Computed tomography (CT) real-time intervention minimally invasive robot execution end mechanism and application method thereof

Abstract

The invention discloses a CT (computed tomography) perspective real-time intervention minimally invasive robot execution end mechanism and an application method thereof, and relates to the technical field of surgical robots, the CT perspective real-time intervention minimally invasive robot execution end mechanism specifically comprises a joint arm module which is provided with a multi-stage transmission joint arm, and the multi-stage transmission joint arm is provided with a pitching driving assembly and a needle advancing and retreating driving assembly corresponding to the head end position of the multi-stage transmission joint arm; the puncture driving module is arranged at the tail end kinetic energy output end of the multi-stage transmission joint arm in a transmission mode, the puncture driving module is in transmission connection with the pitching driving assembly through the multi-stage transmission joint arm, and the puncture end of the puncture driving module is in transmission connection with the needle advancing and retreating driving assembly. The whole gravity center is far away from the tail end position of the articulated arm module. The technical problems that in the prior art, a medical surgical robot is complex in control and high in cost, the expected precision requirement is difficult to meet, the risk that a patient is accidentally touched and damaged exists, and the overall safety is not high are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of surgical robots, and in particular to a CT fluoroscopy real-time interventional minimally invasive robot execution end mechanism and an application method thereof. Background Art

[0002] With the advancement of medical technology and the increasing demand for minimally invasive surgery, medical surgical robots have emerged. They can effectively address complications such as time-consuming blind punctures, needle misalignment, and intraoperative bleeding. Currently, medical surgical robots are generally operated in two modes: planning, navigation, and positioning, and remote, real-time interaction. However, both modes suffer from complex control and high costs. The control accuracy is also difficult to achieve the desired effect, and there is still the risk of accidental damage to the patient. Summary of the Invention

[0003] To this end, the present invention provides a CT fluoroscopy real-time interventional minimally invasive robot execution end mechanism and its application method to solve the technical problems of medical surgical robots in the existing technology, such as complex operation, high cost, difficulty in achieving the expected accuracy requirements, the risk of accidental damage to patients, and low overall safety.

[0004] In order to achieve the above object, the present invention provides the following technical solutions: A CT fluoroscopic real-time interventional minimally invasive robot execution end mechanism, comprising: The articulated arm module is configured as a multi-stage transmission articulated arm, wherein the multi-stage transmission articulated arm is provided with a pitch drive assembly and an advance and retreat needle drive assembly at its head end respectively; The puncture drive module and the base transmission assembly are arranged at the terminal kinetic energy output end of the multi-stage transmission joint arm, and the base of the puncture drive module is connected to the pitch drive component through the multi-stage transmission joint arm, and the puncture end of the puncture drive module is connected to the advance and retreat needle drive component to adjust the overall center of gravity away from the end position of the multi-stage transmission joint arm.

[0005] On the basis of the above technical solution, the present invention is further described as follows: As a further solution of the present invention, the articulated arm module includes a first articulated arm, a second articulated arm and a third articulated arm which are sequentially connected in a transmission manner, and the pitch drive assembly is configured as a motor drive assembly; One end of the first articulated arm is positioned and arranged, and the other end of the first articulated arm is fixedly connected to a first transmission shaft wheel; one end of the second articulated arm is connected to the first transmission shaft wheel by a transfer assembly; The motor drive assembly includes a motor base and a rotating shaft wheel portion of the transmission assembly arranged on the motor base, and the motor base portion of the motor drive assembly is fixedly connected to the side position of the second articulated arm, and a first synchronous belt is installed between the rotating shaft wheel portion of the motor drive assembly and the first transmission shaft wheel. The motor drive assembly outputs rotational kinetic energy to drive the first transmission shaft wheel via the first synchronous belt, and at the same time, with the help of the positioning setting function of the first articulated arm, the motor drive assembly and the first synchronous belt are reversely rotated with the first transmission shaft wheel fixedly connected to the first articulated arm as the axis, and synchronously drive the second articulated arm to rotate with the first transmission shaft wheel as the axis; The other end of the second articulated arm is transitionally equipped with a second transmission shaft wheel, the second transmission shaft wheel is transmission-fixedly connected to one end of the third articulated arm, and a second synchronous belt is transmission-sleeved between the second transmission shaft wheel and the first transmission shaft wheel, the second transmission shaft wheel is synchronously rotated with the second articulated arm around the first transmission shaft wheel as the axis, and the second transmission shaft wheel is driven to rotate synchronously by the relative displacement generated between the second synchronous belt and the first transmission shaft wheel, and the third articulated arm forms a synchronous rotation effect around the second transmission shaft wheel as the axis; The middle position of the third articulated arm is transfer-assembled with a transmission idler gear, and the other end portion of the third articulated arm is transfer-assembled with a third transmission shaft gear, and the third transmission shaft gear is transmission-fixedly connected to the base portion of the puncture drive slide assembly, and a transmission sleeve is provided with a third synchronous belt between the third transmission shaft gear, the second transmission shaft gear and the transmission idler gear, and the third transmission shaft gear is synchronously rotated with the third articulated arm around the second transmission shaft gear as the axis, and the relative displacement generated between the third synchronous belt and the second transmission shaft gear drives the third transmission shaft gear to rotate synchronously, so that the puncture drive slide assembly can form a synchronous rotation effect around the third transmission shaft gear as the axis.

[0006] As a further embodiment of the present invention, A variable speed transmission arrangement is provided between the first transmission shaft wheel, the second transmission shaft wheel and the third transmission shaft wheel, and the diameters of the circles on which the first transmission shaft wheel is located, the diameters of the circles on which the second transmission shaft wheel is located and the diameters of the circles on which the third transmission shaft wheel is located decrease in sequence.

[0007] As a further embodiment of the present invention, The puncture drive module includes a puncture drive slide assembly and a puncture needle body; The base of the puncture drive slide assembly is configured as a slide base, and the slide base is fixedly connected to the third transmission shaft wheel in a transmission manner; The puncture drive slide assembly also includes a slide adjustment portion, a needle feed pulley and a needle retract pulley; The slide adjustment part is slidably assembled on the slide base; The advance and retract needle drive assembly is configured as an electrically controlled reel seat, the base of which is fixedly mounted on the second articulated arm, and the electrically controlled reel seat has two steel wire winding ends; The two wire winding ends of the electric-controlled reel seat are respectively wound around the needle-in pulley and the needle-out pulley, and are transmission-connected between the needle-in end and the needle-out end of the slide adjustment part. The two wire winding ends of the electric-controlled reel seat respectively output kinetic energy to drive the wire transmission to complete the needle-in and needle-out action of the slide adjustment part. At the same time, the weight of the end is reduced by arranging the electric-controlled reel seat at an end away from the end and the steel wire remote transmission arrangement, so as to control the overall center of gravity to be away from the end position; The base portion of the puncture needle body is fixedly assembled on the slide adjustment portion through a locking seat, and the puncture needle body extends through a guide seat fixed to the slide base.

[0008] As a further embodiment of the present invention, The puncture needle body has a puncture mark point, and the connecting line figure formed between the axis point of the first transmission shaft wheel, the axis point of the second transmission shaft wheel, the axis point of the third transmission shaft wheel and the puncture mark point based on the multi-stage transmission ratio setting always remains a parallelogram, and the puncture mark point is accurately located in real time according to the current positions of the first transmission shaft wheel, the second transmission shaft wheel and the third transmission shaft wheel.

[0009] As a further embodiment of the present invention, The locking seat includes a positioning lock shell, an elastic lock sleeve and a locking cap; The positioning lock shell is fixedly assembled on one side of the needle insertion direction of the slide adjustment part, the base part of the elastic locking sleeve is fixed in an internal manner inside the positioning lock shell, and the elastic locking sleeve forms an elastically compressible channel, the locking cap is detachably fixedly assembled on the positioning lock shell, and the locking cap contacts and presses the elastic locking sleeve accordingly, so that the elastic locking sleeve fixes the puncture needle body through its elastically compressible channel.

[0010] As a further embodiment of the present invention, The guide seat comprises two groups of guide bases, the two groups of guide bases are connected to each other and a guide channel is formed between the two groups of guide bases; The guide channel is limitedly arranged on the outer side of the puncture needle body.

[0011] As a further embodiment of the present invention, One end of the first articulated arm is positioned based on the kinetic energy output end of the adjustment drive module, and the adjustment drive module is configured to drive the robotic arm and / or the XYZ axis translation platform, and the adjustment drive module outputs the translation drive energy corresponding to a plane.

[0012] A method for applying the CT fluoroscopy real-time interventional minimally invasive robot actuator mechanism includes the following steps: determining a puncture point based on an XYZ coordinate system, controlling the articulated arm module to output kinetic energy to drive the puncture drive module to perform a pitch motion along the XZ plane, and simultaneously controlling the direction adjustment drive module to output indexing drive energy to drive the articulated arm module and the puncture drive module to perform an indexing motion along the YZ plane; Based on the real-time and precise positioning of the puncture mark by the articulated arm module using the parallelogram architecture principle, the puncture drive module can form a circular spatial motion trajectory based on the puncture mark as the axis point, and then select and determine the optimal puncture direction corresponding to the puncture mark.

[0013] As a further solution of the present invention, the following steps are also included: A metal grid is configured according to the base body where the puncture mark is located, and the common transverse layer is determined based on the correspondence between the puncture mark and the metal grid area; Construct fluoroscopic real-time simulation of needle insertion, and / or, through computer three-dimensional simulation of the dynamic process of intervention, continue to control the puncture drive module based on the cross-section to perform fixed-point rotation around the puncture mark, and finally determine the optimal puncture direction corresponding to the puncture mark, complete the puncture path selection, and determine the needle insertion point corresponding to the substrate based on the puncture path. In this process, the positional relationship between the metal grid and the puncture drive module is calculated through the built-in rotary encoder of the execution end mechanism, that is, the corresponding binding of the substrate and the execution end mechanism is completed, thereby providing relative displacement data for the interventional puncture plan.

[0014] When the standard puncture path cannot be determined by the cross-section, the XYZ coordinate system is further constructed to adjust the puncture path. At this time, the needle insertion depth corresponding to the puncture point is The corresponding rotation angle in the XZ plane is arctan x / z; The corresponding rotation angle in the YZ plane is arctan y / z.

[0015] The present invention has the following beneficial effects: The execution end mechanism and method can effectively realize remote drive to complete the needle advancement and retraction action through multi-stage transmission. At the same time, the remote drive can be used to make the overall center of gravity shift closer to the base position, reducing the motion inertia of the end position, improving the overall action function stability, and can realize real-time and accurate positioning of the puncture mark according to the current position of the multi-stage transmission action, thereby significantly improving the accuracy of needle puncture. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for the embodiments or the description of the prior art. The structures, proportions, sizes, etc. illustrated in this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read. Any structural modification, change in proportional relationship or adjustment of size should still fall within the scope of the technical content disclosed in the present invention without affecting the efficacy and purpose that can be achieved by the present invention.

[0017] Figure 1 This is one of the overall side view assembly structure schematic diagrams of the CT fluoroscopy real-time interventional minimally invasive robot execution end mechanism provided by an embodiment of the present invention.

[0018] Figure 2 This is the second schematic diagram of the overall side view assembly structure of the CT fluoroscopy real-time interventional minimally invasive robot actuator mechanism provided by an embodiment of the present invention.

[0019] Figure 3 This is a side view assembly structure diagram of the articulated arm module and the puncture drive module in the CT fluoroscopy real-time interventional minimally invasive robot execution end mechanism provided in an embodiment of the present invention.

[0020] Figure 4 This is a schematic diagram of the assembly structure of the locking seat in the CT fluoroscopy real-time interventional minimally invasive robot actuator provided by an embodiment of the present invention.

[0021] Figure 5 This is a schematic diagram of the assembly structure of the guide seat in the CT fluoroscopy real-time interventional minimally invasive robot execution end mechanism provided by an embodiment of the present invention.

[0022] Figure 6 This is a schematic diagram of the state structure of the CT fluoroscopy real-time interventional minimally invasive robot execution end mechanism performing pitching movements through the articulated arm module and the puncture drive module provided in an embodiment of the present invention.

[0023] Figure 7 This is a schematic diagram of the state structure of the CT fluoroscopy real-time interventional minimally invasive robot execution end mechanism performing a rotation action by adjusting the driving module provided by an embodiment of the present invention.

[0024] Figure 8This is a schematic diagram of the state structure of the CT fluoroscopy real-time interventional minimally invasive robot execution end mechanism forming a circular directional spatial motion trajectory provided by an embodiment of the present invention.

[0025] Figure 9 A schematic diagram of the installation state of the metal grid in the application method of the CT fluoroscopy real-time interventional minimally invasive robot execution end mechanism provided in an embodiment of the present invention.

[0026] Figure 10 A structural schematic diagram of the metal mesh in the application method of the CT fluoroscopy real-time interventional minimally invasive robot execution end mechanism provided in an embodiment of the present invention.

[0027] Figure 11 This is one of the schematic diagrams of the corresponding states of the metal grid and the puncture mark in the application method of the CT fluoroscopy real-time intervention minimally invasive robot execution end mechanism provided by an embodiment of the present invention.

[0028] Figure 12 This is a second schematic diagram of the corresponding states of the metal grid and the puncture mark in the application method of the CT fluoroscopy real-time intervention minimally invasive robot execution end mechanism provided by an embodiment of the present invention.

[0029] Figure 13 A schematic diagram of the adjustment state of the puncture direction in the application method of the CT fluoroscopy real-time interventional minimally invasive robot execution end mechanism provided in an embodiment of the present invention.

[0030] In the accompanying drawings, the components represented by the reference numerals are as follows: First articulated arm 1, first transmission shaft wheel 11, motor drive assembly 12, first synchronous belt 13; Second articulated arm 2, second transmission shaft wheel 21, second synchronous belt 22; The third articulated arm 3, the transmission idler wheel 31, the third transmission shaft wheel 32, and the third synchronous belt 33; Puncture drive slide assembly 4: slide base 41, slide adjustment unit 42, electric control reel seat 43, needle feed pulley 44, needle return pulley 45; Puncture needle body 5, locking seat 51, positioning lock shell 511, elastic locking sleeve 512, locking cap 513, guide seat 52, guide base 521, guide channel 522; Steering drive module 6. DETAILED DESCRIPTION

[0031] The following describes the implementation of the present invention using specific embodiments. Those skilled in the art will readily understand the other advantages and benefits of the present invention from the disclosure herein. Obviously, the embodiments described are only a portion of the present invention, not all of it. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without inventive effort are intended to fall within the scope of protection of the present invention.

[0032] The terms "upper", "lower", "left", "right", "middle", etc. used in this specification are only for the convenience of description and are not intended to limit the scope of the present invention. Changes or adjustments to their relative relationships should be regarded as within the scope of the present invention without substantially changing the technical content.

[0033] like Figures 1 to 5 As shown, an embodiment of the present invention provides a CT fluoroscopic real-time interventional minimally invasive robot execution end mechanism, including an articulated arm module and a puncture drive module, wherein the articulated arm module includes a first articulated arm 1, a second articulated arm 2, and a third articulated arm 3 that are sequentially connected and arranged in a transmission manner, and the puncture drive module includes a puncture drive slide assembly 4 and a puncture needle body 5. This mechanism can realize remote drive to complete the needle advance and retreat action through multi-stage transmission, while making the overall center of gravity more offset to the base position, reducing the motion inertia of the end position, and improving the overall action function stability. The specific settings are as follows: Please refer to Figures 1 to 3 One end of the first articulated arm 1 is arranged for transmission and positioning based on the kinetic energy output end of the adjustment drive module 6, and the other end side of the first articulated arm 1 is fixedly connected with a first transmission shaft wheel 11; one end of the second articulated arm 2 is connected to the first transmission shaft wheel 11 by a transfer assembly, and the side position of the second articulated arm 2 is equipped with a motor drive assembly 12, the motor drive assembly 12 includes a motor base and a rotating shaft wheel portion arranged on the motor base, and the motor base of the motor drive assembly 12 is fixedly connected to the side position of the second articulated arm 2, the motor A first synchronous belt 13 is installed in the transmission sleeve between the rotating shaft wheel part of the motor drive component 12 and the first transmission shaft wheel 11, which is used to output rotational kinetic energy through the motor drive component 12 and drive the first transmission shaft wheel 11 via the first synchronous belt 13. At the same time, with the help of the positioning setting function of the first articulated arm 1 based on the adjustment drive module 6, the motor drive component 12 and the first synchronous belt 13 can be reversely rotated with the first transmission shaft wheel 11 fixedly connected to the first articulated arm 1 as the axis, and then the motor drive component 12 of the reverse rotation action can synchronously drive the second articulated arm 2 to rotate with the first transmission shaft wheel 11 as the axis.

[0034] The other end of the second articulated arm 2 is equipped with a second transmission shaft wheel 21, and the second transmission shaft wheel 21 is fixedly connected to one end of the third articulated arm 3, and a second synchronous belt 22 is installed between the second transmission shaft wheel 21 and the first transmission shaft wheel 11, so that the second transmission shaft wheel 21 can be synchronously rotated with the second articulated arm 2 with the first transmission shaft wheel 11 as the axis. At this time, a relative displacement is generated between the second synchronous belt 22 and the first transmission shaft wheel 11, and the displacement of the second synchronous belt 22 is used to further drive the second transmission shaft wheel 21 to rotate synchronously, so that the third articulated arm 3 can form a synchronous rotation effect with the second transmission shaft wheel 21 as the axis.

[0035] The middle position of the third articulated arm 3 is transitionally assembled with a transmission idler gear 31, and the other end of the third articulated arm 3 is transitionally assembled with a third transmission shaft wheel 32, the third transmission shaft wheel 32 and the base portion of the puncture drive slide assembly 4 are transmission-fixedly connected, and a third synchronous belt 33 is transmission-sleeved between the third transmission shaft wheel 32, the second transmission shaft wheel 21 and the transmission idler gear 31, so that the third transmission shaft wheel 32 can be synchronously rotated with the third articulated arm 3 with the second transmission shaft wheel 21 as the axis. At this time, the third A relative displacement is generated between the synchronous belt 33 and the second transmission shaft wheel 21, and the displacement of the third synchronous belt 33 is used to further drive the third transmission shaft wheel 32 to rotate synchronously, so that the puncture drive slide assembly 4 can form a synchronous rotation effect with the third transmission shaft wheel 32 as the axis. The multi-stage transmission effect formed by the third joint arm 3 cooperating with the first joint arm 1 and the second joint arm 2 realizes the remote drive to complete the needle advancement and retreat action, thereby making the overall center of gravity more offset closer to the basic position, effectively reducing the motion inertia of the end position, and improving the functional stability of the overall action.

[0036] A variable speed transmission is set up between the first transmission shaft wheel 11, the second transmission shaft wheel 21 and the third transmission shaft wheel 32; specifically, the diameters of the circles on which the first transmission shaft wheel 11, the second transmission shaft wheel 21 and the third transmission shaft wheel 32 are successively reduced, so that the rotation angles of the second transmission shaft wheel 21 and the third transmission shaft wheel 32 can be adjusted through the transmission ratio setting, thereby improving the overall functional flexibility while effectively ensuring the overall transmission performance.

[0037] Please continue to refer to Figure 3The base of the puncture drive slide assembly 4 is set as a slide base 41, and the slide base 41 is fixedly connected to the third transmission shaft wheel 32 for transmission; the puncture drive slide assembly 4 also includes a slide adjustment part 42, an electric control reel seat 43, a needle feed pulley 44 and a needle withdrawal pulley 45; wherein, the slide adjustment part 42 is slidably assembled on the slide base 41; the base of the electric control reel seat 43 is fixedly assembled on the second joint arm 2, and the electric control reel seat 43 has two steel wire winding ends; the needle feed pulley 44 and the needle withdrawal pulley 45 are respectively assembled on the slide The platform base 41, the two steel wire winding ends of the electric-controlled reel seat 43 are respectively wound around the needle-in pulley 44 and the needle-out pulley 45, and are connected to the needle-in end and the needle-out end of the slide adjustment part 42 for transmission, so as to output kinetic energy through the two steel wire winding ends of the electric-controlled reel seat 43 to drive the steel wire transmission to complete the needle-in and needle-out actions of the slide adjustment part 42. At the same time, the weight of the end can be significantly reduced by arranging the electric-controlled reel seat 43 at an end away from the end and the remote transmission of the steel wire, thereby further making the overall center of gravity closer to the basic position, thereby ensuring the stability of the action function.

[0038] The puncture needle body 5 is transmission-fixedly assembled on the slide adjustment part 42; specifically, the base part of the puncture needle body 5 is transmission-fixedly assembled on the slide adjustment part 42 through the locking seat 51, and the puncture needle body 5 extends through the guide seat 52 fixedly connected to the slide base 41, so that the puncture needle body 5 can synchronously complete the needle advancement and retreat actions based on the slide adjustment part 42, and at the same time, the guide seat 52 can be used to significantly improve the stability of the needle advancement and retreat actions of the puncture needle body 5, thereby ensuring the operating effect.

[0039] For more details, please refer to Figure 4 The locking seat 51 includes a positioning lock shell 511, an elastic locking sleeve 512 and a locking cap 513; wherein, the positioning lock shell 511 is fixedly assembled on one side of the needle insertion direction of the slide adjustment part 42, and the base part of the elastic locking sleeve 512 is fixedly located inside the positioning lock shell 511, and the elastic locking sleeve 512 forms an elastically compressible channel, and the locking cap 513 is detachably fixedly assembled on the positioning lock shell 511, and the locking cap 513 correspondingly contacts and presses the elastic locking sleeve 512, so that the elastic locking sleeve 512 fixes the puncture needle body 5 through its elastically compressible channel.

[0040] Please refer to Figure 5The guide seat 52 includes two groups of guide bases 521, which are connected to each other and form a guide channel 522 between the two groups of guide bases 521. The guide channel 522 is limited to the outer side of the puncture needle body 5, so as to utilize the guide channel 522 to significantly improve the stability of the advance and retreat movement of the puncture needle body 5, while avoiding the bending deformation of the needle body.

[0041] As a preferred solution of this embodiment, please refer to Figure 3 and Figure 6 The puncture needle body 5 has a puncture mark A, and the connecting line figure formed by the axis point of the first transmission shaft wheel 11, the axis point of the second transmission shaft wheel 21, the axis point of the third transmission shaft wheel 32 and the puncture mark A based on the multi-stage transmission ratio setting always remains a parallelogram a, so as to achieve real-time and accurate positioning of the puncture mark A according to the current positions of the first transmission shaft wheel 11, the second transmission shaft wheel 21 and the third transmission shaft wheel 32, thereby significantly improving the accuracy of needle puncture in the subsequent fluoroscopy real-time intervention process.

[0042] As another preferred solution of this embodiment, the puncture needle body 5 is configured to be made of non-metallic material to further reduce the end motion inertia and at the same time reduce the degree of absorption and scattering of radiation to reduce artifacts.

[0043] It should be noted that the adjustment drive module 6 can be used for, but not limited to, driving a mechanical arm or an XYZ axis indexing platform, so as to output indexing drive energy corresponding to a plane through the adjustment drive module 6 .

[0044] like Figures 6 to 8 As shown, an embodiment of the present invention further provides a method for applying the above-mentioned CT fluoroscopy real-time intervention minimally invasive robot execution end mechanism, which specifically includes the following steps: Based on the XYZ coordinate system, a puncture point A is determined, and the puncture drive module is driven to perform a pitch motion along the XZ plane by controlling the output kinetic energy of the joint arm module (refer to Figure 6 ), and at the same time, by controlling the output of the indexing drive module 6, the articulated arm module and the puncture drive module can be driven to perform indexing along the YZ plane (reference Figure 7 ), thereby the articulated arm module accurately locates the puncture point A in real time based on the parallelogram structure principle, so that the puncture drive module can form a circular adjustment space motion trajectory based on the puncture point A as the axis point, and then select and determine the optimal puncture direction corresponding to the puncture point A.

[0045] like Figures 9 to 13 As shown, the application method of the execution end mechanism further includes the following steps: A metal grid c is configured corresponding to the base body b where the puncture mark A is located, and a common transverse fault layer d is determined based on the corresponding area between the puncture mark A and the metal grid c; It should be noted that the metal grid c can be formed by weaving together but not limited to several thin tungsten wires, and the ends of the several thin tungsten wires are fixed by a frame to significantly improve the positioning stability of the metal grid c; the frame is also bonded with an inward concave soft pad, and the metal grid c as a whole can be reused, reducing costs.

[0046] Construct a fluoroscopic real-time simulation of needle insertion, and / or, through computer three-dimensional simulation of the dynamic process of intervention, continue to control the puncture drive module based on the transverse layer d to perform fixed-point rotation around the puncture mark A, and finally determine the optimal puncture direction corresponding to the puncture mark A, complete the puncture path selection, and determine the needle insertion point corresponding to the substrate b based on the puncture path. In this process, the positional relationship between the metal grid c and the puncture drive module is calculated through the built-in rotary encoder of the execution end mechanism, that is, the corresponding binding of the substrate b and the execution end mechanism is completed, thereby providing relative displacement data for the interventional puncture plan.

[0047] An optional implementation scheme, when the standard puncture path cannot be determined in the cross-section d, further construct the XYZ coordinate system to adjust the puncture path e. At this time, the needle insertion depth corresponding to the puncture point A is

[0048] The corresponding rotation angle in the XZ plane is arctan x / z.

[0049] The corresponding rotation angle in the YZ plane is arctan y / z.

[0050] Although the present invention has been described in detail above using general descriptions and specific embodiments, it will be apparent to those skilled in the art that modifications and improvements may be made thereto. Therefore, such modifications and improvements, without departing from the spirit of the present invention, are intended to be within the scope of protection claimed herein.

Claims

1. A CT fluoroscopic real-time interventional minimally invasive robot execution end mechanism, characterized in that: include: The articulated arm module is configured as a multi-stage transmission articulated arm, wherein the multi-stage transmission articulated arm is provided with a pitch drive assembly and an advance and retreat needle drive assembly at its head end respectively; The puncture drive module and the base transmission assembly are arranged at the terminal kinetic energy output end of the multi-stage transmission joint arm, and the base of the puncture drive module is connected to the pitch drive component through the multi-stage transmission joint arm, and the puncture end of the puncture drive module is connected to the advance and retreat needle drive component to adjust the overall center of gravity away from the end position of the multi-stage transmission joint arm.

2. The CT fluoroscopy real-time intervention minimally invasive robot execution end mechanism according to claim 1, characterized in that: The articulated arm module comprises a first articulated arm, a second articulated arm and a third articulated arm which are sequentially connected in a transmission manner, and the pitch drive assembly is configured as a motor drive assembly; One end of the first articulated arm is positioned and arranged, and the other end of the first articulated arm is fixedly connected to a first transmission shaft wheel; one end of the second articulated arm is connected to the first transmission shaft wheel by a transfer assembly; The motor drive assembly includes a motor base and a rotating shaft wheel portion of the transmission assembly arranged on the motor base, and the motor base portion of the motor drive assembly is fixedly connected to the side position of the second articulated arm, and a first synchronous belt is installed between the rotating shaft wheel portion of the motor drive assembly and the first transmission shaft wheel. The motor drive assembly outputs rotational kinetic energy to drive the first transmission shaft wheel via the first synchronous belt, and at the same time, with the help of the positioning setting function of the first articulated arm, the motor drive assembly and the first synchronous belt are reversely rotated with the first transmission shaft wheel fixedly connected to the first articulated arm as the axis, and synchronously drive the second articulated arm to rotate with the first transmission shaft wheel as the axis; The other end of the second articulated arm is transitionally equipped with a second transmission shaft wheel, the second transmission shaft wheel is transmission-fixedly connected to one end of the third articulated arm, and a second synchronous belt is transmission-sleeved between the second transmission shaft wheel and the first transmission shaft wheel, the second transmission shaft wheel is synchronously rotated with the second articulated arm around the first transmission shaft wheel as the axis, and the second transmission shaft wheel is driven to rotate synchronously by the relative displacement generated between the second synchronous belt and the first transmission shaft wheel, and the third articulated arm forms a synchronous rotation effect around the second transmission shaft wheel as the axis; The middle position of the third articulated arm is transfer-assembled with a transmission idler gear, and the other end portion of the third articulated arm is transfer-assembled with a third transmission shaft gear, and the third transmission shaft gear is transmission-fixedly connected to the base portion of the puncture drive slide assembly, and a transmission sleeve is provided with a third synchronous belt between the third transmission shaft gear, the second transmission shaft gear and the transmission idler gear, and the third transmission shaft gear is synchronously rotated with the third articulated arm around the second transmission shaft gear as the axis, and the relative displacement generated between the third synchronous belt and the second transmission shaft gear drives the third transmission shaft gear to rotate synchronously, so that the puncture drive slide assembly can form a synchronous rotation effect around the third transmission shaft gear as the axis.

3. The CT fluoroscopy real-time intervention minimally invasive robot execution end mechanism according to claim 2, characterized in that: A variable speed transmission arrangement is provided between the first transmission shaft wheel, the second transmission shaft wheel and the third transmission shaft wheel, and the diameters of the circles on which the first transmission shaft wheel is located, the diameters of the circles on which the second transmission shaft wheel is located and the diameters of the circles on which the third transmission shaft wheel is located decrease in sequence.

4. The CT fluoroscopy real-time intervention minimally invasive robot execution end mechanism according to claim 2, characterized in that: The puncture drive module includes a puncture drive slide assembly and a puncture needle body; The base of the puncture drive slide assembly is configured as a slide base, and the slide base is fixedly connected to the third transmission shaft wheel in a transmission manner; The puncture drive slide assembly also includes a slide adjustment portion, a needle feed pulley and a needle retract pulley; The slide adjustment part is slidably assembled on the slide base; The advance and retract needle drive assembly is configured as an electrically controlled reel seat, the base of which is fixedly mounted on the second articulated arm, and the electrically controlled reel seat has two steel wire winding ends; The two wire winding ends of the electric-controlled reel seat are respectively wound around the needle-in pulley and the needle-out pulley, and are transmission-connected between the needle-in end and the needle-out end of the slide adjustment part. The two wire winding ends of the electric-controlled reel seat respectively output kinetic energy to drive the wire transmission to complete the needle-in and needle-out action of the slide adjustment part. At the same time, the weight of the end is reduced by arranging the electric-controlled reel seat at an end away from the end and the steel wire remote transmission arrangement, so as to control the overall center of gravity to be away from the end position; The base portion of the puncture needle body is fixedly assembled on the slide adjustment portion through a locking seat, and the puncture needle body extends through a guide seat fixed to the slide base.

5. The CT fluoroscopy real-time intervention minimally invasive robot execution end mechanism according to claim 4, characterized in that: The puncture needle body has a puncture mark point, and the connecting line figure formed between the axis point of the first transmission shaft wheel, the axis point of the second transmission shaft wheel, the axis point of the third transmission shaft wheel and the puncture mark point based on the multi-stage transmission ratio setting always remains a parallelogram, and the puncture mark point is accurately located in real time according to the current positions of the first transmission shaft wheel, the second transmission shaft wheel and the third transmission shaft wheel.

6. The CT fluoroscopy real-time intervention minimally invasive robot actuator mechanism according to claim 4, characterized in that: The locking seat includes a positioning lock shell, an elastic lock sleeve and a locking cap; The positioning lock shell is fixedly assembled on one side of the needle insertion direction of the slide adjustment part, the base part of the elastic locking sleeve is fixed in an internal manner inside the positioning lock shell, and the elastic locking sleeve forms an elastically compressible channel, the locking cap is detachably fixedly assembled on the positioning lock shell, and the locking cap contacts and presses the elastic locking sleeve accordingly, so that the elastic locking sleeve fixes the puncture needle body through its elastically compressible channel.

7. The CT fluoroscopy real-time intervention minimally invasive robot actuator mechanism according to claim 4, characterized in that: The guide seat comprises two groups of guide bases, the two groups of guide bases are connected to each other and a guide channel is formed between the two groups of guide bases; The guide channel is limitedly arranged on the outer side of the puncture needle body.

8. The CT fluoroscopy real-time intervention minimally invasive robot execution end mechanism according to claim 4, characterized in that: One end of the first articulated arm is positioned based on the kinetic energy output end of the adjustment drive module, and the adjustment drive module is configured to drive the robotic arm and / or the XYZ axis translation platform, and the adjustment drive module outputs the translation drive energy corresponding to a plane.

9. A method for applying the CT fluoroscopy real-time intervention minimally invasive robot actuator mechanism according to any one of claims 1 to 8, characterized in that: The steps include: Determine a puncture point based on the XYZ coordinate system, control the articulated arm module to output kinetic energy to drive the puncture drive module to perform a pitch motion along the XZ plane, and at the same time control the direction adjustment drive module to output the indexing drive energy to drive the articulated arm module and the puncture drive module to perform an indexing motion along the YZ plane; Based on the real-time and precise positioning of the puncture mark by the articulated arm module using the parallelogram architecture principle, the puncture drive module can form a circular spatial motion trajectory based on the puncture mark as the axis point, and then select and determine the optimal puncture direction corresponding to the puncture mark.

10. The application method of the CT fluoroscopy real-time intervention minimally invasive robot execution end mechanism according to claim 9, characterized in that: The following steps are also included: A metal grid is configured according to the base body where the puncture mark is located, and the common transverse layer is determined based on the correspondence between the puncture mark and the metal grid area; Construct a fluoroscopic real-time simulation of needle insertion, and / or, through computer 3D simulation of the dynamic process of intervention, continue to control the puncture drive module based on the transverse section to perform fixed-point rotation around the puncture mark, and ultimately determine the optimal puncture direction corresponding to the puncture mark, complete the puncture path selection, and determine the needle insertion point corresponding to the substrate based on the puncture path. During this process, the built-in rotary encoder of the actuator mechanism is used to calculate the positional relationship between the metal grid and the puncture drive module, that is, to complete the corresponding binding between the substrate and the actuator mechanism, thereby providing relative displacement data for the interventional puncture plan; When the standard puncture path cannot be determined by the cross-section, the XYZ coordinate system is further constructed to adjust the puncture path. At this time, the needle insertion depth corresponding to the puncture point is The corresponding rotation angle in the XZ plane is arctanx / z; The corresponding rotation angle in the YZ plane is arctany / z.

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