Automatic precise lung puncture system

Abstract

According to the technical scheme, the automatic precise lung puncture system is characterized by comprising a body, the middle of the body is provided with an operation space used for conducting puncture operation, and the body is provided with a puncture needle mechanical arm used for holding and operating a puncture needle and an injector mechanical arm used for holding an injector; the puncture needle mechanical arm and the injector mechanical arm are distributed around the operation space; a gradienter used for measuring the inclination angle of the body is arranged on the outer wall of the body. The puncture needle mechanical arm, the injector mechanical arm and the gradienter are in circuit connection with a main control module located in the body. According to the robot system disclosed by the invention, the operation time can be shortened, the physical and psychological burden of a patient is reduced, the efficiency and safety of the whole operation process are improved, human errors and intraoperative complications are reduced, and the robot system is suitable for treatment of pulmonary nodules and diagnosis and treatment of other pulmonary lesions.

Description

Technical Field

[0001] The present invention relates to a system for high-precision lung puncture positioning during medical surgery, belonging to the technical field of medical devices. Background Art

[0002] Advances in computed tomography (CT) technology have greatly enhanced its ability to diagnose lung nodules, especially ground-glass nodules, at an early stage. Such nodules may be manifestations of early lung cancer and have potential malignant risks. Although CT can identify these small nodules at an early stage, there are still significant challenges in accurately positioning and completely removing these lesions during surgery. In current surgical practice, due to the concealment of ground-glass nodules (especially after the deflation of lung tissue), it is difficult to effectively detect them, resulting in surgeons often having to expand the resection range, which not only increases the surgical risk but also has a long-term impact on the patient's lung function.

[0003] In addition, although CT-guided puncture positioning technology has achieved more precise resection of nodules and effectively reduced damage to normal lung tissue by injecting tissue glue near the nodules to assist in positioning, the application of this technology still has limitations. Current operations rely on a high degree of manual skills and the experience of operators, and the accuracy and repeatability during operation are limited. During the injection process, any slight error may lead to inaccurate glue placement, thus affecting the surgical outcome.

[0004] Currently, there is a lack of robotic systems on the market that can automatically perform this operation. Therefore, the development has significant clinical needs and broad market prospects. Summary of the Invention

[0005] The object of the present invention is to provide a simple lung puncture robot for precise lung nodule positioning and assisting surgery.

[0006] To achieve the above object, the technical solution of the present invention discloses an automatic and precise lung puncture system, which is characterized in that it includes a main body. The middle part of the main body is an operation space for performing puncture operations. On the main body, there is a puncture needle robotic arm for holding and operating the puncture needle and a syringe robotic arm for holding the syringe. The puncture needle robotic arm and the syringe robotic arm are distributed around the operation space. On the outer wall of the main body, there is a spirit level for measuring the inclination angle of the main body. The puncture needle robotic arm, the syringe robotic arm, and the spirit level are electrically connected to a main control module located inside the main body. The main control module automatically calculates the optimal path and depth of the puncture needle by analyzing CT image data to ensure accurate placement in one go.

[0007] Preferably, there are two said puncture needle robotic arms, namely the puncture needle robotic arm one and the puncture needle robotic arm two, which respectively hold the upper and lower parts of the puncture needle.

[0008] Preferably, there are two syringe robotic arms, namely syringe robotic arm 1 and syringe robotic arm 2. The front end of syringe robotic arm 1 is a syringe 1 for perfusing tissue glue, and the front end of syringe robotic arm 2 is a syringe 2 for perfusing dexamethasone.

[0009] Preferably, the main body is in a square-shaped structure with a mouth shape. The first puncture needle robotic arm, the second puncture needle robotic arm, the first syringe robotic arm, and the second syringe robotic arm are respectively located at the four corners of the main body. The first puncture needle robotic arm and the second puncture needle robotic arm are located on one diagonal line of the main body, and the first syringe robotic arm and the second syringe robotic arm are located on the other diagonal line of the main body.

[0010] Preferably, the front end of the puncture needle robotic arm is a mechanical claw or a hollow spherical structure. A flexible material layer is provided on the inner wall of the spherical structure, and the through hole in the middle of the flexible material layer is used to penetrate the puncture needle and has an interference fit with the puncture needle.

[0011] Preferably, the front end of the syringe robotic arm is a mechanical claw only for holding the syringe, or the front end of the syringe robotic arm is a mechanical claw for holding and operating the syringe, or the syringe is directly provided at the front end of the syringe robotic arm.

[0012] Preferably, the main body is fixed to the patient's body by a strong adhesive tape.

[0013] Preferably, the main body is fixedly connected to a slider through a universal joint. The slider is provided on a vertical displacement mechanism, the vertical displacement mechanism is provided on a horizontal displacement mechanism, and the horizontal displacement mechanism is provided on an AGV cart. The vertical displacement mechanism, the horizontal displacement mechanism, and the AGV cart are circuit-connected to the main control module.

[0014] Preferably, the main control module includes a control unit. The control unit is circuit-connected to the puncture needle robotic arm and the syringe robotic arm through a robotic arm driving and controlling circuit. The control unit is also connected to a level circuit, a wireless communication unit, a horizontal displacement mechanism driving circuit, a vertical displacement mechanism driving circuit, and the AGV cart. The horizontal displacement mechanism driving circuit and the vertical displacement mechanism driving circuit are respectively circuit-connected to the horizontal displacement mechanism and the vertical displacement mechanism. An external intelligent terminal is wirelessly connected to the control unit through the wireless communication unit for wireless data communication, or an external display unit connected with a first wireless communication unit and a remote controller connected with a second wireless communication unit are wirelessly connected to the control unit through the wireless communication unit for wireless data communication.

[0015] Preferably, the main control module includes a control unit, which is circuit-connected to the puncture needle robotic arm and the syringe robotic arm through a robotic arm driving and control circuit. The control unit is also circuit-connected to the level meter, and is further connected to a wireless communication unit; an external intelligent terminal is wirelessly connected to the control unit via the wireless communication unit for data communication, or a display unit connected with a first wireless communication unit and a remote controller connected with a second wireless communication unit are wirelessly connected to the control unit via the wireless communication unit for data communication.

[0016] The present invention discloses an intelligent lung puncture robot system for improving the accuracy and efficiency of puncture positioning before lung surgery. The system is designed for an automated needle insertion process, thereby reducing the uncertainty and potential errors in manual operations. By integrating advanced image processing technology and a precision mechanical control system, the present invention can automatically identify the position of a lung nodule and precisely control the path and depth of the puncture needle. In addition, the present invention can, through automated operations, reduce the operation burden on doctors, shorten the operation preparation time, and improve the overall safety and success rate of the surgery. By achieving these goals, the present invention is expected to significantly improve the treatment effect of lung surgery, while maximizing the protection of the patient's normal lung tissue and avoiding unnecessary injuries.

[0017] Compared with the prior art solutions, the present invention specifically has the following beneficial effects:

[0018] 1) Improving accuracy: Through automated robotic arms and advanced image processing technology, the present invention can achieve highly accurate lung puncture positioning, reducing the need to repeatedly adjust the puncture needle during surgery due to inaccurate positioning, thereby improving the success rate of the surgery;

[0019] 2) Reducing tissue damage: Automated needle insertion reduces the physical damage to the patient's muscles and lung tissue. Compared with manual operations, it greatly reduces the risk of tissue damage and surgical complications such as pneumothorax and bleeding;

[0020] 3) Enhancing surgical safety: When serious complications such as pleural reaction occur, the robotic system can quickly inject dexamethasone through a fourth robotic arm to effectively control the inflammatory reaction and prevent the deterioration of the condition, thereby improving surgical safety;

[0021] 4) Simple operation: The design of the remote controller and the electronic display screen makes the operation more convenient and intuitive. Doctors can remotely control the needle insertion and extraction, reducing the operation complexity and the labor intensity of doctors;

[0022] 5) Improving surgical efficiency: The automated needle insertion and injection processes reduce the operation time and improve the efficiency of the overall surgical process, which is particularly important for emergency surgeries and can handle emergencies more quickly;

[0023] 6) Reduce the burden on patients: It reduces the pain during surgery and the recovery time after surgery, alleviates the physical and psychological burden on patients, and improves the overall treatment experience of patients.

[0024] 7) General applicability and adaptability: This system can be applied to various types and sizes of pulmonary nodules, with high general applicability and adaptability, and can meet the personalized treatment needs of different patients.

[0025] 8) Reduce the dependence on the operator's experience: The automated functions of the present invention reduce the dependence of the surgery on the personal skills and experience of the operator, and improve the standardization degree of the surgery. Through precise machine operations, even doctors with less experience can perform high-precision operations, thereby improving the quality and reliability of the overall medical service. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 FIG. is a schematic structural diagram of an automatically precise lung puncture system disclosed in Embodiment 1;

[0027] Figure 2 FIG. is a schematic structural diagram of the holding part;

[0028] Figure 3 FIG. is a schematic diagram of the needle insertion of the puncture needle;

[0029] Figure 4 FIG. is a circuit block diagram of an automatically precise lung puncture system in Embodiment 1;

[0030] Figure 5 FIG. is another circuit block diagram of an automatically precise lung puncture system in Embodiment 1;

[0031] Figure 6 FIG. is a schematic structural diagram of an automatically precise lung puncture system disclosed in Embodiment 2;

[0032] Figure 7 FIG. is a circuit block diagram of an automatically precise lung puncture system in Embodiment 2;

[0033] Figure 8 FIG. is another circuit block diagram of an automatically precise lung puncture system in Embodiment 2. DETAILED DESCRIPTION OF THE INVENTION

[0034] The present invention will be further described below in conjunction with specific embodiments. It should be understood that these embodiments are only used to illustrate the present invention and not to limit the scope of the present invention. In addition, it should be understood that after reading the content taught by the present invention, those skilled in the art can make various changes or modifications to the present invention, and these equivalent forms also fall within the scope defined by the appended claims of this application.

[0035] In existing medical practices, lung puncture positioning often relies on doctors' manual operations and empirical judgments, and this method has certain limitations. Manual positioning often depends on doctors' intuition and feeling, and it is difficult to achieve a highly accurate positioning effect. This inaccuracy may lead to the need for multiple adjustments of the puncture needle, repeatedly entering and exiting the patient's body, thereby increasing the risk of muscle and lung tissue damage and significantly increasing the probability of intraoperative complications such as pneumothorax and bleeding. More seriously, an inaccurate puncture position may trigger a pleural reaction, which is a serious complication that may cause the patient to go into shock.

[0036] The present invention can achieve high-precision positioning of the puncture needle by using an automated robotic arm system based on advanced image processing and machine learning technologies. The robotic system analyzes CT image data, automatically calculates the optimal path and depth of the puncture needle, ensures accurate placement in one go, significantly reduces the number of times the needle needs to be adjusted repeatedly, and thus reduces the risk of tissue damage and complications.

[0037] Embodiment 1

[0038] As Figure 1 shown, an automatic precise lung puncture system disclosed in this embodiment includes a "mouth"-shaped body 1, and the middle part of the body 1 is an operation space 1-1 for performing lung puncture operations. Robotic arm one 2, robotic arm two 3, robotic arm three 4, and robotic arm four 5 are respectively arranged at the four corners of the body 1. Among them, robotic arm one 2 and robotic arm three 4 are used for the operation of the puncture needle 6 and are located on diagonal line one of the body 1. Robotic arm two 3 is used for the operation of syringe one 7, and robotic arm four 5 is used for the operation of syringe two 8. In this embodiment, syringe one 7 is for tissue glue (in this embodiment, syringe one 7 is a 1-ml syringe and has an auxiliary injection function, speed: 0.15 ml / s). Syringe two 8 is an emergency syringe (in this embodiment, syringe two 8 is a 5-ml syringe filled with 10 mg of dexamethasone, used to deal with emergencies. When a pleural reaction occurs, dexamethasone can be immediately injected to quickly reduce the inflammatory reaction and prevent the deterioration of the condition), and it is only used when needed. And robotic arm two 3 and robotic arm four 5 are located on the other diagonal line two of the body 1.

[0039] The front end of robotic arm one 2 is a holding part one 2-1, which is used to hold the lower part of the puncture needle 6. The holding part one 2-1 can be a mechanical claw capable of holding the puncture needle 6. The holding part one 2-1 can also adopt the structure as Figure 2 shown, including a spherical structure one 2-1-1 with a central through hole. A circle of flexible material layer one 2-1-2 (for example, a rubber layer) is provided on the hole wall inside the spherical structure one 2-1-1. The puncture needle 6 passes through the through hole in the middle of the flexible material layer 2-1-2, and the holding part one 2-1 holds the puncture needle 6 by using the friction between the puncture needle 6 and the flexible material layer one 2-1-2.

[0040] The front end of the third robotic arm 4 is a second holding part 4-1, which is used to hold the upper part of the puncture needle 6. Similar to the first holding part 2-1, the second holding part 4-1 can be a mechanical claw capable of holding the puncture needle 6. The second holding part 4-1 can also adopt the structure as shown in Figure 2 which is not elaborated here.

[0041] To simplify the structure, those skilled in the art can design only one robotic arm for the operation of the puncture needle 6, that is, use one robotic arm to replace the above-mentioned first robotic arm 2 and the third robotic arm 4. However, when only one robotic arm is used to operate the puncture needle 6, since the internal organs of the human body will cause resistance to the puncture needle 6, the puncture needle 6 will displace, so that its traveling route deviates from the predetermined trajectory. When the puncture needle 6 is operated by two robotic arms, the movement trajectory of the puncture needle 6 can be defined by the first holding part 2-1 at the front end of the first robotic arm 2. In this case: A preferred embodiment is that the first holding part 2-1 at the front end of the first robotic arm 2 is Figure 2 the structure shown, and the second holding part 4-1 at the front end of the third robotic arm 4 is a mechanical claw; another preferred embodiment is that both the first holding part 2-1 at the front end of the first robotic arm 2 and the second holding part 4-1 at the front end of the third robotic arm 4 are Figure 2 the structure shown, but among them, the frictional force between the first flexible material layer 2-1-2 in the first holding part 2-1 and the puncture needle 6 is less than the frictional force between the second flexible material layer in the first holding part 2-1 and the puncture needle 6; another preferred embodiment is that both the first holding part 2-1 at the front end of the first robotic arm 2 and the second holding part 4-1 at the front end of the third robotic arm 4 are mechanical claws, but the holding force of the first holding part 2-1 on the puncture needle 6 is less than the holding force of the second holding part 2-2 on the puncture needle 6.

[0042] The first syringe 7 and / or the second syringe 8 can be directly fixed to the front end of the fourth robotic arm 5 and / or the second robotic arm 3, and at this time, the injection operation of the first syringe 7 and / or the second syringe 8 is manually performed by the relevant personnel. The front end of the fourth robotic arm 5 and / or the second robotic arm 3 can also be just a mechanical claw for holding the first syringe 7 and / or the second syringe 8. At this time, the injection operation of the first syringe 7 and / or the second syringe 8 is also manually performed by the relevant personnel. The front end of the fourth robotic arm 5 and / or the second robotic arm 3 can also be a mechanical claw for holding and operating the injection action (for example, a three-finger mechanical claw, where two fingers hold the first syringe 7 and / or the second syringe 8, and the remaining finger operates its injection action).

[0043] In this embodiment, the body 1 is fixed to the target part of the patient's body by the strong glue sticker 11.

[0044] In this embodiment, a preferred embodiment is that a spirit level 9 is provided on the side wall of the body 1. Combining Figure 3, when the body 1 is fixed at different parts of the patient's body, the plane 1-1 where the body 1 is located is not parallel to the plane 10 of the CT examination table. Further, the angle between the plane 1-1 where the body 1 is located and the plane 10 of the CT examination table can be measured by the level 9. Thus, the initial needle insertion angle of the puncture needle 6 can be adjusted by the first robotic arm 2 and the third robotic arm 4, so that the initial needle insertion direction of the puncture needle 6 is perpendicular to the plane 1-1 where the body 1 is located. As Figure 3 shown by the dotted line in the figure, since there is an included angle between the plane 1-1 where the body 1 is located and the plane 10 of the CT examination table, at this time, as shown by the dotted line, the initial needle insertion direction of the puncture needle 6 is not perpendicular to the plane 1-1 where the body 1 is located. Therefore, it is necessary to use the first robotic arm 2 and the third robotic arm 4 to adjust the needle insertion angle of the puncture needle 6, so that the initial needle insertion direction of the puncture needle 6 is perpendicular to the plane 1-1 where the body 1 is located, as Figure 3 shown by the solid line in the figure.

[0045] As Figure 4 shown, in a preferred implementation of this embodiment, the first robotic arm 2, the second robotic arm 3, the third robotic arm 4, the fourth robotic arm 5 and the level 9 are electrically connected to the main control module disposed inside the body 1. The main control module further includes a main control unit, the main control unit is electrically connected to the level 9, and the main control unit is electrically connected to the first robotic arm 2, the second robotic arm 3, the third robotic arm 4, and the fourth robotic arm 5 respectively through the first robotic arm drive and control circuit, the second robotic arm drive and control circuit, the third robotic arm drive and control circuit, and the fourth robotic arm drive and control circuit. The main control module further includes a first wireless communication unit connected to the main control unit. An external intelligent terminal device (such as a smart phone, a touch screen, a PC, etc.) establishes a wireless communication with the main control module through the second wireless communication unit, in cooperation with the first wireless communication unit, so that the first robotic arm 2, the second robotic arm 3, the third robotic arm 4, and the fourth robotic arm 5 can be controlled to move, and the data fed back by the level 9 and the first robotic arm 2, the second robotic arm 3, the third robotic arm 4, and the fourth robotic arm 5 can be obtained.

[0046] As Figure 5As shown in the figure, another preferred implementation in this embodiment is that instead of using a smart terminal device, a remote controller and a display unit are separately provided. The remote controller and the display unit respectively establish wireless communication with the main control module through their respective wireless communication units II in cooperation with the wireless communication unit I. At this time, the remote controller can control the first robotic arm 2, the second robotic arm 3, the third robotic arm 4, and the fourth robotic arm 5, and the data fed back by the spirit level 9 and the first robotic arm 2, the second robotic arm 3, the third robotic arm 4, and the fourth robotic arm 5 can be displayed through the display unit. In this embodiment, the purpose of setting the remote controller and the display unit is as follows: during the puncture positioning operation under CT guidance, the patient is located in the CT room, and the technician in the operating room operates the equipment in the CT room, while the medical staff performs the puncture positioning operation on the patient under CT guidance in the CT room. At this time, the technician in the operating room can operate the first robotic arm 2, the second robotic arm 3, the third robotic arm 4, and the fourth robotic arm 5 using the remote controller according to the instructions given by the medical staff, and the medical staff in the CT room can use the display unit to view the motion conditions of the first robotic arm 2, the second robotic arm 3, the third robotic arm 4, and the fourth robotic arm 5 in real time, and give further operation instructions to the technician in the operating room. At the same time, the data of the spirit level 9 can also be obtained in real time using the display unit, so as to give the corresponding instruction for adjusting the needle insertion angle to the technician in the operating room.

[0047] In the embodiment of the present invention, the main control unit uses the following method to determine the needle insertion angle and the needle insertion point. The main control unit calculates the starting point and the ending point of the entire puncture operation based on the lesion information from the CT machine, the relative position of the main body 1, and the specific puncture position determined by the physician, so as to generate a puncture path. Then, the main control unit determines whether the puncture path passes through the rib: if it does not pass through the rib, the needle insertion angle and the depth are determined; if it may pass through the rib, the needle insertion path of the next intercostal space (2 - 3 cm away) is calculated. If it does not pass through the rib, the needle insertion angle and the depth can be determined. If it still passes through the rib, the needle insertion path of the previous intercostal space (2 - 3 cm away) is calculated. If it does not pass through the rib, the needle insertion angle and the depth can be determined. If it still passes through the rib, manual judgment is performed to input the needle insertion angle and the needle insertion point. The main control unit controls the first robotic arm 2 and the third robotic arm 4 to perform the puncture operation based on the determined needle insertion angle and the needle insertion point.

[0048] The usage process of an automatic precise lung puncture system disclosed in this embodiment may include the following steps:

[0049] ① Preoperative preparation:

[0050] · Communicate with the patient in detail to explain the surgical process and possible risks.

[0051] · Ensure that the patient understands all the information and then sign the informed consent form to formally obtain surgical permission.

[0052] ②Preoperative assessment:

[0053] ·Based on the patient's recent CT scan results, formulate a detailed puncture plan.

[0054] ·Determine the patient's optimal position and fix it to ensure puncture accuracy.

[0055] ③Device positioning:

[0056] ·Fix the main body 1 at the corresponding part of the patient, and use CT for secondary positioning to accurately locate the target area.

[0057] ④Syringe preparation:

[0058] ·Prepare syringe one 7 and syringe two 8 containing specific treatment fluids (such as tissue glue, dexamethasone, etc.).

[0059] ⑤Device parameter setting:

[0060] ·Set the angle, depth of the puncture needle, and the amount of injected fluid on the display unit.

[0061] ⑥Perform puncture:

[0062] ·Use the remote control to control the device to perform automatic needle insertion operation to ensure that the puncture needle accurately reaches the predetermined position.

[0063] ⑦Position confirmation:

[0064] ·Perform a CT scan to confirm the exact position of the puncture needle.

[0065] ·If the position deviation is large, adjust the device parameters and repeat the operation until the puncture needle is correctly located near the lesion (about 0.5 cm).

[0066] ⑧Inject tissue glue:

[0067] ·Manually pull out the puncture needle core and connect the syringe to the puncture needle.

[0068] ·Control the device to inject tissue glue to the lung target.

[0069] ⑨Pull out the needle:

[0070] ·After the injection is completed, control the robotic arm one 2 and the robotic arm three 4 to perform the needle pulling operation.

[0071] ⑩Postoperative examination:

[0072] ·Perform a CT scan again to ensure that the injection position of the tissue glue is correct.

[0073] ·After confirming no complications, announce that the operation is completed.

[0074] Example two

[0075] As Figure 6 shown, the difference between an automatic precise lung puncture system disclosed in this embodiment and the first embodiment is that: the main body 1 is not fixed on the patient, but is fixedly connected to the slider 12 through a universal joint (not shown in the figure). The slider 12 is arranged on the vertical displacement mechanism 13, and the vertical displacement mechanism 13 drives the slider 12 and the main body 1 thereon to move up and down. The vertical displacement mechanism 13 is arranged on the horizontal displacement mechanism 14, and the horizontal displacement mechanism 14 drives the vertical displacement mechanism 13 and the main body 1 to move forward and backward. The horizontal displacement mechanism 14 is fixed on the AGV cart 15. The vertical displacement mechanism 13, the horizontal displacement mechanism 14, and the AGV cart 15 are electrically connected to the main control module arranged inside the main body 1. As Figure 7 、 Figure 8 shown, in this embodiment, the main control module circuit further includes a vertical displacement mechanism drive circuit and a horizontal displacement mechanism drive circuit. The control unit is electrically connected to the vertical displacement mechanism 13 and the horizontal displacement mechanism 14 respectively through the vertical displacement mechanism drive circuit and the horizontal displacement mechanism drive circuit. At the same time, the control unit is also electrically connected to the AGV cart 15. In this embodiment, the vertical displacement mechanism 13, the horizontal displacement mechanism 14, and the AGV cart 15 can be controlled through a smart terminal or a remote control, and the data fed back by the vertical displacement mechanism 13, the horizontal displacement mechanism 14, and the AGV cart 15 can be viewed through a smart terminal or a display unit. The other structures and working principles of this embodiment are the same as those of the first embodiment and will not be elaborated here.

[0076] The systems disclosed in the above-mentioned first embodiment and the second embodiment are used for the automated needle insertion process, thereby reducing the uncertainty and potential errors in manual operations. In addition, the systems disclosed in the above-mentioned first embodiment and the second embodiment reduce the operation burden of doctors, shorten the operation preparation time, and improve the overall safety and success rate of the operation through automated operations. By achieving these goals, the system provided by the present invention is expected to significantly improve the treatment effect of pulmonary surgery, while maximizing the protection of the patient's normal lung tissue and avoiding unnecessary injuries.

Claims

1. An automatic and precise lung puncture system, characterized in that: It includes a main body, the middle part of which is an operating space for puncture operation. A puncture needle mechanical arm for holding and operating the puncture needle and a syringe mechanical arm for holding the syringe are arranged on the main body, and the puncture needle mechanical arm and the syringe mechanical arm are distributed around the operating space. A level for measuring the inclination angle of the main body is arranged on the outer wall of the main body. The puncture needle mechanical arm, the syringe mechanical arm and the level are connected to the main control module circuit located in the main body. The main control module automatically calculates the optimal path and depth of the puncture needle by analyzing the CT image data to ensure accurate placement at one time.

2. An automatic and precise lung puncture system as claimed in claim 1, characterized in that: There are two puncture needle mechanical arms, namely puncture needle mechanical arm 1 and puncture needle mechanical arm 2, which respectively hold the upper part and the lower part of the puncture needle.

3. An automatic and precise lung puncture system as claimed in claim 2, characterized in that: There are two syringe robot arms, namely syringe robot arm 1 and syringe robot arm 2. The front end of syringe robot arm 1 is syringe 1 for injecting tissue glue, and the front end of syringe robot arm 2 is syringe 2 for injecting dexamethasone.

4. An automatic and precise lung puncture system as claimed in claim 3, characterized in that: The main body is a U-shaped structure, and the puncture needle mechanical arm 1, the puncture needle mechanical arm 2, the syringe mechanical arm 1 and the syringe mechanical arm 2 are respectively the four corners of the main body, and the puncture needle mechanical arm 1 and the puncture needle mechanical arm 2 are located on a diagonal line of the main body, and the syringe mechanical arm 1 and the syringe mechanical arm 2 are located on another diagonal line of the main body.

5. The automatic and precise lung puncture system according to claim 1, characterized in that: The front end of the puncture needle mechanical arm is a mechanical claw, or a hollow spherical structure. A circle of flexible material layer is provided on the inner wall of the spherical structure. The through hole in the middle of the flexible material layer is used to penetrate the puncture needle and has an interference fit with the puncture needle.

6. The automatic and precise lung puncture system according to claim 1, characterized in that: The front end of the syringe robot arm is a mechanical claw used only for holding the syringe, or the front end of the syringe robot arm is a mechanical claw used for holding and operating the syringe, or the syringe is directly arranged at the front end of the syringe robot arm.

7. The automatic and precise lung puncture system according to claim 1, characterized in that: The main body is fixed on the patient's body by a strong adhesive tape.

8. The automatic and precise lung puncture system according to claim 1, characterized in that: The body is fixedly connected to the slider via a universal joint, the slider is arranged on the vertical displacement mechanism, the vertical displacement mechanism is arranged on the horizontal displacement mechanism, the horizontal displacement mechanism is arranged on the AGV trolley, and the vertical displacement mechanism, the horizontal displacement mechanism and the AGV trolley are connected to the main control module circuit.

9. The automatic and precise lung puncture system according to claim 1, characterized in that: The main control module includes a control unit, which is connected to the puncture needle robot arm and the syringe robot arm circuit through a robot arm drive and control circuit. The control unit is also connected to the level circuit, the wireless communication unit, the horizontal displacement mechanism drive circuit, the vertical displacement mechanism drive circuit and the AGV trolley. The horizontal displacement mechanism drive circuit and the vertical displacement mechanism drive circuit are respectively connected to the horizontal displacement mechanism and the vertical displacement mechanism circuit; an external intelligent terminal is connected to the control unit for wireless data communication via the wireless communication unit, or an external display unit connected to the wireless communication unit one and a remote control connected to the wireless communication unit two are connected to the control unit for wireless data communication via the wireless communication unit.

10. The automatic and precise lung puncture system according to claim 1, characterized in that: The main control module includes a control unit, which is connected to the puncture needle robot arm and the syringe robot arm circuit through a robot arm drive and control circuit. The control unit is also connected to the level meter circuit, and the control unit is also connected to a wireless communication unit; an external smart terminal is connected to the control unit for wireless data communication via the wireless communication unit, or an external display unit connected to wireless communication unit one and a remote control connected to wireless communication unit two are connected to the control unit for wireless data communication via the wireless communication unit.

Images