Lasso-driven nuclear magnetic compatible puncture surgical robot

Abstract

The invention relates to a lasso-driven nuclear magnetic compatible puncture surgical robot. The lasso-driven nuclear magnetic compatible puncture surgical robot comprises a lasso driving module, a lasso, a fixing clamp, a puncture support, a puncture needle and a human body supporting mechanism. The lasso driving module is placed outside the nuclear magnetic resonance spectrometer, the puncture support and the puncture needle are placed on a bed body inside the nuclear magnetic resonance spectrometer and fixed to the bed body of the nuclear magnetic resonance spectrometer through the fixing clamp, the height of the puncture support is adjustable, and the lasso is output from the lasso driving module and led to the puncture needle. The six flexible ropes output from the sleeve are connected to the front end and the rear end of the puncture needle at intervals in a staggered mode, under driving of the lasso, the puncture needle completes puncture, an optical fiber sensor is integrated on the puncture needle, and the human body supporting mechanism supports and fixes the lower limbs and the crotch of a patient. The device is driven by the lasso, is free and flexible in spatial layout, simple in structure and low in cost, and improves the puncture precision.

Description

Technical Field

[0001] The present invention relates to the field of medical robots, and particularly to a magnetic resonance compatible puncture surgery robot driven by a lasso. Background Art

[0002] Cancer has now become one of the major public health problems seriously threatening the health of the Chinese population, seriously affecting the health of our residents, the national economy and social development. According to the statistical data of the National Cancer Center, in 2022, the number of newly diagnosed malignant tumor cases in the country was approximately 4.8247 million. The crude incidence rate of malignant tumors in the Chinese population is 341.75 / 100,000. Soft tissue malignant tumors such as lung cancer, breast cancer, thyroid cancer, colorectal cancer and liver cancer have a relatively high incidence rate.

[0003] Percutaneous puncture surgery under MRI guidance is an operation such as biopsy sampling, radioactive particle implantation and ablation treatment on the target area of soft tissue lesions under the guidance of magnetic resonance imaging technology. There are also many problems with percutaneous puncture surgery under MRI guidance. The equipment used for percutaneous puncture under MRI must have good magnetic resonance compatibility, cannot generate artifacts in the magnetic field or interfere with the magnetic field. At the same time, it also needs to have sufficient strength and sharpness to be able to penetrate tissues smoothly and obtain samples, which increases the manufacturing cost of the puncture equipment. Lack of the ability to perceive real-time and accurate information of the surgical area. During the puncture process, multiple scans are required to determine whether the puncture needle tip reaches the accurate target point. The operation time is long and complications are easily caused. The puncture surgery is relatively difficult. Doctors need to master magnetic resonance imaging technology and puncture techniques proficiently, accurately locate the lesion site and perform puncture. The requirements for doctors' experience and skill level are relatively high. The biopsy diagnosis rate of tumors with a diameter of 5 mm to 10 mm in clinical practice is only 52%. Puncture surgery robots are ideal tools to solve the above problems. Compared with manual puncture by doctors, puncture surgery robots assisting doctors in puncture surgery have significant advantages in terms of accuracy, stability and safety. With the help of puncture surgery robots, path deviation compensation can be carried out in a timely manner, the operation efficiency can be improved, and the operation risk can be reduced, which has very important clinical value.

[0004] The lasso-driven puncture surgery robot can place the motor outside, has magnetic resonance compatibility, and solves the disadvantages of non-linearity and hysteresis of pneumatic drive and the problem of small output torque of magnetic resonance compatible motors. The flexible structure solves the problem of low load-to-self-weight ratio of existing traditional rigid puncture surgery robots, and the lasso has a buffering and shock-absorbing effect, improving the compliance of the robot and the execution accuracy of the operation. The puncture needle is integrated with an optical fiber sensor, which can detect the stress change of the puncture needle in real time and improve the puncture accuracy. Compared with existing puncture surgery robots, the lasso-driven magnetic resonance compatible puncture surgery robot has the advantages of small occupied space, large working space and high reliability. Summary of the Invention

[0005] The object of the present invention is to improve the puncture accuracy and stability of a nuclear magnetic resonance (NMR) compatible puncture surgical robot, and a lasso-driven NMR compatible puncture surgical robot is proposed.

[0006] The present invention proposes a lasso-driven NMR compatible puncture surgical robot, which includes a lasso drive module (1), a lasso (2), a fixed clamp (3), a puncture bracket (4), a puncture needle (5), a human body support mechanism (6), a patient (7), and an NMR instrument (8). The lasso drive module (1) is placed outside the NMR instrument (8). The puncture bracket (4) and the puncture needle (5) are placed inside the NMR instrument (8) and are fixed at appropriate positions on the bed of the NMR instrument (8) by the fixed clamp (3). All the internal devices of the NMR instrument (8) are made of non-ferromagnetic materials and have NMR compatibility. The height of the puncture bracket (4) is adjustable. By adjusting the position and height of the puncture bracket (4), the puncture position of the puncture needle (5) is preliminarily calibrated. Both ends of the lasso (2) are fixed, output from the lasso drive module (1), and connected to the puncture bracket (4). The six flexible cables of the lasso (2) are alternately connected to the front and rear ends of the puncture needle (5) at intervals. Driven by the lasso (2), the puncture needle (5) realizes three degrees of freedom of movement and two degrees of freedom of rotation perpendicular to its own axis. The patient (7) lies on the bed of the NMR instrument and is supported and fixed by the human body support mechanism (6).

[0007] The lasso drive module (1) is placed outside the NMR instrument (8). Six drive motors (1-1) are divided into two groups and symmetrically installed on the motor base (1-2). The motor base (1-2) is fixed to the lasso drive module bracket (1-3) by bolts and nuts. The installation heights of the three drive motors (1-1) in each group are different. The drive cable pulley (1-4) is connected to the output flange of the motor by screws. The flexible cable (2-2) is evenly wound in the groove on the drive cable pulley (1-4). The sleeve (2-1) is fixed in the round hole on the sleeve fixed baffle (1-5). The flexible cable (2-2) is led out from the drive cable pulley (1-4) and leads to the inside of three pairs of sleeves (2-1) with different heights respectively. The sleeve fixed baffle (1-5) is fixed to the lasso drive module bracket (1-3) by bolts and nuts.

[0008] The lasso (2) consists of a sleeve (2-1) and a flexible cable (2-2). The lasso (2) is output from the lasso drive module (1) and leads to the puncture bracket (4). The distal end of the sleeve (2-1) is fixed on the sleeve fixing baffle (1-5), passes through the circular light hole at the tail of the bracket rear cover (4-6), and passes through the lasso guide rail (4-4). The proximal end of the sleeve (2-1) is fixed on the sleeve fixing bracket (4-2). The flexible cable (2-2) passes through the inside of the sleeve (2-1). The length of the flexible cable (2-2) inside the sleeve (2-1) remains unchanged all the time and is output from one end of the sleeve (2-1) fixed on the sleeve fixing bracket (4-2). The proximal ends of the six sleeves (2-1) are arranged radially and evenly on the sleeve fixing bracket (4-2). The six flexible cables (2-2) output from the sleeves (2-1) are connected to the front and rear ends of the puncture needle (5) at intervals through the porcelain eyes of the sleeve fixing bracket (4-2). Driven by the lasso (2), the puncture needle (5) realizes movement in three degrees of freedom and rotation in two degrees of freedom perpendicular to its own axis.

[0009] The puncture bracket (4) is placed inside the nuclear magnetic resonance instrument (8). The puncture bracket (4) consists of a bracket housing (4-1), a sleeve fixing bracket (4-2), a bracket cover plate (4-3), a lasso guide rail (4-4), a height adjustment bolt (4-5), and a bracket rear cover (4-6). The bracket housing (4-1) and the bracket cover plate (4-3) are fixedly connected through threaded holes. The bracket rear cover (4-6) is fixed on the bracket housing (4-1) through bolts and nuts. The sleeve fixing bracket (4-2) is a regular hexagon, and six porcelain eyes are evenly distributed at the center of each side of the regular hexagon. The sleeve fixing bracket (4-2) and the bracket housing (4-1) are fixedly connected through bolts and nuts. The lasso guide rail (4-4) is fixed on the bracket housing (4-1) through bolts and nuts. There is a threaded hole at the bottom of the bracket rear cover (4-6). The height adjustment bolt (4-5) is connected to the threaded hole at the bottom of the bracket rear cover (4-6). By rotating the height adjustment bolt (4-5), the overall height of the bracket can be changed. There are six circular light holes at the tail of the bracket rear cover (4-6).

[0010] The puncture needle (5) consists of a needle tip (5-1), an optical fiber (5-2), a needle nut (5-3), a needle clamp (5-4), a needle holder (5-5), an optical fiber connector (5-6), a front-end flexible cable connecting ring (5-7), a needle body (5-8), a rear-end flexible cable connecting ring (5-9), and a needle tail fixing nut (5-10). The needle nut (5-3) is threadedly connected to the needle holder (5-5) to fix the needle clamp (5-4) on the needle holder (5-5). The needle holder (5-5) is threadedly connected to the needle body (5-8) to clamp and fix the front-end flexible cable connecting ring (5-7) between them. The needle body (5-8) is threadedly connected to the needle tail fixing nut (5-10) to clamp and fix the rear-end flexible cable connecting ring (5-9) between them. The optical fiber connector (5-6) is fixed inside the needle holder (5-5). After the needle tip (5-1) is inserted into the needle clamp (5-4), the needle tip (5-1) is clamped in the needle clamp (5-4) by tightening the needle nut (5-3). The optical fiber (5-2) is encapsulated in a double-layer material with different coefficients of thermal expansion. The optical fiber (5-2) passes through the groove of the strain transfer layer (inner layer) made of the first material and fits against the inner wall of the temperature compensation layer (outer layer) made of the second material. A gap is reserved between the inner wall of the outer layer material and the optical fiber, and flexible silica gel is filled to achieve non-rigid contact. When the temperature rises, the outer layer material shrinks, and a reverse tensile force is applied to the optical fiber through the silica gel layer to offset the wavelength drift caused by temperature. The three encapsulated optical fibers are respectively embedded in three axially V-shaped grooves evenly distributed in the radial direction on the outer wall of the needle tip (5-1). The optical fiber (5-2) extends to the tail of the needle tip (5-1) through the V-shaped groove. A grating is inscribed on each optical fiber (5-2). The outer wall of the needle tip (5-1) is coated with a double-layer shielding coating. The bottom of the needle tip (5-1) is inserted into the optical fiber connector (5-6) for alignment and connection. Six flexible cables (2-2) output from the six porcelain eyes of the sleeve fixing bracket (4-2) are alternately connected to the front-end and rear-end flexible cable connecting rings. By controlling the lengths of the six flexible cables (2-2), the movement of three degrees of freedom and the rotation of two degrees of freedom perpendicular to its own axis of the puncture needle (5) are controlled.

[0011] The fixing fixture (3) consists of a positioning plate (3-1), a friction lining block (3-2), and a tightening and loosening adjustment bolt (3-3). Two positioning plates (3-1) are respectively provided with two vertical smooth positioning guide rails. The positioning guide rails pass through the positioning holes at the bottom of the puncture bracket (4) to fix the puncture bracket (4). The positioning plate (3-1) is threadedly connected to the tightening and loosening adjustment bolt (3-3). The friction lining block (3-2) is fixed on the positioning plate (3-1) and the tightening and loosening adjustment bolt (3-3). By rotating the tightening and loosening adjustment bolt (3-3), the friction lining blocks (3-2) on both sides of the positioning plate (3-1) clamp the bed body of the nuclear magnetic resonance instrument (8), and the positioning plate (3-1) is fixed on the bed body of the nuclear magnetic resonance instrument (8).

[0012] The human body support mechanism (6) consists of a calf support (6-1), a thigh support (6-2), and a hip support (6-3). The human body support mechanism (6) fixes the lower limbs and hip of the patient. The calf support (6-1) and the thigh support (6-2) respectively support the calf and thigh of the patient. The soft pads on both sides of the support limit the horizontal movement of the patient's lower limbs. The hip support (6-3) clamps and fixes the patient's hip, so that the position of the patient (7) on the MRI bed is fixed, providing a working space for the puncture operation.

[0013] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0014] (1) In the present invention, the lasso drive module is placed outside the nuclear magnetic resonance instrument, avoiding nuclear magnetic interference with the nuclear magnetic resonance instrument. The puncture bracket and the puncture needle are placed inside the nuclear magnetic resonance instrument. The device materials placed in the nuclear magnetic resonance instrument room are all made of non-ferromagnetic materials, which have no impact on the nuclear magnetic resonance imaging effect.

[0015] (2) In the present invention, lasso transmission is adopted from the lasso drive unit to the puncture needle. The lasso includes a sleeve and a flexible cable. The spatial layout of the lasso transmission is free, and multi-degree-of-freedom transmission can be achieved. The lasso structure is simple, with low cost, light materials, and small inertial load, having good environmental adaptability. By analyzing the transmission characteristics of the lasso, a lasso force and displacement controller independent of the end sensor is established to improve the lasso transmission accuracy, thereby improving the accuracy and safety of the puncture operation.

[0016] (3) In the present invention, the lasso is used to drive and control the puncture needle, solving the problem of high load-to-self-weight ratio of traditional rigid robots. The flexibility of the flexible cable can buffer impact and vibration, reduce mechanical component wear, and generate less noise, being suitable for the silent scenario of medical equipment.

[0017] (4) In the present invention, a grating sensor is integrated on the puncture needle, which can real-time feedback parameters such as the axial force, lateral force, and torque of the puncture needle during the puncture process, breaking through the limitations of traditional sensing technology in the nuclear magnetic environment, improving the puncture accuracy and safety, reducing the number of punctures, and reducing the risk of surgical complications.

[0018] (5) In the present invention, the relative position between the puncture bracket inside the nuclear magnetic resonance instrument and the needle entry point is adjustable. By adjusting the horizontal position and height of the puncture bracket, different puncture requirements can be met.

[0019] (6) In the present invention, the human body support mechanism is used to support and fix the lower limbs and hip of the patient, restricting the movement of the patient during the operation, ensuring the position registration among the surgical robot, the patient, and the nuclear magnetic scanner, and providing a working space for the puncture operation. Description of the Drawings

[0020] Figure 1It is a working schematic diagram of a lasso-driven MRI-compatible puncture surgical robot;

[0021] Figure 2 It is an overall assembly drawing of a lasso-driven MRI-compatible puncture surgical robot;

[0022] Figure 3 It is an assembly schematic diagram of the lasso drive module of a lasso-driven MRI-compatible puncture surgical robot;

[0023] Figure 4 It is an exploded view of the assembly of the drive motor, drive cable pulley, and motor base of a lasso-driven MRI-compatible puncture surgical robot;

[0024] Figure 5 It is a schematic diagram of the structure of the drive cable pulley of a lasso-driven MRI-compatible puncture surgical robot;

[0025] Figure 6 It is an assembly schematic diagram of the cannula and cannula fixing baffle of a lasso-driven MRI-compatible puncture surgical robot;

[0026] Figure 7 It is an exploded view of the assembly of the puncture bracket of a lasso-driven MRI-compatible puncture surgical robot;

[0027] Figure 8 It is an assembly schematic diagram of the cannula and cannula fixing bracket of a lasso-driven MRI-compatible puncture surgical robot;

[0028] Figure 9 It is an exploded view of the assembly of the bracket housing and cannula fixing bracket of a lasso-driven MRI-compatible puncture surgical robot;

[0029] Figure 10 It is an exploded view of the assembly of the bracket housing and lasso guide rail of a lasso-driven MRI-compatible puncture surgical robot;

[0030] Figure 11 It is an exploded view of the assembly of the fixing clamp and puncture bracket of a lasso-driven MRI-compatible puncture surgical robot;

[0031] Figure 12 It is a schematic diagram of the internal lasso layout of a lasso-driven MRI-compatible puncture surgical robot;

[0032] Figure 13 It is an exploded view of the assembly of the puncture needle of a lasso-driven MRI-compatible puncture surgical robot;

[0033] Figure 14 It is an assembly schematic diagram of the flexible cable and puncture needle of a lasso-driven MRI-compatible puncture surgical robot;

[0034] Figure 15 It is an assembly schematic diagram of the human body support mechanism of a lasso-driven MRI-compatible puncture surgical robot;

[0035] In the figure: 1 - Lasso drive module; 2 - Lasso; 3 - Fixed clamp; 4 - Puncture bracket; 5 - Puncture needle; 6 - Human body support mechanism; 7 - Patient; 8 - Magnetic resonance imaging (MRI) device. Specific implementation mode

[0036] Combined with the attached Figure 1 、attached Figure 2 , the present invention will be further described:

[0037] A lasso-driven MRI-compatible puncture surgical robot mentioned in the present invention includes a lasso drive module (1), a lasso (2), a fixed clamp (3), a puncture bracket (4), a puncture needle (5), a human body support mechanism (6), a patient (7), and a magnetic resonance imaging (MRI) device (8).

[0038] The lasso drive module (1) is fixed on the ground outside the MRI device (8). The puncture bracket (4) and the puncture needle (5) are placed on the bed of the MRI device (8). Six lassos (2) are output from the lasso drive module (1) and lead to the puncture bracket (4). The position of the puncture bracket (4) is adjustable. Both ends of the sleeve (2-1) of the lasso (2) are fixed. The flexible cable (2-2) passes through the sleeve (2-1) and outputs from the porcelain eye of the sleeve fixing bracket (4-2). The six flexible cables (2-2) are respectively and alternately connected to the front and rear flexible cable connection rings of the puncture needle (5). The flexible cable (2-2) drives the puncture needle (5) to achieve three degrees of freedom of movement and two degrees of freedom of rotation perpendicular to its own axis. The human body support mechanism (6) supports and fixes the patient (7) on the bed of the MRI device (8).

[0039] Combined with the attached Figure 3 、attached Figure 4 The present invention will be further described:

[0040] The bracket of the lasso drive module (1) is fixed on the ground. The drive motors (1-1) are symmetrically installed in two groups on the motor base (1-2). The installation heights of the three drive motors (1-1) in each group are different. The motor base (1-2) is fixed on the bracket of the lasso drive module (1) through bolts and nuts. After the flexible cable is led out from the drive cable wheel (1-4), it passes through the sleeve fixed on the sleeve fixing baffle (1-5).

[0041] Nine threaded holes are evenly arranged on the surface of the drive motor (1-1). The drive motor (1-1) is fixed on the motor base (1-2) through screws. The drive motor (1-1) outputs rotational motion through a flange. The drive cable wheel (1-4) is fixed on the flange through threaded connection. The flange drives the drive cable wheel (1-4) to rotate.

[0042] Combined with the attached Figure 5, the present invention is further described:

[0043] The driving cable wheel (1-4) is fixed on the output flange of the driving motor (1-1). The surface of the driving cable wheel (1-4) is provided with a spiral groove, the diameter of the groove is the same as the diameter of the flexible cable (2-2), and the flexible cable (2-2) can be evenly wound in the groove, thereby avoiding the occurrence of entanglement and knotting. A column is provided on the driving cable wheel (1-4), and the end of the flexible cable (2-2) can be knotted and fixed on the column to prevent the flexible cable (2-2) from falling off.

[0044] Combined with Figure 6 , the present invention is further described:

[0045] The sleeve is inserted into the circular hole of the sleeve fixing baffle (1-5) from one side and fixed in the circular hole of the sleeve fixing baffle (1-5) by bonding. The end face of the sleeve (2-1) is supported by the circular hole on the other side of the sleeve fixing baffle (1-5) whose diameter is smaller than that of the sleeve (2-1), thereby preventing the sleeve (2-1) from jumping out.

[0046] Combined with Figure 7 , Attachment Figure 8 , Attachment Figure 9 , Attachment Figure 10 , the present invention is further described:

[0047] The puncture bracket (4) is composed of a bracket housing (4-1), a sleeve fixing bracket (4-2), a bracket cover plate (4-3), a lasso guide rail (4-4), a height adjustment bolt (4-5), and a bracket rear cover (4-6). The support shell (4-1) and the support cover plate (4-3) are fixedly connected by threads, the support shell (4-1) and the support back cover (4-6) are fixedly connected by bolts and nuts, the sleeve fixing bracket (4-2) and the support shell (4-1) are connected by bolts and nuts, the sleeve (2-1) is inserted into the circular hole of the sleeve fixing bracket (4-2) and fixed by bonding, the end face of the sleeve (2-1) is supported by the circular hole of the sleeve fixing bracket (4-2) whose diameter is smaller than that of the sleeve (2-1), six lasso guide rails (4-4) are installed on the back of the support shell (4-1) by bolts and nuts, the lasso guide rails (4-4) have a certain curvature, and the lasso passes through the lasso guide rails (4-4) to avoid errors caused by shaking of the proximal part of the lasso during surgery.

[0048] Combined with Figure 11 , the present invention is further described:

[0049] The described fixed fixture (3) consists of a positioning plate (3-1), friction lining blocks (3-2), and a tension adjustment bolt (3-3). Two positioning plates (3-1) are respectively provided with two smooth vertical positioning guide rails. The positioning guide rails pass through the round holes at the bottom of the puncture bracket (4) to fix the puncture bracket (4). The positioning plate (3-1) and the tension adjustment bolt (3-3) are connected by threads. The friction lining blocks (3-2) are fixed on the positioning plate (3-1) and the tension adjustment bolt (3-3). By rotating the tension adjustment bolt (3-3), the friction lining blocks (3-2) on both sides clamp the bed inside the nuclear magnetic resonance instrument (8), fixing the positioning plate (3-1) on the bed of the nuclear magnetic resonance instrument (8). The relative position between the fixed fixture (3) and the nuclear magnetic resonance instrument (8) is adjustable.

[0050] Combined with the attached Figure 12 , a further description of the present invention is as follows:

[0051] The described lasso (2) is arranged in a dispersed manner inside the lasso rear cover. The lasso guide rail (4-4) supports and fixes the lasso, avoiding control errors caused by the lasso shaking during the puncture process. At the same time, it increases the curvature radius of the lasso and reduces the friction between the sleeve (2-1) and the flexible cable (2-2) during the transmission process.

[0052] Combined with the attached Figure 13 , a further description of the present invention is as follows:

[0053] The outer wall of the needle tip of the described puncture needle (5) has three axially V-shaped grooves evenly distributed in the radial direction. The optical fiber (5-2) is encapsulated in a double-layer material with different coefficients of thermal expansion. The optical fiber (5-2) passes through the special-shaped groove of the strain transfer layer made of the first material and adheres to the inner wall of the temperature compensation layer made of the second material. The three encapsulated optical fibers are embedded inside the V-shaped grooves and extend to the tail of the needle tip through the V-shaped grooves. The outside is coated with a double-layer shielding coating. A grating is inscribed on each optical fiber (5-2). The tail of the needle tip is inserted into the optical fiber connector (5-6) for alignment and connection. The double-layer shielding optical fiber output from the optical fiber connector (5-6) is connected to an external demodulation system to obtain real-time parameters of the puncture needle (5). The six flexible cables (2-2) output from the six porcelain eyes of the sleeve fixing bracket (4-2) are connected to the front and rear flexible cable connection rings at intervals in a staggered manner. The angle between the front flexible cable connection ring (5-7) and the rear flexible cable connection ring (5-9) is 30 degrees. By controlling the lengths of the six flexible cables (2-2), the movement of the puncture needle (5) in three degrees of freedom and the rotation in two degrees of freedom perpendicular to its own axis are realized.

[0054] Combined with the attached Figure 14 , a further description of the present invention is as follows:

[0055] The movement of the puncture needle (5) is driven by the pulling force provided by the lasso (2). Six flexible cables (2-2) passing through the porcelain eyes of the sleeve fixing bracket (4-2) are connected to the front and rear ends of the puncture needle (5) at intervals and staggered. When the three flexible cables (2-2) connected to the rear end contract, the flexible cables (2-2) pull the puncture needle (5) forward, that is, the needle insertion operation. When the three flexible cables (2-2) connected to the front end contract, the flexible cables (2-2) pull the puncture needle (5) backward, that is, the needle withdrawal operation. When the flexible cable (2-2-1), the flexible cable (2-2-2), and the flexible cable (2-2-3) contract, the flexible cables pull the puncture needle (5) to laterally move the needle tip towards the side of the flexible cable (2-2-2). When the flexible cable (2-2-4), the flexible cable (2-2-5), and the flexible cable (2-2-6) contract, the flexible cables pull the puncture needle (5) to laterally move the needle tip towards the side of the flexible cable (2-2-5). Similarly, by controlling the expansion and contraction of different flexible cables, the deflection angle of the puncture needle (5) can be changed, and needle insertions at different angles can be achieved.

[0056] Combined with the attached Figure 15 , the present invention will be further described as follows:

[0057] The described human body support mechanism (6) is composed of a calf bracket (6-1), a thigh bracket (6-2), a hip bracket (6-3), a bracket slider (6-4), and a slide rail (6-5). The brackets are installed on the bracket slider (6-4) by set screws. The heights of the three brackets are adjustable. At the same time, the bracket slider (6-4) can move on the slide rail (6-5) of the nuclear magnetic resonance instrument (8). After moving to the appropriate position, the bracket slider (6-4) is fixed by set screws. The calf bracket (6-1) and the thigh bracket (6-2) support the lower limbs of the patient (7). At the same time, the soft pads on both sides of the thigh bracket (6-2) clamp and fix the thighs of the patient (7) to limit the left and right movement of the lower limbs. The position of the hip bracket (6-3) is adjustable on the bed surface. By adjusting the hip bracket (6-3), the hip of the patient (7) is fixed. The body support mechanism (6) restricts the movement of the patient (7), making the puncture position during the operation fixed relative to the position of the surgical robot.

[0058] The present invention is a lasso-driven nuclear magnetic resonance compatible puncture surgical robot, and the implementation methods of its various functions are as follows:

[0059] Nuclear magnetic environment compatibility function: The lasso drive module (1) is placed at a relatively far distance outside the nuclear magnetic resonance instrument. The puncture bracket (4) and the puncture needle (5) are placed on the bed body of the nuclear magnetic resonance instrument and fixed to the bed body of the nuclear magnetic resonance instrument by a fixing fixture (3). All the internal devices of the nuclear magnetic resonance instrument are made of non-ferromagnetic materials and have nuclear magnetic compatibility, avoiding interference of the puncture surgical robot on nuclear magnetic resonance imaging.

[0060] Lasso drive function: A lasso (2) is used for transmission from the lasso drive unit to the puncture needle. The lasso (2) includes a sleeve (2-1) and a flexible cable (2-2). The spatial layout of the lasso drive is free, enabling multi-degree-of-freedom transmission. The lasso structure is simple, with low cost, lightweight materials, and small inertial loads, and has good environmental adaptability.

[0061] Puncture bracket position adjustable function: The friction lining block (3-2) and the tightening adjustment bolt (3-3) of the fixing fixture (3) can clamp the bed body of the nuclear magnetic resonance instrument (8) at different positions to achieve horizontal position fixation. By adjusting the relative horizontal position of the fixing fixture (3) and the nuclear magnetic resonance instrument (8), the horizontal position of the puncture bracket (4) and the nuclear magnetic resonance instrument (8) can be adjusted. The puncture bracket (4) can slide up and down along the vertical positioning guide rail of the fixing fixture (3). By adjusting the height adjustment bolt (4-5) of the puncture bracket (4), the vertical height of the puncture bracket (4) can be changed to adapt to different puncture requirements.

[0062] Puncture needle multi-parameter monitoring function: Fiber Bragg grating sensors are integrated on the needle tip (5-1) of the puncture needle (5) and are connected to the demodulator outside the nuclear magnetic resonance instrument through an optical fiber connector (5-6) to monitor various parameters of the puncture needle (5) during the puncture process and feed them back to the lasso drive control system to provide accurate feedback and risk warning for clinical operations.

[0063] Lower limb and torso fixation and support function: The positions and heights of the calf bracket (6-1) and the thigh bracket (6-2) are adjustable to support the patient's lower limbs. At the same time, the soft pads on both sides of the thigh bracket (6-2) clamp and fix the patient's (7) thighs, and the hip bracket (6-3) can clamp and fix the patient's (7) hips. The body support mechanism (6) fixedly supports the patient (7) to prevent the patient (7) from moving the torso and lower limbs during the operation, enabling position registration among the surgical robot, the patient, and the nuclear magnetic resonance image and improving the puncture accuracy.

[0064] The above are only some of the preferred examples of the present invention. Any person skilled in the art can modify the technical solutions described above or modify them into equivalent technical solutions. Therefore, any simple modification or equivalent replacement made according to the technical solutions of the present invention shall fall within the scope of protection required by the present invention.

Claims

1. A lasso-driven nuclear magnetic resonance compatible puncture surgical robot, comprising a lasso drive module (1), a lasso (2), a fixing fixture (3), a puncture support (4), a puncture needle (5), and a human body support mechanism (6), characterized in that: The lasso drive module (1) is placed outside the nuclear magnetic resonance apparatus (8), the puncture support (4) and the puncture needle (5) are placed on the bed of the nuclear magnetic resonance apparatus (8) and fixed on the bed of the nuclear magnetic resonance apparatus (8) by a fixing fixture (3), the puncture support (4) is height-adjustable, and the internal devices of the nuclear magnetic resonance apparatus (8) are all made of non-ferromagnetic materials. The lasso drive module (1) and the puncture needle (5) are driven by a lasso (2), the lasso (2) is output from the lasso drive module (1) and leads to the puncture support (4), the distal end of the sleeve of the lasso (2) is fixed on the sleeve fixing baffle (1-5), and the proximal end is fixed on the sleeve fixing support (4-2), the flexible rope is output from the lasso drive module (1), passes through the inside of the sleeve, and is output from the porcelain eye on the sleeve fixing support (4-2), the length of the flexible rope inside the sleeve remains unchanged, and the six flexible ropes (2-2) output from the porcelain eye of the sleeve fixing support (4-2) are staggered at intervals. The puncture needle (5) is connected to the front and rear ends of the puncture needle (5). Driven by the lasso (2), the puncture needle (5) can move with three degrees of freedom and rotate with two degrees of freedom perpendicular to its own axis. The needle head (5-1) of the puncture needle (5) is inserted into the needle head fixture (5-4) and fixed at the front end of the puncture needle (5). The diameter of the needle head fixture (5-4) is adjustable. Three axial V-shaped grooves evenly distributed along the radial direction at the front end of the needle head (5-1) extend to the tail end of the needle head (5-1). The optical fiber (5-2) is encapsulated in a double-layer material with different thermal expansion coefficients. The optical fiber (5-2) passes through the groove of the strain transfer layer made of the first material and fits the inner wall of the temperature compensation layer made of the second material. The encapsulated optical fiber (5-2) is embedded in the V-shaped groove. A grating is engraved on the optical fiber (5-2). The outer layer of the V-shaped groove is coated with a double-layer shielding coating. The tail end of the needle head (5-1) is inserted into the slot of the optical fiber connector (5-6) for alignment and connection.

2. A lasso-driven nuclear magnetic resonance compatible puncture surgical robot according to claim 1, characterized in that: The lasso driving module (1) is placed outside a nuclear magnetic resonance apparatus (8). Six driving motors (1-1) of the lasso driving module (1) are symmetrically mounted on a motor base (1-2) in two groups. The three driving motors (1-1) in each group are mounted at different heights. The motor base (1-2) is mounted on a lasso driving module bracket (1-3). A driving cable wheel (1-4) is connected to an output flange of the driving motor (1-1) by means of screws. A flexible cable (2-2) is evenly wound in a groove on the driving cable wheel (1-4). The flexible cable (2-2) is led out from the driving cable wheel and horizontally leads to a sleeve (2-1) fixed on a sleeve fixing baffle (1-5). The sleeve fixing baffle (1-5) is fixed to the lasso driving module bracket (1-3) by means of bolts and nuts.

3. The lasso-driven MRI-compatible puncture surgical robot according to claim 1, characterized in that: The puncture bracket (4) is placed on the inner bed of the nuclear magnetic resonance apparatus (8) and is made of non-ferromagnetic material. The puncture bracket (4) is composed of a bracket shell (4-1), a sleeve fixing bracket (4-2), a bracket cover (4-3), a lasso guide rail (4-4), a height adjustment bolt (4-5), and a bracket back cover (4-6). The bracket shell (4-1) and the bracket cover (4-3) are fixedly connected by bolts and nuts. The bracket back cover (4-6) is fixed to the bracket shell (4-1) by bolts and nuts. The sleeve fixing bracket (4-2) is fixed to the bracket shell (4-1) by bolts and nuts. The lasso guide rail (4-4) is fixed to the bracket shell (4-1). After being guided by the lasso guide rail (4-4), the lasso (2) leads to the circular hole on the sleeve fixing bracket (4-2). The height adjustment bolt (4-5) is connected to the bracket back cover (4-6) by threads.

4. The lasso-driven MRI-compatible puncture surgical robot according to claim 1, characterized in that: The lasso driving module (1) located outside the nuclear magnetic resonance apparatus (8) and the puncture needle (5) are driven by the lasso (2), the lasso (2) is composed of a sleeve (2-1) and a flexible rope (2-2), the distal end of the sleeve (2-1) is fixed on the sleeve fixing baffle (1-5), passes through the round hole at the tail of the bracket rear cover (4-6), passes through the lasso guide rail (4-4), and the proximal end is fixed on the sleeve fixing bracket (4-2), the flexible rope (2-2) led out from the driving rope wheel (1-4) passes through the sleeve (2-1), is output from the proximal end of the sleeve (2-1), and is connected to the front and rear ends of the puncture needle (5).

5. The lasso-driven MRI-compatible puncture surgical robot according to claim 1, characterized in that: The puncture needle (5) is placed inside the nuclear magnetic resonance apparatus (8). The puncture needle (5) consists of a needle (5-1), an optical fiber (5-2), a needle nut (5-3), a needle clamp (5-4), a needle holder (5-5), an optical fiber connector (5-6), a front flexible cable connecting ring (5-7), a needle body (5-8), a rear flexible cable connecting ring (5-9), and a needle tail fixing nut (5-10). The needle nut (5-3) is connected to the needle holder (5-5) by a thread, the needle clamp (5-4) is fixed to the needle holder (5-5), the needle holder (5-5) is connected to the needle body (5-8) by a thread, and the front flexible cable connecting ring (5-7) is clamped. The needle body (5-8) and the needle tail fixing nut (5-10) are connected by threads, and the rear end flexible cable connecting ring (5-9) is clamped and fixed between the two. The needle (5-1) is inserted into the needle clamp, and the needle nut (5-3) is rotated to make the needle clamp (5-4) clamp the needle (5-1). The six flexible cables (2-2) output from the six porcelain eyes of the sleeve fixing bracket (4-2) are staggered and connected to the front end flexible cable connecting ring (5-7) and the rear end flexible cable connecting ring (5-9) at intervals. By controlling the extension and retraction of the six flexible cables (2-2), the puncture needle (5) can move with three degrees of freedom and rotate with two degrees of freedom perpendicular to its own axis.

6. The lasso-driven MRI-compatible puncture surgical robot according to claim 1, characterized in that: The fixing fixture (3) is installed on the bed of the nuclear magnetic resonance apparatus (8), and comprises a positioning plate (3-1), a friction pad (3-2) and a tension adjustment bolt (3-3). The positioning plate (3-1) is provided with four vertical positioning guide rails, which pass through the positioning holes at the bottom of the puncture bracket (4). The positioning plate (3-1) and the tension adjustment bolt (3-3) are connected by threads. By adjusting the tension adjustment bolt (3-3), the friction pads (3-2) on both sides clamp the bed, and the positioning plate (3-1) is fixed to the bed.

7. The lasso-driven MRI-compatible puncture surgical robot according to claim 1, characterized in that: The patient lies on a bed of a nuclear magnetic resonance apparatus (8), a human body support mechanism (6) supports the patient, a calf support (6-1) and a thigh support (6-2) support the patient's lower limbs, a hip support (6-3) supports the patient's hips, and the human body support mechanism (6) fixes the patient's position so that the puncture needle (5) is aligned with the patient's lesion site.

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