Soft tissue puncture interventional surgery robot

Abstract

The soft tissue puncture interventional surgical robot provided by this invention includes an end-effector connected to the end of a robotic arm. The end-effector includes a mounting base and an arc-shaped positioning module connected to one side of the mounting base with an arc-shaped guide rail. By connecting an ultrasound probe positioning and multi-dimensional sensing module to the bottom of the mounting base and extending downwards, the rotational positioning and puncture guiding module includes a puncture guiding component and a rotational positioning module. The puncture guiding component is configured to hold the puncture needle and be rotatable. The rotational positioning module is slidably mounted on the arc-shaped guide rail to drive the rotation of the puncture guiding component. The rotation direction of the puncture guiding component is perpendicular to the sliding direction of the rotational positioning module. This allows for real-time feedback of ultrasound images during surgery, displaying the lesion and puncture needle position. It also provides the puncture guiding component with two degrees of freedom, resulting in a larger relative range of motion and angle, supporting intraoperative ultrasound adjustment and secondary puncture planning. This robot is applicable to most clinical cases.

Description

Technical Field

[0001] This invention belongs to the field of medical device technology, specifically relating to a soft tissue puncture interventional surgery robot. Background Technology

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

[0003] Soft tissue puncture interventional surgery robots typically consist of an optical tracking and positioning device, a trolley (including the main unit), a robotic arm, and an end effector. The end effector, used for positioning and guiding the puncture needle, is the core of the soft tissue puncture interventional surgery robot. Most existing soft tissue puncture interventional surgery robots rely on preoperative CT images of the patient and intraoperative optical tracking and positioning devices to identify markers and the robot's pose for navigation and positioning. However, due to the influence of the patient's breathing, the real-time position of the lesion is dynamic and may not perfectly match the preoperative images. At the same time, during the puncture process, the soft tissue and puncture needle inevitably deform, resulting in certain errors. This makes the current navigation and positioning methods prone to problems such as inaccurate positioning and puncture needles mistakenly puncturing bones, blood vessels, or dangerous organs.

[0004] To address this issue, Chinese patent CN118141521A discloses a puncture robot with ultrasound detection capabilities. This solution is equipped with an ultrasound probe, which can provide real-time feedback on the position of the lesion and the puncture needle during the procedure, effectively reducing puncture risks. However, the ultrasound probe and the puncture needle are designed as a single unit. When the position of the lesion changes and the puncture needle needs to be adjusted, the position of the ultrasound probe will also change accordingly. When the ultrasound effect is not good at the current position and the position of the ultrasound probe needs to be adjusted, the puncture needle will also move. It is difficult to achieve both simultaneously, resulting in some clinical cases where the ultrasound probe cannot be effectively used for image feedback during puncture surgery, thus narrowing the scope of application.

[0005] Meanwhile, when adjusting the position of the puncture needle, most existing methods achieve this through linear movement. After adjustment, the angle of the puncture needle needs to be rotated to align it with the lesion, which is inconvenient. Some methods use a circular arc joint for the puncture needle to slide, such as the puncture movement structure disclosed in Chinese patent CN221712146U. This solution consists of a circular arc joint for adjusting the angle of the puncture needle and an insertion joint for pushing the puncture needle. When the puncture needle slides along the circular arc joint, it can ensure that the angle of the puncture needle is always aligned with the lesion. However, the angle of the puncture needle in this solution cannot be adjusted relative to the circular arc joint. When the puncture needle deviates in position due to deformation during puncture, it is difficult to adjust the angle again without changing the position of the puncture needle. Changing the position of the puncture needle and adjusting its angle are limited by the circular arc joint, making it impossible to select the optimal puncture path according to actual needs. Summary of the Invention

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

[0007] To achieve the above objectives, the technical solution adopted by the present invention is a soft tissue puncture interventional surgical robot, including an end-effector connected to the end of a robotic arm. The end-effector includes a mounting base and an arc-shaped positioning module connected to one side of the mounting base. The arc-shaped positioning module includes an arc-shaped guide rail. The end-effector also includes an ultrasonic probe positioning and multi-dimensional sensing module and a rotational positioning and puncture guiding module. The ultrasonic probe positioning and multi-dimensional sensing module is connected to the bottom of the mounting base and extends downward. The rotational positioning and puncture guiding module includes a puncture guiding component and a rotational positioning module. The puncture guiding component is configured to clamp the puncture needle and is rotatable. The rotational positioning module is slidably mounted on the arc-shaped guide rail to drive the puncture guiding component to rotate. The rotation direction of the puncture guiding component is perpendicular to the sliding direction of the rotational 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, and the ultrasound probe is clamped within the ultrasound probe clamping assembly. The lower end of the ultrasound probe protrudes downward from the ultrasound probe clamping assembly for scanning the patient's body surface and providing real-time images of the human tissue structure near the lesion during the operation.

[0009] More preferably, the six-dimensional force sensor is cylindrical and extends vertically, with the upper end being a fixed end and the lower end being 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] More preferably, the adapter block is flat and extends horizontally, with its upper surface connected to the measuring end and its lower surface connected to the top of the ultrasonic probe clamping assembly.

[0011] More 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. The top surface of the probe fixing block is fixed to and fits against the lower surface of the adapter block.

[0012] Preferably, the puncture guide assembly includes a marker patch post, a marker patch, a needle path positioning component, and a needle path guide. The marker patch post is polygonal in shape, and its upper end is engaged with the rotation axis of the rotary positioning module. The marker patch is adhered to the side of the marker patch post. The needle path positioning component is connected to the lower end of the marker patch post and is used to hold or release the needle path guide. The needle path guide is located on one side of the marker patch post and has a guide hole for inserting a puncture needle. The axis of the guide hole is parallel to the center line of the marker patch post.

[0013] More preferably, the upper end of the marking patch column is vertically bent and has a U-shaped groove, and the end of the rotating shaft of the rotating positioning module is milled with a rectangular cross-section snap-fit ​​part, and the U-shaped groove snaps onto the snap-fit ​​part.

[0014] More preferably, the inner wall of the U-shaped groove and / or the surface of the snap-fit ​​portion are embedded with magnets, and the U-shaped groove is attracted to the snap-fit ​​portion by the magnets.

[0015] More preferably, the upper end of the marking patch post is also provided with a set screw hole that communicates with the U-shaped groove. A set screw is threaded into the set screw hole. When the U-shaped groove is engaged with the engaging part, the end of the set screw abuts against the surface of the engaging part to achieve locking.

[0016] More preferably, each side of the marking patch post is covered with a plurality of marking patches, and the plurality of marking patches are spaced apart along the center line of the marking patch post.

[0017] More preferably, the surface of the marking patch is provided with a fluorescent layer so that it can be identified by an optical positioning system.

[0018] More preferably, the needle guide is dumbbell-shaped with an annular groove in its middle. The needle positioning component includes a block-shaped body and a floating block that is floatingly connected to the side wall of the body. The surfaces of the body and / or the floating block facing each other have protrusions. When the floating block moves toward the body, the surfaces of the floating block and the body facing each other clamp the outer wall of the needle guide. The protrusions engage in the annular groove to achieve axial locking.

[0019] More preferably, the main body is provided with a countersunk hole, 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 sleeved on the connecting bolt. The two ends of the spring abut against the screw head of the connecting bolt and the bottom wall of the countersunk hole, respectively. The spring has the tendency to drive the floating block to move closer to the main body.

[0020] More 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 are slidably inserted into mating holes opened on the body.

[0021] Preferably, the rotary positioning module includes a mounting base, a rotary shaft, a rotary motor, and a worm gear mechanism. The mounting base is fixed to the slide of the arc-shaped guide rail. The rotary shaft is rotatably inserted into the mounting base. The rotary motor is connected to the side wall of the mounting base. The worm gear mechanism is located inside the mounting base and is used to transmit the driving force provided by the rotary motor to the rotary shaft, causing the rotary shaft to rotate.

[0022] More 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 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 rotary motor.

[0023] More preferably, the rotary positioning module further includes a limiting unit, which includes a rotary limiting groove and a rotary limiting pin. The rotary limiting groove is formed on the rotary shaft and extends in its circumferential direction. The rotary limiting groove is located in the mounting base. The rotary limiting pin is inserted into the insertion hole on the mounting base, and its inner end extends into the rotary limiting groove.

[0024] More preferably, the rotary positioning module further 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 radially along the rotating shaft. When the rotating light-shielding plate rotates with the rotating shaft to the center of the photoelectric switch, the photoelectric switch is triggered, and the rotary positioning module is in its original position.

[0025] Preferably, an optical marking assembly is connected to the mounting base. The optical marking assembly includes an optical bracket and an optical ball. The optical bracket is an asymmetrical irregular bracket, and the optical ball is threaded onto the optical bracket.

[0026] More preferably, each optical bracket is provided with at least four optical spheres arranged in a spatial tetrahedral layout, and the surface of the optical spheres is coated with a fluorescent coating so that they can be identified by the optical positioning system.

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

[0028] More preferably, the transmission assembly includes a lead screw, a lead screw nut, a slide connecting plate, a linear bearing guide rod, a linear bearing guide rod box, and a connecting shaft. The lead screw is rotatably mounted on the bracket, and one end of the lead screw is connected to the output shaft of the drive motor. The lead screw nut matches the lead screw and is sleeved on it. One end of the slide connecting plate is connected to the lead screw nut, and the other end is provided with a linear bearing guide rod perpendicular to the lead screw. A linear bearing is embedded in the linear bearing guide rod box, and the linear bearing is slidably sleeved on the linear bearing guide rod. The linear bearing guide rod box also has a connecting shaft hole. One end of the connecting shaft is connected to the slide, and the other end is inserted into the connecting shaft hole. When the lead screw rotates, the linear bearing guide rod box slides along the linear bearing guide rod and rotates along the connecting shaft.

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

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

[0031] More preferably, the slide table includes 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 rotary positioning module.

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

[0033] More preferably, the arc positioning module further includes a hard limiting unit and a soft limiting unit for limiting the sliding position of the slide table. The hard limiting unit includes a starting position limiting bolt and an ending position limiting bolt threadedly connected to the bracket. The starting position limiting bolt and the ending position limiting bolt are respectively located at both ends of the arc-shaped guide rail. The soft limiting unit is disposed between the starting position limiting bolt and the ending position limiting bolt. The soft limiting unit includes a starting position photoelectric switch disposed near the starting position limiting bolt, an ending position photoelectric switch disposed near the ending position limiting 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 table and corresponds to the starting position photoelectric switch and the ending position photoelectric switch.

[0034] Preferably, the soft tissue puncture interventional surgical robot further includes an intraoperative navigation carriage, a robotic arm carriage, and a human body identification device. The intraoperative navigation carriage and the robotic arm carriage are signal-connected. The intraoperative navigation carriage is equipped with an optical positioning system, which is used to track and display the positions of the patient identification point, the robotic arm identification point, and the puncture guide component identification point within the navigation tracking range in real time. The robotic arm carriage includes a robotic arm for connecting to the end-effector, an ultrasound imaging system for displaying the ultrasound probe positioning and multi-dimensional sensing module ultrasound images, and a control unit for sensing the contact force of the ultrasound probe positioning and multi-dimensional sensing module. The human body identification device is affixed to the patient's body surface and includes a sensing ball with an optical coating on its surface for identification by the optical positioning system.

[0035] More preferably, the intraoperative navigation cart further includes a first body, a lifting mechanism, and an adjustment bracket. The first body is the main frame of the intraoperative navigation cart, and casters are installed at its bottom to support its movement in all directions on the ground. The bottom of the lifting mechanism is fixed to the first body, and the top of the lifting mechanism is fixed to the adjustment bracket. 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] More preferably, the robotic arm trolley further includes a second body, a support platform, a human-machine interface module, and a foot switch. The second body is the main frame of the robotic arm trolley, and 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 and is used to lift and stabilize the robotic arm trolley on the ground. The robotic arm is a 6-joint robotic arm, with its bottom fixed to the second body. The end effector of the robotic arm is connected to the end effector. The human-machine interface module includes a touchscreen display, and the foot switch enables movement 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. It has an ultrasound probe positioning and multi-dimensional sensing module, which can provide real-time feedback of ultrasound images during the operation, display the real-time position and posture of the lesion and puncture needle, thereby dynamically guiding the puncture process and avoiding safety risks.

[0039] 2. The puncture guide assembly that holds the puncture needle can slide along the arc-shaped guide rail via the rotation positioning module, and can also rotate under the drive of the rotation positioning module. Compared with the ultrasound probe positioning and multi-dimensional sensing module, it has two degrees of freedom of operation, and a larger range of motion and angle. It supports intraoperative ultrasound adjustment and secondary puncture planning, and can be applied to most clinical cases. Attached Figure Description

[0040] Figure 1 This is a schematic diagram of the soft tissue puncture interventional surgical robot of the present invention.

[0041] Figure 2 yes Figure 1 A three-dimensional schematic diagram of the mid-to-end puncture actuator.

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

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

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

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

[0046] Figure 8 yes Figure 7 A partial 3D view of the mounting base is shown.

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

[0048] Figure 10 yes Figure 9 Front view diagram.

[0049] Figure 11 yes Figure 10 Cross-sectional view along the AA direction.

[0050] Figure 12 yes Figure 10 Cross-sectional view along the BB direction.

[0051] Figure 13 yes Figure 8 A three-dimensional enlarged schematic diagram of the rotating shaft.

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

[0053] Figure 15 This 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 flowchart of the soft tissue puncture interventional surgery robot of the present invention.

[0055] Among them: 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. Ultrasonic imaging system; B4. Support platform; B5. Human-computer interaction module; B6. Foot switch; C. Human body identification workpiece; C1. Induction ball mounting base; C2. Induction ball; C3. Induction ball connecting rod; 10. Mounting base; 11. Optical bracket; 12. Optical ball; 20. Arc positioning module; 21. Arc guide rail; 22. 221. Bracket; 222. Motor mounting plate; 223. Lead screw mounting plate; 224. Motor fixing plate; 23. Slide table; 231. Slider; 232. Arc-shaped connecting plate; 24. Drive motor; 251. Lead screw; 252. Lead screw nut; 253. Slide table 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. Starting position limit bolt; 262. Ending position limit bolt; 263. Starting position photoelectric switch; 264. Ending position... 265. Photoelectric switch; 30. Sliding light shield; 31. Ultrasonic probe positioning and multi-dimensional sensing module; 32. Six-dimensional force sensor; 33. Adapter block; 34. Ultrasonic probe clamping assembly; 35. Left clamping block; 36. Right clamping block; 37. Probe fixing block; 48. Ultrasonic probe; 49. Rotation positioning and puncture guide module; 40. Puncture guide assembly; 41. Marking patch post; 4111. U-shaped groove; 4112. Magnet; 4113. Top screw hole; 412. Marking patch; 4211. Snap-fit ​​part; 4212. Magnet; 413. Needle path positioning component; 4131. Body; 4132. Floating block; 4133. Protrusion; 4134. Countersunk hole; 4135. Connecting bolt; 4136. Spring; 4137. Guide rod; 4138. Mating hole; 414. Needle guide; 4141. Annular groove; 4142. Guide hole; 42. Rotary positioning module; 421. Rotary shaft; 422. Mounting base; 423. Rotary motor; 4241. Turbine; 4242. Worm gear; 4251. Rotary limit groove; 4252. Rotary limit pin; 4253. Photoelectric switch; 4254. Rotary light shield. Detailed Implementation

[0056] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, so that the advantages and features of the present invention can be more readily 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-effector D. The end-effector D is connected to the end of the robotic arm B1 on the robotic arm trolley B. The end-effector D includes a mounting base 10 and an arc-shaped positioning module 20 connected to one side of the mounting base 10. The arc-shaped positioning module 20 includes an arc-shaped guide rail 21. The end-effector D also includes an ultrasonic probe positioning and multi-dimensional sensing module 30, and 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 component 41 and a rotation positioning module 42. The puncture guide component 41 is used to clamp the puncture needle 4 and is rotatable. The rotation positioning module 42 is slidably mounted on the arc-shaped guide rail 21 to drive the puncture guide component 41 to rotate. The rotation direction of the puncture guide component 41 is perpendicular to the sliding direction of the rotation positioning module 42.

[0058] The advantage of this setting is that:

[0059] 1. It has an ultrasound probe positioning and multi-dimensional sensing module, which can provide real-time feedback of ultrasound images during the operation, display the real-time position and posture of the lesion and puncture needle, thereby dynamically guiding the puncture process and avoiding safety risks.

[0060] 2. The puncture guide assembly that holds the puncture needle can slide along the arc-shaped guide rail via the rotation positioning module, and can also rotate under the drive of the rotation positioning module. Compared with the ultrasound probe positioning and multi-dimensional sensing module, it has two degrees of freedom of operation, and a larger range of motion and angle. It supports intraoperative ultrasound adjustment and secondary puncture planning, and can be applied to most clinical cases.

[0061] In this embodiment, the intraoperative navigation carriage A and the robotic arm carriage B are connected by a signal. This signal connection can be achieved through cable connections such as network cables or signal cables, or through wireless communication such as Bluetooth / WIFI. The intraoperative navigation carriage A is responsible for tracking and displaying the positions of patient markers, robotic arm markers, and other markers within the navigation tracking range in real time. The robotic arm carriage B is responsible for implementing the navigation and positioning functions during the operation. It can move the end-effector along a specified path and maintain its position, while simultaneously performing ultrasound image monitoring and contact force sensing. It receives and processes multi-dimensional sensing information from each carriage to provide the physician with the interventional puncture path. The human body marker C is attached to the patient's body surface to mark the puncture needle insertion area.

[0062] Specifically, the intraoperative navigation cart 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 cart A, and its bottom is equipped with casters 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 markers, robotic arm markers, puncture guide component markers, and other markers within the navigation tracking range in real time. The optical positioning system A1 is the core component of the intraoperative navigation cart A and is a real-time passive / active optical tracking system, preferably a Fusiontrack model. The 500 optical measurement system has a lifting mechanism A3 whose bottom is fixed to the first body A2, and an adjustment bracket A4 fixed to its top. The adjustment bracket A4 is a multi-joint rotating arm, and its end is connected to the optical positioning system A1. The adjustment bracket A4 can move up and down under the drive of 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 work together to put the optical positioning system A1 in a suitable position so that all the marker 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-machine interface module B5, and a foot switch B6. The second body B2 is the main frame of the robotic arm trolley B, integrating electrical components such as a power supply, industrial computer, robotic arm controller, and a control unit for sensing the ultrasonic probe positioning 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 main unit placed on the platform of the second body B2. The ultrasonic imaging system B3 is used to display the ultrasonic images of the ultrasonic probe positioning and multi-dimensional sensing module 30. The robotic arm B1 is a 6-joint robotic arm with 6 degrees of freedom. The bottom of the robotic arm B1... The robotic arm B1 is fixed on the platform of the second body B2, and its end is connected to the end-effector via a flange. The robotic arm B1 can move the end-effector to a designated position and maintain a designated posture. The support platform B4 is located at the bottom of the second body B2. Casters are installed on 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 and stabilize the robotic arm trolley B on the ground to enhance the stability of the robotic arm trolley B during use. The human-machine interface module B5 includes a touch screen that can display the ultrasound interface, control interface, etc., and is responsible for feedback or input of commands and other information. The foot switch B6 is responsible for motion enable to control the movement state of the soft tissue puncture interventional surgical robot.

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

[0065] In this embodiment, an optical marking assembly is connected to the mounting base 10. The optical marking assembly includes an optical bracket 11 and an optical ball 12. The optical bracket 11 is an asymmetrical irregular bracket and 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, each optical bracket 11 is provided with four optical balls 12. These four optical balls 12 are arranged in a spatial tetrahedral layout. Under the recognition of the optical positioning system A1, their coordinates can be calculated. The positioning of the module is achieved by 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 mounting the arc-shaped guide rail 21, a slide table 23 slidably mounted on the arc-shaped guide rail 21, a drive motor 24 for driving the slide table 23 to slide along the arc-shaped guide rail 21, and a transmission assembly for transmitting the driving force of the drive motor 24 to the slide table 23. Specifically, the transmission assembly includes a lead screw 251, a lead screw nut 252, a slide table connecting plate 253, a linear bearing guide rod 254, a linear bearing guide rod box 255, and a connecting shaft 256. The lead screw 251 is rotatably mounted on the bracket 22, and its end is connected to the output shaft of the drive motor 24. The lead screw 251 can rotate under the drive of the drive motor 24. The lead screw nut 252 matches the lead screw 251 and is sleeved on the lead screw 251. The slide table connecting plate... One end of the slide plate 253 is connected to the lead screw nut 252, and the other end is provided with a linear bearing guide rod 254. When the lead screw 251 rotates, the slide plate 253 can move linearly synchronously with the lead screw nut 252. The linear bearing guide rod 254 is perpendicular to the lead screw 251. A linear bearing is embedded in the linear bearing guide rod box 255. The linear bearing is slidably sleeved on the linear bearing guide rod 254. A connecting shaft hole 257 is also provided on the linear bearing guide rod box 255. 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 lead 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 lead screw nut 252 into the arc-shaped sliding of the slide 23.

[0067] Specifically, there are two linear bearing guide rods 254 that are spaced apart. The connecting shaft hole 257 is located in the middle of the linear bearing guide rod box 255 and between the two linear bearing guide rods 254. The connecting shaft hole 257 is fitted with a bearing 258. 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 ensure a compact design, in this embodiment, a motor mounting plate 221 and a lead screw mounting plate 222 are vertically connected to the bracket 22. A drive motor 24 is connected to the motor mounting plate 221. The two ends of the lead screw 251 are rotatably mounted on the motor mounting plate 221 and the lead screw mounting plate 222. The drive motor 24 is located on the side of the motor mounting plate 221 facing the lead screw mounting plate 222 and is fixed by a 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 located between the end of the lead 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 lead screw 251 to rotate, thereby causing the lead screw nut 252 and the slide connecting plate 253 fixed on the lead screw nut 252 to move linearly along the lead screw 251.

[0069] To ensure that the relative movement range between the puncture guide assembly 41 and the ultrasound probe positioning and multidimensional sensing module 30 is sufficiently large when the rotary positioning module 42 slides along the arc-shaped guide rail 21, in this embodiment, the slide table 23 includes a slider 231 and an arc-shaped connecting plate 232. The slider 231 is slidably disposed on the arc-shaped 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 rotary positioning module 42. Furthermore, 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 positioning, in this embodiment, the arc positioning module 20 further includes a hard limiting unit and a soft limiting unit for limiting the sliding position of the slide table 23. The hard limiting unit is used to prevent mechanical collisions caused by the slide table 23 exceeding its movement limits during electrical faults. The hard limiting 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-shaped guide rail 21. The soft limiting unit is located at the starting position limiting bolt 261. Between 61 and the termination position limiting bolt 262, the soft limiting unit includes a starting position photoelectric switch 263 located near the starting position limiting bolt 261, a termination position photoelectric switch 264 located near the termination position limiting bolt 262, and a sliding light-shielding plate 265. The starting position photoelectric switch 263 and the termination position photoelectric switch 264 are connected to the bracket 22, and the sliding light-shielding plate 265 is connected to the arc-shaped connecting plate 232 of the slide table 23 and corresponds to the starting position photoelectric switch 263 and the termination position photoelectric switch 264.

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

[0072] Specifically, the six-dimensional force sensor 31 is cylindrical and extends vertically. 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 screws, and the measuring end is fixed to the top of the adapter block 32 by screws. When the patient's body surface contacts the ultrasound probe 34, or when the doctor holds and pulls the ultrasound probe clamping assembly 33, the contact force is transmitted to the measuring end of the six-dimensional force sensor 31 and the magnitude and direction of the force are detected in real time. The adapter block 32 is flat and extends horizontally. The upper surface of the adapter block 32 is parallel to the surface of the ultrasound probe. The measuring end 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. The top surface of the probe fixing block 333 is locked and fixed to the lower surface of the adapter block 32 by screws and fits against it.

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

[0074] In this embodiment, the marking patch post 411 and the rotating shaft 421 are quick-release snap-fit, allowing the insertion angle of the puncture needle a to be adjusted as the rotating shaft 421 rotates. Specifically, the upper end of the marking patch post 411 is vertically bent and has a U-shaped groove 4111. The end of the rotating shaft 421 of the rotating positioning module 42 is milled with a rectangular snap-fit ​​portion 4211, and the U-shaped groove 4111 snaps onto the snap-fit ​​portion 4211. Furthermore, magnets 4112 and 4212 are embedded in the inner wall of the U-shaped groove 4111 and the surface of the snap-fit ​​portion. The U-shaped groove 4111... The marking patch post 4111 and the rotating shaft 421 are attracted to the snap-fit ​​part 4211 by magnets 4112 and 4212, realizing quick-release snap-fit ​​between the marking patch post 411 and the rotating shaft 421. In order to avoid the relative position of the marking patch post 411 and the rotating shaft 421 changing during the operation, the upper end of the marking patch post 411 is further provided with a set screw hole 4113 that communicates with the U-shaped groove 4111. The set screw hole 4113 is internally threaded with a set screw. When the U-shaped groove 4111 is snapped onto the snap-fit ​​part 4211, the end of the set screw abuts against the surface of the snap-fit ​​part 4211 to achieve locking.

[0075] Furthermore, two marker patches 412 are affixed to each side of the marker patch post 411. These two marker patches 412 are spaced apart along the center line of the marker patch post 411. The surface of the marker 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 guide 414. Since two marker patches 412 are affixed to each side of the marker patch post 411, the optical positioning system A1 can identify the marking points provided by the marker patches 412 regardless of the posture of the end puncture actuator.

[0076] In this embodiment, the needle guide 414 is dumbbell-shaped, with an annular groove 4141 in its middle. The needle positioning member 413 includes a block-shaped body 4131 and a floating block 4132 that is floatingly connected to the side wall of the body 4131. The surfaces of the body 4131 and the floating block 4132 facing each other have protrusions 4133. When the floating block 4132 moves towards the body 4131, the surfaces of the floating block 4132 and the body 4131 facing each other clamp the outer wall of the needle guide 414, and the protrusions 4133 engage in the annular groove 4141 to achieve axial locking. Furthermore, a countersunk hole 4134 is provided on the body 4131, and a needle positioning member is provided in the countersunk hole 4134. A connecting bolt 4135 is provided, with its threaded end connected to a floating block 4132. A spring 4136 is also fitted onto the connecting bolt 4135, with both ends of the spring 4135 abutting against the threaded 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 body 4131. To further improve stability, a guide rod 4137 parallel to the connecting bolt 4135 is connected to the floating block 4132. The guide rods 4137 are symmetrically distributed on both sides of the connecting bolt 4135, and the ends of the guide rods 4137 can slide through the mating hole 4138 opened on the body 4131.

[0077] In this embodiment, the rotary positioning module 42 includes a rotary shaft 421, a mounting base 422, a rotary motor 423, and a worm gear mechanism. The rotary shaft 421 is rotatably inserted into the mounting base 422, which is fixed to the end of the arc-shaped connecting plate 232 of the slide table 23. The rotary motor 423 is connected to the side wall of the mounting base 421. The worm gear mechanism is located inside the mounting base 422 and is used to transmit the driving force provided by the rotary motor 423 to the rotary 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 worm gear mechanism is further a self-locking worm gear mechanism. The worm gear mechanism includes a worm gear 4241 sleeved on the rotating shaft 421 and a worm gear 4242 meshing with the worm gear 4241. The worm gear 4241 rotates synchronously with the rotating shaft 421, and the worm gear 4242 is connected to the output shaft of the rotary motor 423.

[0078] To limit the rotation angle of the rotating shaft 421, in this embodiment, the rotation positioning module further includes a limiting unit. The limiting unit includes a rotation limiting groove 4251 and a rotation limiting pin 4252. The rotation limiting groove 4251 is formed on the rotating shaft 421 and extends along its circumferential direction, with a central angle of 45°. The rotation limiting groove 4251 is located within the mounting base 422. The rotation limiting pin 4252 is inserted into the insertion hole 4221 on the mounting base 422, with its inner end extending into the rotation limiting groove 4251 to eliminate the rotation angle caused by the rotating shaft 421. To mitigate the risk of mechanical collision caused by excessive rotation, and 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 rotation shaft 421. The rotating light-shielding plate 4254 extends radially along the rotation shaft 421. When the rotating light-shielding plate 4254 rotates with the rotation shaft 421 to the center of the photoelectric switch 4253, the photoelectric switch 4253 is triggered, and the rotation positioning module 42 returns to its original position.

[0079] This invention reconstructs a three-dimensional model based on the patient's CT data before surgery. After the physician determines the target lesion for puncture, the robot customizes the surgical plan. During the operation, using multi-loop feedback information (mechanical, optical, and ultrasound imaging), the physician can control the robotic arm and end-effector to reach the designated position and maintain a suitable posture, ultimately providing the physician with the interventional puncture path and assisting the physician in completing the interventional surgery. At the same time, the soft tissue puncture interventional surgery robot provided by this invention has multiple functions such as optical positioning, high-precision motion, force sensing, ultrasound monitoring, and compliant dragging.

[0080] Optical positioning function: The optical positioning system A1 can detect and track the optical ball 12, the marker patch 412 and the sensing ball C2 in real time, thereby calculating the spatial coordinates of the above-mentioned inspected components and realizing the real-time positioning of the ultrasound 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 operating degrees of freedom, achieving sub-millimeter level precision. It can accurately move the end-effector to a designated position and maintain a designated posture. The arc positioning module 20 has 1 operating degree of freedom, which can accurately move the rotation positioning and puncture guide module 40 along the designed arc path to a designated position and maintain stability. The rotation positioning and puncture guide module 40 has 1 operating degree of freedom, which can rotate the puncture guide component 41 to a designated 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 to achieve good contact between the ultrasound probe 34 and the patient's body surface and avoid excessive contact force that could damage the patient.

[0083] Compliant 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 joints of the robotic arm B1 release the brake, thereby realizing the compliant 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 smooth dragging of the robotic arm B1 can make the ultrasound probe 34 fit well against the patient's body surface. The ultrasound probe 34 collects the patient's tissue structure information in real time, which is processed by the ultrasound imaging system to obtain the ultrasound image of the target area during the puncture process. It can also provide real-time feedback on the position of the puncture needle a, thereby accurately puncturing into the target point and prompting the doctor to avoid bones, dangerous organs and major blood vessels to avoid damage.

[0085] Figure 15 This invention demonstrates the control loop of a soft tissue puncture interventional surgical robot. The computer platform serves as the control center. The surgeon receives feedback information from the computer platform and issues control commands via a human-computer interaction module. During the procedure, the optical positioning system detects and tracks the optical ball, marker patch, and sensor ball in real time, feeding back the positioning information of each module to the computer platform. The ultrasound probe and ultrasound imaging system feed back the tissue structure information of the target area and the position information of the puncture needle to the computer platform in real time. A six-dimensional force sensor and force sensor controller monitor the interaction between the ultrasound probe and the patient's body surface in real time. Clinical contact force feedback is sent to the computer platform for force control of the robotic arm. At the same time, the force value of the doctor manually pushing and pulling the ultrasound probe clamping component can be detected to smoothly drag the robotic arm. The doctor can effectively control the start, continuous movement, stop and other motion states of the robotic arm, end-effector (circular positioning module, rotary positioning and puncture guide module) and other modules of the system 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 provide feedback on their current position information. Combined with the above optical positioning information, precise motion control can be achieved.

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

[0087] The surgical planning stage includes steps such as patient preparation, robot positioning, login, optical positioning, data import, image fusion, tissue segmentation, and puncture planning (puncture path planning and ultrasound pose planning).

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

[0089] ② Robot positioning: Position each robot vehicle in the robot system, raise and fix the robotic arm vehicle, and install optical marking components.

[0090] ③ Power on and log in: The system powers on and logs in with the account and password. Each motion module moves to its initial state.

[0091] ④ Optical positioning: Optical field of view inspection and adjustment, generating coordinates of various components such as optical marking components, marker patch groups, and human body marking workpieces.

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

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

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

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

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

[0097] ① Registration Preparation: Selecting the robot's collaborative motion mode, confirming the smooth dragging performance of the foot switch and robotic arm, and completing the interactive guidance, etc.

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

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

[0100] The surgical procedure includes steps such as aseptic preparation, target localization, ultrasound confirmation, ultrasound adjustment, and needle insertion.

[0101] ① Aseptic preparation: The terminal puncture actuator and the manual interaction module are fitted with sterile bags, and the doctor wears sterile gloves.

[0102] ② Target localization: Control the movement of the robotic arm and end-effector to reach the planned surgical puncture location and the planned ultrasound probe position.

[0103] ③ Ultrasound Confirmation: Confirm whether the ultrasound image meets the surgical requirements. If it does, proceed to the next step under the guidance of the ultrasound image; otherwise, perform ultrasound adjustments.

[0104] ④ Ultrasonic adjustment: Gently drag the ultrasound to find the optimal ultrasound section, and re-plan the puncture path under the new section.

[0105] ⑤ Puncture and needle insertion: Under real-time ultrasound imaging, the doctor inserts the puncture needle into the target point along the guide hole of the end needle channel guide.

[0106] The above embodiments are only for illustrating the technical concept and features of the present invention. Their purpose is to enable those skilled in the art to understand the content of the present invention and implement it accordingly. They should not be used to limit the scope of protection of the present invention. All equivalent changes or modifications made in accordance with the spirit and essence of the present invention should be covered within the scope of protection of the present invention.

Claims

1. A soft tissue puncture interventional surgical robot, comprising an end-effector connected to the end of a robotic arm, the end-effector comprising: Mounting base; An arc positioning module, including an arc-shaped guide rail, is connected to one side of the mounting base; An ultrasonic probe positioning and multi-dimensional sensing module is connected to the bottom of the mounting base and extends downwards; Including a puncture guide assembly and a rotary positioning and puncture guide module; Its features are: The arc positioning module includes a bracket for mounting an arc-shaped guide rail, a slide table slidably mounted on the arc-shaped guide rail, a drive motor for driving the slide table to slide along the arc-shaped guide rail, and a transmission component for transmitting the driving force of the drive motor to the slide table. The bracket is vertically connected to a motor mounting plate and a lead screw mounting plate. The drive motor is connected to the motor mounting plate and is located on the side of the motor mounting plate facing the lead screw mounting plate. The output shaft of the drive motor passes through the motor mounting plate and extends out. The slide table includes a slider and an arc-shaped connecting plate. The slider is slidably mounted on the arc-shaped guide rail. The two ends of the arc-shaped connecting plate are connected to the slider and the rotary positioning module, respectively. The center of the arc-shaped connecting plate and the center of the arc-shaped guide rail are on the same horizontal line. The arc length of the arc-shaped connecting plate is greater than the arc length of the arc-shaped guide rail. The transmission assembly includes a lead screw, a lead screw nut, a slide connecting plate, a linear bearing guide rod, a linear bearing guide rod box, a connecting shaft, and a synchronous belt assembly. The two ends of the lead screw are rotatably mounted on the motor mounting plate and the lead screw mounting plate, respectively. The end of the lead screw is connected to the output shaft of the drive motor. The lead screw nut matches the lead screw and is sleeved on it. One end of the slide connecting plate is connected to the lead screw nut, and the other end has a linear bearing guide rod perpendicular to the lead screw. There are at least two linear bearing guide rods spaced apart. A linear bearing is embedded in the linear bearing guide rod box, and the linear bearing is slidably sleeved on the linear bearing guide rod. One end of the connecting shaft is connected to the slide, and the other end is inserted into a connecting shaft hole in the linear bearing guide rod box. The connecting shaft hole is located in the middle of the linear bearing guide rod box and 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 is sleeved on the connecting shaft. The synchronous belt assembly is located between the end of the lead screw and the output shaft of the drive motor. The puncture guide assembly is used to clamp the puncture needle and is rotatable. The rotary positioning module is slidably mounted on the arc-shaped guide rail to drive the puncture guide assembly to rotate. The rotation direction of the puncture guide assembly is perpendicular to the sliding direction of the rotary positioning module.

2. The soft tissue puncture interventional surgical robot according to claim 1, characterized in that: 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, and the ultrasound probe clamping assembly is connected to the bottom of the adapter block. The ultrasound probe is clamped within the ultrasound probe clamping assembly, and the lower end of the ultrasound probe protrudes downward from the ultrasound probe clamping assembly for scanning the patient's body surface and providing real-time images of the human tissue structure 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 vertically. 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 flat and extends horizontally. The upper surface of the adapter block is connected to the measuring end, and the lower surface 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 and fits against the lower surface of the adapter block.

6. The soft tissue puncture interventional surgical robot according to claim 1, characterized in that: The puncture guide assembly includes a marker patch post, a marker patch, a needle path positioning component, and a needle path guide. The marker patch post is polygonal in shape, and its upper end is engaged with the rotation axis of the rotary positioning module. The marker patch is adhered to the side of the marker patch post. The needle path positioning component is connected to the lower end of the marker patch post and is used to hold or release the needle path guide. The needle path guide is located on one side of the marker patch post and has a guide hole for inserting a puncture needle. The axis of the guide hole is parallel to the center line of the marker patch post.

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 has a U-shaped groove. The end of the rotating shaft of the rotating positioning module is milled with a rectangular cross-section snap-fit ​​part, and the U-shaped groove snaps onto the snap-fit ​​part.

8. The soft tissue puncture interventional surgical robot according to claim 7, characterized in that: The inner wall of the U-shaped groove and / or the surface of the snap-fit ​​part are embedded with magnets, and the U-shaped groove is attracted to the snap-fit ​​part by the magnets.

9. The soft tissue puncture interventional surgical robot according to claim 7, characterized in that: The upper end of the marking patch post is also provided with a set screw hole that communicates with the U-shaped groove. A set screw is threaded into the set screw hole. When the U-shaped groove is engaged with the engaging part, the end of the set screw abuts against the surface of the engaging part to achieve locking.

10. The soft tissue puncture interventional surgical robot according to claim 7, characterized in that: Each side of the marking patch column is covered with a plurality of marking patches, which are spaced apart along 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 marker patch is provided with a fluorescent layer so that it can be identified by an optical positioning system.

12. The soft tissue puncture interventional surgical robot according to claim 7, characterized in that: The needle guide is dumbbell-shaped with an annular groove in its middle. The needle positioning component includes a block-shaped body and a floating block that is floatingly connected to the side wall of the body. The opposing surfaces of the body and / or the floating block have protrusions. When the floating block moves toward the body, the opposing surfaces of the floating block and the body clamp the outer wall of the needle guide. The protrusions engage in the annular groove to achieve axial locking.

13. The soft tissue puncture interventional surgical robot according to claim 12, characterized in that: The main body is provided with a countersunk hole, and a connecting bolt is inserted into the countersunk hole. The screw end of the connecting bolt is connected to the floating block. A spring is also sleeved on the connecting bolt. The two ends of the spring abut against the screw head of the connecting bolt and the bottom wall of the countersunk hole, respectively. The spring has the 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 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 are slidably inserted into mating holes opened on the body.

15. The soft tissue puncture interventional surgical robot according to claim 1, characterized in that: The rotary positioning module includes a mounting base, a rotating shaft, a rotary motor, and a worm gear mechanism. The mounting base is fixed to the slide of the arc-shaped guide rail. The rotating shaft is rotatably inserted into the mounting base. The rotary motor is connected to the side wall of the mounting base. The worm gear mechanism is located inside the mounting base and is used to transmit the driving force provided by the rotary motor to the rotating shaft, causing the rotating shaft to rotate.

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

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

18. The soft tissue puncture interventional surgical robot according to claim 15, characterized in that: The rotary 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 shield connected to the end of the rotating shaft. The rotating light shield extends radially along the rotating shaft. When the rotating light shield rotates with the rotating shaft to the center of the photoelectric switch, the photoelectric switch is triggered, and the rotary positioning module is in its original position.

19. The soft tissue puncture interventional surgical robot according to claim 1, characterized in that: An optical marking assembly is connected to the mounting base. The optical marking assembly includes an optical bracket and an optical ball. The optical bracket is an asymmetrical, irregularly shaped bracket, and the optical ball is threaded onto the optical bracket.

20. The soft tissue puncture interventional surgical robot according to claim 19, characterized in that: Each optical bracket is provided with at least four optical spheres arranged in a spatial tetrahedral layout. The surface of each optical sphere is coated with a fluorescent coating so that it can be identified by the optical positioning system.

21. The soft tissue puncture interventional surgical robot according to claim 1, characterized in that: The sum of the central angles of the arc-shaped connecting plate and the arc-shaped guide rail is between 5π / 6 and 2π / 3.

22. The soft tissue puncture interventional surgical robot according to claim 1, characterized in that: The arc positioning module further includes a hard limiting unit and a soft limiting unit for limiting the sliding position of the slide table. The hard limiting unit includes a starting position limiting bolt and an ending position limiting bolt threaded onto the bracket. The starting position limiting bolt and the ending position limiting bolt are respectively located at both ends of the arc-shaped guide rail. The soft limiting unit is disposed between the starting position limiting bolt and the ending position limiting bolt. The soft limiting unit includes a starting position photoelectric switch disposed near the starting position limiting bolt, an ending position photoelectric switch disposed near the ending position limiting bolt, and a sliding light shield. The starting position photoelectric switch and the ending position photoelectric switch are connected to the bracket, and the sliding light shield is connected to the slide table and corresponds to the starting position photoelectric switch and the ending position photoelectric switch.

23. 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 carriage, a robotic arm carriage, and a human body identification device. The intraoperative navigation carriage and the robotic arm carriage are signal-connected. The intraoperative navigation carriage is equipped with an optical positioning system, which is used to track and display the positions of patient identification points, robotic arm identification points, and puncture guide component identification points within the navigation tracking range in real time. The robotic arm carriage includes a robotic arm for connecting to the end-effector, an ultrasound imaging system for displaying ultrasound images from the ultrasound probe positioning and multi-dimensional sensing module, and a control unit for sensing the contact force of the ultrasound probe positioning and multi-dimensional sensing module. The human body identification device is affixed to the patient's body surface and includes a sensor ball with an optical coating on its surface for identification by the optical positioning system.

24. The soft tissue puncture interventional surgical robot according to claim 23, characterized in that: The intraoperative navigation cart also includes a first body, a lifting mechanism, and an adjustment bracket. The first body is the main frame of the intraoperative navigation cart, and its bottom is equipped with casters to support its movement in all directions on the ground. The bottom of the lifting mechanism is fixed to the first body, and the top of the lifting mechanism is fixed to the adjustment bracket. 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.

25. The soft tissue puncture interventional surgical robot according to claim 23, characterized in that: The robotic arm trolley also includes a second body, a support platform, a human-machine interface module, and a foot switch. The second body is the main frame of the robotic arm trolley, and it 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 and is used to lift and stabilize the robotic arm trolley on the ground. The robotic arm is a 6-joint robotic arm, and its bottom is fixed to the second body. The end of the robotic arm is connected to the end-effector. The human-machine interface module includes a touch screen display, and the foot switch is responsible for enabling motion to control the movement state of the soft tissue puncture interventional surgical robot.

Images