patient's image for the doctor to confirm and adjust;

[0019] S2. Spatial coordinate calibration stage: Start the camera, drive it to rotate at multiple angles through the first servo motor, collect real-time images of the puncture site, perform three-dimensional matching on the image data with the pre-stored medical images, calculate the relative spatial coordinates of the puncture needle body and the target position, and the second servo motor adjusts the rotation angle of the first electric telescopic rod through the transmission rod to align the robotic arm with the target plane;

[0020] S3. Puncture needle dynamic adjustment stage: The first electric telescopic rod expands and contracts vertically, driving the robotic arm to adjust the height of the puncture needle. The second electric telescopic rod expands and contracts horizontally, driving the assembly block to finely adjust the horizontal position of the puncture needle. The sensor assembly real-time feedbacks the pose data of the puncture needle body, and the control system dynamically corrects the path deviation;

[0021] S4. Puncture execution and monitoring stage: The air pump inflates the airbag, pressing the anti-slip pad tightly against the puncture needle body to ensure no displacement during the puncture process. The camera continuously shoots the puncture process, generating real-time force feedback and depth information in combination with the sensor data. If path deviation or abnormal resistance is detected, the operation is immediately paused and an alarm is given through the display screen, waiting for the doctor to intervene;

[0022] S5. Post-operative reset stage: After the puncture is completed, the air pump releases the pressure of the airbag, the distributor cuts off the power supply to demagnetize the iron core, the arc-shaped clamp is opened to remove the puncture needle, and the robotic arm automatically resets to the initial position, and the universal wheels are unlocked for device movement.

[0023] Preferably, in step S2, the three-dimensional matching adopts a feature point recognition algorithm to register the real-time image collected by the camera with the CT / MRI image, and the error is controlled within ±0.5 mm.

[0024] Preferably, in step S3, the dynamic correction includes adjusting the propulsion speeds of the two electric telescopic rods according to the pressure data of the sensor assembly. If the pressure exceeds the threshold, it automatically retracts 1 mm and recalibrates.

[0025] Compared with the prior art, the beneficial effects of the present invention are:

[0026] (1) Through the settings of the first electric telescopic rod, robotic arm, second electric telescopic rod, support frame, first arc-shaped clamp, second arc-shaped clamp, and puncture needle body, during use, the first electric telescopic rod drives the robotic arm to adjust the position in the vertical direction through telescopic movement, thereby controlling the height of the puncture needle. The mounting block at the front end of the robotic arm drives the assembly block to move horizontally through the second electric telescopic rod, further adjusting the horizontal position of the puncture needle. The support frame connects the assembly block and the first arc-shaped clamp to form a rigid support, ensuring stability during the puncture process. The first arc-shaped clamp and the second arc-shaped clamp are connected by a hinge and can be opened and closed to clamp the puncture needle body. The sensor assembly inside the puncture needle body monitors the state and position of the puncture needle in real time, enabling the robot to accurately locate the puncture point, stably control the puncture needle, and provide real-time feedback of operation data, significantly improving the safety and efficiency of the puncture operation.

[0027] (2) Through the settings of the first arc-shaped clamp, first fixing block, second fixing block, and airbag, during use, the first arc-shaped clamp and the second arc-shaped clamp cooperate to form an openable and closable clamping structure for fixing the puncture needle body. The distributor installed in the first fixing block supplies power to the iron core. When energized, the iron core is magnetized into a positive magnetic attracting block, generating a strong magnetic attraction force with the negative magnetic attracting block at the bottom of the second fixing block to ensure a firm lock when the clamp is closed. After power-off, the magnetic force disappears, facilitating the quick opening of the clamp to adjust the puncture needle. The air pump inflates the airbag through the connecting air pipe, causing the airbag to expand and closely fit the surface of the puncture needle body. Its anti-slip pad further increases the friction force to prevent the puncture needle from sliding or shifting during the operation. It not only realizes the quick clamping and release of the puncture needle but also ensures high stability and accuracy during the puncture process through the dual mechanisms of magnetic attraction locking and airbag clamping, while avoiding damage to the puncture needle that may be caused by traditional mechanical clamping, significantly improving the safety and operation efficiency of the operation.

[0028] (3) Through the settings of the receiver, camera, second servo motor, display screen and scanning plate, during use, the receiver fixed on the installation plate is used to receive external control signals or patient data, providing operation instructions for the system. The installation clamping block drives the driving rod through the first servo motor in the motor box, driving the camera to rotate at multiple angles to capture the image data of the puncture site in real time, providing a visual operation interface for the doctor. The second servo motor controls the rotation angle of the robotic arm through the transmission rod, enabling the puncture needle to be precisely adjusted in multiple dimensions. The display screen displays the puncture path planning, image data and operation parameters in real time, facilitating the doctor to monitor the surgical process. The adjacent scanning plate can quickly read patient information or medical images to achieve seamless data docking. The handrail and universal wheels form a mobile system, which not only facilitates medical staff to push the device for precise positioning but also maintains overall stability during operation, thus forming a complete intelligent puncture assistance system. The camera and the second servo motor achieve spatial positioning and real-time image feedback, the receiver and the scanning plate complete data interaction, the display screen provides a human-machine interaction interface, and the mobile system ensures flexible deployment of the device. This not only significantly improves the accuracy and safety of the puncture surgery but also reduces the operation difficulty through intelligent and automated design, enabling the doctor to focus more on key operation steps and ultimately achieving a minimally invasive, efficient and safe medical puncture effect. Description of the Drawings

[0029] Figure 1 One of the three-dimensional views of the present invention;

[0030] Figure 2 Another three-dimensional view of the present invention;

[0031] Figure 3 Three-dimensional view of the robotic arm of the present invention;

[0032] Figure 4 Three-dimensional view of the receiver of the present invention;

[0033] Figure 5 Three-dimensional view of the camera of the present invention;

[0034] Figure 6 Three-dimensional view of the airbag of the present invention;

[0035] In the figure: 1. Installation frame; 2. Placement groove; 3. First electric telescopic rod; 4. Robot arm; 5. Installation block; 6. Second electric telescopic rod; 7. Assembly block; 8. Support frame; 9. First arc-shaped clamping plate; 10. Second arc-shaped clamping plate; 11. Puncture needle body; 12. First fixing block; 13. Distributor; 14. Iron core; 15. Second fixing block; 16. Negative magnetic attraction block; 17. Socket box; 18. Air pump; 19. Connecting air pipe; 20. Airbag; 21. Installation plate; 22. Receiver; 23. Installation clamping block; 24. Motor box; 25. First servo motor; 26. Driving rod; 27. Camera; 28. Second servo motor; 29. Transmission rod; 30. Display screen; 31. Scanning plate; 32. Hand support; 33. Universal wheel. Detailed implementation mode

[0036] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described 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. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0037] Embodiment 1:

[0038] Please refer to Figures 1 to 6 As shown, a medical puncture assistance robot and its positioning method include: an installation frame 1;

[0039] A placement groove 2 is opened at the top of the installation frame 1, and a first electric telescopic rod 3 is fixedly connected to the inner wall of the placement groove 2. The output end of the first electric telescopic rod 3 is provided with a robot arm 4;

[0040] The front end of the robot arm 4 is fixedly connected with an installation block 5. The surface of the installation block 5 is fixedly connected with a second electric telescopic rod 6. The output end of the second electric telescopic rod 6 is provided with an assembly block 7, and a support frame 8 is inserted into the inner wall of the assembly block 7;

[0041] The top of the support frame 8 is fixedly connected with a first arc-shaped clamping plate 9. The top of the first arc-shaped clamping plate 9 is rotatably connected with a second arc-shaped clamping plate 10 through a hinge. The puncture needle body 11 is inserted into the inner sides of the first arc-shaped clamping plate 9 and the second arc-shaped clamping plate 10, and a sensor assembly is arranged inside the puncture needle body 11.

[0042] During use, the installation frame 1 serves as an overall support structure. The placement groove 2 at its top is used to fix the first electric telescopic rod 3, which drives the robotic arm 4 to adjust the position in the vertical direction through telescopic movement, thereby controlling the height of the puncture needle. The mounting block 5 at the front end of the robotic arm 4 drives the assembly block 7 to move horizontally through the second electric telescopic rod 6, further adjusting the horizontal position of the puncture needle. The support frame 8 connects the assembly block 7 and the first arc-shaped clamping plate 9 to form a rigid support, ensuring stability during the puncture process. The first arc-shaped clamping plate 9 and the second arc-shaped clamping plate 10 are connected by a hinge and can be opened and closed to clamp the puncture needle body 11. The sensor assembly inside the puncture needle body 11 monitors the state and position of the puncture needle in real time.

[0043] Embodiment Two:

[0044] Please refer to Figures 1 to 6 As shown, one side of the first arc-shaped clamping plate 9 is fixedly connected with a first fixing block 12. The inner wall of the first fixing block 12 is fixedly connected with a distributor 13. The top of the distributor 13 is electrically connected with an iron core 14, and the surface of the iron core 14 is fixedly connected to the top of the first fixing block 12. One side of the second arc-shaped clamping plate 10 is fixedly connected with a second fixing block 15. The bottom of the second fixing block 15 is fixedly connected with a negative magnetic attraction block 16, and the bottom of the negative magnetic attraction block 16 is lapped on the top of the iron core 14. The top of the second arc-shaped clamping plate 10 is fixedly connected with a socket box 17. The inner wall of the socket box 17 is fixedly connected with an air pump 18. The output end of the air pump 18 is equipped with a connecting air pipe 19. The front end of the connecting air pipe 19 is fixedly connected with an airbag 20, and the surface of the airbag 20 is inserted into the inner wall of the second arc-shaped clamping plate 10. The surface of the airbag 20 is lapped on the surface of the puncture needle body 11. The surface of the airbag 20 is fixedly connected with an anti-slip pad.

[0045] During use, the first arc-shaped clamping plate 9 serves as a fixed base and cooperates with the second arc-shaped clamping plate 10 to form an openable and closable clamping structure for fixing the puncture needle body 11. The distributor 13 installed in the first fixing block 12 supplies power to the iron core 14. When energized, the iron core 14 is magnetized into a positive magnetic attraction block, generating a strong magnetic attraction force with the negative magnetic attraction block 16 at the bottom of the second fixing block 15 to ensure firm locking when the clamping plate is closed. After power-off, the magnetic force disappears, facilitating the quick opening of the clamping plate to adjust the puncture needle. The socket box 17 at the top of the second arc-shaped clamping plate 10 is provided with an air pump 18, which inflates the airbag 20 through the connecting air pipe 19, causing the airbag 20 to expand and closely fit the surface of the puncture needle body 11. Its anti-slip pad further increases the friction force to prevent the puncture needle from sliding or shifting during operation. It not only realizes the quick clamping and release of the puncture needle but also ensures high stability and accuracy during the puncture process through the dual mechanisms of magnetic attraction locking and airbag clamping, while avoiding damage to the puncture needle that may be caused by traditional mechanical clamping.

[0046] Embodiment Three:

[0047] Please refer toFigures 1 to 6 As shown in the figure, a mounting plate 21 is fixedly connected to the top of the mounting block 5. A receiver 22 is fixedly connected to the back of the mounting plate 21. A mounting clip block 23 is fixedly connected to the surface of the mounting plate 21. A motor box 24 is fixedly connected to one side of the mounting clip block 23. A first servo motor 25 is fixedly connected to the inner wall of the motor box 24. A driving rod 26 is installed at the output end of the first servo motor 25. A camera 27 is fixedly connected to the front end of the driving rod 26. The surface of the camera 27 is rotatably connected to the inner wall of the mounting clip block 23. A second servo motor 28 is fixedly connected to the inner wall of the mounting frame 1. A transmission rod 29 is installed at the output end of the second servo motor 28. The top end of the transmission rod 29 is fixedly connected to the bottom end of the first electric telescopic rod 3. A display screen 30 is fixedly connected to the top of the mounting frame 1. A scanning plate 31 is fixedly connected to the top of the mounting frame 1 on one side of the display screen 30. A handrail 32 is fixedly connected to the top of one side of the mounting frame 1. Universal wheels 33 are fixedly connected to the four corners of the bottom of the mounting frame 1.

[0048] During use, the receiver 22 fixed on the mounting plate 21 is used to receive external control signals or patient data, providing operation instructions for the system. The mounting clip block 23 drives the driving rod 26 through the first servo motor 25 in the motor box 24, driving the camera 27 to rotate at multiple angles to capture the image data of the puncture site in real time, providing a visual operation interface for the doctor. The second servo motor 28 controls the rotation angle of the robotic arm through the transmission rod 29, enabling the puncture needle to be precisely adjusted in multiple dimensions. The display screen 30 displays the puncture path planning, image data, and operation parameters in real time, facilitating the doctor to monitor the surgical process. The adjacent scanning plate 31 can quickly read patient information or medical images to achieve seamless data docking. The handrail 32 and the universal wheels 33 form a mobile system, which not only facilitates medical staff to push the device for precise positioning but also maintains overall stability during operation, thus forming a complete intelligent puncture assistance system. The camera 27 and the second servo motor 28 achieve spatial positioning and real-time image feedback. The receiver 22 and the scanning plate 31 complete data interaction. The display screen 30 provides a human-machine interaction interface, and the mobile system ensures flexible deployment of the device, not only significantly improving the accuracy and safety of the puncture operation but also reducing the operation difficulty through intelligent and automated design.

[0049] Embodiment 4:

[0050] Please refer to Figures 1 to 6 As shown in the figure, a positioning method for a medical puncture assistance robot includes the following steps:

[0051] S1. Initial positioning stage: Read the patient's medical image or identity information through the scanning plate 31 and transmit it to the control system. The receiver 22 receives the puncture target position data input externally, generates an initial puncture path plan in combination with the scanning data, and the display screen 30 displays the path plan and the patient's image in real time for the doctor to confirm and adjust;

[0052] S2. Spatial coordinate calibration stage: Activate the camera 27, drive it to rotate at multiple angles through the first servo motor 25, collect real-time images of the puncture site, perform three-dimensional matching of the image data with the pre-stored medical images, calculate the relative spatial coordinates of the puncture needle body 11 and the target position, and the second servo motor 28 adjusts the rotation angle of the first electric telescopic rod 3 through the transmission rod 29 to align the robotic arm 4 with the target plane;

[0053] S3. Puncture needle dynamic adjustment stage: The first electric telescopic rod 3 extends and retracts vertically to drive the robotic arm 4 to adjust the height of the puncture needle, and the second electric telescopic rod 6 extends and retracts horizontally to drive the assembly block 7 to finely adjust the horizontal position of the puncture needle. The sensor assembly real-time feeds back the pose data of the puncture needle body 11, and the control system dynamically corrects the path deviation;

[0054] S4. Puncture execution and monitoring stage: The air pump 18 inflates the airbag 20 to press the anti-slip pad tightly against the puncture needle body 11 to ensure no displacement during the puncture process. The camera 27 continuously shoots the puncture process, generates real-time force feedback and depth information in combination with the sensor data. If a path deviation or abnormal resistance is detected, the operation is immediately paused and an alarm is given through the display screen 30, waiting for the doctor to intervene;

[0055] S5. Post-operative reset stage: After the puncture is completed, the air pump 18 releases the pressure of the airbag 20, the distributor 13 cuts off the power supply to demagnetize the iron core 14, the arc-shaped splint is opened to remove the puncture needle, and the robotic arm 4 automatically resets to the initial position, and the universal wheel 33 is unlocked for moving the device.

[0056] In step S2, the three-dimensional matching uses a feature point recognition algorithm to register the real-time image collected by the camera 27 with the CT / MRI image, and the error is controlled within ±0.5 mm.

[0057] In step S3, the dynamic correction includes adjusting the propulsion speed of the two electric telescopic rods according to the pressure data of the sensor assembly. If the pressure exceeds the threshold, it will automatically retract 1 mm and re-calibrate.

[0058] Example 5:

[0059] Please refer to Figures 1 to 6 As shown, in clinical diagnosis, the nature identification of pulmonary nodules or masses often requires obtaining tissue samples through percutaneous lung biopsy. Traditional punctures rely on manual operation by doctors, and there are problems such as inaccurate positioning and puncture path deviation. Especially for small lesions (diameter < 1 cm) or lesions adjacent to blood vessels, the risk is higher. This medical puncture assistance robot can achieve sub-millimeter-level precise puncture in combination with CT images, significantly improving the surgical safety and the success rate of material collection.

[0060] Preoperative preparation: The patient lies in the prone position. The CT scan determines the location of the lesion, and the DICOM - formatted image data is transmitted to the robotic scanning board 31. The receiver 22 receives the lesion coordinates (e.g., the lower lobe of the right lung, 2.3 cm from the pleura), and the system automatically generates a puncture path that avoids the ribs and blood vessels.

[0061] Robot positioning: Medical staff push the hand - support frame 32 to move the robot to the side of the patient, and the universal wheels 33 lock the fixed position. The camera 27 rotates to take pictures of the body surface marking points of the patient, and performs three - dimensional registration with the CT image (error < 0.5 mm). The robotic arm 4 automatically adjusts to the puncture entry point (e.g., the 7th intercostal space).

[0062] Puncture execution: The air pump 18 inflates to make the airbag 20 clamp the puncture needle body 11, and the first electric telescopic rod 3 pushes the puncture needle through the pleura. The sensor real - time feedbacks the tissue resistance (e.g., when the pleura is broken, the resistance suddenly drops by 30%). The second electric telescopic rod 6 finely adjusts the horizontal angle to avoid the intercostal nerve. When the CT real - time scan confirms that the tip of the needle is 5 mm away from the lesion, the system automatically pauses and prompts the doctor to confirm.

[0063] Sample collection and reset: The doctor triggers the biopsy gun to obtain samples, and the sensor monitors the bleeding signal (impedance change > 15%) and immediately alarms. After the sampling is completed, the distributor 13 cuts off the power to release the puncture needle, and the robotic arm 4 retracts to the initial position. The whole process takes 8 minutes.

[0064] Working principle: First, the medical image data of the patient is read by the scanning board and transmitted to the control system. At the same time, the receiver receives the target puncture position information input by the doctor. The system combines the image data and the target position to generate an initial puncture path plan and displays it on the display screen for the doctor to confirm. Then, the camera is started and driven by the first servo - motor to rotate at multiple angles to collect real - time images of the puncture site. The real - time images are three - dimensionally matched with the pre - stored medical images to calculate the spatial coordinates. The second servo - motor adjusts the rotation angle of the first electric telescopic rod through the transmission rod to align the robotic arm with the target plane. Then, the first electric telescopic rod performs vertical telescopic movement to adjust the height of the puncture needle, and the second electric telescopic rod performs horizontal telescopic movement to finely adjust the horizontal position of the puncture needle. At the same time, the sensor component in the puncture needle body real - time feedbacks the pose data, and the control system dynamically corrects the path deviation according to the feedback data. When the puncture needle is positioned, the air pump inflates the airbag so that the anti - slip pad tightly presses the puncture needle body to ensure fixation. During the puncture process, the camera continuously monitors and generates real - time force feedback and depth information. If a path deviation or abnormal resistance is detected, the operation is immediately paused and an alarm is given through the display screen. After the puncture is completed, the air pump releases the airbag pressure, the distributor cuts off the power to demagnetize the iron core to open the arc - shaped splint and remove the puncture needle. Finally, the robotic arm automatically resets to the initial position, and the universal wheels are unlocked for device movement. The whole work process realizes fully automated operation from preoperative positioning, intraoperative precise puncture to postoperative reset through the coordinated cooperation of the mechanical positioning system, image navigation system and intelligent control system.

[0065] Although embodiments of the present invention have been shown and described, those of ordinary skill in the art will understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A medical puncture assisting robot, characterized in that: include: Mounting frame (1); A placement groove (2) is provided on the top of the installation frame (1), a first electric telescopic rod (3) is fixedly connected to the inner wall of the placement groove (2), and a mechanical arm (4) is installed at the output end of the first electric telescopic rod (3); The front end of the mechanical arm (4) is fixedly connected to a mounting block (5), the surface of the mounting block (5) is fixedly connected to a second electric telescopic rod (6), the output end of the second electric telescopic rod (6) is installed with an assembly block (7), and the inner wall of the assembly block (7) is plugged with a support frame (8); The top of the support frame (8) is fixedly connected to a first arc-shaped splint (9), the top of the first arc-shaped splint (9) is rotatably connected to a second arc-shaped splint (10) via a hinge, the inner sides of the first arc-shaped splint (9) and the second arc-shaped splint (10) are plugged with a puncture needle body (11), and the inner wall of the puncture needle body (11) is provided with a sensor assembly.

2. A medical puncture assisting robot according to claim 1, characterized in that: A first fixed block (12) is fixedly connected to one side of the first arc-shaped clamping plate (9), a distributor (13) is fixedly connected to the inner wall of the first fixed block (12), the top of the distributor (13) is electrically connected to an iron core (14), and the surface of the iron core (14) is fixedly connected to the top of the first fixed block (12).

3. A medical puncture assisting robot according to claim 1, characterized in that: A second fixed block (15) is fixedly connected to one side of the second arc-shaped clamping plate (10), a negative pole magnetic block (16) is fixedly connected to the bottom of the second fixed block (15), and the bottom of the negative pole magnetic block (16) is overlapped on the top of the iron core (14), a socket box (17) is fixedly connected to the top of the second arc-shaped clamping plate (10), an air pump (18) is fixedly connected to the inner wall of the socket box (17), an output end of the air pump (18) is installed with a connecting air pipe (19), a front end of the connecting air pipe (19) is fixedly connected to an air bag (20), and the surface of the air bag (20) is plugged into the inner wall of the second arc-shaped clamping plate (10), the surface of the air bag (20) is overlapped on the surface of the puncture needle body (11), and the surface of the air bag (20) is fixedly connected to an anti-slip pad.

4. A medical puncture assisting robot according to claim 1, characterized in that: The top of the mounting block (5) is fixedly connected to an additional plate (21), the back of the additional plate (21) is fixedly connected to a receiver (22), the surface of the additional plate (21) is fixedly connected to an installation clamp (23), one side of the installation clamp (23) is fixedly connected to a motor box (24), the inner wall of the motor box (24) is fixedly connected to a first servo motor (25), the output end of the first servo motor (25) is installed with a driving rod (26), the front end of the driving rod (26) is fixedly connected to a camera (27), and the surface of the camera (27) is rotatably connected to the inner wall of the mounting clamp (23).

5. The medical puncture assisting robot according to claim 1, characterized in that: A second servo motor (28) is fixedly connected to the inner wall of the installation frame (1), a transmission rod (29) is installed at the output end of the second servo motor (28), and the top end of the transmission rod (29) is fixedly connected to the bottom end of the first electric telescopic rod (3).

6. The medical puncture assisting robot according to claim 1, characterized in that: A display screen (30) is fixedly connected to the top of the installation frame (1), and a scanning board (31) is fixedly connected to the top of the installation frame (1) on one side of the display screen (30).

7. The medical puncture assisting robot according to claim 1, characterized in that: A handrail (32) is fixedly connected to the top of one side of the installation frame (1), and universal wheels (33) are fixedly connected to the four sides of the bottom of the installation frame (1).

8. A positioning method for a medical puncture assisting robot, applicable to a medical puncture assisting robot according to any one of claims 1 to 7, characterized in that: The following steps are involved: S1, initial positioning stage: the patient's medical image or identity information is read by the scanning board (31) and transmitted to the control system. The receiver (22) receives the external input puncture target position data and generates the initial puncture path planning in combination with the scanning data. The display screen (30) displays the path planning and the patient's image in real time for the doctor to confirm and adjust. S2, spatial coordinate calibration stage: start the camera (27), drive it to rotate at multiple angles through the first servo motor (25), collect real-time images of the puncture site, perform three-dimensional matching of the image data with the pre-stored medical images, calculate the relative spatial coordinates of the puncture needle body (11) and the target position, and adjust the rotation angle of the first electric telescopic rod (3) through the transmission rod (29) of the second servo motor (28) so that the mechanical arm (4) is aligned with the target plane; S3, dynamic adjustment stage of the puncture needle: the first electric telescopic rod (3) is extended vertically to drive the mechanical arm (4) to adjust the height of the puncture needle, the second electric telescopic rod (6) is extended horizontally to drive the assembly block (7) to fine-tune the horizontal position of the puncture needle, the sensor component feeds back the position data of the puncture needle body (11) in real time, and the control system dynamically corrects the path deviation; S4, puncture execution and monitoring stage: the air pump (18) inflates the airbag (20) so that the anti-skid pad presses the puncture needle body (11) tightly to ensure that there is no displacement during the puncture process. The camera (27) continuously captures the puncture process and generates real-time force feedback and depth information in combination with sensor data. If path deviation or abnormal resistance is detected, the operation is immediately suspended and an alarm is issued through the display screen (30) to wait for the doctor's intervention; S5, postoperative resetting stage: After the puncture is completed, the air pump (18) releases the pressure of the airbag (20), the distributor (13) is powered off to demagnetize the iron core (14), the arc-shaped splint is opened to remove the puncture needle, the mechanical arm (4) automatically resets to the initial position, and the universal wheel (33) is unlocked to facilitate the movement of the equipment.

9. A positioning method for a medical puncture assisting robot according to claim 8, characterized in that: In step S2, a feature point recognition algorithm is used in the three-dimensional matching to register the real-time image captured by the camera (27) with the CT / MRI image, and the error is controlled within ±0.5 mm.

10. The positioning method of a medical puncture assisting robot according to claim 8, characterized in that: In step S3, the dynamic correction includes adjusting the propulsion speed of the two electric telescopic rods according to the pressure data of the sensor assembly. If the pressure exceeds the threshold, the two electric telescopic rods are automatically retracted by 1 mm and recalibrated.

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