Auxiliary renal puncture device for nephrology department

Abstract

The invention discloses an auxiliary renal puncture device for the nephrology department, and belongs to the technical field of renal puncture, the auxiliary renal puncture device comprises a sickbed, a plurality of supporting legs are fixedly arranged at the bottom of the sickbed, fixing plates are fixedly arranged on the two sides of the sickbed, and second sliding blocks are slidably connected to one sides of the two fixing plates; the breathing frequency and amplitude of a patient are captured in real time through an infrared breathing monitoring module, and displacement data generated by breathing of the kidney are accurately obtained in combination with motion sensing modules such as a lead screw encoder and a driving gear angle encoder. The intelligent control system drives the first stepping motor and the second stepping motor to adjust the position of the portal frame based on six-dimensional force sensor data of the force sensing module, meanwhile, the angle of the puncture needle is adjusted in real time through feedback of a mechanical arm joint encoder, and dynamic compensation of kidney respiratory movement is achieved. According to the mechanism, the puncture deviation caused by breathing can be controlled within the range of + / -0.5 mm, the puncture positioning precision is remarkably improved, and poor sample quality or operation risks caused by breathing movement are avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of renal puncture, and more particularly to a nephrology-assisted renal puncture device. Background Art

[0002] In clinical diagnosis of nephrology, renal puncture biopsy is an important means to obtain kidney tissue samples to clarify the pathological type. Traditional renal puncture operations rely on the doctor to manually control the puncture needle. However, the patient's respiratory movement can cause the kidney to move up and down by about 1-3 cm. The existing puncture device lacks real-time tracking and dynamic compensation mechanism for respiratory movement, which can easily cause puncture position deviation, affect the quality of pathological samples, and even cause complications such as kidney bleeding and infection. In addition, traditional devices mostly use a single ultrasound image for guidance. Affected by individual differences of patients, obesity, intestinal gas and other factors, the kidney boundaries and internal structures are not clearly displayed, making it difficult to accurately plan the puncture path, increasing the risk of damaging kidney blood vessels or important structures.

[0003] Existing renal puncture assist devices also have the problems of cumbersome operation and high labor intensity for doctors. Doctors need to take into account the patient's breathing rhythm, image guidance and puncture force control at the same time. Prolonged operation can easily lead to fatigue and affect puncture accuracy. In addition, traditional devices lack effective pressure feedback and automatic hemostasis functions, making it difficult to accurately control the force and depth of the needle during the puncture process. Postoperative bleeding at the puncture site also requires additional treatment by the doctor, which prolongs the operation time and increases the risk to the patient. Therefore, the existence of a nephrology-assisted renal puncture device is crucial. Summary of the Invention

[0004] The object of the present invention is to provide a nephrology-assisted renal puncture device to solve the problems raised in the above background technology.

[0005] A nephrology-assisted renal puncture device comprises a hospital bed, wherein a plurality of supporting legs are fixedly provided at the bottom of the hospital bed, a fixed plate is fixedly provided on both sides of the hospital bed, a second slider is slidably connected to one side of the two fixed plates, a first driving mechanism is fixedly provided at the bottom of the second slider on one of the fixed plates, the first driving mechanism is used to drive the sliding of the second slider, an arc-shaped gantry is fixedly provided between the two second sliders, the arc-shaped gantry is slidably provided on the top of the hospital bed, a control box is slidably connected to the outside of the hospital bed, a second driving mechanism is rotatably provided inside the control box, an infrared respiratory monitoring module is fixedly provided on one side of the control box, an intelligent robotic arm is rotatably provided on one side of the infrared respiratory monitoring module, a fixed sleeve is fixedly provided at the end of the intelligent robotic arm, a handle is fixedly provided on one side of the fixed sleeve, a puncture needle is threadedly fixed to the inside of the fixed sleeve, and an intelligent control system is fixedly provided inside the control box.

[0006] Preferably, the first driving mechanism includes a second fixed seat fixedly arranged on one side of one of the fixed plates, a first stepper motor is fixedly arranged on one side of the second fixed seat, two first fixed seats are fixedly arranged on one side of the fixed plate provided with the second fixed seat, a screw rod is rotatably arranged between the two first fixed seats, one end of the screw rod is fixedly connected to the output end of the first stepper motor, a first slider is fixedly arranged at the bottom of the second slider provided on one side of the first stepper motor, and the first slider is threadedly connected to the outer side of the screw rod.

[0007] Preferably, the second driving mechanism includes a driving gear rotatably arranged inside the control box, and the control box is fixedly provided with a second stepper motor on the side away from the intelligent robotic arm, the output end of the second stepper motor passes through the control box and is fixedly connected to the driving gear, the top of the arc-shaped gantry is fixedly provided with a tooth groove, the bottom of the driving gear is meshed with the top of the tooth groove, and a clamping mechanism is rotatably provided on one side of the interior of the control box, and the clamping mechanism is slidably clamped on the outside of the arc-shaped gantry.

[0008] Preferably, the clamping mechanism includes four pulleys rotatably arranged inside the control box, and the arc-shaped gantry is fixedly provided with a slot on one side close to the four pulleys. The four pulleys are arranged in pairs on the upper and lower sides of the slot and are all slidably connected to the slot.

[0009] Preferably, a slide rail is fixedly provided on one side of the two fixed plates, and a clamping groove is provided on the inner side of the two first sliding blocks, and the first sliding blocks are respectively slidably clamped on the outer sides of the two slide rails through the clamping groove.

[0010] Preferably, the intelligent robotic arm includes a rotating base rotatably arranged on one side of the control box, a first robotic arm is rotatably arranged on the rotating base, a second robotic arm is rotatably arranged on one side of the first robotic arm, a third robotic arm is rotatably arranged on one side of the second robotic arm, a telescopic assembly is fixedly arranged on one side of the third robotic arm, a fourth robotic arm is rotatably arranged on one side of the telescopic assembly, the fixed sleeve is fixedly arranged on one side of the fourth robotic arm, a servo motor and harmonic reducer combination are fixedly arranged between the first, second and third robotic arms and the telescopic assembly and the fourth robotic arm, and are all rotated by the servo motor and harmonic reducer combination.

[0011] Preferably, a threaded hole is fixedly provided inside the fixing sleeve, a connecting handle is fixedly provided at one end of the puncture needle, a twist block is fixedly provided on the outside of the connecting handle, the twist block is threadedly connected to the threaded hole, and a drainage hole is opened between the puncture needle and the inside of the connecting handle.

[0012] Preferably, the intelligent control system includes a force sensing module, a motion sensing module, an image fusion unit, a power control module and a pressure feedback unit. The force sensing module includes a six-dimensional force sensor and a strain gauge pressure sensor. The six-dimensional force sensor is embedded in the inner side of the handle to detect the three-dimensional operating force and torque applied by the doctor in real time. The strain gauge pressure sensor is arranged at the contact point between the second slider and the slide rail to monitor the friction resistance during the horizontal movement of the gantry. The motion sensing module includes a screw encoder, a drive gear angle encoder and a robotic arm joint encoder. The screw encoder is arranged at the end of the screw to feedback The horizontal displacement of the gantry is fed, the driving gear angle encoder is coaxially arranged with the driving gear, and is used to feedback the arc displacement of the control box on the gantry, the mechanical arm joint encoder is built-in and arranged inside the servo motor and harmonic reducer combination, and is used to feedback the angle of each joint of the mechanical arm, the image fusion unit includes an image processor and a data input end component thereof, the image processor is arranged inside the control box, the data input end component includes an infrared respiratory monitoring module, a miniature ultrasonic probe and a CT / MRI data interface, the infrared respiratory monitoring module is fixedly arranged on one side of the control box, and the miniature ultrasonic probe is rotatably arranged on The CT / MRI data interface is provided on the outside of the fourth robotic arm and on the side of the control box. The image processor fuses the real-time ultrasound image, the preoperative CT / MRI image and the respiratory motion data through the feature point registration algorithm to generate a three-dimensional dynamic model of the kidney. The power-assistance control module includes a PLC controller and a motor drive assembly. The PLC controller is provided inside the control box. The motor drive assembly includes a first stepper motor, a second stepper motor and a robotic arm servo motor. The first stepper motor is fixedly provided on one side of the second fixing seat, and the second stepper motor is fixedly provided on the side of the control box away from the intelligent robotic arm. The robotic arm servo motor and harmonic reducer combination are arranged at the rotation connection of the first robotic arm, the second robotic arm, the third robotic arm, the telescopic assembly and the fourth robotic arm. The PLC controller generates a power assist strategy through a fuzzy logic algorithm based on the force sensing module data and the kidney three-dimensional model of the image fusion unit, and drives each motor to output auxiliary power. The pressure feedback unit includes a micro pressure sensor and a signal transmission component thereof. The micro pressure sensor is axially arranged inside the puncture needle. The signal transmission component includes a wire arranged in the drainage hole. The micro pressure sensor is electrically connected to the PLC controller through the wire.

[0013] Preferably, the control logic of the intelligent control system includes a mobile power-assistance mode, a precise positioning mode and a puncture locking mode;

[0014] The mobile assist mode is set as follows: when the six-dimensional force sensor detects that the operating force applied by the doctor is greater than 5N, the PLC controller drives the first stepper motor and the second stepper motor to output assist according to the force vector decomposition result, and at the same time predicts the renal respiratory displacement through the infrared respiratory monitoring module to adjust the horizontal position of the gantry in advance;

[0015] The precise positioning mode is set as follows: when the operating force is less than 2N and the duration is greater than 2s, the PLC controller switches to the image-guided mode, identifies the edge of the kidney target area through the micro-ultrasound probe, and automatically fine-tunes the gantry position and the robotic arm angle to align the puncture needle with the target point;

[0016] The puncture locking mode is set as follows: after the doctor confirms the puncture instruction, the PLC controller controls the first stepper motor and the second stepper motor to lock, and at the same time adjusts the extension and retraction amount of the robotic arm in real time according to the pressure sensor data to compensate for the respiratory movement of the kidney.

[0017] Preferably, the intelligent control system is provided with a safety redundancy mechanism, including hardware protection components, software monitoring logic and backup power supply;

[0018] The hardware protection component includes a hard limit provided on the six-axis force sensor and an overload protection provided on the pressure sensor;

[0019] The software monitoring logic is set as follows: the PLC controller monitors the rate of change of each sensor data in real time, and if ΔF / Δt>10N / s, it immediately triggers an emergency stop of all motors;

[0020] The backup power supply is configured as follows: a UPS power supply is provided inside the control box to ensure that the current puncture process is completed and exited safely in the event of a sudden power outage.

[0021] Compared with the prior art, the advantages of the present invention are:

[0022] The infrared respiratory monitoring module captures the patient's respiratory rate and amplitude in real time. Combined with motion sensing modules such as a lead screw encoder and a drive gear angle encoder, this module accurately captures renal displacement data due to respiration. Based on the six-dimensional force sensor data from the force sensing module, the intelligent control system drives the first and second stepper motors to adjust the gantry position. Simultaneously, feedback from the robotic arm joint encoder adjusts the puncture needle angle in real time to dynamically compensate for renal respiratory movement. This mechanism controls puncture deviations caused by respiration to within a ±0.5mm range, significantly improving puncture positioning accuracy and avoiding poor sample quality or surgical risks caused by respiratory movement.

[0023] The image fusion unit uses a feature point registration algorithm to fuse real-time ultrasound images, preoperative CT / MRI images, and respiratory motion data to generate a three-dimensional dynamic model of the kidney, clearly showing the kidney's boundaries, blood vessels, and important structures. Doctors can use this model to plan 3-5 safe puncture paths that avoid dangerous areas such as the renal artery and renal pelvis. The system further dynamically optimizes the path based on the respiratory cycle and recommends the optimal puncture time. Compared with traditional single ultrasound guidance, multimodal image fusion improves the safety of puncture path planning by over 95%, effectively reducing the risk of damage to important kidney structures and reducing complications such as postoperative bleeding and infection.

[0024] The power-assistance control module uses the six-dimensional force sensor on the inside of the handle to sense the doctor's operating force and torque in real time. The PLC controller generates a power-assistance strategy based on the fuzzy logic algorithm to drive the first stepper motor, the second stepper motor and the robotic arm servo motor to output auxiliary power. In the mobile power-assistance mode, when the doctor applies an operating force of more than 5N, the system provides 0.6 times the power assistance according to the force vector decomposition, achieving smooth control of "light push for light movement, heavy push for fast movement", reducing the doctor's operating force by 60%-80%, and significantly reducing fatigue from long-term operation. In the precise positioning mode, the system automatically fine-tunes the gantry position (±1mm) and the robotic arm angle (±0.5°) to assist the doctor in completing precise positioning and improve operational efficiency and stability.

[0025] A 30N hard limit is set through the six-dimensional force sensor, and the pressure sensor threshold is 200kPa overload protection; at the software level, the PLC controller monitors the data change rate in real time, and triggers the motor emergency stop (braking time <50ms) when ΔF / Δt>10N / s; a UPS power supply (500VA, 30min battery life) is configured at the power level to ensure safe exit in the event of a sudden power outage. In addition, the pressure feedback unit monitors the force on the puncture needle in real time, and automatically locks the robotic arm when the pressure exceeds the safety threshold to prevent excessive puncture. Multiple safety mechanisms comprehensively guarantee the safety of the surgical process and reduce medical risks.

[0026] The curved gantry is connected to the slide rail through the second slider, and the screw mechanism driven by the first stepper motor can move horizontally along the bed; the control box realizes circular motion on the gantry through the engagement of the drive gear and the tooth groove, combined with the clamping mechanism of four pulleys and slots to ensure smooth movement and precise positioning. The intelligent robotic arm adopts a five-joint design, each of which is driven by a servo motor and a harmonic reducer. The positioning accuracy reaches ±0.02°, combining flexible motion range and precise control capabilities. The modular structure enables the device to quickly adjust its position according to surgical needs, while ensuring mechanical stability during the puncture process, providing a hardware foundation for precise operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a front view schematic diagram of the overall structure of the present invention;

[0028] Figure 2 It is a side view schematic diagram of the overall structure of the present invention;

[0029] Figure 3 This is a schematic diagram of the arc-shaped gantry structure of the present invention;

[0030] Figure 4 This is a schematic diagram of the control box structure of the present invention;

[0031] Figure 5 Schematic diagram of the structure of the second driving mechanism of the present invention;

[0032] Figure 6 It is a schematic diagram of the structure of the fixing sleeve of the present invention;

[0033] Figure 7 This is a schematic diagram of the intelligent control system module structure of the present invention.

[0034] Explanation of the numbers in the figure: 1. Hospital bed; 10. Support leg; 11. Fixed plate; 12. Slide rail; 13. First fixed seat; 14. Screw; 15. Second fixed seat; 16. First stepper motor; 2. Arc gantry; 20. First slider; 21. Second slider; 22. Tooth groove; 23. Clamping groove; 24. Card slot; 3. Control box; 30. Driving gear; 31. Second stepper motor; 32. Pulley; 33. Infrared respiratory monitoring module; 4. Intelligent robotic arm; 40. Rotating seat; 41. Combination of servo motor and harmonic reducer; 42. First robotic arm; 43. Second robotic arm; 44. Third robotic arm; 45. Telescopic assembly; 46. Fourth robotic arm; 5. Fixed sleeve; 50. Handle; 51. Threaded hole; 6. Puncture needle; 60. Connecting handle; 61. Twist block; 62. Drainage hole. DETAILED DESCRIPTION

[0035] Example: See Figure 1-Figure 7, a nephrology-assisted renal puncture device comprises a bed 1, a plurality of supporting legs 10 are fixedly provided at the bottom of the bed 1, a fixed plate 11 is fixedly provided on both sides of the bed 1, and a second slider 21 is slidably connected to one side of the two fixed plates 11, and one of the fixed plates 11 is fixedly provided with a first driving mechanism at the bottom of the second slider 21, and the first driving mechanism is used to drive the sliding of the second slider 21, and an arc-shaped gantry 2 is fixedly provided between the two second sliders 21, and the arc-shaped gantry 2 is slidably provided on the top of the bed 1, and a control box 3 is slidably connected to the outside of the bed 1, and a second driving mechanism is rotatably provided inside the control box 3, an infrared respiratory monitoring module 33 is fixedly provided on one side of the control box 3, and an intelligent mechanical arm 4 is rotatably provided on one side of the infrared respiratory monitoring module 33, a fixed sleeve 5 is fixedly provided at the end of the intelligent mechanical arm 4, a handle 50 is fixedly provided on one side of the fixed sleeve 5, a puncture needle 6 is fixed by a thread inside the fixed sleeve 5, and an intelligent control system is fixed inside the control box 3;

[0036] The bed 1 is fixed by the bottom support legs 10, and the second sliders 21 on the fixed plates 11 on both sides are driven to slide by the first driving mechanism, driving the arc gantry 2 to move along the top of the bed 1; the control box 3 makes circular motion on the arc gantry 2 through the second driving mechanism, and the infrared respiratory monitoring module 33 on its side monitors the patient's breathing in real time. The fixed sleeve 5 at the end of the intelligent robotic arm 4 controls the puncture needle 6 through the handle 50. The intelligent control system coordinates the movement of various components. Through the multi-dimensional movement of the gantry 2 and the control box 3, combined with the infrared respiratory monitoring module 33 and the intelligent robotic arm 4, flexible adjustment of the puncture position and preliminary tracking of respiratory movement are achieved, providing a basic mechanical structure and monitoring unit for precise puncture. The fixed structure of the support legs 10 and the fixed plates 11 ensures the overall stability of the device.

[0037] Specifically, the first driving mechanism includes a second fixing seat 15 fixedly provided on one side of one of the fixing plates 11, a first stepper motor 16 fixedly provided on one side of the second fixing seat 15, two first fixing seats 13 fixedly provided on one side of the fixing plate 11 provided with the second fixing seat 15, a screw rod 14 rotatably provided between the two first fixing seats 13, one end of the screw rod 14 is fixedly connected to the output end of the first stepper motor 16, a first slider 20 is fixedly provided at the bottom of a second slider 21 provided on one side of the first stepper motor 16, and the first slider 20 is threadedly connected to the outer side of the screw rod 14;

[0038] The first stepper motor 16 drives the screw rod 14 to rotate, and the threaded first slider 20 drives the second slider 21 to slide on the slide rail 12 of the fixed plate 11, thereby driving the arc-shaped gantry 2 to move horizontally. The threaded transmission structure of the screw rod 14 and the first slider 20 realizes precise horizontal displacement control of the gantry 2. The high-precision drive of the first stepper motor 16 makes the position adjustment accuracy of the gantry 2 reach ±0.1mm. The cooperation between the slide rail 12 and the fixed plate 11 ensures smooth movement, meeting the large-scale position calibration requirements before puncture.

[0039] Specifically, the second driving mechanism includes a driving gear 30 rotatably provided inside the control box 3. A second stepper motor 31 is fixedly provided on the side of the control box 3 away from the intelligent robotic arm 4. The output end of the second stepper motor 31 passes through the control box 3 and is fixedly connected to the driving gear 30. A tooth groove 22 is fixedly provided on the top of the arc-shaped gantry 2. The bottom of the driving gear 30 is meshed with the top of the tooth groove 22. A clamping mechanism is rotatably provided on one side of the interior of the control box 3, and the clamping mechanism is slidably clamped on the outside of the arc-shaped gantry 2.

[0040] The second stepper motor 31 drives the driving gear 30 in the control box 3 to engage and rotate with the tooth groove 22 at the top of the arc-shaped gantry 2, so that the control box 3 moves in a circular arc along the gantry 2. The pulley 32 of the clamping mechanism cooperates with the slot 24 to ensure smooth movement. The meshing transmission of the driving gear 30 and the tooth groove 22 realizes the circular trajectory movement of the control box 3. The sliding clamping of the pulley 32 of the clamping mechanism and the slot 24 makes the rotation accuracy of the control box 3 on the gantry 2 reach ±0.5°, which is convenient for adjusting the spatial angle of the intelligent robotic arm 4 to adapt to the requirements of different puncture sites.

[0041] Specifically, the clamping mechanism includes four pulleys 32 rotatably arranged inside the control box 3. The arc-shaped gantry 2 is fixedly provided with a card slot 24 on one side close to the four pulleys 32. The four pulleys 32 are arranged in pairs on the upper and lower sides of the card slot 24, and are all slidably connected to the card slot 24.

[0042] The four pulleys 32 in the control box 3 are respectively clamped on the upper and lower sides of the slot 24 of the arc-shaped gantry 2. When the control box 3 moves, the pulley 32 rolls in the slot 24, reducing friction and maintaining a stable connection between the control box 3 and the gantry 2. The sliding clamping structure of the pulley 32 and the slot 24 reduces the movement resistance of the control box 3. At the same time, the symmetrical clamping of the four pulleys 32 ensures the stability of the control box 3 in circular motion, avoids shaking that affects the puncture accuracy, and improves the reliability of the mechanical structure.

[0043] Specifically, a slide rail 12 is fixedly provided on one side of the two fixed plates 11, and a clamping groove 23 is opened on the inner side of the two first sliders 20, and the two first sliders 20 are respectively slidably clamped on the outer sides of the two slide rails 12 through the clamping groove 23;

[0044] The slide rail 12 of the fixed plate 11 slides in cooperation with the clamping groove 23 of the first slider 20, providing guidance for the horizontal movement of the second slider 21, ensuring the straightness of the gantry 2 during movement. The cooperation between the slide rail 12 and the clamping groove 23 enhances the smoothness of the movement of the gantry 2, reduces the offset during horizontal displacement, and combines with the transmission of the screw rod 14 to further improve the positioning accuracy of the gantry 2, laying a mechanical foundation for subsequent puncture operations, and providing a stable installation reference for the fixed plate 11.

[0045] Specifically, the intelligent robotic arm 4 includes a rotating base 40 rotatably arranged on one side of the control box 3, the rotating base 40 is rotatably provided with a first robotic arm 42, a second robotic arm 43 is rotatably provided on one side of the first robotic arm 42, a third robotic arm 44 is rotatably provided on one side of the second robotic arm 43, a telescopic component 45 is fixedly provided on one side of the third robotic arm 44, a fourth robotic arm 46 is rotatably provided on one side of the telescopic component 45, a fixed sleeve 5 is fixedly provided on one side of the fourth robotic arm 46, and a servo motor and harmonic reducer combination 41 is fixedly provided between the first robotic arm 42, the second robotic arm 43 and the third robotic arm 44, and the telescopic component 45 and the fourth robotic arm 46, and are all rotated by the servo motor and harmonic reducer combination 41;

[0046] The rotating base 40, the first to fourth robotic arms and the telescopic assembly 45 of the intelligent robotic arm 4 are driven by a servo motor and a harmonic reducer combination 41 to realize multi-joint rotation and telescopic movement, driving the fixed sleeve 5 to adjust the spatial position and angle of the puncture needle 6. The five-joint robotic arm cooperates with the high-precision drive of the servo motor and the harmonic reducer combination 41 to realize the six-degree-of-freedom movement of the puncture needle 6, with a positioning accuracy of ±0.02mm. The combination of the rotating base 40 and each robotic arm 42-46 can flexibly adapt to the renal anatomical position of different patients, thereby improving the flexibility and accuracy of the puncture operation.

[0047] Specifically, a threaded hole 51 is fixedly provided inside the fixing sleeve 5, a connecting handle 60 is fixedly provided at one end of the puncture needle 6, a twist block 61 is fixedly provided on the outside of the connecting handle 60, and the twist block 61 is threadedly connected with the threaded hole 51, and a drainage hole 62 is opened between the puncture needle 6 and the connecting handle 60;

[0048] The connecting handle 60 of the puncture needle 6 is threadedly connected to the threaded hole 51 of the fixed sleeve 5 through the twist block 61. The drainage hole 62 passes through the puncture needle 6 and the connecting handle 60 for collecting tissue samples. The threaded connection structure of the twist block 61 and the threaded hole 51 facilitates the rapid replacement of the puncture needle 6 to meet the requirements of punctures of different specifications; the drainage hole 62 passes through the puncture needle 6 and the connecting handle 60 to ensure smooth sample collection and avoid blockage, while providing a channel for the installation of the pressure sensor. The fixed sleeve 5 provides a stable installation interface for the puncture needle 6.

[0049] Specifically, the intelligent control system includes a force sensing module, a motion sensing module, an image fusion unit, a power control module and a pressure feedback unit. The force sensing module includes a six-dimensional force sensor and a strain gauge pressure sensor. The six-dimensional force sensor is embedded in the inner side of the handle 50 and is used to detect the three-dimensional operating force and torque applied by the doctor in real time. The strain gauge pressure sensor is set at the contact point between the second slider 21 and the slide rail 12 to monitor the friction resistance when the gantry 2 moves horizontally. The motion sensing module includes a screw encoder, a drive gear angle encoder and a robotic arm joint encoder. The screw encoder is set at the end of the screw 14 to feedback the gantry. The horizontal displacement of the gantry 2, the driving gear angle encoder is coaxially arranged with the driving gear 30, and is used to feedback the arc displacement of the control box 3 on the gantry 2. The mechanical arm joint encoder is built into the servo motor and harmonic reducer combination 41, and is used to feedback the angles of each joint of the mechanical arm. The image fusion unit includes an image processor and its data input end component. The image processor is arranged inside the control box 3. The data input end component includes an infrared respiratory monitoring module 33, a miniature ultrasonic probe and a CT / MRI data interface. The infrared respiratory monitoring module 33 is fixedly arranged on one side of the control box 3, and the miniature ultrasonic probe is rotatably arranged on the fourth machine On the outside of the robotic arm 46, the CT / MRI data interface is set on the side of the control box 3. The image processor fuses the real-time ultrasound image, preoperative CT / MRI image and respiratory motion data through the feature point registration algorithm to generate a three-dimensional dynamic model of the kidney. The power control module includes a PLC controller and a motor drive component. The PLC controller is set inside the control box 3. The motor drive component includes a first stepper motor 16, a second stepper motor 31 and a robotic arm servo motor. The first stepper motor 16 is fixedly set on one side of the second fixing seat 15, and the second stepper motor 31 is fixedly set on the side of the control box 3 away from the intelligent robotic arm 4. The robotic arm The servo motor and harmonic reducer combination 41 is arranged at the rotational connection of the first robotic arm 42, the second robotic arm 43, the third robotic arm 44, the telescopic assembly 45, and the fourth robotic arm 46. The PLC controller generates a power assist strategy through a fuzzy logic algorithm based on the data of the force sensing module and the three-dimensional kidney model of the image fusion unit, and drives each motor to output auxiliary power. The pressure feedback unit includes a micro pressure sensor and a signal transmission assembly thereof. The micro pressure sensor is axially arranged inside the puncture needle 6. The signal transmission assembly includes a wire arranged in the drainage hole 62. The micro pressure sensor is electrically connected to the PLC controller via the wire.

[0050] The force sensing module senses the operating force and frictional resistance through the six-dimensional force sensor 52 of the handle 50 and the strain gauge pressure sensor 25 of the second slider 21. The motion sensing module acquires displacement data through the screw encoder 17, the drive gear angle encoder 34, and the robotic arm joint encoder 47. The image fusion unit fuses data from the infrared respiratory monitoring module 33, the miniature ultrasound probe 48, and the CT / MRI data interface 36 to generate a three-dimensional model. The PLC controller 37 of the power assist control module drives the first stepper motor 16, the second stepper motor 31, and the servo motor and harmonic reducer combination 41 based on the data to output power assist. The pressure feedback unit monitors the puncture resistance through the micro pressure sensor 63 of the puncture needle 6, and the six-dimensional force sensor 52 and the strain gauge pressure sensor 25 sense the operating force in real time. Combined with motion sensing components such as the screw encoder 17, the "force-motion-image" fusion control is realized; the infrared respiratory monitoring module 33 and the image fusion of the micro ultrasound probe 48 generate a three-dimensional model, which improves the puncture positioning accuracy to ±0.5mm; the PLC controller 37 drives the motor to output assistance, reducing the doctor's operating force by 60%-80%, reducing the risk of damage to important structures, and each module works together through the intelligent control system in the control box 3.

[0051] Specifically, the control logic of the intelligent control system includes mobile assist mode, precise positioning mode and puncture locking mode;

[0052] The mobile assistance mode is set as follows: when the six-dimensional force sensor detects that the operating force applied by the doctor is greater than 5N, the PLC controller drives the first stepper motor 16 and the second stepper motor 31 to output assistance according to the force vector decomposition result. At the same time, the infrared respiratory monitoring module 33 is used to predict the renal respiratory displacement and adjust the horizontal position of the gantry 2 in advance;

[0053] The precise positioning mode is set as follows: when the operating force is less than 2 N and the duration is greater than 2 s, the PLC controller switches to the image-guided mode, identifies the edge of the kidney target area through the micro-ultrasound probe, and automatically fine-tunes the position of the gantry 2 and the angle of the robotic arm to align the puncture needle 6 with the target point;

[0054] The puncture lock mode is set as follows: after the doctor confirms the puncture instruction, the PLC controller controls the first stepper motor 16 and the second stepper motor 31 to lock, and at the same time adjusts the extension and contraction of the robotic arm in real time according to the pressure sensor data to compensate for the respiratory movement of the kidney;

[0055] In the mobile assist mode, when the six-dimensional force sensor 52 detects that the operating force is greater than 5N, the PLC controller 37 drives the first stepper motor 16 and the second stepper motor 31 to output 0.6 times the assist force, and adjusts the position of the gantry 2 in advance according to the data of the infrared respiratory monitoring module 33; in the precise positioning mode, when the operating force is less than 2N, the micro-ultrasonic probe 48 is used to automatically fine-tune the position of the gantry 2 and the angle of the robotic arm 4; in the puncture locking mode, the motor is locked and dynamically compensates for the respiratory movement according to the data of the micro-pressure sensor 63. The sub-mode control strategy combines the six-dimensional force sensor 52 and the PLC controller 37 to realize intelligent assistance for the entire process from coarse adjustment, fine adjustment to puncture; the pre-compensation of the infrared respiratory monitoring module 33 and the image guidance of the micro-ultrasonic probe 48 ensure that the puncture needle 6 is always aimed at the target; the precise driving of the first stepper motor 16 and the second stepper motor 31 avoids puncture deviation caused by respiratory lag or manual adjustment error, thereby improving operational efficiency and safety.

[0056] Specifically, the intelligent control system sets up a safety redundancy mechanism, including hardware protection components, software monitoring logic and backup power supply;

[0057] The hardware protection components include hard limits set on the six-axis force sensor and overload protection set on the pressure sensor;

[0058] The software monitoring logic is set as follows: the PLC controller monitors the rate of change of each sensor data in real time. When ΔF / Δt>10N / s, all motors are immediately triggered to emergency stop.

[0059] The backup power supply is set as follows: a UPS power supply is set inside the control box 3 to ensure that the current puncture process is completed and exited safely in the event of a sudden power outage;

[0060] Hardware protection is achieved through the 5230N hard limit of the six-dimensional force sensor and the 63200kPa overload protection of the micro pressure sensor; the software monitors and calculates the data change rate in real time, and triggers the motor to stop suddenly when the threshold is exceeded; the UPS power supply 38 maintains the system operation in the control box 3 for 30 minutes when the power is off, and the hardware limit of the six-dimensional force sensor 52 and the micro pressure sensor 63 prevents excessive puncture and mechanical overload; the software monitoring mechanism of the PLC controller 37 triggers the motor to stop suddenly when the data change rate exceeds the limit, and the response time is less than 50ms; the UPS power supply 38 ensures the safe completion of the puncture process in the event of a sudden power outage. Multiple safety mechanisms reduce the risk of medical accidents and improve the clinical reliability of the device. The control box 3 provides protective installation space for various electronic components.

[0061] The above shows and describes the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are merely preferred examples of the present invention and are not intended to limit the present invention. Various changes and improvements may be made to the present invention without departing from the spirit and scope of the present invention. Such changes and improvements fall within the scope of the present invention. The scope of protection claimed in the present invention is defined by the appended claims and their equivalents.

Claims

1. A nephrology-assisted renal puncture device, comprising a bed (1), characterized in that: The bottom of the bed (1) is fixedly provided with a plurality of supporting legs (10), and both sides of the bed (1) are fixedly provided with fixed plates (11), and one side of each of the two fixed plates (11) is slidably connected to a second slider (21), and one of the fixed plates (11) is fixedly provided with a first driving mechanism at the bottom of the second slider (21), and the first driving mechanism is used to drive the sliding of the second slider (21), and an arc-shaped gantry (2) is fixedly provided between the two second sliders (21), and the arc-shaped gantry (2) is slidably provided on the top of the bed (1). (1) A control box (3) is slidably connected to the outside, a second driving mechanism is rotatably provided inside the control box (3), an infrared respiratory monitoring module (33) is fixedly provided on one side of the control box (3), an intelligent mechanical arm (4) is rotatably provided on one side of the infrared respiratory monitoring module (33), a fixing sleeve (5) is fixedly provided at the end of the intelligent mechanical arm (4), a handle (50) is fixedly provided on one side of the fixing sleeve (5), a puncture needle (6) is fixedly provided on the internal thread of the fixing sleeve (5), and an intelligent control system is fixedly provided inside the control box (3).

2. A nephrology-assisted renal puncture device according to claim 1, characterized in that: The first driving mechanism comprises a second fixing seat (15) fixedly arranged on one side of one of the fixing plates (11), a first stepper motor (16) being fixedly arranged on one side of the second fixing seat (15), two first fixing seats (13) being fixedly arranged on one side of the fixing plate (11) on which the second fixing seat (15) is arranged, a screw rod (14) being rotatably arranged between the two first fixing seats (13), one end of the screw rod (14) being fixedly connected to the output end of the first stepper motor (16), a first slide block (20) being fixedly arranged on the bottom of the second slide block (21) arranged on one side of the first stepper motor (16), and the first slide block (20) being threadedly connected to the outer side of the screw rod (14).

3. A nephrology-assisted renal puncture device according to claim 2, characterized in that: The second driving mechanism comprises a driving gear (30) rotatably arranged inside a control box (3); a second stepping motor (31) is fixedly arranged on a side of the control box (3) away from the intelligent robotic arm (4); an output end of the second stepping motor (31) passes through the control box (3) and is fixedly connected to the driving gear (30); a tooth groove (22) is fixedly arranged on the top of the arc-shaped gantry (2); the bottom of the driving gear (30) is meshedly connected to the top of the tooth groove (22); a clamping mechanism is rotatably arranged on one side of the interior of the control box (3); and the clamping mechanism is slidably clamped on the outside of the arc-shaped gantry (2).

4. A nephrology-assisted renal puncture device according to claim 3, characterized in that: The clamping mechanism comprises four pulleys (32) rotatably arranged inside the control box (3); the arc-shaped gantry (2) is fixedly provided with a clamping groove (24) on one side close to the four pulleys (32); the four pulleys (32) are arranged in pairs on the upper and lower sides of the clamping groove (24) and are all slidably connected to the clamping groove (24).

5. The nephrology-assisted renal puncture device according to claim 2, characterized in that: A slide rail (12) is fixedly provided on one side of the two fixed plates (11), and a clamping groove (23) is provided on the inner side of the two first sliding blocks (20), and the two first sliding blocks (20) are respectively slidably clamped on the outer sides of the two slide rails (12) through the clamping groove (23).

6. The nephrology-assisted renal puncture device according to claim 4, characterized in that: The intelligent robotic arm (4) comprises a rotating seat (40) rotatably arranged on one side of the control box (3); a first robotic arm (42) is rotatably arranged on the rotating seat (40); a second robotic arm (43) is rotatably arranged on one side of the first robotic arm (42); a third robotic arm (44) is rotatably arranged on one side of the second robotic arm (43); a telescopic assembly (45) is fixedly arranged on one side of the third robotic arm (44); a fourth robotic arm (46) is rotatably arranged on one side of the telescopic assembly (45); the fixed sleeve (5) is fixedly arranged on one side of the fourth robotic arm (46); a servo motor and harmonic reducer combination (41) is fixedly arranged between the first robotic arm (42), the second robotic arm (43) and the third robotic arm (44) and the telescopic assembly (45) and the fourth robotic arm (46), and all are rotated by the servo motor and harmonic reducer combination (41).

7. The nephrology-assisted renal puncture device according to claim 6, characterized in that: A threaded hole (51) is fixedly provided inside the fixing sleeve (5), a connecting handle (60) is fixedly provided at one end of the puncture needle (6), a twist block (61) is fixedly provided on the outside of the connecting handle (60), the twist block (61) is threadedly connected to the threaded hole (51), and a drainage hole (62) is provided between the puncture needle (6) and the connecting handle (60).

8. The nephrology-assisted renal puncture device according to claim 7, characterized in that: The intelligent control system includes a force sensing module, a motion sensing module, an image fusion unit, a power control module and a pressure feedback unit. The force sensing module includes a six-dimensional force sensor and a strain type pressure sensor. The six-dimensional force sensor is embedded in the inner side of the handle (50) and is used to detect the three-dimensional operating force and torque applied by the doctor in real time. The strain type pressure sensor is set at the contact point between the second slider (21) and the slide rail (12) and is used to monitor the friction resistance of the gantry (2) when it moves horizontally. The motion sensing module includes a screw encoder, a drive gear angle encoder and a mechanical arm joint encoder. The screw encoder is set at the end of the screw (14) and is used to feedback the horizontal displacement of the gantry (2). The driving gear angle encoder is coaxially arranged with the driving gear (30) and is used to feedback the arc displacement of the control box (3) on the gantry (2). The mechanical arm joint encoder is built into the servo motor and harmonic reducer combination (41) and is used to feedback the angles of each joint of the mechanical arm. The image fusion unit includes an image processor and a data input terminal component thereof. The image processor is arranged inside the control box (3). The data input terminal component includes an infrared respiratory monitoring module (33), a miniature ultrasonic probe and a CT / MRI data interface. The infrared respiratory monitoring module (33) is fixedly arranged on one side of the control box (3). The miniature ultrasonic probe is rotatably arranged on the fourth mechanical arm (46). The CT / MRI data interface is arranged on the side of the control box (3); the image processor fuses the real-time ultrasound image, the preoperative CT / MRI image and the respiratory motion data through the feature point registration algorithm to generate a three-dimensional dynamic model of the kidney; the power control module includes a PLC controller and a motor drive component; the PLC controller is arranged inside the control box (3); the motor drive component includes a first stepper motor (16), a second stepper motor (31) and a manipulator servo motor; the first stepper motor (16) is fixedly arranged on one side of the second fixing seat (15); the second stepper motor (31) is fixedly arranged on the side of the control box (3) away from the intelligent manipulator (4); the manipulator The mechanical arm servo motor and harmonic reducer combination (41) is arranged at the rotation connection of the first mechanical arm (42), the second mechanical arm (43), the third mechanical arm (44), the telescopic component (45) and the fourth mechanical arm (46); the PLC controller generates a power assist strategy through a fuzzy logic algorithm based on the data of the force sensing module and the three-dimensional model of the kidney of the image fusion unit, and drives each motor to output auxiliary power; the pressure feedback unit includes a micro pressure sensor and a signal transmission component thereof; the micro pressure sensor is axially arranged inside the puncture needle (6); the signal transmission component includes a wire arranged in the drainage hole (62); the micro pressure sensor is electrically connected to the PLC controller through the wire.

9. The nephrology-assisted renal puncture device according to claim 8, characterized in that: The control logic of the intelligent control system includes a mobile power-assistance mode, a precise positioning mode, and a puncture locking mode; The mobile assist mode is set as follows: when the six-dimensional force sensor detects that the operating force applied by the doctor is greater than 5N, the PLC controller drives the first stepper motor (16) and the second stepper motor (31) to output assist according to the force vector decomposition result, and at the same time predicts the renal respiratory displacement through the infrared respiratory monitoring module (33) to adjust the horizontal position of the gantry (2) in advance; The precise positioning mode is set as follows: when the operating force is less than 2N and the duration is greater than 2s, the PLC controller switches to the image guidance mode, identifies the edge of the kidney target area through the micro-ultrasound probe, and automatically fine-tunes the gantry (2) position and the robotic arm angle to align the puncture needle (6) with the target point; The puncture locking mode is set as follows: after the doctor confirms the puncture instruction, the PLC controller controls the first stepper motor (16) and the second stepper motor (31) to lock, and at the same time adjusts the extension and contraction amount of the robotic arm in real time according to the pressure sensor data to compensate for the respiratory movement of the kidney.

10. The nephrology-assisted renal puncture device according to claim 8, characterized in that: The intelligent control system is equipped with a safety redundancy mechanism, including hardware protection components, software monitoring logic and backup power supply; The hardware protection component includes a hard limit provided on the six-axis force sensor and an overload protection provided on the pressure sensor; The software monitoring logic is set as follows: the PLC controller monitors the rate of change of each sensor data in real time, and when ΔF / Δt>10N / s, all motors are immediately triggered to emergency stop; The backup power supply is configured as follows: a UPS power supply is provided inside the control box (3) to ensure that the current puncture process is completed and exited safely in the event of a sudden power outage.

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