Soft tissue puncture interventional operation robot

Abstract

The soft tissue puncture interventional operation robot comprises a tail end puncture actuator connected to the tail end of a mechanical arm, the tail end puncture actuator comprises a mounting base and an arc positioning module connected to one side of the mounting base and provided with an arc guide rail, and an ultrasonic probe positioning and multi-dimensional sensing module is connected to the bottom of the mounting base and extends downwards; the rotary positioning and puncture guiding module comprises a puncture guiding assembly and a rotary positioning module, the puncture guiding assembly clamps a puncture needle and is rotatably arranged, and the rotary positioning module is slidably arranged on the arc-shaped guide rail and used for driving the puncture guiding assembly to rotate; the rotation direction of the puncture guide assembly is perpendicular to the sliding direction of the rotary positioning module, ultrasonic images can be fed back in real time in the operation, the focus and the position and posture of a puncture needle can be displayed, the puncture guide assembly can have two operation freedom degrees, the relative movement range and angle are larger, ultrasonic adjustment and secondary puncture planning in the operation are supported, and the operation efficiency is improved. The method is suitable for most clinical cases.

Description

Technical Field

[0001] The present invention belongs to the technical field of medical devices, and in particular relates to a soft tissue puncture interventional surgical robot. Background Art

[0002] The soft tissue puncture interventional surgical robot is an organic combination of soft tissue puncture interventional technology and robotic technology. It can assist medical staff in locating targets and controlling the puncture path of the puncture needle during soft tissue puncture interventional surgery, effectively improving surgical stability and accuracy.

[0003] Soft tissue puncture interventional surgical robots are usually composed of an optical tracking and positioning device, a trolley (including a main unit), a robotic arm and an end puncture actuator. The end puncture actuator is used to position and guide the puncture needle and is the core of the soft tissue puncture interventional surgical robot. Most of the existing soft tissue puncture interventional surgical robots are based on the preoperative patient's CT image and the intraoperative optical tracking and positioning device to identify markers and robot postures for navigation and positioning. However, affected by the patient's breathing, the real-time position of the lesion changes dynamically and may not be completely matched with the preoperative image. At the same time, during the puncture process, the soft tissue and puncture needle will inevitably deform, and there will be certain errors. As a result, the current navigation and positioning method is prone to inaccurate positioning, and the puncture needle will mistakenly puncture bones, blood vessels or dangerous organs.

[0004] To solve this problem, Chinese patent CN118141521A discloses a puncture robot with ultrasonic detection function. This solution is equipped with an ultrasonic probe, which can provide real-time feedback on the position of the lesion and the puncture needle through the ultrasonic probe during the operation, effectively reducing the risk of puncture. However, the ultrasonic probe and the puncture needle of this solution are of an integrated design. When the lesion position is detected to have changed and the puncture needle posture needs to be adjusted, the posture of the ultrasonic probe will follow the change. When the ultrasonic effect at the current position is not good and the position of the ultrasonic probe needs to be adjusted, the puncture needle will also follow the movement, making it difficult to achieve both. As a result, some clinical cases cannot effectively use the ultrasonic probe for image feedback during puncture surgery, narrowing the scope of application.

[0005] At the same time, when adjusting the position of the puncture needle, the existing methods are mostly achieved through linear movement. After adjustment, the angle of the puncture needle needs to be rotated to align it with the lesion, which is inconvenient to operate. There is also a method of using an arc joint for the puncture needle to slide. For example, Chinese patent CN221712146U discloses this type of puncture motion structure. This solution consists of an arc joint for adjusting the angle of the puncture needle and a needle insertion joint for pushing the puncture needle. When the puncture needle slides along the arc joint, it can ensure that the angle of the puncture needle is always aligned with the lesion. However, the puncture needle angle of this solution cannot be adjusted relative to the arc joint. When the puncture needle deviates from the position due to deformation during the puncture process, it is difficult to adjust the angle a second time without changing the position of the puncture needle. Changing the position of the puncture needle and adjusting its angle are restricted by the arc joint, and the optimal puncture path cannot be selected according to actual needs. Summary of the Invention

[0006] The purpose of the present invention is to overcome one or more shortcomings in the prior art and to provide a soft tissue puncture interventional surgical robot.

[0007] To achieve the above-mentioned purpose, the technical solution adopted by the present invention is that the soft tissue puncture interventional surgical robot includes an end puncture actuator connected to the end of the robotic arm, the end puncture actuator includes a mounting seat and an arc positioning module connected to one side of the mounting seat, the arc positioning module includes an arc guide rail, the end puncture actuator also includes an ultrasonic probe positioning and multi-dimensional sensing module, a rotation positioning and puncture guide module, the ultrasonic probe positioning and multi-dimensional sensing module is connected to the bottom of the mounting seat and extends downward, the rotation positioning and puncture guide module includes a puncture guide assembly and a rotation positioning module, the puncture guide assembly is used to clamp the puncture needle and is rotatable, the rotation positioning module can be slidably set on the arc guide rail to drive the puncture guide assembly to rotate, and the rotation direction of the puncture guide assembly is perpendicular to the sliding direction of the rotation positioning module.

[0008] Preferably, the ultrasound probe positioning and multi-dimensional sensing module includes a six-dimensional force sensor, an adapter block, an ultrasound probe clamping assembly, and an ultrasound probe. The six-dimensional force sensor is connected to the bottom of the mounting base, the adapter block is connected to the bottom of the six-dimensional force sensor, the ultrasound probe clamping assembly is connected to the bottom of the adapter block, the ultrasound probe is clamped in the ultrasound probe clamping assembly, and the lower end of the ultrasound probe protrudes downward from the ultrasound probe clamping assembly, which is used to scan the patient's body surface and provide real-time images of human tissue structures near the lesion during surgery.

[0009] Further preferably, the six-axis force sensor is cylindrical and extends in the vertical direction, the upper end of the six-axis force sensor is a fixed end and the lower end is a measuring end, the fixed end is connected to the bottom of the mounting base, and the measuring end is connected to the adapter block.

[0010] Further preferably, the adapter block is in the shape of a flat plate and extends in the horizontal direction, the upper surface of the adapter block is connected to the measuring end, and the lower surface of the adapter block is connected to the top of the ultrasonic probe clamping assembly.

[0011] Further preferably, the ultrasound probe clamping assembly includes a left clamping block, a right clamping block, and a probe fixing block, the left clamping block and the right clamping block are respectively clamped on the left and right sides of the ultrasound probe, the bottom of the probe fixing block is connected to the top of the left clamping block and the right clamping block, and the top surface of the probe fixing block is fixed to the lower surface of the adapter block and fits therewith.

[0012] Preferably, the puncture guide assembly includes a marking patch column, a marking patch, a needle channel positioning piece, and a needle channel guide piece. The marking patch column is in the shape of a polygonal column. The upper end of the marking patch column is engaged with the rotating axis of the rotation positioning module. The marking patch is adhered to the side of the marking patch column. The needle channel positioning piece is connected to the lower end of the marking patch column. The needle channel positioning piece is used to clamp or release the needle channel guide piece. The needle channel guide piece is located on one side of the marking patch column. A guide hole for inserting a puncture needle is provided in the needle channel guide piece. The axis of the guide hole is parallel to the center line of the marking patch column.

[0013] Further preferably, the upper end of the marking patch column is vertically bent and provided with a U-shaped notch, the end of the rotating shaft of the rotation positioning module is milled with a clamping portion with a rectangular cross-section, and the U-shaped notch is clamped on the clamping portion.

[0014] Further preferably, a magnet is embedded in the inner wall of the U-shaped notch and / or the surface of the clamping portion, and the U-shaped notch is adsorbed on the clamping portion through the magnet.

[0015] Further preferably, the upper end of the marking patch column is also provided with a top screw hole that passes through the U-shaped slot, and the top screw is connected to the inner thread of the top screw hole. When the U-shaped slot is clamped on the clamping part, the end of the top screw is pressed against the surface of the clamping part to achieve locking.

[0016] Further preferably, a plurality of the marking patches are pasted on each side surface of the marking patch column, and the plurality of marking patches are distributed at intervals along the direction of the center line of the marking patch column.

[0017] Further preferably, the surface of the marking patch is provided with a fluorescent layer so as to be recognized by an optical positioning system.

[0018] Further preferably, the needle track guide is dumbbell-shaped, with an annular groove in the middle thereof, and the needle track positioning member includes a block-shaped body and a floating block floatingly connected to the side wall of the body, and the surfaces of the body and / or the opposite sides of the floating block have protrusions. When the floating block moves toward the direction close to the body, the floating block and the surfaces of the opposite sides of the body tighten the outer wall of the needle track guide, and the protrusion is clamped in the annular groove to achieve axial locking.

[0019] Further preferably, a countersunk hole is provided on the main body, a connecting bolt is provided in the countersunk hole, the screw end of the connecting bolt is connected to the floating block, and a spring is also provided on the connecting bolt, the two ends of the spring respectively press against the screw head of the connecting bolt and the bottom wall of the countersunk hole, and the spring has a tendency to drive the floating block to move closer to the main body.

[0020] Further preferably, the floating block is connected to a guide rod parallel to the connecting bolt, the guide rods are symmetrically distributed on both sides of the connecting bolt, and the ends of the guide rods can be slidably inserted into the matching holes opened on the main body.

[0021] Preferably, the rotation positioning module includes a mounting base, a rotating shaft, a rotating motor, and a worm gear mechanism. The mounting base is fixed on the slide of the arc guide rail, the rotating shaft is rotatably inserted on the mounting base, the rotating motor is connected to the side wall of the mounting base, and the worm gear mechanism is arranged in the mounting base for transmitting the driving force provided by the rotating motor to the rotating shaft to rotate the rotating shaft.

[0022] Further preferably, the worm gear mechanism is a self-locking worm gear mechanism, which includes a worm gear sleeved on the rotating shaft and a worm gear meshing with the worm gear, the worm gear rotates synchronously with the rotating shaft, and the worm gear is connected to the output shaft of the rotating motor.

[0023] Further preferably, the rotation positioning module also includes a limiting unit, the limiting unit includes a rotation limiting groove and a rotation limiting pin, the rotation limiting groove is opened on the rotating shaft and extends along its circumferential direction, the rotation limiting groove is located in the mounting base, the rotation limiting pin is inserted into the insertion hole on the mounting base, and its inner end portion extends into the rotation limiting groove.

[0024] Further preferably, the rotational positioning module also includes a detection unit, which includes a photoelectric switch connected to the side wall of the mounting base and a rotating light-shielding plate connected to the end of the rotating shaft, and the rotating light-shielding plate extends along the radial direction of the rotating shaft. When the rotating light-shielding plate follows the rotating shaft to rotate to the center of the photoelectric switch, the photoelectric switch is triggered and the rotational positioning module is in place.

[0025] Preferably, an optical identification component is connected to the mounting seat, and the optical identification component includes an optical bracket and an optical ball. The optical bracket is an asymmetric special-shaped bracket, and the optical ball is threadedly connected to the optical bracket.

[0026] Further preferably, each of the optical brackets is provided with at least four of the optical spheres, and the four optical spheres are arranged in a spatial tetrahedron. The surfaces of the optical spheres are coated with a fluorescent coating so as to be recognized by the optical positioning system.

[0027] Preferably, the arc positioning module includes a bracket for setting the arc guide rail, a slide slidably set on the arc guide rail, a drive motor for driving the slide to slide along the arc guide rail, and a transmission assembly for transmitting the driving force of the drive motor to the slide.

[0028] The transmission unit is a unit that is configured to provide a rotation of the drive shaft to the rotation of the drive shaft and a unit for rotating the drive shaft so that the drive shaft can be rotated relative to the rotation of the drive shaft.

[0029] Further preferably, there are at least two linear bearing guide rods and they are distributed at intervals, the connecting shaft hole is provided in the middle of the linear bearing guide rod box and is located between the two linear bearing guide rods, a bearing is embedded in the connecting shaft hole, and when the connecting shaft is inserted into the connecting shaft hole, the bearing sleeve is provided on the connecting shaft.

[0030] Further preferably, a motor mounting plate and a screw mounting plate are vertically connected to the bracket, the drive motor is connected to the motor mounting plate, the two ends of the screw are rotatably mounted on the motor mounting plate and the screw mounting plate, the drive motor is located on the side of the motor mounting plate facing the screw mounting plate, the output shaft of the drive motor passes through the motor mounting plate and extends out, and the transmission assembly also includes a synchronous belt assembly arranged between the end of the screw and the output shaft of the drive motor.

[0031] Further preferably, the slide comprises a slider and an arc-shaped connecting plate, the slider is slidably disposed on the arc-shaped guide rail, one end of the arc-shaped connecting plate is connected to the slider, and the other end is connected to the rotation positioning module.

[0032] Further preferably, the center of the arc connecting plate and the center of the arc guide rail are located on the same horizontal line, the arc length of the arc connecting plate is greater than the arc length of the arc guide rail, and the sum of the central angles of the arc connecting plate and the arc guide rail is 5π / 6 to 2π / 3.

[0033] Further preferably, the arc positioning module also includes a hard limit unit and a soft limit unit for limiting the sliding position of the slide, the hard limit unit includes a starting position limit bolt and an ending position limit bolt threadedly connected to the bracket, the starting position limit bolt and the ending position limit bolt are respectively located at the two ends of the arc guide rail, the soft limit unit is arranged between the starting position limit bolt and the ending position limit bolt, the soft limit unit includes a starting position photoelectric switch arranged near the starting position limit bolt, an ending position photoelectric switch arranged near the ending position limit bolt, and a sliding light shielding plate, the starting position photoelectric switch and the ending position photoelectric switch are connected to the bracket, and the sliding light shielding plate is connected to the slide and corresponds to the starting position photoelectric switch and the ending position photoelectric switch.

[0034] Preferably, the soft tissue puncture interventional surgical robot also includes an intraoperative navigation trolley, a robotic arm trolley and a human body identification workpiece. The intraoperative navigation trolley and the robotic arm trolley are signal-connected. The intraoperative navigation trolley is provided with an optical positioning system. The optical positioning system is used to track and display the positions of the patient identification points, robotic arm identification points, and puncture guide component identification points within the navigation tracking range in real time. The robotic arm trolley includes a robotic arm for connecting the end puncture actuator, an ultrasonic imaging system for displaying the ultrasonic probe positioning and the ultrasonic image of the multi-dimensional sensing module, and a control unit for sensing the contact force between the ultrasonic probe positioning and the multi-dimensional sensing module. The human body identification workpiece is affixed to the patient's body surface. The human body identification workpiece includes a sensing ball with an optical coating on the surface so that it can be recognized by the optical positioning system.

[0035] Further preferably, the intraoperative navigation trolley also includes a first fuselage, a lifting mechanism and an adjustment bracket. The first fuselage is the main frame of the intraoperative navigation trolley, and casters are installed at the bottom of the first fuselage to support its movement in all directions on the ground. The bottom of the lifting mechanism is fixed on the first fuselage, and the adjustment bracket is fixed on the top of the first fuselage. The adjustment bracket can move up and down under the drive of the lifting mechanism. The adjustment bracket is a multi-joint rotating arm, and the end of the adjustment bracket is connected to the optical positioning system. Pushing and pulling the adjustment bracket can adjust the position of the optical positioning system in the horizontal, vertical and pitch directions.

[0036] Further preferably, the robotic arm trolley also includes a second body, a support platform, a human-computer interaction module, and a foot switch. The second body is the main frame of the robotic arm trolley, which integrates a power supply, an industrial computer, a robotic arm controller and the control unit. The support platform is located at the bottom of the second body. The support platform is used to lift the robotic arm trolley and stabilize it on the ground. The robotic arm is a 6-joint robotic arm. The bottom of the robotic arm is fixed on the second body. The end of the robotic arm is connected to the end puncture actuator. The human-computer interaction module includes a display touch screen. The foot switch is responsible for motion enable to control the motion state of the soft tissue puncture interventional surgical robot.

[0037] Due to the application of the above technical solution, the present invention has the following advantages compared with the prior art:

[0038] 1. Equipped with ultrasound probe positioning and multi-dimensional sensing modules, it can provide real-time ultrasound image feedback during surgery, displaying the real-time position of the lesion and puncture needle, thereby dynamically guiding the puncture process and avoiding safety risks.

[0039] 2. The puncture guide assembly holding the puncture needle can slide along the curved guide rail through the rotary positioning module, and can also rotate under the drive of the rotary positioning module. Compared with the ultrasound probe positioning and multi-dimensional sensing module, it has two degrees of operational freedom, a larger relative motion range and angle, supports intraoperative ultrasound adjustment and secondary puncture planning, and is suitable for most clinical cases. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 It is a structural schematic diagram of the soft tissue puncture interventional surgery robot of the present invention.

[0041] Figure 2 yes Figure 1 Schematic diagram of the mid-terminal piercing actuator.

[0042] Figure 3 yes Figure 2 A three-dimensional schematic diagram of the ultrasound probe positioning, multi-dimensional sensing module, and mounting base.

[0043] Figure 4 yes Figure 2 A three-dimensional schematic diagram of the central rotation positioning and puncture guide module and the arc positioning module.

[0044] Figure 5 、 Figure 6 yes Figure 2 A three-dimensional schematic diagram of the middle arc positioning module.

[0045] Figure 7 yes Figure 2 A three-dimensional schematic diagram of the central rotation positioning and puncture guide module.

[0046] Figure 8 yes Figure 7 A three-dimensional schematic diagram with part of the installation base hidden.

[0047] Figure 9 yes Figure 7 A three-dimensional schematic diagram of the needle channel positioning piece and the needle channel guide piece.

[0048] Figure 10 yes Figure 9 Schematic diagram of the main view.

[0049] Figure 11 yes Figure 10 Schematic cross-sectional view in the AA direction.

[0050] Figure 12 yes Figure 10 Schematic cross-sectional view in the BB direction.

[0051] Figure 13 yes Figure 8 A three-dimensional enlarged schematic diagram of the central rotation axis.

[0052] Figure 14 yes Figure 1 A three-dimensional schematic diagram of the human body identification artifact.

[0053] Figure 15 It is a schematic diagram of the control circuit of the soft tissue puncture interventional surgery robot of the present invention.

[0054] Figure 16 This is a puncture flow chart of the soft tissue puncture interventional surgical robot of the present invention.

[0055] Wherein: a. Puncture needle; A. Intraoperative navigation trolley; A1. Optical positioning system; A2. First body; A3. Lifting mechanism; A4. Adjustment bracket; B. Robotic arm trolley; B1. Robotic arm; B2. Second body; B3. Ultrasound imaging system; B4. Support platform; B5. Human-computer interaction module; B6. Foot switch; C. Human body identification workpiece; C1. Sensor ball mounting base; C2. Sensor ball; C3. Sensor ball connecting rod; 10. Mounting base; 11. Optical bracket; 12. Optical ball; 20. Arc positioning module; 21. Arc guide rail; 22. Bracket; 221. Motor mounting plate; 222. Screw mounting plate; 223. Motor fixing plate; 23. Slide; 231. Slider; 232. Arc connecting plate; 24. Drive motor; 251. Screw; 252. Screw nut; 253. Slide connecting plate; 254. Linear bearing guide rod; 255. Linear bearing guide rod box; 256. Connecting shaft; 257. Connecting shaft hole; 258. Bearing; 259. Synchronous belt assembly; 261. Start position limit bolt; 262. End position limit bolt; 263. Start position photoelectric switch; 264. End position Photoelectric switch; 265. Sliding light shield; 30. Ultrasonic probe positioning and multi-dimensional sensing module; 31. Six-dimensional force sensor; 32. Adapter block; 33. Ultrasonic probe clamping assembly; 331. Left clamping block; 332. Right clamping block; 333. Probe fixing block; 34. Ultrasonic probe; 40. Rotational positioning and puncture guide module; 41. Puncture guide assembly; 411. Marking patch column; 4111. U-shaped notch; 4112. Magnet; 4113. Top screw hole; 412. Marking patch; 4211. Clamping portion; 4212. Magnet; 413. Needle track positioning piece; 4131. Main body; 4132. Floating block; 4133. Protrusion; 4134. Countersunk hole; 4135. Connecting bolt; 4136. Spring; 4137. Guide rod; 4138. Matching hole; 414. Needle guide; 4141. Annular groove; 4142. Guide hole; 42. Rotational positioning module; 421. Rotational axis; 422. Mounting base; 423. Rotational motor; 4241. Turbine; 4242. Worm; 4251. Rotational limit groove; 4252. Rotational limit pin; 4253. Photoelectric switch; 4254. Rotational light shielding plate. DETAILED DESCRIPTION

[0056] The preferred embodiments of the present invention are described in detail below with reference to the accompanying drawings so that the advantages and features of the present invention can be more easily understood by those skilled in the art.

[0057] like Figures 1 to 14As shown, the soft tissue puncture interventional surgical robot provided by the present invention includes an intraoperative navigation trolley A, a robotic arm trolley B, a human body identification workpiece C and an end puncture actuator D, wherein the end puncture actuator D is connected to the end of the robotic arm B1 on the robotic arm trolley B, and the end puncture actuator D includes a mounting seat 10 and an arc positioning module 20 connected to one side of the mounting seat 10, the arc positioning module 20 includes an arc guide rail 21, and the end puncture actuator D also includes an ultrasonic probe positioning and multi-dimensional sensing module 30, a rotary The rotation positioning and puncture guide module 40 and the ultrasound probe positioning and multi-dimensional sensing module 30 are connected to the bottom of the mounting base 10 and extend downward. The rotation positioning and puncture guide module 40 includes a puncture guide assembly 41 and a rotation positioning module 42. The puncture guide assembly 41 is used to clamp the puncture needle 4 and is rotatable. The rotation positioning module 42 is slidably set on the arc guide rail 21 to drive the puncture guide assembly 41 to rotate. The rotation direction of the puncture guide assembly 41 is perpendicular to the sliding direction of the rotation positioning module 42.

[0058] The benefits of this setting are:

[0059] 1. Equipped with ultrasound probe positioning and multi-dimensional sensing modules, it can provide real-time ultrasound image feedback during surgery, displaying the real-time position of the lesion and puncture needle, thereby dynamically guiding the puncture process and avoiding safety risks.

[0060] 2. The puncture guide assembly holding the puncture needle can slide along the curved guide rail through the rotary positioning module, and can also rotate under the drive of the rotary positioning module. Compared with the ultrasound probe positioning and multi-dimensional sensing module, it has two degrees of operational freedom, a larger relative motion range and angle, supports intraoperative ultrasound adjustment and secondary puncture planning, and is suitable for most clinical cases.

[0061] In this embodiment, the intraoperative navigation trolley A and the robotic arm trolley B are connected by signal. The signal connection can use cable connections such as network cables and signal cables for information exchange, or can use wireless communications such as Bluetooth / WIFI for information exchange. The intraoperative navigation trolley A is responsible for real-time tracking and displaying the positions of patient identification points, robotic arm identification points and other identification points within the navigation tracking range; the robotic arm trolley B is responsible for realizing the operational function of implementing navigation and positioning during surgery, and can move the terminal puncture actuator according to the specified path and maintain the posture, while performing ultrasonic image monitoring and contact force perception, receiving and processing multi-dimensional perception information of each trolley, and providing physicians with interventional surgical puncture paths; the human body identification artifact C is pasted on the patient's body surface and is responsible for identifying the puncture needle insertion area.

[0062] Specifically, the intraoperative navigation trolley A includes an optical positioning system A1, a first body A2, a lifting mechanism A3 and an adjustment bracket A4. The first body A2 is the main frame of the intraoperative navigation trolley A, and casters are installed at the bottom to support its movement in all directions on the ground. The optical positioning system A1 is used to track and display the positions of patient identification points, robotic arm identification points, puncture guide component identification points and other identification points within the navigation tracking range in real time. The optical positioning system A1 is the core component of the intraoperative navigation trolley A. It is a real-time passive / active optical tracking system, and the preferred model is Fusiontrack 500 optical measurement system, the bottom of the lifting mechanism A3 is fixed on the first fuselage A2, and the top is fixed with an adjustment bracket A4. The adjustment bracket A4 is a multi-joint rotating arm, and the end of the adjustment bracket A4 is connected to the optical positioning system A1. The adjustment bracket A4 can move up and down driven by the lifting mechanism A3. Pushing and pulling the adjustment bracket A4 can adjust the position of the optical positioning system A1 in the horizontal, vertical and pitch directions. The lifting mechanism A3 and the adjustment bracket A4 cooperate to put the optical positioning system A1 in a suitable position so that all marking points are within the tracking range.

[0063] The robotic arm trolley B includes a second body B2, an ultrasonic imaging system B3, a robotic arm B1, a support platform B4, a human-computer interaction module B5, and a foot switch B6. The second body B2 is the main frame of the robotic arm trolley B, which integrates electrical components such as a power supply, an industrial computer, a robotic arm controller, and a control unit for sensing the positioning of the ultrasonic probe and the contact force of the multi-dimensional sensing module 30. It is responsible for system power supply, signal processing and control functions. The ultrasonic imaging system B3 includes an ultrasonic host placed on the table of the second body B2. The ultrasonic imaging system B3 is used to display the ultrasonic image of the ultrasonic probe positioning and the multi-dimensional sensing module 30. The robotic arm B1 is a 6-joint robotic arm with 6 degrees of freedom of operation. The bottom of the robotic arm B1 The top is fixed on the table of the second body B2, and the end is connected to the fixed end puncture actuator through a flange. The robotic arm B1 can move the end puncture actuator to a specified position and maintain a specified posture. The support platform B4 is located at the bottom of the second body B2. Casters are installed at the bottom of the support platform B4 to support its movement in all directions on the ground. At the same time, the support platform B4 is also used to lift the robotic arm trolley B and stabilize it on the ground to enhance the stability of the robotic arm trolley B during use. The human-computer interaction module B5 includes a display touch screen that can display an ultrasound interface, a control interface, etc., and is responsible for feedback or inputting instructions and other information. The foot switch B6 is responsible for motion enable to control the motion state of the soft tissue puncture interventional surgical robot.

[0064] The human body identification workpiece C includes a sensing ball C2 with an optical coating on the surface so that it can be identified by the optical positioning system A1. In this embodiment, there are 5 sensing balls C2, and these 5 sensing balls C2 are installed on 5 sensing ball mounting seats C1 through threaded connections. These 5 sensing ball mounting seats C1 are connected to each other through sensing ball connecting rods C3. The sensing ball mounting seats C1 and the sensing ball connecting rods C3 rely on friction to form a kinematic pair, so each sensing ball C2 has a certain degree of independence. The bottom surface of the sensing ball mounting seat C1 is provided with adhesive to facilitate sticking to the patient's body surface. During the operation, the human body identification workpiece C can be identified and the coordinates can be calculated by the sensing positioning system 1-1 of the intraoperative navigation trolley A to achieve the positioning of the puncture entrance.

[0065] In this embodiment, an optical identification component is connected to the mounting base 10, and the optical identification component includes an optical bracket 11 and an optical ball 12. The optical bracket 11 is an asymmetric special-shaped bracket, and the optical bracket 11 is fixedly connected to the mounting base 10. The surface of the optical ball 12 is coated with a fluorescent coating so that it can be identified by the optical positioning system A1 of the intraoperative navigation trolley A. The optical ball 12 is threadedly connected to the optical bracket 11. Specifically, four optical balls 12 are provided on each optical bracket 11. These four optical balls 12 are arranged in a spatial tetrahedron. Their coordinates can be calculated under the identification of the optical positioning system A1, and the positioning of the module is achieved through the obtained coordinates and the fixed structural relationship of the module.

[0066] In this embodiment, the arc positioning module 20 includes a plate-shaped bracket 22 for setting an arc guide rail 21, a slide 23 slidably set on the arc guide rail 21, a drive motor 24 for driving the slide 23 to slide along the arc guide rail 21, and a transmission component for transmitting the driving force of the drive motor 24 to the slide 23. Specifically, the transmission component includes a screw 251, a screw nut 252, a slide connecting plate 253, a linear bearing guide rod 254, a linear bearing guide rod box 255, and a connecting shaft 256. The screw 251 is rotatably set on the bracket 22, and the end of the screw 251 is connected to the output shaft of the drive motor 24. The screw 251 can rotate under the drive of the drive motor 24. The screw nut 252 matches the screw 251 and is sleeved on the screw 251. The slide connecting plate One end of 253 is connected to the screw nut 252, and the other end is provided with a linear bearing guide rod 254. When the screw 251 rotates, the slide connecting plate 253 can move synchronously with the screw nut 252 in a straight line. The linear bearing guide rod 254 is perpendicular to the screw 251. The linear bearing guide rod box 255 is embedded with a linear bearing, which can be slidably mounted on the linear bearing guide rod 254. The linear bearing guide rod box 255 is also provided with a connecting shaft hole 257. One end of the connecting shaft 256 is connected to the slide 23, and the other end is inserted into the connecting shaft hole 257. When the screw 251 rotates, the linear bearing guide box 255 slides along the linear bearing guide rod 254 and rotates along the connecting shaft 256, thereby converting the linear movement of the screw nut 252 into an arc-shaped sliding of the slide 23.

[0067] Specifically, there are two linear bearing guide rods 254 and they are distributed at intervals. The connecting shaft hole 257 is located in the middle of the linear bearing guide rod box 255 and is located between the two linear bearing guide rods 254. A bearing 258 is embedded in the connecting shaft hole 257. When the connecting shaft 256 is inserted into the connecting shaft hole 257, the bearing 258 is sleeved on the connecting shaft 256.

[0068] To facilitate connection and make it as compact as possible, in this embodiment, a motor mounting plate 221 and a screw mounting plate 222 are vertically connected to the bracket 22, the drive motor 24 is connected to the motor mounting plate 221, and the two ends of the screw 251 are rotatably mounted on the motor mounting plate 221 and the screw mounting plate 222. The drive motor 24 is located on the side of the motor mounting plate 221 facing the screw mounting plate 222, and is fixed by the motor fixing plate 223 located on the other side of the motor mounting plate 221. The output shaft of the drive motor 24 passes through the motor mounting plate 221 and the motor fixing plate 223 and extends out. The transmission assembly also includes a synchronous belt assembly 259 provided between the end of the screw 251 and the output shaft of the drive motor 24. The drive motor 24 drives the synchronous belt assembly 259 to rotate, and the synchronous belt assembly 259 drives the screw 251 to rotate, thereby causing the screw nut 252 and the slide connecting plate 253 fixed on the screw nut 252 to move linearly along the screw 251.

[0069] To ensure that when the rotation positioning module 42 slides along the arc guide rail 21, the range of relative movement between the puncture guide assembly 41 and the ultrasound probe positioning and multi-dimensional sensing module 30 is large enough, in this embodiment, the slide 23 includes a slider 231 and an arc-shaped connecting plate 232, and the slider 231 is slidably set on the arc guide rail 21, one end of the arc-shaped connecting plate 232 is connected to the slider 231, and the other end is connected to the rotation positioning module 42; further, the center of the arc-shaped connecting plate 232 and the center of the arc-shaped guide rail 21 are located on the same horizontal line, the arc length of the arc-shaped connecting plate 232 is greater than the arc length of the arc-shaped guide rail 21, and the sum of the central angles of the arc-shaped connecting plate 232 and the arc-shaped guide rail 21 is 5π / 6.

[0070] To facilitate limiting, in this embodiment, the arc positioning module 20 also includes a hard limit unit and a soft limit unit for limiting the sliding position of the slide 23. The hard limit unit is used to prevent mechanical collision caused by excessive movement of the slide 23 during electrical failure. The hard limit unit includes a starting position limiting bolt 261 and an ending position limiting bolt 262 threadedly connected to the bracket 22. The starting position limiting bolt 261 and the ending position limiting bolt 262 are respectively located at the two ends of the arc guide rail 21. The soft limit unit is provided on the starting position limiting bolt 261. 61 and the end position limit bolt 262, the soft limit unit includes a starting position photoelectric switch 263 set near the starting position limit bolt 261, an end position photoelectric switch 264 set near the end position limit bolt 262, and a sliding shading plate 265. The starting position photoelectric switch 263 and the end position photoelectric switch 264 are connected to the bracket 22, and the sliding shading plate 265 is connected to the arc-shaped connecting plate 232 of the slide 23 and corresponds to the starting position photoelectric switch 263 and the end position photoelectric switch 264.

[0071] In this embodiment, the ultrasonic probe positioning and multi-dimensional sensing module 30 is the main frame of the terminal puncture actuator, which includes a six-dimensional force sensor 31, an adapter block 32, an ultrasonic probe clamping assembly 33, and an ultrasonic probe 34. The six-dimensional force sensor 31 is connected to the bottom of the mounting base 10, the adapter block 32 is connected to the bottom of the six-dimensional force sensor 31, the ultrasonic probe clamping assembly 33 is connected to the bottom of the adapter block 32, and the ultrasonic probe 34 is clamped in the ultrasonic probe clamping assembly 33. The lower end of the ultrasonic probe 34 protrudes downward from the ultrasonic probe clamping assembly 33, which is used to scan the patient's body surface and provide real-time images of the human tissue structure near the lesion during surgery.

[0072] Specifically, the six-dimensional force sensor 31 is cylindrical and extends in the vertical direction. The upper end of the six-dimensional force sensor 31 is a fixed end and the lower end is a measuring end. The fixed end is fixed to the bottom of the mounting base 10 by screw connection, and the measuring end is fixed to the top of the adapter block 32 by screw connection. When the patient's body surface contacts the ultrasound probe 34, or the doctor holds and pushes the ultrasound probe clamping assembly 33, the contact force is transmitted to the measuring end of the six-dimensional force sensor 31 and the force value and direction are detected in real time; the adapter block 32 is flat and extends in the horizontal direction. The upper surface of the adapter block 32 is connected to the The measuring end is connected, and the lower surface is connected to the top of the ultrasonic probe clamping assembly 33; the ultrasonic probe clamping assembly 33 includes a left clamping block 331, a right clamping block 332, and a probe fixing block 333. The left clamping block 331 and the right clamping block 332 are respectively clamped on the left and right sides of the ultrasonic probe 34. The left clamping block 331 and the right clamping block 332 clamp and fix the ultrasonic probe 34. The bottom of the probe fixing block 333 is fixedly connected to the top of the left clamping block 331 and the right clamping block 332 by screws, and the top surface of the probe fixing block 333 is fixed to the lower surface of the adapter block 32 by screws and fits therewith.

[0073] In this embodiment, the puncture guide assembly 41 includes a marking patch column 411, a marking patch 412, a needle track positioning member 413, and a needle track guide member 414. The marking patch column 411 is in the shape of a polygonal column. The upper end of the marking patch column 411 is engaged with the rotating shaft 421 of the rotation positioning module 42. The marking patch 412 is attached to the side of the marking patch column 411. The needle track positioning member 413 is connected to the lower end of the marking patch column 411. The needle track positioning member 413 is used to clamp or release the needle track guide member 414, thereby fixing or releasing the puncture needle a. The needle track guide 414 is located on one side of the marking patch column 411. A through guide hole 4142 for inserting the puncture needle a is provided in the needle track guide 414. The axis of the guide hole 4142 is parallel to the center line of the marking patch column 411. The diameter of the guide hole 4142 is slightly larger than the outer diameter of the puncture needle a (corresponding needle track guides 414 can be designed for puncture needles a of different specifications). When the end puncture actuator moves to the specified puncture path, the doctor can hold the puncture needle a and puncture the human body along the axis of the guide hole 4142 of the needle track guide 414.

[0074] In this embodiment, the marking patch column 411 and the rotating shaft 421 are quick-release clamping, and the insertion angle of the puncture needle a can be adjusted as the rotating shaft 421 rotates. Specifically, the upper end of the marking patch column 411 is vertically bent and provided with a U-shaped notch 4111. The end of the rotating shaft 421 of the rotation positioning module 42 is milled with a clamping portion 4211 with a rectangular cross-section. The U-shaped notch 4111 is clamped on the clamping portion 4211. Furthermore, the inner wall of the U-shaped notch 4111 and the surface of the clamping portion are embedded with magnets 4112 and 4212. The U-shaped notch 4111 is connected to the clamping portion 4211. The magnets 4112 and 4212 are adsorbed on the clamping part 4211 to realize the quick-release clamping of the marking patch column 411 and the rotating shaft 421. In order to avoid the relative position of the marking patch column 411 and the rotating shaft 421 from changing during the operation, the upper end of the marking patch column 411 is further provided with a top screw hole 4113 which passes through the U-shaped groove 4111. The top screw hole 4113 is internally threaded with a top screw. When the U-shaped groove 4111 is clamped on the clamping part 4211, the end of the top screw is pressed against the surface of the clamping part 4211 to achieve locking.

[0075] Furthermore, two marking patches 412 are affixed to each side of the marking patch column 411, and the two marking patches 412 are spaced apart along the center line of the marking patch column 411. The surface of the marking patch 412 is provided with a fluorescent layer so that it can be identified by the optical positioning system A1, thereby calculating the deflection angle of the axis of the guide hole 4142 of the puncture guide assembly 41, especially the needle track guide 414. Since two marking patches 412 are affixed to each side of the marking patch column 411, no matter what posture the end puncture actuator is in, the optical positioning system A1 can identify the marking point provided by the marking patch 412.

[0076] In this embodiment, the needle track guide 414 is dumbbell-shaped, with an annular groove 4141 in the middle thereof, and the needle track positioning member 413 includes a block-shaped body 4131 and a floating block 4132 floatingly connected to the side wall of the body 4131, and the surfaces of the body 4131 and the floating block 4132 facing each other have a protrusion 4133. When the floating block 4132 moves toward the direction close to the body 4131, the floating block 4132 and the surfaces of the body 4131 facing each other tighten the outer wall of the needle track guide 414, and the protrusion 4133 is clamped in the annular groove 4141 to achieve axial locking; further, a countersunk hole 4134 is penetrated on the body 4131, and a Connecting bolt 4135, the screw end of the connecting bolt 4135 is connected to the floating block 4132, and a spring 4136 is also provided on the connecting bolt 4135. The two ends of the spring 4135 respectively press against the screw head of the connecting bolt 4135 and the bottom wall of the countersunk hole 4134. The spring 4135 has a tendency to drive the floating block 4132 to move closer to the main body 4131. In order to improve stability, the floating block 4132 is further connected with a guide rod 4137 parallel to the connecting bolt 4135. The guide rods 4137 are symmetrically distributed on both sides of the connecting bolt 4135, and the ends of the guide rods 4137 can be slidably penetrated into the matching hole 4138 opened on the main body 4131.

[0077] In this embodiment, the rotation positioning module 42 includes a rotation shaft 421, a mounting base 422, a rotation motor 423, and a worm gear mechanism. The rotation shaft 421 is rotatably inserted into the mounting base 422, the mounting base 422 is fixed to the end of the arc-shaped connecting plate 232 of the slide 23, the rotation motor 423 is connected to the side wall of the mounting base 421, and the worm gear mechanism is arranged in the mounting base 422 for transmitting the driving force provided by the rotation motor 423 to the rotation shaft 421, so that The rotating shaft 421 rotates, thereby changing the deflection angle of the puncture guide assembly 41 to obtain a puncture path with a suitable puncture angle. To ensure the smoothness of the puncture process, the turbine worm mechanism is further a self-locking worm mechanism. The turbine worm mechanism includes a turbine 4241 sleeved on the rotating shaft 421 and a worm 4242 meshing with the turbine 4241. The turbine 4241 rotates synchronously with the rotating shaft 421, and the worm 4242 is connected to the output shaft of the rotating motor 423.

[0078] In order to limit the rotation angle of the rotating shaft 421, in this embodiment, the rotation positioning module further includes a limiting unit, which includes a rotation limiting groove 4251 and a rotation limiting pin 4252. The rotation limiting groove 4251 is opened on the rotating shaft 421 and extends along its circumferential direction. Its central angle is 45 degrees. The rotation limiting groove 4251 is located in the mounting base 422. The rotation limiting pin 4252 is inserted into the insertion hole 4221 on the mounting base 422, and its inner end extends into the rotation limiting groove 4251 to eliminate the rotation of the rotating shaft 421. 21 Risk of mechanical collision caused by excessive rotation. In order to facilitate returning to the original position, the rotation positioning module further includes a detection unit. The detection unit includes a photoelectric switch 4253 connected to the side wall of the mounting base 422 and a rotating light-shielding plate 4254 connected to the end of the rotating shaft 421. The rotating light-shielding plate 4254 extends in the radial direction of the rotating shaft 421. When the rotating light-shielding plate 4254 follows the rotating shaft 421 to rotate to the center of the photoelectric switch 4253, the photoelectric switch 4253 is triggered, and the rotation positioning module 42 is in the original position.

[0079] The present invention reconstructs a three-dimensional model based on the patient's CT data before the operation. After the doctor determines the target lesion for puncture, the robot customizes the surgical plan. During the operation, multi-loop feedback information (mechanics, optics, and ultrasound imaging) is used. The doctor can control the robotic arm and the end puncture actuator to reach the designated position and maintain the appropriate posture, ultimately providing the doctor with an interventional surgical puncture path to assist the doctor in completing the interventional surgery. At the same time, the soft tissue puncture interventional surgical robot provided by the present invention has multiple functions such as optical positioning, high-precision movement, force perception, ultrasound monitoring, and flexible dragging.

[0080] Optical positioning function: The optical positioning system A1 can detect and track the optical ball 12, the marking patch 412 and the sensing ball C2 in real time, thereby calculating the spatial coordinates of the above-mentioned inspected components and realizing real-time positioning of the ultrasonic probe 34, the robotic arm B1, the puncture needle a and the patient's needle insertion point.

[0081] High-precision motion function: The robotic arm B1 adopts a 6-joint robotic arm with 6 degrees of freedom of operation, which can achieve sub-millimeter accuracy. It can accurately move the end puncture actuator to the specified position and maintain the specified posture. The arc positioning module 20 has 1 degree of freedom of operation, which can accurately move the rotation positioning and puncture guide module 40 along the designed arc path to the specified position and maintain stability. The rotation positioning and puncture guide module 40 has 1 degree of freedom of operation, which can rotate the puncture guide component 41 to the specified position and maintain stability.

[0082] Force sensing function: The ultrasound probe positioning and multi-dimensional sensing module 30 integrates a six-dimensional force sensor 31, which can detect the clinical contact force between the ultrasound probe 34 and the patient's body surface. The six-dimensional force sensor 31 converts the force signal into an electrical signal and feeds it back to the computer platform through the force sensor controller, thereby controlling the movement of the robotic arm B1, achieving a good fit between the ultrasound probe 34 and the patient's body surface and avoiding excessive contact force to injure the patient.

[0083] Smooth dragging function: If the doctor needs to manually move the robotic arm B1 or manually adjust the position and angle of the ultrasound probe 34, the system can detect the force value of pushing and pulling the ultrasound probe clamping assembly 33 through the six-dimensional force sensor 31 and feed it back to the computer platform. When the detected force value reaches the set threshold, the brakes of each joint of the robotic arm B1 are released, thereby achieving smooth dragging of the robotic arm B1.

[0084] Ultrasound monitoring function: The ultrasound probe positioning and multi-dimensional sensing module 30 integrates the ultrasound probe 34. Automatic control or soft dragging of the robotic arm B1 can make the ultrasound probe 34 fit the patient's body surface well. The patient's tissue structure information collected in real time by the ultrasound probe 34 is processed by the ultrasound imaging system to obtain an ultrasound image of the target area during the puncture process, and can provide real-time feedback on the position of the puncture needle a, thereby accurately puncturing the target point and prompting the doctor to avoid bones, dangerous organs and large blood vessels to avoid damage.

[0085] Figure 15 The control circuit of the soft tissue puncture interventional surgical robot in the present invention is demonstrated. The computer platform is the control center. The doctor receives feedback information from the computer platform through the human-computer interaction module and issues control instructions to the computer platform. During the operation, the optical positioning system detects and tracks the optical ball, marking patch and sensing ball in real time, and feeds back the positioning information of each module to the computer platform in real time; the ultrasonic probe and ultrasonic imaging system feed back the tissue structure information of the target area and the position information of the puncture needle in real time to the computer platform during the puncture process; the six-dimensional force sensor and force sensor controller detect the ultrasonic probe and the patient's body surface in real time. The clinical contact force is fed back to the computer platform to control the force of the robotic arm. At the same time, the force value of the doctor's manual pushing and pulling of the ultrasound probe clamping component can also be detected to control the smooth dragging of the robotic arm. The doctor can effectively control the start, continuous movement, stop and other movement states of each module of the system such as the robotic arm and the end puncture actuator (arc positioning module, rotation positioning and puncture guide module) through the foot switch and the computer platform. The signal transmission path is shown in the figure; at the same time, the motor encoder and photoelectric switch integrated in each module can feedback their current position information, and combined with the above-mentioned optical positioning information, precise control of movement can be achieved.

[0086] like Figure 16 As shown, the workflow of the soft tissue puncture interventional surgical robot provided by the present invention includes stages such as surgical planning, surgical registration, and surgical execution.

[0087] Among them, the surgical planning stage includes work steps such as patient preparation, robot positioning, power-on login, optical positioning, data import, image fusion, tissue segmentation and puncture planning (puncture path planning, ultrasound posture planning).

[0088] ① Patient preparation: adjust the operating table and patient position, disinfect the patient's body surface and affix body identification artifacts.

[0089] ②Robot positioning: The various trolleys of the robot system are positioned, the robotic arm trolley is raised and fixed, and the optical identification components are installed.

[0090] ③ Power on and log in: The system is powered on and the account and password are entered. Each motion module moves to the initial state.

[0091] ④Optical positioning: inspect and adjust the optical field of view, and generate coordinates of components such as optical identification components, marker patch groups, and human body identification workpieces.

[0092] ⑤ Import data: Import optical positioning coordinates and preoperative imaging data such as CT, CTA, and PET.

[0093] ⑥ Image fusion: Multimodal image fusion to generate virtual human body.

[0094] ⑦ Tissue segmentation: segmentation of anatomical structures such as skin, bones, organs, blood vessels, and lesion segmentation.

[0095] ⑧Puncture planning: includes puncture path planning and ultrasound posture planning.

[0096] The surgical registration phase includes work steps such as registration preparation, patient registration, and registration verification.

[0097] ① Registration preparation: robot collaborative motion mode selection, foot switch and robot arm smooth drag performance confirmation, interactive guidance, etc.

[0098] ② Patient registration: Form a designated puncture plan.

[0099] ③Registration verification: Complete surgical navigation and puncture positioning simulation according to the specified puncture plan to verify accuracy.

[0100] The surgical execution phase includes work steps such as sterile preparation, target positioning, ultrasound confirmation, ultrasound adjustment and puncture and needle insertion.

[0101] ① Sterile preparation: The end puncture actuator and manual interaction module are installed in sterile bags, and the doctor wears sterile gloves.

[0102] ②Target positioning: Control the movement of the robotic arm and the end puncture actuator to the planned surgical puncture position and the planned ultrasound probe posture.

[0103] ③ Ultrasound confirmation: Confirm whether the ultrasound image meets the surgical requirements. If so, proceed to the next step under the guidance of the ultrasound image. If not, perform ultrasound adjustments.

[0104] ④Ultrasound adjustment: Flexibly drag the ultrasound to find the best ultrasound section and replan the puncture path under the new section.

[0105] ⑤ Puncture and needle insertion: The doctor places the puncture needle into the target point along the guide hole of the terminal needle guide under real-time ultrasound imaging.

[0106] The above embodiments are only for illustrating the technical concept and features of the present invention. Their purpose is to enable people familiar with this technology to understand the contents of the present invention and implement them accordingly. They are not intended to limit the scope of protection of the present invention. Any equivalent changes or modifications made according to the spirit of the present invention should be included in the scope of protection of the present invention.

Claims

1. A soft tissue puncture interventional surgical robot, comprising a distal puncture actuator connected to the distal end of a robotic arm, the distal puncture actuator comprising a mounting base and an arc positioning module connected to one side of the mounting base, the arc positioning module comprising an arc-shaped guide rail, characterized in that: The end puncture actuator also includes an ultrasonic probe positioning and multi-dimensional sensing module, a rotation positioning and puncture guide module, the ultrasonic probe positioning and multi-dimensional sensing module is connected to the bottom of the mounting base and extends downward, the rotation positioning and puncture guide module includes a puncture guide assembly and a rotation positioning module, the puncture guide assembly is used to clamp the puncture needle and is rotatable, the rotation positioning module is slidably arranged on the arc guide rail to drive the puncture guide assembly to rotate, and the rotation direction of the puncture guide assembly is perpendicular to the sliding direction of the rotation positioning module.

2. The soft tissue puncture interventional surgical robot according to claim 1, characterized in that: The ultrasonic probe positioning and multi-dimensional sensing module includes a six-dimensional force sensor, an adapter block, an ultrasonic probe clamping assembly, and an ultrasonic probe. The six-dimensional force sensor is connected to the bottom of the mounting base, the adapter block is connected to the bottom of the six-dimensional force sensor, the ultrasonic probe clamping assembly is connected to the bottom of the adapter block, and the ultrasonic probe is clamped in the ultrasonic probe clamping assembly. The lower end of the ultrasonic probe protrudes downward from the ultrasonic probe clamping assembly, and is used to scan the patient's body surface and provide real-time images of human tissue structures near the lesion during surgery.

3. The soft tissue puncture interventional surgical robot according to claim 2, characterized in that: The six-dimensional force sensor is cylindrical and extends in the vertical direction. The upper end of the six-dimensional force sensor is a fixed end and the lower end is a measuring end. The fixed end is connected to the bottom of the mounting base, and the measuring end is connected to the adapter block.

4. The soft tissue puncture interventional surgical robot according to claim 3, characterized in that: The adapter block is in a flat plate shape and extends in a horizontal direction. The upper surface of the adapter block is connected to the measuring end, and the lower surface of the adapter block is connected to the top of the ultrasonic probe clamping assembly.

5. The soft tissue puncture interventional surgical robot according to claim 4, characterized in that: The ultrasonic probe clamping assembly includes a left clamping block, a right clamping block, and a probe fixing block. The left clamping block and the right clamping block are respectively clamped on the left and right sides of the ultrasonic probe. The bottom of the probe fixing block is connected to the top of the left clamping block and the right clamping block. The top surface of the probe fixing block is fixed to the lower surface of the adapter block and fits therewith.

6. The soft tissue puncture interventional surgical robot according to claim 1, characterized in that: The puncture guide assembly includes a marking patch column, a marking patch, a needle channel positioning piece, and a needle channel guide piece. The marking patch column is in the shape of a polygonal column. The upper end of the marking patch column is engaged with the rotating shaft of the rotation positioning module. The marking patch is attached to the side of the marking patch column. The needle channel positioning piece is connected to the lower end of the marking patch column. The needle channel positioning piece is used to clamp or release the needle channel guide piece. The needle channel guide piece is located on one side of the marking patch column. A guide hole for inserting a puncture needle is provided in the needle channel guide piece. The axis of the guide hole is parallel to the center line of the marking patch column.

7. The soft tissue puncture interventional surgical robot according to claim 6, characterized in that: The upper end of the marking patch column is vertically bent and provided with a U-shaped notch. The end of the rotating shaft of the rotating positioning module is milled with a clamping portion with a rectangular cross section, and the U-shaped notch is clamped on the clamping portion.

8. The soft tissue puncture interventional surgical robot according to claim 7, characterized in that: A magnet is embedded in the inner wall of the U-shaped notch and / or the surface of the clamping portion, and the U-shaped notch is adsorbed on the clamping portion through the magnet.

9. The soft tissue puncture interventional surgical robot according to claim 7, characterized in that: The upper end of the marking patch column is also provided with a top screw hole that passes through the U-shaped notch. The top screw hole is threaded with a top screw. When the U-shaped notch is clamped on the clamping part, the end of the top screw presses against the surface of the clamping part to achieve locking.

10. The soft tissue puncture interventional surgical robot according to claim 7, characterized in that: A plurality of the marking patches are pasted on each side surface of the marking patch column, and the plurality of marking patches are distributed at intervals along the direction of the center line of the marking patch column.

11. The soft tissue puncture interventional surgical robot according to claim 10, characterized in that: The surface of the marking patch is provided with a fluorescent layer so as to be recognized by an optical positioning system.

12. The soft tissue puncture interventional surgical robot according to claim 7, characterized in that: The needle track guide is dumbbell-shaped, with an annular groove in the middle. The needle track positioning member includes a block-shaped body and a floating block floatingly connected to the side wall of the body. The surfaces of the body and / or the opposite sides of the floating block have protrusions. When the floating block moves toward the direction close to the body, the floating block and the surfaces of the opposite sides of the body tighten the outer wall of the needle track guide, and the protrusion is clamped in the annular groove to achieve axial locking.

13. The soft tissue puncture interventional surgical robot according to claim 12, characterized in that: A countersunk hole is provided on the main body, and a connecting bolt is provided in the countersunk hole. The screw end of the connecting bolt is connected to the floating block. A spring is also provided on the connecting bolt, and the two ends of the spring respectively press against the screw head of the connecting bolt and the bottom wall of the countersunk hole. The spring has a tendency to drive the floating block to move closer to the main body.

14. The soft tissue puncture interventional surgical robot according to claim 13, characterized in that: The floating clamping block is connected to a guide rod parallel to the connecting bolt. The guide rods are symmetrically distributed on both sides of the connecting bolt. The ends of the guide rods are slidably inserted into the matching holes provided on the body.

15. The soft tissue puncture interventional surgical robot according to claim 1, characterized in that: The rotation positioning module includes a mounting base, a rotating shaft, a rotating motor, and a worm gear mechanism. The mounting base is fixed on the slide of the arc guide rail, the rotating shaft is rotatably inserted on the mounting base, the rotating motor is connected to the side wall of the mounting base, and the worm gear mechanism is arranged in the mounting base for transmitting the driving force provided by the rotating motor to the rotating shaft to rotate the rotating shaft.

16. The soft tissue puncture interventional surgical robot according to claim 15, characterized in that: The worm gear mechanism is a self-locking worm gear mechanism, which includes a worm gear sleeved on the rotating shaft and a worm gear meshing with the worm gear. The worm gear rotates synchronously with the rotating shaft, and the worm gear is connected to the output shaft of the rotating motor.

17. The soft tissue puncture interventional surgical robot according to claim 15, characterized in that: The rotation positioning module also includes a limiting unit, which includes a rotation limiting groove and a rotation limiting pin. The rotation limiting groove is opened on the rotating shaft and extends along its circumferential direction. The rotation limiting groove is located in the mounting base. The rotation limiting pin is inserted into the insertion hole on the mounting base, and its inner end extends into the rotation limiting groove.

18. The soft tissue puncture interventional surgical robot according to claim 15, characterized in that: The rotation positioning module also includes a detection unit, which includes a photoelectric switch connected to the side wall of the mounting base and a rotating light-shielding plate connected to the end of the rotating shaft. The rotating light-shielding plate extends in the radial direction of the rotating shaft. When the rotating light-shielding plate rotates along the rotating shaft to the center of the photoelectric switch, the photoelectric switch is triggered and the rotation positioning module is in place.

19. The soft tissue puncture interventional surgical robot according to claim 1, characterized in that: The mounting seat is connected to an optical identification component, which includes an optical bracket and an optical ball. The optical bracket is an asymmetric special-shaped bracket, and the optical ball is threadedly connected to the optical bracket.

20. The soft tissue puncture interventional surgical robot according to claim 19, characterized in that: At least four optical balls are provided on each optical bracket. The four optical balls are arranged in a spatial tetrahedron. The surfaces of the optical balls are coated with a fluorescent coating so as to be recognized by the optical positioning system.

21. The soft tissue puncture interventional surgical robot according to claim 1, characterized in that: The arc positioning module includes a bracket for setting the arc guide rail, a slide slidably set on the arc guide rail, a drive motor for driving the slide to slide along the arc guide rail, and a transmission component for transmitting the driving force of the drive motor to the slide.

22. The soft tissue puncture interventional surgical robot according to claim 21, characterized in that: The transmission assembly includes a screw, a screw nut, a slide connecting plate, a linear bearing guide rod, a linear bearing guide rod box, and a connecting shaft. The screw is rotatably arranged on the bracket, and the end of the screw is connected to the output shaft of the driving motor. The screw nut matches the screw and is sleeved on the screw. One end of the slide connecting plate is connected to the screw nut, and the other end is provided with a linear bearing guide rod. The linear bearing guide rod is perpendicular to the screw, and a linear bearing is embedded in the linear bearing. The linear bearing can be slidably sleeved on the linear bearing guide rod. A connecting shaft hole is also provided on the linear bearing guide rod box. One end of the connecting shaft is connected to the slide, and the other end is inserted in the connecting shaft hole. When the screw rotates, the linear bearing guide box both slides along the linear bearing guide rod and rotates along the connecting shaft.

23. The soft tissue puncture interventional surgical robot according to claim 22, characterized in that: There are at least two linear bearing guide rods and they are distributed at intervals. The connecting shaft hole is provided in the middle of the linear bearing guide rod box and is located between the two linear bearing guide rods. A bearing is embedded in the connecting shaft hole. When the connecting shaft is inserted into the connecting shaft hole, the bearing sleeve is provided on the connecting shaft.

24. The soft tissue puncture interventional surgical robot according to claim 22, characterized in that: A motor mounting plate and a screw mounting plate are vertically connected to the bracket, the drive motor is connected to the motor mounting plate, the two ends of the screw are rotatably mounted on the motor mounting plate and the screw mounting plate, the drive motor is located on the side of the motor mounting plate facing the screw mounting plate, the output shaft of the drive motor passes through the motor mounting plate and extends out, and the transmission assembly also includes a synchronous belt assembly arranged between the end of the screw and the output shaft of the drive motor.

25. The soft tissue puncture interventional surgical robot according to claim 21, characterized in that: The slide comprises a slider and an arc-shaped connecting plate. The slider is slidably arranged on the arc-shaped guide rail. One end of the arc-shaped connecting plate is connected to the slider, and the other end is connected to the rotation positioning module.

26. The soft tissue puncture interventional surgical robot according to claim 25, characterized in that: The center of the arc connecting plate and the center of the arc guide rail are located on the same horizontal line, the arc length of the arc connecting plate is greater than the arc length of the arc guide rail, and the sum of the central angles of the arc connecting plate and the arc guide rail is 5π / 6 to 2π / 3.

27. The soft tissue puncture interventional surgical robot according to claim 21, characterized in that: The arc positioning module also includes a hard limit unit and a soft limit unit for limiting the sliding position of the slide. The hard limit unit includes a starting position limit bolt and an ending position limit bolt threadedly connected to the bracket. The starting position limit bolt and the ending position limit bolt are respectively located at the two ends of the arc guide rail. The soft limit unit is arranged between the starting position limit bolt and the ending position limit bolt. The soft limit unit includes a starting position photoelectric switch arranged near the starting position limit bolt, an ending position photoelectric switch arranged near the ending position limit bolt, and a sliding light shielding plate. The starting position photoelectric switch and the ending position photoelectric switch are connected to the bracket. The sliding light shielding plate is connected to the slide and corresponds to the starting position photoelectric switch and the ending position photoelectric switch.

28. The soft tissue puncture interventional surgical robot according to claim 1, characterized in that: The soft tissue puncture interventional surgical robot also includes an intraoperative navigation trolley, a robotic arm trolley and a human body identification workpiece. The intraoperative navigation trolley and the robotic arm trolley are signal-connected. The intraoperative navigation trolley is provided with an optical positioning system. The optical positioning system is used to track and display the positions of the patient identification points, robotic arm identification points, and puncture guide component identification points within the navigation tracking range in real time. The robotic arm trolley includes a robotic arm for connecting the end puncture actuator, an ultrasonic imaging system for displaying the ultrasonic probe positioning and the ultrasonic image of the multi-dimensional sensing module, and a control unit for sensing the contact force between the ultrasonic probe positioning and the multi-dimensional sensing module. The human body identification workpiece is affixed to the patient's body surface. The human body identification workpiece includes a sensing ball with an optical coating on the surface so that it can be recognized by the optical positioning system.

29. The soft tissue puncture interventional surgical robot according to claim 28, characterized in that: The intraoperative navigation trolley also includes a first fuselage, a lifting mechanism and an adjustment bracket. The first fuselage is the main frame of the intraoperative navigation trolley, and casters are installed at the bottom of the first fuselage to support its movement in all directions on the ground. The bottom of the lifting mechanism is fixed on the first fuselage, and the adjustment bracket is fixed on the top of the first fuselage. The adjustment bracket can move up and down under the drive of the lifting mechanism. The adjustment bracket is a multi-joint rotating arm, and the end of the adjustment bracket is connected to the optical positioning system. Pushing and pulling the adjustment bracket can adjust the position of the optical positioning system in the horizontal, vertical and pitch directions.

30. The soft tissue puncture interventional surgical robot according to claim 28, characterized in that: The robotic arm trolley also includes a second body, a support platform, a human-computer interaction module, and a foot switch. The second body is the main frame of the robotic arm trolley, which integrates a power supply, an industrial computer, a robotic arm controller and the control unit. The support platform is located at the bottom of the second body. The support platform is used to lift the robotic arm trolley and stabilize it on the ground. The robotic arm is a 6-joint robotic arm. The bottom of the robotic arm is fixed on the second body. The end of the robotic arm is connected to the end puncture actuator. The human-computer interaction module includes a display touch screen. The foot switch is responsible for motion enable to control the motion state of the soft tissue puncture interventional surgical robot.

Images