A percutaneous nephrostomy device, robotic system and method

Abstract

The application discloses a percutaneous nephrostomy device, a robot system and a method, the device comprising a puncture base and a syringe, a first driving member, a second driving member, a first force sensor and a second force sensor arranged on the puncture base respectively; the syringe comprises a syringe barrel, a plunger rod, an outer sleeve and a needle, the syringe barrel is filled with contrast medium, the plunger rod is arranged in the syringe barrel, the syringe barrel and the outer sleeve are in communication, the needle penetrates through the outer sleeve, the part of the needle in the outer sleeve is provided with a through hole, and the first end of the needle is closed; the first driving member is connected with the needle through the first force sensor, the second driving member is connected with the plunger rod through the second force sensor, the first driving member is configured to drive the needle to move in a first direction, and the second driving member is configured to drive the plunger rod to move in a second direction. When the device is applied, the positioning accuracy of the puncture end point of the needle under the condition that the renal pelvis is not filled with water can be improved, and the accuracy and safety of the percutaneous nephrostomy operation can be improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, in particular to a percutaneous nephrostomy device, a robot system and a method. BACKGROUND

[0002] Percutaneous nephrostomy is a surgical procedure that establishes a channel from the kidney to the outside of the body through the skin, which is mainly used to relieve urinary obstruction, kidney stone or create conditions for subsequent treatment. The most commonly used method is ultrasound-guided renal pelvis puncture. Specifically, under the guidance of ultrasound, the doctor positions and operates the puncture needle according to the dynamic image of the kidney and the surrounding tissue to complete the renal pelvis puncture.

[0003] In the related art, the doctor determines whether the puncture needle has successfully entered the renal pelvis by combining the ultrasound image at the renal pelvis, that is, positioning the puncture end of the puncture needle. In this way, the positioning accuracy of the puncture end of the puncture needle is affected by the clarity of the ultrasound image at the renal pelvis, and the clarity of the ultrasound image at the renal pelvis is affected by the degree of hydronephrosis. The heavier the degree of hydronephrosis, the higher the clarity of the ultrasound image at the renal pelvis, and the higher the positioning accuracy of the puncture end of the puncture needle. The lighter the degree of hydronephrosis, the lower the clarity of the ultrasound image at the renal pelvis, and the lower the positioning accuracy of the puncture end of the puncture needle.

[0004] When the patient's bladder or ureter is damaged, the renal pelvis has no hydronephrosis, and the renal collecting system is closely attached and not separated, resulting in low imaging clarity of the ultrasound image at the renal pelvis and low positioning accuracy of the puncture end of the puncture needle. It is difficult to determine the puncture end in time, making the puncture difficult, the success rate low, the risk of bleeding rising straight, and reducing the accuracy and safety of the operation. However, in order to create an operation opportunity for subsequent repair, percutaneous nephrostomy is the best transitional solution in the absence of hydronephrosis. It can be seen that the existing percutaneous nephrostomy depends on the ultrasound image at the renal pelvis to position the puncture end of the puncture needle, which cannot meet the clinical needs in the absence of hydronephrosis.

[0005] Therefore, how to provide a scheme to overcome or alleviate the above-mentioned defects is still a technical problem that needs to be solved by those skilled in the art. SUMMARY

[0006] The purpose of the present application is to provide a percutaneous nephrostomy device to improve the positioning accuracy of the puncture end of the injection needle in the absence of hydronephrosis and improve the accuracy and safety of the percutaneous nephrostomy operation. Another purpose of the present application is to provide a percutaneous nephrostomy robot system to further improve the positioning accuracy of the puncture end of the injection needle and further improve the accuracy and safety of the percutaneous nephrostomy operation. Still another purpose of the present application is to provide a percutaneous nephrostomy method.

[0007] To solve the above technical problems, the application provides a percutaneous nephrostomy device, which comprises a puncture base and a syringe, a first driving member, a second driving member, a first force sensor and a second force sensor arranged on the puncture base respectively;

[0008] The syringe comprises a syringe barrel, a plunger rod, an outer sleeve and a syringe needle, the syringe barrel is filled with contrast medium, the plunger rod is arranged in the syringe barrel, the syringe barrel and the outer sleeve are in communication, the syringe needle penetrates through the outer sleeve, the part of the syringe needle in the outer sleeve is provided with a through hole, and the leading end of the syringe needle is closed.

[0009] The first driving member is connected with the syringe needle through the first force sensor, the second driving member is connected with the plunger rod through the second force sensor, the first driving member is configured to drive the syringe needle to move in a first direction, and the second driving member is configured to drive the plunger rod to move in a second direction.

[0010] The percutaneous nephrostomy device provided by the application is provided with a syringe comprising a syringe barrel, a plunger rod, an outer sleeve and a syringe needle, the syringe barrel and the outer sleeve are in communication, the syringe barrel is filled with contrast medium and is provided with the plunger rod, the syringe needle penetrates through the outer sleeve and the part of the syringe needle in the outer sleeve is provided with a through hole and the leading end of the syringe needle is closed, meanwhile, the first driving member is connected with the syringe needle through the first force sensor, the second driving member is connected with the plunger rod through the second force sensor, in use, the first driving member can drive the syringe needle to move in a first direction to perform puncture, the second driving member can drive the plunger rod to move in a second direction to inject the contrast medium into the renal pelvis through the syringe needle, during the puncture process, the first force sensor can measure the puncture force of the syringe needle, and the second force sensor can measure the pushing force of the plunger rod, so that the puncture moment can be identified according to the change of at least one of the puncture force and the pushing force, the positioning of the puncture end of the syringe needle does not depend on the clarity of the ultrasonic image at the renal pelvis, the positioning accuracy of the puncture end of the syringe needle under the condition that the renal pelvis has no hydrops can be improved, the puncture difficulty can be reduced, the puncture success rate can be improved, the puncture and the injection of the contrast medium can be stopped in time, the risk of bleeding can be reduced, and the accuracy and safety of the percutaneous nephrostomy surgery can be improved.

[0011] Optionally, the percutaneous nephrostomy device further comprises a guide wire conveyor, and the syringe further comprises a first plug;

[0012] The guide wire conveyor is located at the rear side of the syringe needle and is connected with the first driving member, the first plug is at least partially arranged in the leading end of the syringe needle, the guide wire conveyor is configured to clamp and convey a guide wire in the first direction, and the guide wire can pierce the first plug.

[0013] Optionally, the syringe further comprises a second plug, a third plug and a connector; the rear end and the front end of the outer sleeve are respectively provided with a first opening part and a second opening part, and the side wall of the outer sleeve is provided with a third opening part; the second plug and the third plug are respectively arranged at least partially in the first opening part and the second opening part, the injection needle is sequentially arranged in the second plug and the third plug, and the outlet part of the injection barrel and the third opening part are connected through the connector; and / or,

[0014] The percutaneous nephrostomy device further comprises a first clamping member; the first clamping member is arranged at the front end of the puncture base, and is configured to clamp the injection needle and the guide wire; and / or,

[0015] The puncture base comprises a support seat, a mounting seat above the support seat, and a connecting plate connecting the support seat and the mounting seat; the first driving member and the second driving member are both arranged in the support seat and both penetrate the rear side of the connecting plate at the output end, the upper surface of the mounting seat is formed with two mounting grooves, and the injection barrel and the outer sleeve are respectively arranged at least partially in the two mounting grooves; and / or,

[0016] The outer surface of the injection needle is coated with an acoustic enhancement material.

[0017] The application further provides a percutaneous nephrostomy robot system, comprising a workstation, a first mechanical arm, a connecting platform, a second mechanical arm, a third mechanical arm, an ultrasonic assembly and the percutaneous nephrostomy device.

[0018] The first mechanical arm is arranged in the workstation, the connecting platform is connected to the end of the first mechanical arm, the second mechanical arm and the third mechanical arm are both arranged in the connecting platform, the ultrasonic assembly comprises an ultrasonic probe, the ultrasonic probe and the puncture base are respectively arranged at the end of the second mechanical arm and the third mechanical arm, and the first mechanical arm is a multi-degree-of-freedom mechanical arm.

[0019] The ultrasonic probe, the driving members, the force sensors and the mechanical arms are respectively in communication connection with the workstation.

[0020] The percutaneous nephrostomy robot system provided in the application comprises a workstation, a first mechanical arm arranged on the workstation, a connecting platform arranged at the end of the first mechanical arm, a second mechanical arm and a third mechanical arm arranged on the connecting platform, and an ultrasonic assembly and a percutaneous nephrostomy device connected to the second mechanical arm and the third mechanical arm respectively, the first mechanical arm is a multi-degree-of-freedom mechanical arm, the ultrasonic probe, each driving member, each force sensor and each mechanical arm are in communication connection with the workstation, when in use, a redundant mechanical arm structure is formed between the first mechanical arm and the second mechanical arm, the scanning of the ultrasonic probe can be flexibly and accurately controlled, so that the puncture starting point position and the puncture posture can be determined efficiently and accurately, meanwhile, a redundant mechanical arm structure is formed between the first mechanical arm and the third mechanical arm, the position and the posture of the percutaneous nephrostomy device can be flexibly and accurately controlled, so that the injection needle can be moved to the determined puncture starting point position efficiently and accurately and the posture can reach the determined puncture posture, and the workstation can automatically control the first driving member to drive the injection needle to puncture stably and accurately, the puncture force and the advancing force collected by the first force sensor and the second force sensor can be automatically acquired during the puncture process, and the puncture moment can be timely and accurately identified according to the change of at least one of the puncture force and the advancing force, so that the positioning accuracy of the puncture end point of the injection needle can be further improved, so that the injection needle can be timely controlled to stop puncturing and the second driving member can be timely controlled to drive the core rod to advance to inject the contrast medium, and the accuracy and the safety of the percutaneous nephrostomy operation can be further improved.

[0021] Optionally, the second mechanical arm and the third mechanical arm move in a plane, and the first mechanical arm is a six-degree-of-freedom mechanical arm; and / or,

[0022] The percutaneous nephrostomy robot system further comprises a third force sensor, and the ultrasonic assembly further comprises a fourth force sensor; the third force sensor is arranged between the connecting platform and the end of the first mechanical arm, and the fourth force sensor is arranged between the ultrasonic probe and the end of the second mechanical arm; and / or,

[0023] The percutaneous nephrostomy robot system further comprises a control handle; the control handle is arranged on the workstation, the movement of the end of the control handle can be mapped to the movement of the end of the first mechanical arm, the second mechanical arm and the third mechanical arm respectively, and the workstation is configured to feed back the contact force between the ultrasonic probe and the tissue to the control handle.

[0024] The application further provides a percutaneous nephrostomy method applied to the percutaneous nephrostomy robot system, and the method comprises the following steps:

[0025] Controlling the redundant mechanical arm structure formed by the first mechanical arm and the second mechanical arm to move, so that the ultrasonic probe is scanned, and the puncture starting point position and the puncture posture are determined under the guidance of the ultrasonic probe;

[0026] controlling the third mechanical arm to move so that the end of the injection needle moves to the puncture starting point position and the posture reaches the puncture posture;

[0027] driving the injection needle to advance in the first direction by the first driving element to perform puncture;

[0028] measuring the puncture force of the injection needle by the first force sensor and the advancing force of the core rod by the second force sensor, and identifying the piercing moment according to the change of at least one of the puncture force and the advancing force;

[0029] at the piercing moment, controlling the injection needle to stop advancing by the first driving element, and driving the core rod to advance in the second direction by the second driving element to inject the contrast medium into the renal pelvis through the injection needle.

[0030] The percutaneous renal puncture fistula method provided by the application first controls the redundant mechanical arm structure formed by the first mechanical arm and the second mechanical arm to move to control the ultrasound probe to perform scanning, so as to determine the puncture starting point position and the puncture posture under the guidance of the ultrasound probe, then controls the third mechanical arm to drive the injection needle to move to the puncture starting point position and the posture to reach the puncture posture, then controls the injection needle to automatically puncture, and automatically acquires the puncture force and the advancing force data collected by the first force sensor and the second force sensor, and identifies the piercing moment according to the change of at least one of the puncture force and the advancing force, and finally automatically controls the injection needle to stop advancing at the piercing moment, and controls the core rod to advance to inject the contrast medium into the renal pelvis through the injection needle, which can efficiently and accurately determine the puncture starting point position and the puncture posture, stably and accurately control the puncture process, timely and accurately identify the piercing moment, and further improve the positioning accuracy of the puncture end point, and accordingly further improve the accuracy and safety of the percutaneous renal puncture fistula surgery.

[0031] Optionally, the second mechanical arm and the third mechanical arm move in a plane, and the first mechanical arm is a six-degree-of-freedom mechanical arm; the control of the movement of the redundant mechanical arm structure formed by the first mechanical arm and the second mechanical arm to make the ultrasound probe perform scanning to determine the puncture starting point position and the puncture posture under the guidance of the ultrasound probe comprises:

[0032] generating an ideal space according to the DH parameters of the second mechanical arm and the third mechanical arm; the ideal space is a space in which the posture of the end of the injection needle can be within a preset posture range, in the part of the working space of the second mechanical arm and the working space of the third mechanical arm that coincide with each other;

[0033] controlling the first mechanical arm to move so that the ultrasound probe scans in the target area to determine the starting point of the fine scanning;

[0034] controlling the first mechanical arm to perform planar motion, so that the ultrasound probe scans from the starting point to determine a fine scanning trajectory;

[0035] determining whether the fine scanning trajectory exceeds the ideal space, if the fine scanning trajectory exceeds the ideal space, re-determining the fine scanning trajectory, if the fine scanning trajectory does not exceed the ideal space, extracting a midpoint of the fine scanning trajectory;

[0036] controlling the first mechanical arm to perform planar motion, so that the end of the ultrasound probe moves to the midpoint;

[0037] controlling the second mechanical arm to move, so that the end of the ultrasound probe moves to the starting point;

[0038] controlling the second mechanical arm to move, so that the ultrasound probe scans along the fine scanning trajectory to obtain a plurality of ultrasound images, performing three-dimensional reconstruction of the kidney using the plurality of ultrasound images, and determining the puncture starting point position and the puncture attitude according to the three-dimensionally reconstructed kidney model.

[0039] Optionally, the percutaneous renal puncture fistula robot system further comprises a control handle; the control handle is arranged at the workstation, and movement of the end of the control handle can respectively map movement of the ends of the first mechanical arm, the second mechanical arm and the third mechanical arm;

[0040] The control of the movement of the first mechanical arm, the control of the planar motion of the first mechanical arm, the control of the movement of the second mechanical arm and the control of the movement of the third mechanical arm are all achieved by controlling the control handle to control the movement of the corresponding mechanical arm;

[0041] and / or,

[0042] Before the ultrasound probe performs scanning, the method further comprises setting a contact force threshold;

[0043] When the ultrasound probe performs scanning, the method further comprises controlling the ultrasound probe to perform scanning within the set contact force threshold range;

[0044] and / or,

[0045] A third force sensor is further arranged between the connecting platform and the end of the first mechanical arm, and a fourth force sensor is further arranged between the ultrasound probe and the end of the second mechanical arm; the third force sensor is a six-dimensional force sensor, and the fourth force sensor is a one-dimensional force sensor; the method further comprises:

[0046] a contact force monitoring step: acquiring a first force in the axial direction of the ultrasound probe collected by the third force sensor The second force collected by the fourth force sensor is obtained. ;

[0047] Ultrasonic contact effect evaluation steps: Calculate the first force and the second force The difference Determine the difference Does it exceed the preset contact force difference threshold? ,like If the ultrasonic probe has poor contact performance, the contact posture adjustment step is initiated. In this case, the ultrasonic probe has a better contact effect;

[0048] Contact posture adjustment step: If the scanning of the ultrasound probe is controlled by the first robotic arm at this time, then control the movement of the first robotic arm to adjust the posture of the ultrasound probe, so that... If the ultrasound probe scanning is controlled by the second robotic arm at this time, the scanning is stopped and the fine scanning trajectory is redefined.

[0049] Optionally, identifying the moment of puncture based on the change in at least one of the puncture force and the propulsion force includes:

[0050] Calculate the rate of change of puncture force at the current moment.

[0051]

[0052] in, The first force in the puncture force data measured by the first force sensor Puncture force at each sampling point; The size of the data window; The sampling time interval between the first force sensor and the second force sensor;

[0053] Calculate the rate of change of thrust at the current moment.

[0054]

[0055] in, The propulsion force data measured by the second force sensor is the first one. Data at each sampling point;

[0056] Identify the moment of puncture based on the rate of change of puncture force and the rate of change of propulsion force: compare the rate of change of puncture force. Threshold for rate of change of puncture force Thrust rate of change and the threshold of the rate of change of propulsion ,like and Then the current moment is the moment of piercing; if or If so, then the current moment is not the moment of piercing.

[0057] Optionally, the percutaneous nephrostomy device further includes a guidewire delivery device, and the syringe further includes a first plug; the guidewire delivery device is located behind the injection needle and connected to the first drive member; the first plug is at least partially disposed inside the tip of the injection needle, the guidewire delivery device is configured to clamp and deliver the guidewire along the first direction, and the guidewire is capable of puncturing the first plug; after injecting the contrast agent into the renal pelvis through the injection needle, the method further includes:

[0058] The guidewire is driven forward along the first direction by the guidewire delivery device and enters the renal pelvis through the injection needle;

[0059] After the guidewire enters the renal pelvis, the guidewire delivery device is controlled to release the guidewire, and the injection needle and the guidewire delivery device are driven to retract in the first direction by the first driving member, so as to leave the guidewire in the human body. Attached Figure Description

[0060] Figure 1 This is a schematic diagram of the percutaneous nephrostomy device provided in the embodiments of this application;

[0061] Figure 2 for Figure 1 An axial cross-sectional view of the percutaneous nephrostomy device shown.

[0062] Figure 3 for Figure 2 A magnified view of a portion of the image;

[0063] Figure 4 for Figure 1 A schematic diagram showing the positions of the guidewire delivery device and the tip of the injection needle in a percutaneous nephrostomy device.

[0064] Figure 5 for Figure 1 A schematic diagram of the exploded structure of the guidewire delivery device in the percutaneous nephrostomy device shown.

[0065] Figure 6 for Figure 5 A longitudinal sectional view;

[0066] Figure 7 This is a schematic diagram of the percutaneous nephrostomy robot system provided in the embodiments of this application;

[0067] Figure 8 for Figure 7 The diagram shows an application scenario of the percutaneous nephrostomy robot system.

[0068] Figure 9 Fig. 1 is a schematic diagram of an ultrasound-guided percutaneous nephrostomy system in a percutaneous nephrostomy robot system according to an embodiment of the present application; Figure 7

[0069] Figure 10 Fig. 2 is a schematic diagram of a control handle in the percutaneous nephrostomy robot system according to an embodiment of the present application; Figure 7

[0070] Figure 11 Fig. 3 is a flowchart of a percutaneous nephrostomy method according to an embodiment of the present application;

[0071] Figure 12 Fig. 4 is a detailed flowchart of determining a puncture starting point position and a puncture posture in the percutaneous nephrostomy method according to an embodiment of the present application;

[0072] Figure 13 Fig. 5 is a schematic diagram of an ideal space in the percutaneous nephrostomy method according to an embodiment of the present application;

[0073] Figure 14 Fig. 6 is a schematic diagram of an end coordinate system of a second mechanical arm in the percutaneous nephrostomy method according to an embodiment of the present application;

[0074] Figure 15 Fig. 7 is a schematic diagram of a position relationship between a percutaneous nephrostomy robot system and a fine scanning trajectory in the percutaneous nephrostomy method according to an embodiment of the present application.

[0075] Reference signs in the above figures are explained as follows:

[0076] 1 - workstation, 11 - trolley, 12 - display, 13 - human-computer interaction module;

[0077] 2 - control handle;

[0078] 3 - first mechanical arm;

[0079] 4 - third force sensor;

[0080] 5 - connecting platform;

[0081] 6 - second mechanical arm;

[0082] 7 - third mechanical arm;

[0083] ​​8-percutaneous nephrostomy device, 81-puncture base, 811-supporting seat, 812-mounting seat, 812a-mounting slot, 813-connection plate, 82-syringe, 821-syringe barrel, 8211-outlet part, 822-rod, 8221-first boss, 823-outer sleeve, 8231-first opening part, 8232-second opening part, 8233-third opening part, 824-injection needle, 824a-through hole, 8241-second boss, 825-first plug, 826-second plug, 827-third plug, 828-joint, 829-piston, 83-first driving member, 84-second driving member, 85-first force sensor, 86-second force sensor, 871-first clamping member, 872-second clamping member, 873-third clamping member, 874-first connecting seat, 875-second connecting seat, 88-guide wire conveyor, 881-mounting frame, 881a-first sliding hole, 881b-second sliding hole, 881c-rotary hole, 881d-third sliding hole, 881e-butting hole, 8811-base plate, 8812-supporting frame, 8813-cover plate, 8814-butting claw, 882-driving wheel, 883-passive wheel, 884-sliding frame, 8841-first sliding part, 8842-second sliding part, 885-third driving member, 886-fourth driving member, 887-driving disc, 888-butting disc, 889-fixing claw, 89-guide wire;

[0084] 9-ultrasound assembly, 91-ultrasound probe, 92-fourth force sensor;

[0085] a-precise scanning trajectory, b-operator, c-bed, d-patient. DETAILED DESCRIPTION

[0086] In order to make the personnel in the technical field better understand the scheme of the present application, the present application will be further described in detail below in combination with the drawings and specific embodiments.

[0087] It should be particularly pointed out that: in the present application, the terms "first", "second", etc. are only used to facilitate the description of the same or similar structures and / or functions of two or more structures or components, and do not represent any special limitation on the order and / or importance.

[0088] In the present application, "and / or" is only used to describe the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B can represent the existence of A alone, A and B together, and B alone. In addition, the character " / " in this paper generally represents a "or" relationship between the front and rear associated objects.

[0089] In this application, unless otherwise expressly specified and limited, the term "connection" should be interpreted broadly. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection or an indirect connection through an intermediate medium; it can also refer to the internal connection between two components; it can be a mechanical connection or a communication connection. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0090] In this application, the "end" of the injection needle 824 is the end closest to the patient, and the "head" is the other end opposite to the "end". The "front" of the "rear side" of the injection needle 824, the "front" and "rear" of the outer sleeve 823, the "front" of the puncture base 81, and the "rear side" of the connecting plate 813 refers to the side closest to the end of the injection needle 824, and the "rear" is the direction opposite to the "front".

[0091] Please refer to Figures 1-2 , Figure 1 This is a schematic diagram of the percutaneous nephrostomy device provided in the embodiments of this application; Figure 2 for Figure 1 The axial cross-sectional view of the percutaneous nephrostomy device shown.

[0092] This application first provides a percutaneous nephrostomy device 8 for percutaneous nephrostomy and contrast agent injection. In the embodiments provided in this application, such as... Figure 1 As shown, the percutaneous nephrostomy device 8 includes a puncture base 81 and a syringe 82, a first drive member 83, a second drive member 84, a first force sensor 85, and a second force sensor 86, all disposed on the puncture base 81. The syringe 82 includes a syringe barrel 821, a core rod 822, an outer sleeve 823, and an injection needle 824. The syringe barrel 821 is filled with contrast agent. The core rod 822 is disposed within the syringe barrel 821. The syringe barrel 821 and the outer sleeve 823 are connected. The injection needle 824 penetrates the outer sleeve 823. The portion of the injection needle 824 located inside the outer sleeve 823 has a through hole 824a, and the tip of the injection needle 824 is closed. The first drive unit 83 is connected to the injection needle 824 via the first force sensor 85, and the second drive unit 84 is connected to the core rod 822 via the second force sensor 86. The first drive unit 83 is configured to drive the injection needle 824 to move in a first direction, and the second drive unit 84 is configured to drive the core rod 822 to move in a second direction.

[0093] It is understandable that the first direction can be parallel to the axis of the injection needle 824, specifically it can be... Figure 2The first direction can be parallel to the axis of the core rod 822. The second direction can be parallel to the axis of the core rod 822. The end of the syringe barrel 821 in the injector 82 has an outlet portion 8211. The core rod 822 is a structure matched with the syringe barrel 821. The end of the core rod 822 can be provided with a plunger 829. The core rod 822 is pushed to the end of the syringe barrel 821 along the second direction. The contrast agent in the syringe barrel 821 can be pushed out through the outlet portion 8211. Since the outer sleeve 823 is in communication with the syringe barrel 821, the contrast agent can enter the outer sleeve 823 and then enter the injection needle 824 through the through hole 824a.

[0094] To achieve puncture, the first driving member 83 applies a force to the injection needle 824. This force is also the puncture force. The first force sensor 85 can measure the puncture force in real time. During puncture, the second driving member 84 applies a force to the core rod 822. This force is also the pushing force. The inside of the syringe barrel 821, the inside of the outer sleeve 823, and the end of the injection needle 824 (these spaces are collectively referred to as the inside of the injector 82) maintain a first pressure. The second force sensor 86 can measure the pushing force in real time. When the injection needle 824 successfully enters the renal pelvis, that is, at the moment of penetration, the pressure in the inside of the injector 82 will instantaneously decrease to a second pressure. Correspondingly, the puncture force and the pushing force are instantaneously reduced. At the moment of penetration, the injection needle 824 reaches the puncture end point. At this time, the pushing of the injection needle 824 can be immediately stopped, and the core rod 822 is pushed to rapidly increase the pressure in the inside of the injector 82 to a third pressure, so as to inject the contrast agent into the inside of the renal pelvis through the injection needle 824.

[0095] In use, the doctor can identify the moment of penetration according to the change of at least one of the puncture force and the pushing force. In this way, the positioning of the puncture end point of the injection needle 824 can not depend on the clarity of the ultrasound image at the renal pelvis. The positioning accuracy of the puncture end point of the injection needle 824 in the case of no hydronephrosis can be improved. The puncture difficulty can be reduced, the puncture success rate can be improved, the puncture can be stopped in time, the risk of bleeding can be reduced, the accuracy and safety of the percutaneous nephrostomy surgery can be improved, the contrast agent can be injected in time, and clear image guidance can be provided for subsequent intervention.

[0096] Of course, for the case of hydronephrosis, the percutaneous nephrostomy device provided by the embodiment of the present application can timely and accurately identify the moment of penetration according to the change of the puncture force and the pushing force, and cooperate with the clear ultrasound image at the renal pelvis. The moment of penetration can be more accurately identified. The positioning accuracy of the puncture end point of the injection needle 824 can be improved to a greater extent, so as to improve the accuracy and safety of the percutaneous nephrostomy surgery to a greater extent.

[0097] Moreover, compared with the related art in which a doctor performs puncture by manually operating a puncture needle, then installs a syringe to the puncture needle, and manually operates the syringe to inject the contrast agent, not only more depends on the operation experience of the doctor, the puncture operation is not stable, the puncture precision is low, and the operation process is complicated, the injection of the contrast agent is not timely, and the percutaneous nephrostomy surgery is inefficient. The percutaneous nephrostomy device provided in the embodiment of the application is additionally provided with the outer sleeve 823 and the injection barrel 821 in communication, and the injection needle 824 with the through hole 824a in the side wall is movably arranged in the outer sleeve 823, and the first driving member 83 and the second driving member 84 are arranged to be connected with the injection needle 824 and the core rod 822 respectively, to form a movable nested injection structure. The first driving member 83 can be used to automatically control the injection needle 824 to puncture, and the second driving member 84 can be used to automatically control the core rod 822 to inject the contrast agent in time at the moment of puncture. Therefore, the puncture operation is stable, the puncture precision is high, the operation process is simple, the injection of the contrast agent is timely, and the efficiency of the percutaneous nephrostomy surgery is greatly improved.

[0098] Please refer to Figures 3-4 , Figure 3 for Figure 2 partial enlarged view, Figure 4 for Figure 1 structure diagram of the position of the guide wire conveyor and the injection needle in the percutaneous nephrostomy device.

[0099] It can be understood that after the injection needle 824 punctures and the contrast agent is injected, the guide wire can be inserted into the renal pelvis through the injection needle 824, and then the injection needle 824 is withdrawn and the guide wire is left, so as to guide the subsequent insertion of the catheter.

[0100] In actual operation, the doctor can manually operate the insertion of the guide wire, or a special guide wire conveying structure can be provided for automatic conveying of the guide wire as shown in the embodiment of the application, and the specific implementation is not limited.

[0101] Please understand that Figures 1-4 in the embodiments provided in the application, the percutaneous nephrostomy device 8 further comprises a guide wire conveyor 88, and the syringe 82 further comprises a first plug 825. The guide wire conveyor 88 is located at the rear side of the injection needle 824 and is connected with the first driving member 83; the first plug 825 is at least partially arranged in the front end of the injection needle 824, the guide wire conveyor 88 is configured to clamp and convey the guide wire 89 in the first direction, and the guide wire 89 can pierce the first plug 825.

[0102] In use, the guide wire conveyor 88 can be advanced synchronously to maintain the relative position with the injection needle 824 during the process of the first driving member 83 driving the injection needle 824 to advance for puncture, and the first plug 825 can seal the leading end of the injection needle 824 so that the contrast medium does not leak out. After the injection needle 824 is punctured and the contrast medium is injected, the guide wire conveyor 88 is started to convey the guide wire 89 in the first direction forward, and the guide wire 89 can enter the injection needle 824 after puncturing the first plug 825 and enter the interior of the renal pelvis through the injection needle 824.

[0103] In this way, the first plug 825 that can be punctured by the guide wire 89 is ingeniously arranged at the leading end of the injection needle 824, and the guide wire conveyor 88 and the first driving member 83 are connected to integrate the guide wire conveying structure and the injector 82, which not only can ensure that the contrast medium in the injection needle 824 does not leak out during the puncture process, but also can make the guide wire 89 puncture the first plug 825 to smoothly enter the injection needle 824 after the puncture is completed, can greatly improve the precision and efficiency of the guide wire 89 intervention, ensure that the subsequent treatment channel is smoothly established after the puncture, and improve the overall treatment efficiency.

[0104] Please refer to Figures 5-6 , Figure 5 for Figure 1 the exploded structural schematic view of the guide wire conveyor in the percutaneous nephrostomy device shown in FIG. 8, Figure 6 for Figure 5 the longitudinal sectional view.

[0105] In the embodiment, the guide wire conveyor 88 can include a mounting frame 881, a driving wheel 882, a driven wheel 883, a sliding frame 884, a third driving member 885, and a fourth driving member 886. The mounting frame 881 can be connected with the output end of the first driving member 83, the driving wheel 882 is rotatably arranged on the mounting frame 881, the sliding frame 884 is movably arranged on the mounting frame 881, the driven wheel 883 is rotatably arranged on the sliding frame 884, the driven wheel 883 and the driving wheel 882 are oppositely arranged, the third driving member 885 and the fourth driving member 886 are both arranged on the mounting frame 881 and connected with the sliding frame 884 and the driving wheel 882 respectively. The third driving member 885 is configured to drive the sliding frame 884 to move to drive the driven wheel 883 to approach or move away from the driving wheel 882, and the wheel surfaces of the driving wheel 882 and the driven wheel 883 can clamp the guide wire 89 when the driven wheel 883 approaches the driving wheel 882. The fourth driving member 886 is configured to drive the driving wheel 882 to rotate, and the driving wheel 882 and the driven wheel 883 can convey the guide wire 89 in the first direction forward when the driving wheel 882 rotates.

[0106] Thus, by sliding the sliding frame 884 onto the mounting frame 881 and using the third driving member 885 to drive the sliding frame 884 to move, the passive wheel 883 and the active wheel 882 can be moved closer and further apart, thereby clamping and releasing the guide wire 89. When the active wheel 882 and the passive wheel 883 clamp the guide wire 89, the fourth driving member 886 drives the active wheel 882 to rotate, thereby realizing the automatic delivery of the guide wire 89. This can further improve the accuracy and efficiency of the guide wire 89 intervention. Moreover, the structure of the guide wire delivery device 88 is relatively compact, making the entire percutaneous nephrostomy device 8 relatively compact.

[0107] Furthermore, the specific manner in which the third driving component 885 drives the sliding frame 884 and the specific manner in which the fourth driving component 886 drives the drive wheel 882 are not limited.

[0108] like Figure 5 and Figure 6 As shown, the wire guide conveyor 88 may further include a drive disk 887, a docking disk 888, and a fixing claw 889. The mounting frame 881 may include a base plate 8811 and a support frame 8812 disposed above the base plate 8811. The base plate 8811 may have a first sliding hole 881a extending from top to bottom, and the bottom of the support frame 8812 may have a second sliding hole 881b and a rotating hole 881c extending from top to bottom. The third drive member 885 may be an electric actuator, and the fourth drive member 886 may be a motor. The third drive member 885 and the fourth drive member 886 may be disposed below the base plate 8811. The fixing claw 889 may be connected to the output end of the third drive member 885, and the drive disk 887 may be connected to the rotating shaft of the fourth drive member 886. The bottom of the sliding frame 884 can be provided with a first sliding part 8841. The driving wheel 882 and the sliding frame 884 can be located in the support frame 8812. The first sliding part 8841 can pass downward through the second sliding hole 881b and the first sliding hole 881a in sequence and then be locked in the fixed claw 889. In this way, the third driving member 885 can drive the sliding frame 884 to slide along the first sliding hole 881a and the second sliding hole 881b through the fixed claw 889, so as to drive the driven wheel 883 to move closer to or away from the driving wheel 882. The shaft of the driving wheel 882 can pass downward through the rotating hole 881c and then be connected to the docking plate 888. The docking plate 888 can pass through the first sliding hole 881a and then be docked with the driving plate 887 by means such as a snap-fit. The fourth driving member 886 can drive the docking plate 888 to rotate through the driving plate 887, so as to drive the driving wheel 882 to rotate.

[0109] Thus, the electric actuator drives the clamping guide wire 89, and the rotary motor drives the delivery of the guide wire 89 through the docking plate 888, which makes the delivery accuracy and efficiency of the guide wire 89 higher, the delivery process more stable, and more conducive to improving the accuracy and efficiency of percutaneous nephrostomy. The structure of the guide wire delivery device 88 is also more compact, which is more conducive to improving the structural compactness of the percutaneous nephrostomy device 8.

[0110] like Figure 5 and Figure 6 As shown, the mounting frame 881 may also include two cover plates 8813. The two cover plates 8813 can be respectively disposed on the upper sides of the support frame 8812 and located above the drive wheel 882 and the sliding frame 884. The cover plate 8813 above the sliding frame 884 can be provided with a third sliding hole 881d extending from top to bottom. A second sliding part 8842 can be provided on the top of the sliding frame 884. The second sliding part 8842 can be disposed within the third sliding hole 881d, allowing the sliding frame 884 to slide along the third sliding hole 881d. The shaft of the drive wheel 882 can rotate the cover plate 8813 located above. In this way, the structure of the wire guide conveyor 88 is more compact.

[0111] It is worth noting that the support frame 8812 and the substrate 8811 can be connected in various ways. For example, docking claws 8814 can be provided on both sides of the support frame 8812, and docking holes 881e can be provided on both sides of the first sliding hole 881a on the substrate 8811. The two docking claws 8814 can pass through the two docking holes 881e and then engage with the bottom of the substrate 8811. In this way, the support frame 8812 is docked with the substrate 8811 through the docking claws 8814, and the drive wheel 882 is docked with the drive disk 887 of the fourth drive unit 886 through the docking disk 888. This enables quick docking and installation of the execution part and the drive part of the wire guide conveyor 88, which is convenient to operate and highly efficient.

[0112] In the embodiments provided in this application, please refer to Figure 2 It is understood that the syringe 82 also includes a second plug 826, a third plug 827, and a connector 828; the rear end and front end of the outer sleeve 823 are respectively provided with a first opening 8231 and a second opening 8232, and the side wall of the outer sleeve 823 is provided with a third opening 8233; the second plug 826 and the third plug 827 are respectively at least partially disposed in the first opening 8231 and the second opening 8232, and the injection needle 824 is sequentially inserted through the second plug 826 and the third plug 827; the outlet 8211 of the syringe 821 and the third opening 8233 are connected by the connector 828.

[0113] In use, the second plug 826 and the third plug 827 can respectively seal the first opening 8231 and the second opening 8232 of the outer sleeve 823, so that the contrast agent inside the outer sleeve 823 does not leak out during the movement of the injection needle 824, which can relatively ensure the stability of the puncture process.

[0114] In specific settings, the materials of the first plug 825, the second plug 826, and the third plug 827 are not limited. For example, silicone material can be used. This ensures that the three plugs not only have good sealing performance, preventing the contrast agent inside the syringe 82 from leaking during the puncture process, but also have good elasticity, making them relatively easy to install. The first plug 825 is also easily punctured by the guidewire 89, ensuring the smooth progress of the guidewire delivery process.

[0115] Furthermore, the structures of the first plug 825, the second plug 826, and the third plug 827 are not limited. For example, the second plug 826 and the third plug 827 can be as follows: Figure 2 As shown, a groove is provided circumferentially on the outer wall. The first opening 8231 and the second opening 8232 of the outer sleeve 823 can be configured to have a stepped hole and an inner hole that communicate from the inside to the outside. In this way, the first opening 8231 and the second opening 8232 can be respectively locked in the grooves of the second plug 826 and the third plug 827, so as to realize the stable installation of the two plugs and improve the sealing performance between the plugs and the corresponding openings.

[0116] It is worth mentioning that before performing the puncture, one can, as follows: Figure 3 As shown, the guidewire 89 is pre-punctured by the first plug 825. This allows for rapid delivery of the guidewire 89 after the puncture and injection of the contrast agent, resulting in higher efficiency in the fistula creation. Of course, the guidewire 89 can also be positioned close to the first plug 825 without pre-puncturing it; there are no specific limitations.

[0117] In specific settings, the structure of connector 828 is not limited. For example, a Luer connector can be used to improve the sealing performance at the connection between syringe 821 and outer sleeve 823, making it less likely for contrast agent to leak from the connection.

[0118] As described above, in the embodiments of this application, the injection cartridge 821 and the outer sleeve 823 are as follows: Figure 2 The syringe 82 is shown as a separate unit connected via connector 828, which facilitates its manufacture. In fact, the syringe barrel 821 and the outer casing 823 can also be integrated; this application does not limit this arrangement.

[0119] In addition, the specific structure of the outer sleeve 823 and the arrangement of the outer sleeve 823 and the injection barrel 821 are not limited. In the embodiment of the present application, the outer sleeve 823 can be arranged in an L shape, specifically, the outer sleeve 823 includes a main body portion for arranging the injection needle 824 and a connecting portion extending radially outward from the side wall of the main body portion, the first opening portion 8231 and the second opening portion 8232 are respectively arranged at the rear end and the front end of the main body portion, and the third opening portion 8233 can be arranged at the connecting portion. The axis of the injection barrel 821 can be parallel to the axis of the main body portion. In this way, the structure of the injector 82 is relatively compact, so that the structure of the percutaneous nephrostomy device 8 is more compact, the volume is smaller, and it is more convenient for doctors to carry and operate or for a robot system to control and operate.

[0120] In actual arrangement, the structure of the puncture base 81 is not limited.

[0121] Please refer to Figure 1 In the embodiment of the present application, the puncture base 81 includes a support seat 811, a mounting seat 812 located above the support seat 811, and a connecting plate 813 connecting the support seat 811 and the mounting seat 812. The first driving member 83 and the second driving member 84 are both arranged on the support seat 811 and both penetrate the rear side of the connecting plate 813 at the output end. The upper surface of the mounting seat 812 is formed with two mounting grooves 812a, and the injection barrel 821 and the outer sleeve 823 are at least partially arranged in the two mounting grooves 812a, respectively. In this way, the driving structure, i.e., the first driving member 83 and the second driving member 84, and the execution structure, i.e., the injection barrel 821, the core rod 822, the outer sleeve 823 and the injection needle 824, are arranged on the upper and lower two layers of the puncture base 81, respectively. This makes the arrangement structure of the percutaneous nephrostomy device 8 more compact, and makes the installation of the injector 82 on the puncture base 81 more stable, which is beneficial to the smooth progress of the puncture nephrostomy process.

[0122] Specifically, the structures of the first driving member 83 and the second driving member 84 are not limited. In the embodiment of the present application, as shown in Figure 1 , the first driving member 83 and the second driving member 84 can be electric push rods, respectively. The main body portions of the two electric push rods can be arranged on the support seat 811, and the push rod portions penetrate the rear side of the connecting plate 813 and are connected with the injection needle 824 and the core rod 822, respectively. This can stably control the movement of the injection needle 824 and the core rod 822, which is beneficial to the smooth progress of the puncture nephrostomy process.

[0123] In order to ensure that the movement of the injection needle 824 and the core rod 822 is more stable, the present application further provides corresponding clamping structures.

[0124] Specifically, as shown in Figure 1As shown in this embodiment, the percutaneous nephrostomy device 8 further includes a first clamping member 871. The first clamping member 871 is located at the front end of the puncture base 81 and is configured to clamp the injection needle 824 and the guide wire 89. Thus, the first clamping member 871 can be used to clamp the injection needle 824 before puncture, guide the movement of the injection needle 824 during puncture, and clamp the guide wire 89 during the withdrawal of the injection needle 824 after the guide wire 89 is inserted into the body, making the puncture process and the needle withdrawal and guide wire retention process smoother.

[0125] The structure of the first clamping member 871 is not limited. For example, it can be a miniature electric gripper that automatically adjusts the tightness of the clamp by adjusting the distance between the two gripper arms. It clamps when it is tighter and guides when it is looser, thereby achieving the clamping and guiding of the injection needle 824 and the clamping of the guide wire 89 respectively.

[0126] like Figure 4 As shown in the embodiment of this application, the percutaneous nephrostomy device 8 further includes a second clamping member 872 and a first connecting seat 874; the first connecting seat 874 is connected to the output end of the first driving member 83, a first force sensor 85 is disposed on the first connecting seat 874, and the second clamping member 872 is disposed on the first force sensor 85. The second clamping member 872 is used to clamp the tip of the injection needle 824, and the first driving member 83 drives the injection needle 824 to move through the second clamping member 872. In this way, the second clamping member 872 clamps the tip of the injection needle 824, and the first clamping member 871 guides the tip of the injection needle 824, making the movement of the injection needle 824 more stable during puncture and needle withdrawal.

[0127] like Figure 1 and Figure 2 As shown in the embodiment of this application, the percutaneous nephrostomy device 8 further includes a third clamping member 873 and a second connecting seat 875; the second connecting seat 875 is connected to the output end of the second driving member 84, the second force sensor 86 is disposed on the second connecting seat 875, the third clamping member 873 is disposed on the second force sensor 86, and the third clamping member 873 is used to clamp the first end of the core rod 822. In this way, the movement process of the core rod 822 is more stable, which can ensure that the contrast agent injection process is carried out more smoothly.

[0128] The structures of the second clamping member 872 and the third clamping member 873 are not limited. For example, both the second clamping member 872 and the third clamping member 873 can be as follows: Figure 1 and Figure 4 The chuck shown can have two parallel chuck arms, one in front and one behind, with a U-shaped through groove formed on the upper part of each chuck arm. For example... Figure 1As shown, a first protrusion 8221 can be provided circumferentially at the first end of the core rod 822. The first end of the core rod 822 can be located in the U-shaped through groove in front of the corresponding jaw, and the first protrusion 8221 can be engaged between the two jaw arms; as shown Figure 3 and Figure 4 As shown, a second protrusion 8241 can be provided circumferentially at the tip of the injection needle 824. The tip of the injection needle 824 can be located in the U-shaped through groove at the front of the corresponding jaw, and the second protrusion 8241 can be engaged between the two jaw arms. This facilitates the connection between the injection needle 824 and the first driving member 83, the core rod 822, and the second driving member 84, and also makes the movement of the injection needle 824 and the core rod 822 more stable.

[0129] In addition, please combine Figure 1 It is understood that the first end of the syringe 821 can also be provided with a boss along the circumference. The mounting base 812 can be provided with a slot at the first end of the mounting groove 812a corresponding to the syringe 821. The syringe 821 can be placed in the mounting groove 812a, and its boss can be locked in the slot here. The main body of the outer sleeve 823 can be provided with an annular slot along the circumference in the middle. The mounting base 812 can be provided with a snap-fit ​​block in the mounting groove 812a corresponding to the outer sleeve 823. The upper surface of the snap-fit ​​block can be provided with a U-shaped through groove communicating with the mounting groove 812a. The part of the main body behind and in front of the annular slot can be placed in the mounting groove 812a. The part of the main body in the annular slot can be placed in the U-shaped through groove of the snap-fit ​​block. The two side walls of the annular slot, that is, the two opposite stepped surfaces of the outer sleeve 823, can respectively abut against the front and rear end faces of the snap-fit ​​block.

[0130] In this way, the syringe 821, outer sleeve 823 and mounting base 812 are cleverly connected, as are the syringe needle 824, core rod 822 and the corresponding drive output end connector. This allows the syringe 82 to be quickly connected to the puncture base 81 and each drive component, facilitating the installation and replacement of the syringe 82, a disposable consumable, which helps reduce the cost of puncture and fistula creation. It also makes the connection between the syringe 82, the puncture base 81 and each drive component more stable, which helps improve the stability of the puncture and fistula creation process.

[0131] In actual setup, the structure of the injection needle 824 is not limited.

[0132] like Figure 1 As shown, the end of the injection needle 824 can be set as a beveled tip to reduce puncture resistance and improve puncture efficiency.

[0133] like Figure 2As shown, two through holes 824a can be arranged on the injection needle 824, and the two through holes 824a can be uniformly distributed along the circumference of the injection needle 824. Of course, one or more than three through holes 824a can also be arranged according to requirements. In addition, when there are more than two through holes 824a, each through hole 824a can also be uniformly distributed along the axis of the injection needle 824, and the specific distribution is not limited.

[0134] In the embodiments provided in the present application, the outer surface of the injection needle 824 is also provided with an acoustic enhancement material coating, so that the definition of the injection needle 824 in the ultrasound image is higher during the puncture process, which is beneficial for the doctor to track the position of the injection needle 824 in combination with the ultrasound image, so as to more accurately control the puncture process, and further improve the puncture precision.

[0135] The percutaneous nephrostomy device 8 provided in the present application can be held and operated by a doctor, or can be controlled and operated by a robot system, and the specific operation is not limited.

[0136] Please refer to Figures 7-8 , Figure 7 for the structure schematic diagram of the percutaneous nephrostomy robot system provided in the embodiments of the present application, Figure 8 for Figure 7 the application scenario schematic diagram of the percutaneous nephrostomy robot system shown.

[0137] The present application also provides a percutaneous nephrostomy robot system for controlling the percutaneous nephrostomy device 8 and the ultrasound assembly 9. In the embodiments provided in the present application, please understand Figure 7 that the percutaneous nephrostomy robot system includes a workstation 1, a first mechanical arm 3, a connecting platform 5, a second mechanical arm 6, a third mechanical arm 7, an ultrasound assembly 9 and the percutaneous nephrostomy device 8 in all the above embodiments. Among them, the first mechanical arm 3 is arranged on the workstation 1, the connecting platform 5 and the end of the first mechanical arm 3 are connected, the second mechanical arm 6 and the third mechanical arm 7 are arranged on the connecting platform 5, the ultrasound assembly 9 includes an ultrasound probe 91, the ultrasound probe 91 and the puncture base 81 are arranged at the ends of the second mechanical arm 6 and the third mechanical arm 7 respectively, and the first mechanical arm 3 is a multi-degree-of-freedom mechanical arm. The ultrasound probe 91, each driving member, each force sensor and each mechanical arm are respectively in communication connection with the workstation 1.

[0138] It can be understood that the workstation 1 is used for receiving, storing and processing data and controlling the operation of each component, and in addition to having a data processing and control device, it can also be like Figure 7As shown, the trolley 11, the display 12 and the human-computer interaction module 13 are included, the data processing and control device can be arranged inside the trolley 11, the display 12 and the human-computer interaction module 13 can be arranged outside the trolley 11, and the first mechanical arm 3 is specifically arranged in the trolley 11. The arrangement of the trolley 11 facilitates the movement of the entire robot system, the display 12 can be used to display data such as ultrasound images, and the human-computer interaction module 13 can be used for the doctor to input various operation instructions. For example, Figure 8 As shown, the trolley 11 is moved to the side of the bed c, and the operator b can control the percutaneous nephrostomy robot system to perform percutaneous nephrostomy surgery on the patient d on the bed c.

[0139] The embodiment of the present application arranges the first mechanical arm 3 at the workstation 1, and arranges the ultrasound-guided puncture fistula system including the connecting platform 5, the second mechanical arm 6 and the third mechanical arm 7 arranged on the connecting platform 5, the ultrasound assembly 9 arranged at the end of the second mechanical arm 6, and the percutaneous nephrostomy device 8 arranged at the end of the third mechanical arm 7 at the end of the first mechanical arm 3, so as to realize the integration of the robot structure, the ultrasound structure and the puncture structure, and to realize the percutaneous nephrostomy surgery under the ultrasound guidance in one device.

[0140] Among them, the first mechanical arm 3 and the second mechanical arm 6 form a redundant mechanical arm structure between them, and the first mechanical arm 3 and the third mechanical arm 7 form a redundant mechanical arm structure between them, so that the ultrasound probe 91 at the end of the second mechanical arm 6 and the percutaneous nephrostomy device 8 at the end of the third mechanical arm 7 can be preliminarily positioned by the movement of the first mechanical arm 3, and then the ultrasound probe 91 and the percutaneous nephrostomy device 8 at the end can be fine-positioned by the movement of the second mechanical arm 6 and the third mechanical arm 7, respectively.

[0141] In use, the redundant mechanical arm structure formed between the first mechanical arm 3 and the second mechanical arm 6 can flexibly and accurately control the scanning of the ultrasound probe 91, so that the doctor can efficiently and accurately determine the puncture starting position and the puncture posture according to the obtained ultrasound image. At the same time, the redundant mechanical arm structure formed between the first mechanical arm 3 and the third mechanical arm 7 can flexibly and accurately control the position and posture of the percutaneous nephrostomy device 8, so that the injection needle 824 can be efficiently and accurately moved to the determined puncture starting position and the posture reaches the determined puncture posture, and the workstation 1 can automatically control the first driving member 83 to drive the injection needle 824 to puncture stably and accurately. During the puncture process, the workstation 1 can automatically acquire the puncture force data collected by the first force sensor 85 and the pushing force data collected by the second force sensor 86, and timely and accurately capture the puncture moment according to the change of at least one of the puncture force and the pushing force.

[0142] Therefore, the puncture process of the injection needle 824 is more stable and accurate, especially the positioning accuracy of the puncture end point is further improved, so that the injection needle 824 can be more timely controlled to stop puncture, and the second driving member 84 can be more timely controlled to drive the core rod 822 to advance to inject the contrast agent, and accordingly the accuracy and safety of the percutaneous renal puncture fistula surgery can be further improved.

[0143] Please refer to Figure 9 , Figure 9 for Figure 7 the structure diagram of the ultrasound-guided puncture fistula system in the percutaneous renal puncture fistula robot system shown in the drawings.

[0144] In the embodiments provided in the present application, the movements of the second mechanical arm 6 and the third mechanical arm 7 are planar movements, and the first mechanical arm 3 is a six-degree-of-freedom mechanical arm. Specifically, the first mechanical arm 3 has joints 、 、 、 、 、 As shown in Figure 9 , the second mechanical arm 6 can be connected to the platform 5 as a base, has joints 、 、 and connecting rods and , and the third mechanical arm 7 can be connected to the platform 5 as a base, has joints 、 、 and connecting rods and , each joint is provided with a joint driving member, and the workstation 1 controls the corresponding joint movement by controlling the action of each joint driving member to control the movement of the corresponding mechanical arm.

[0145] In this way, the six-degree-of-freedom first mechanical arm 3 can more flexibly and accurately control the position and attitude of the above-mentioned ultrasound-guided puncture fistula system, and the planar movement of the second mechanical arm 6 and the third mechanical arm 7 can more accurately position the ultrasound probe 91 and the injection needle 824, which is beneficial to further improve the accuracy and safety of the percutaneous renal puncture fistula surgery.

[0146] As shown in Figure 7 and Figure 9As shown, in the embodiment of the present application, the percutaneous nephrostomy robot system further comprises a third force sensor 4, and the ultrasonic assembly 9 further comprises a fourth force sensor 92; the third force sensor 4 is arranged between the connecting platform 5 and the end of the first mechanical arm 3, and the fourth force sensor 92 is arranged between the ultrasonic probe 91 and the end of the second mechanical arm 6, in other words, the third force sensor 4 is arranged at the end of the first mechanical arm 3, the connecting platform 5 is connected with the third force sensor 4, and the fourth force sensor 92 is arranged at the end of the second mechanical arm 6, and the ultrasonic probe 91 is connected with the fourth force sensor 92.

[0147] In this way, the force on the end of the first mechanical arm 3 can be obtained by using the third force sensor 4, and the force on the end of the second mechanical arm 6 can be obtained by using the fourth force sensor 92, and according to the force data, the size of the contact force between the ultrasonic probe 91 and the tissue can be controlled within a set range, so as to ensure the safety of ultrasonic scanning, and according to the force data, the direction of the contact force between the ultrasonic probe 91 and the tissue can also be controlled within a set range, so as to ensure the ultrasonic contact effect.

[0148] For reference Figure 10 , Figure 10 To Figure 7 As shown, the structure schematic diagram of the control handle in the percutaneous nephrostomy robot system.

[0149] In the embodiments provided in the present application, as Figure 7 shown, the percutaneous nephrostomy robot system further comprises a control handle 2; the control handle 2 is arranged at the workstation 1, and the movement of the end of the control handle 2 can be mapped to the movement of the end of the first mechanical arm 3, the second mechanical arm 6 and the third mechanical arm 7 respectively, and the workstation 1 is configured to be able to feed back the contact force between the ultrasonic probe 91 and the tissue to the control handle 2.

[0150] Specifically, as Figure 10 understood, the control handle 2 can have a six-degree-of-freedom mechanical arm, and specifically can have joints 、 、 、 、 、 The control handle 2 is in communication connection with the workstation 1, and the doctor can input handle control commands in the workstation 1 to map the movement of the end of the control handle 2 to the movement of the end of the first mechanical arm 3, the second mechanical arm 6 and the third mechanical arm 7 respectively, so that by controlling the control handle 2, the movement of the three mechanical arms can be controlled respectively, and the operation is more convenient.

[0151] In addition, in the process of scanning by the ultrasonic probe 91, the control handle 2 has a force feedback function, and the workstation 1 can feed back the contact force between the ultrasonic probe 91 and the tissue to the control handle 2, so as to help the doctor to realize the precise control of the ultrasonic scanning process by sensing the contact force between the ultrasonic probe 91 and the tissue in real time.

[0152] Reference is made to Figure 11 , Figure 11 A flow chart of the percutaneous nephrostomy method provided by the embodiments of the present application is shown in FIG. 1.

[0153] The present application also provides a percutaneous nephrostomy method, which is performed using the percutaneous nephrostomy robot system described above. In the embodiments provided by the present application, as shown in FIG. 1, the percutaneous nephrostomy method comprises the following steps: Figure 11

[0154] S1: controlling the redundant robot structure formed by the first robot arm 3 and the second robot arm 6 to move so that the ultrasound probe 91 performs scanning, thereby determining the puncture starting position and the puncture posture under the guidance of the ultrasound probe 91;

[0155] S2: controlling the third robot arm 7 to move so that the distal end of the injection needle 824 moves to the puncture starting position and the posture reaches the puncture posture;

[0156] S3: driving the injection needle 824 to advance in the first direction by the first driving member 83, thereby performing puncture;

[0157] S4: measuring the puncture force of the injection needle 824 by the first force sensor 85 and measuring the pushing force of the core rod 822 by the second force sensor 86, and identifying the puncture moment according to the change of at least one of the puncture force and the pushing force;

[0158] S5: at the puncture moment, stopping the injection needle 824 from advancing by the first driving member 83 and driving the core rod 822 to advance in the second direction by the second driving member 84, thereby injecting the contrast agent into the renal pelvis through the injection needle 824.

[0159] It is not difficult to understand that, in step S1, the scanning process of the ultrasound probe 91 can be flexibly and accurately controlled by the movement of the redundant robot structure formed by the first robot arm 3 and the second robot arm 6, thereby efficiently and accurately determining the puncture starting position and the puncture posture. In step S2, the position and posture of the injection needle 824 can be accurately adjusted by the movement of the third robot arm 7. In step S3, the puncture process of the injection needle 824 can be stably and accurately controlled by the first driving member 83. In step S4, the puncture force and pushing force data can be timely and accurately obtained by the first force sensor 85 and the second force sensor 86, and the puncture moment can be timely and accurately identified according to the change of at least one of the puncture force and the pushing force, thereby further improving the positioning accuracy of the puncture end point of the injection needle 824. On this basis, in step S5, the puncture can be timely stopped by the first driving member 83, thereby improving the puncture efficiency and reducing the risk of bleeding, and the contrast agent can be timely injected by the second driving member 84. In this way, the accuracy and safety of the percutaneous nephrostomy surgery are further improved. ​

[0160] Please refer to Figures 12-15 , Figure 12 Detailed flow chart for determining the puncture starting point position and the puncture posture in the percutaneous nephrostomy method provided by the embodiments of the present application, Figure 13 Schematic diagram of the ideal space in the percutaneous nephrostomy method provided by the embodiments of the present application, Figure 14 Schematic diagram of the end coordinate system of the second mechanical arm in the percutaneous nephrostomy method provided by the embodiments of the present application, Figure 15 Schematic diagram of the positional relationship between the percutaneous nephrostomy robot system and the fine scanning trajectory in the percutaneous nephrostomy method provided by the embodiments of the present application.

[0161] In actual operation, in step S1, the redundant mechanical arm structure formed by the first mechanical arm 3 and the second mechanical arm 6 controls the scanning of the ultrasonic probe 91 in multiple ways to determine the puncture starting point position and the puncture posture, which is not limited in the present application.

[0162] In the embodiments provided by the present application, the second mechanical arm 6 and the third mechanical arm 7 are planar motion, and the first mechanical arm 3 is a six-degree-of-freedom mechanical arm; in step S1, the redundant mechanical arm structure formed by the first mechanical arm 3 and the second mechanical arm 6 is controlled to move, so that the ultrasonic probe 91 scans to determine the puncture starting point position and the puncture posture under the guidance of the ultrasonic probe 91, which includes:

[0163] S11: generating an ideal space according to the DH parameters of the second mechanical arm 6 and the third mechanical arm 7.

[0164] Among them, the ideal space is a space in which the movement of the third mechanical arm 7 can make the posture of the end of the injection needle 824 within the preset posture range in the part of the workspace of the second mechanical arm 6 and the workspace of the third mechanical arm 7 that overlap; the workspace is the space that the corresponding mechanical arm can reach, Figure 12 Among them, V is the workspace of the second mechanical arm 6, and v is the ideal space.

[0165] S12: controlling the first mechanical arm 3 to move so that the ultrasonic probe 91 scans in the target area to determine the starting point of fine scanning.

[0166] In step S12, the first mechanical arm 3 with six degrees of freedom is controlled to move freely to flexibly control the initial scanning of the ultrasonic probe 91, which can also be called coarse scanning. Based on the visual coarse feedback, the doctor can determine the starting point of fine scanning.

[0167] S13: controlling the first mechanical arm 3 to move in a plane so that the ultrasonic probe 91 scans from the starting point to determine the fine scanning trajectory a.

[0168] In step 13, the partial freedom of the first robot arm 3 can be "locked", and the first robot arm 3 is controlled to move in the movement plane of the second robot arm 6 and the third robot arm 7, so as to accurately control the preliminary fine scanning of the ultrasound probe 91 from the determined fine scanning starting point, and a plurality of scanning trajectories can be obtained, so that the doctor determines the fine scanning trajectory a.

[0169] In step S14, it is judged whether the fine scanning trajectory a exceeds the ideal space. If the fine scanning trajectory a exceeds the ideal space, the fine scanning trajectory a is determined again. If the fine scanning trajectory a does not exceed the ideal space, the midpoint of the fine scanning trajectory a is extracted.

[0170] In step S14, the fine scanning trajectory a in the ideal space is selected as the trajectory used for the final fine scanning.

[0171] In step S15, the first robot arm 3 is controlled to move in the plane, so that the end of the ultrasound probe 91 moves to the midpoint.

[0172] In step S16, the second robot arm 6 is controlled to move, so that the end of the ultrasound probe 91 moves to the starting point.

[0173] As shown in Figure 13 , the starting point of the fine scanning trajectory a is , the end point of the fine scanning trajectory a is , and the midpoint of the fine scanning trajectory a is Steps S15 and S16 are fine scanning preparation steps, which move the end of the ultrasound probe 91 to the starting point of the fine scanning trajectory a.

[0174] In step S17, the second robot arm 6 is controlled to move, so that the ultrasound probe 91 scans along the fine scanning trajectory a to obtain a plurality of ultrasound images, and a three-dimensional reconstruction of the kidney is performed based on the plurality of ultrasound images, and the puncture starting point position and the puncture attitude are determined based on the three-dimensional reconstructed kidney model.

[0175] In step S17, the second robot arm 6 is controlled to move, so that the ultrasound probe 91 scans along the fine scanning trajectory a to obtain a plurality of ultrasound images, and a three-dimensional reconstruction of the kidney is performed based on the plurality of ultrasound images, and the puncture starting point position and the puncture attitude are determined based on the three-dimensional reconstructed kidney model.

[0176] In this way, the redundant robot arm structure formed by the first robot arm 3 and the second robot arm 6 is controlled to move, so that the coarse scanning, the preliminary fine scanning, the fine scanning preparation and the final fine scanning of the ultrasound probe 91 are realized, and the three-dimensional model of the kidney established based on the ultrasound images obtained by the final fine scanning can improve the accuracy and efficiency of determining the puncture starting point position and the puncture attitude, and is beneficial to improving the efficiency and accuracy of the puncture.

[0177] Please refer to Figure 15Understand that the base coordinate system of the first robotic arm 3 is {B}, the coordinate system of the connecting platform 5 is {C}, the coordinate system of the end of the ultrasonic probe 91 is {E}, and the midpoint of the fine scanning trajectory a is... The coordinate system is {H}. The scanning plane where the fine scanning trajectory a is located is also the motion plane of the second robotic arm 6.

[0178] In step S15, the first robotic arm 3 is controlled to perform planar motion, so that the end of the ultrasonic probe 91 moves to the midpoint, specifically including:

[0179] Calculate the midpoint Tangent vector of the fine scan trajectory a and normal vector and scanning plane normal vector ;

[0180] Based on the tangent vector Normal vector and normal vector Calculate the coordinate system {E} of the end of the ultrasonic probe 91 relative to the midpoint. Transformation matrix of coordinate system {H} ;

[0181] According to the transformation matrix Calculate the transformation matrix of the coordinate system {C} of the connecting platform 5 relative to the base coordinate system {B} of the first robotic arm 3. ;

[0182] According to the transformation matrix The first robotic arm 3 is controlled to perform planar motion, causing the end of the ultrasonic probe 91 to move to the midpoint. .

[0183] In this way, by using a precisely calculated transformation matrix, the planar motion of the first robotic arm 3 can be precisely controlled, thereby precisely controlling the movement of the ultrasound probe 91 to the midpoint of the fine scanning trajectory a. Subsequently, by using the motion of the second robotic arm 6 to control the movement of the ultrasound probe 91 to the starting point of the fine scanning trajectory a, the ultrasound probe 91 can be controlled to scan along the fine scanning trajectory a, which is beneficial to improving the scanning effect and thus improving the accuracy of determining the puncture starting point position and puncture posture.

[0184] In the embodiments provided in this application, the percutaneous nephrostomy robot system further includes a control handle 2; the control handle 2 is located at the workstation 1, and the movement of the end of the control handle 2 can respectively map the movement of the ends of the first robotic arm 3, the second robotic arm 6, and the third robotic arm 7; the above-mentioned control of the movement of the first robotic arm 3, control of the first robotic arm 3 to perform planar movement, control of the movement of the second robotic arm 6, and control of the movement of the third robotic arm 7 are all controlled by manipulating the control handle 2 to control the movement of the corresponding robotic arm.

[0185] The following describes the principle of the control handle 2 controlling the movement of each mechanical arm by taking the mapping of the movement of the end of the control handle 2 to the movement of the end of the second mechanical arm 6, i.e. the movement of the ultrasonic probe 91, as an example. It is understood that the coordinate system of the end of the control handle 2 is Figure 10 , Figure 13 and Figure 15 , the base coordinate system of the control handle 2 is .The transformation matrix of the coordinate system of the end of the control handle 2 at time t to the base coordinate system of the control handle 2 at time t is . The transformation matrix of the coordinate system of the end of the control handle 2 at time t to the base coordinate system of the control handle 2 at time t is .

[0186]

[0187] wherein, is the homogeneous matrix of the pose transformation of the coordinate system of the jth joint of the control handle 2 at time t to the coordinate system of the previous joint, j = 1, 2, …, 9.

[0188] =

[0189] wherein, is the transformation matrix of the coordinate system of the end of the control handle 2 at time t to the base coordinate system of the control handle 2 at time t, is the pose change matrix of the end of the control handle 2. Decompose

[0190] into a position change matrix and a pose change matrix, and multiply the position change matrix and the pose change matrix by the position mapping scale and the pose mapping scale of the end of the control handle 2 to the end of the second mechanical arm 6 to obtain the position change matrix and the pose change matrix of the end of the second mechanical arm 6. Convert the position change matrix and the pose change matrix of the end of the second mechanical arm 6 into the pose change matrix

[0191] of the end of the second mechanical arm 6, so that the transformation matrix of the coordinate system of the end of the second mechanical arm 6 at time t to the base coordinate system of the first mechanical arm 3 at time t, i.e. the target value of the movement of the second mechanical arm 6 at time t is

[0192]

[0193] wherein, ​​​​​​for The transformation matrix of the coordinate system {E} at the end of the second robotic arm 6 relative to the base coordinate system {B} of the first robotic arm 3 at any given moment.

[0194]

[0195] in, for The transformation matrix of the coordinate system {E} at the end of the second robotic arm 6 relative to the coordinate system {C} of the connecting platform 5 at any given moment is determined by the joints of the second robotic arm 6. ~ And obtained from forward and reverse motion calculations; for The transformation matrix of the coordinate system {C} of the constant connection platform 5 relative to the base coordinate system {B} of the first robotic arm 3 is determined by the joints of the first robotic arm 3. ~ And obtained from forward and reverse motion calculations; for In the redundant robotic arm structure formed by the first robotic arm 3 and the second robotic arm 6 at time 1 Joint The homogeneous matrix of pose transformation of the coordinate system relative to the coordinate system of the previous joint. =1,2,…,9.

[0196] Thus, by operating the control handle 2, the movement of the end effector of the second robotic arm 6, that is, the movement of the ultrasound probe 91, can be controlled, realizing master-slave control and improving control efficiency and accuracy. Correspondingly, in conjunction with the ultrasound images acquired by the ultrasound probe 91, master-slave control based on visual feedback can be realized, which can more flexibly and accurately control the scanning process of the ultrasound probe 91, quickly and accurately lock the optimal puncture position and puncture posture, and improve the efficiency and accuracy of determining the puncture starting point position and puncture posture.

[0197] Similarly, please combine Figure 13 and Figure 15 Understand that the coordinate system of the end of the injection needle 824 is {N}, which is determined by the joints of the third robotic arm 7. ~ Both forward and reverse motions can be calculated. Transformation matrix of time coordinate system {N} relative to coordinate system {C} of connecting platform 5 Thus, we can obtain Transformation matrix of time coordinate system {N} relative to the base coordinate system {B} of the first robotic arm 3 According to the above transformation matrix of control handle 2 By mapping the end of the control handle 2 to the end of the third robotic arm 7, the pose change matrix of the end of the third robotic arm 7 can be obtained. This pose change matrix, along with the aforementioned transformation matrix, can then be used to determine the pose change matrix. The calculation can be performed The transformation matrix of the time coordinate system {N} relative to the coordinate system {B} , that is, the third mechanical arm 7 moves at the target value of the time, so as to realize the mapping of the movement of the end of the control handle 2 to the movement of the end of the third mechanical arm 7.

[0198] In steps S13 and S15, the control handle 2 needs to control the first mechanical arm 3 to perform planar movement, so that before the control, part of the degrees of freedom of the control handle 2 can be locked, such as Figure 10 as shown, the movement of the control handle 2 is constrained in the movement constraint plane , and the change of the end of the control handle 2 based on the handle reference position is planar movement and can map the planar movement of the end of the first mechanical arm 3, so that the control of the control handle 2 can control the first mechanical arm 3 to perform planar movement.

[0199] In actual operation, the workstation 1 can control the size of the inter-tissue contact force of the ultrasonic probe 91 within a set range to ensure the safety of ultrasonic scanning, and the specific control mode is not limited.

[0200] In the embodiments provided in the present application, before the ultrasonic probe 91 performs scanning in step S1, the percutaneous nephrostomy method further includes: setting a contact force threshold value;

[0201] When the ultrasonic probe 91 performs scanning, the percutaneous nephrostomy method further includes: controlling the ultrasonic probe 91 to perform scanning within the set contact force threshold value range.

[0202] Specifically, by using the impedance control algorithm, the force at the end of the second mechanical arm 6, that is, the contact force between the ultrasonic probe 91 and the tissue, can map the displacement amount of the controlled position, that is, the displacement amount of the ultrasonic probe 91:

[0203]

[0204] Among them, is the force at the end of the second mechanical arm 6, that is, the contact force between the ultrasonic probe 91 and the tissue, is the displacement amount of the ultrasonic probe 91, , , are inertia coefficient, damping coefficient and rigidity coefficient respectively, is the speed of the ultrasonic probe 91, is the acceleration of the ultrasonic probe 91.

[0205] According to the contact force between the ultrasonic probe 91 and the tissue , the displacement amount of the ultrasonic probe 91 can be calculated, and when the contact force When the contact force exceeds the preset threshold, the displacement of the end of the second robotic arm 6 in the corresponding direction can be reduced to decrease the contact force and ensure the contact force between the ultrasound probe 91 and the tissue. Within the preset contact force threshold range, the safety of ultrasound scanning is ensured.

[0206] In this way, the contact force between the ultrasound probe 91 and the tissue is controlled. Combined with the above-mentioned master-slave control based on visual feedback, visual force control navigation can be performed, which can ensure the efficiency, accuracy and safety of determining the puncture starting point position and puncture posture.

[0207] In actual operation, the direction of the contact force between the ultrasound probe 91 and the tissue can be controlled within a set range by workstation 1 to ensure the ultrasound contact effect, and the specific control method is not limited.

[0208] In the embodiments provided in this application, a third force sensor 4 is provided between the end of the connecting platform 5 and the first robotic arm 3, and a fourth force sensor 92 is provided between the end of the ultrasonic probe 91 and the second robotic arm 6. The third force sensor 4 is a six-dimensional force sensor, and the fourth force sensor 92 is a one-dimensional force sensor. The percutaneous nephrostomy method further includes:

[0209] Contact force monitoring steps: The force along the axis of the ultrasonic probe 91 collected by the third force sensor 4 is taken as the first force. The second force collected by the fourth force sensor 92 is obtained. .

[0210] In this regard, please combine Figure 14 Understanding that the coordinate system of the ultrasonic probe 91 has an X-axis, a Y-axis, and a Z-axis, with the Z-axis direction parallel to the axial direction of the ultrasonic probe 91; the third force sensor 4 is a six-dimensional force sensor, which measures the force and torque data acting on the end of the first robotic arm 3. , , and These represent the force components along the X, Y, and Z axes, respectively. , and These are the torque components along the X, Y, and Z axes, respectively. The force along the axial direction of the ultrasonic probe 91, also known as the first force. The fourth force sensor 92 is a one-dimensional force sensor, which can reduce the size of the ultrasonic probe 91 to reduce manufacturing costs.

[0211] Ultrasonic contact effect evaluation steps: Calculate the first force Second Force The difference Determine the difference Does it exceed the preset contact force difference threshold? ,like , the contact effect of the ultrasonic probe 91 is poor, and the contact posture adjustment step is entered; if , the contact effect of the ultrasonic probe 91 is good.

[0212] The contact posture adjustment step: if the scanning of the ultrasonic probe 91 is controlled by the first mechanical arm 3 at this time, the first mechanical arm 3 is controlled to move to adjust the posture of the ultrasonic probe 91, so that ; if the scanning of the ultrasonic probe 91 is controlled by the second mechanical arm 6 at this time, the scanning is stopped, and the fine scanning track a is re-determined.

[0213] In this way, whether the actual force on the end of the ultrasonic probe 91 is always within a certain range near the positive pressure direction is determined according to the force data obtained by the third force sensor 4 and the fourth force sensor 92, the ultrasonic contact effect is determined, and the posture of the ultrasonic probe 91 is adjusted when the ultrasonic contact effect is poor, so as to ensure that the contact force between the ultrasonic probe 91 and the tissue is within a certain range near the positive pressure direction, thereby ensuring that the ultrasonic contact effect is within a better range, and further ensuring the safety of the ultrasonic scanning process.

[0214] In actual operation, in step S4, the piercing moment can be recognized according to the change of the puncture force, or the piercing moment can be recognized according to the change of the pushing force, or the piercing moment can be recognized according to the change of the puncture force and the change of the pushing force, and the specific recognition manner is not limited.

[0215] As an optional scheme, in the embodiment of the present application, the piercing moment is recognized according to the change of the puncture force and the change of the pushing force, and specifically includes:

[0216] S41: calculating the puncture force change rate at the current moment as

[0217]

[0218] , wherein is the puncture force at the i-th sampling point in the puncture force data measured by the first force sensor 85, is the total number of puncture force data points at the current moment, which is also the total number of pushing force data points at the current moment; is the data window size, that is, the number of sampling points in the selected data window, and the specific size is not limited, for example, it can be 10-20; is the sampling time interval of the first force sensor 85 and the second force sensor 86, which is used for normalizing the slope calculation to ensure that the calculated slope value can accurately reflect the change degree of the force per unit time. S42: calculating the pushing force change rate at the current moment as

[0219]

[0220] ​

[0221] wherein, is the data measured by the second force sensor 86 at the i-th sampling point in the advancement force data. is the data measured by the second force sensor 86 at the i-th sampling point in the advancement force data.

[0222] S43: Identifying the piercing moment according to the piercing force change rate and the advancement force change rate: comparing the piercing force change rate and the piercing force change rate threshold , the advancement force change rate and the advancement force change rate threshold , if and , the current time is the piercing moment; if or , the current time is not the piercing moment.

[0223] wherein, the piercing force change rate threshold and the advancement force change rate threshold can be determined in advance through a large number of percutaneous nephrostomy experiments.

[0224] In this way, the appropriate time window size and sampling time interval can be set, and the piercing force change rate and the advancement force change rate, the two slope values, are continuously calculated, and the real-time calculated slope values are compared with the pre-determined change rate threshold, to accurately capture the dynamic characteristics of the piercing force of the injection needle 824 and the advancement force of the core rod 822 at the piercing moment, to accurately and efficiently identify the piercing moment, so that the puncture and the injection of contrast medium can be stopped in time, and the accuracy and safety of the percutaneous nephrostomy surgery are further improved.

[0225] It is worth noting that before calculating the piercing force change rate and the advancement force change rate, the piercing force and the advancement force data can be collected at a high frequency by the first force sensor 85 and the second force sensor 86, and the data can be pre-processed such as filtering and denoising to improve the data quality, facilitating the subsequent accurate calculation of the change rate and the judgment of the piercing moment.

[0226] In actual operation, after the puncture is completed and the contrast medium is injected, the guide wire can also be intervened through the injection needle 824, and the needle can be withdrawn and the guide wire can be left to establish a subsequent treatment channel, and the specific way of guide wire intervention is not limited.

[0227] As an optional solution, the percutaneous nephrostomy device 8 further comprises a guide wire conveyor 88, and the injector 82 further comprises a first plug 825; the guide wire conveyor 88 is located at the rear side of the injection needle 824 and is connected with the first driving member 83; the first plug 825 is at least partially arranged inside the first end of the injection needle 824, the guide wire conveyor 88 is configured to be able to clamp and convey the guide wire 89 in the first direction, and the guide wire 89 is capable of piercing the first plug 825; after the contrast medium is injected into the renal pelvis through the injection needle 824, the percutaneous nephrostomy method further comprises:

[0228] The guide wire 89 is driven by the guide wire conveyor 88 to advance along the first direction and enter the interior of the renal pelvis through the injection needle 824;

[0229] After the guide wire 89 enters the interior of the renal pelvis, the guide wire conveyor 88 is controlled to release the guide wire 89, and the first driving member 83 is driven to retreat along the first direction to leave the guide wire 89 in the human body.

[0230] In this way, the guide wire 89 is driven by the guide wire conveyor 88 to advance and puncture the first plug 825 to intervene the renal pelvis through the injection needle 824, so that the guide wire intervention can be realized quickly and stably. The guide wire 89 is released by the guide wire conveyor 88 controlled by the workstation 1, and the first driving member 83 is driven to retreat, so that the needle can be withdrawn quickly and stably, ensuring that the subsequent treatment channel can be established smoothly after puncture, and improving the overall treatment efficiency and effect.

[0231] It is worth mentioning that in the above puncture process, puncture moment identification process, contrast agent injection process and guide wire intervention process, the ultrasonic probe 91 can also be used for simultaneous scanning to assist in these processes, further ensuring the smooth progress of the percutaneous renal puncture fistula surgery.

[0232] The principles and implementation modes of the present application are described by applying specific examples in the present application. The above examples are only used to help understand the device and its core idea. It should be noted that for ordinary skilled persons in the technical field, some improvements and modifications can be made without departing from the principles of the present application, and these improvements and modifications also fall within the protection scope of the claims of the present application.

Claims

1. A percutaneous nephrostomy device, characterized by, The device comprises a puncture base (81) and an injector (82), a first driving member (83), a second driving member (84), a first force sensor (85), and a second force sensor (86) arranged on the puncture base (81) respectively; The injector (82) comprises a syringe barrel (821), a plunger rod (822), an outer sleeve (823), and a needle (824), the syringe barrel (821) is filled with contrast agent, the plunger rod (822) is arranged in the syringe barrel (821), the syringe barrel (821) and the outer sleeve (823) are in communication, the needle (824) penetrates through the outer sleeve (823), a part of the needle (824) in the outer sleeve (823) is provided with a through hole (824a), and a first end of the needle (824) is closed; The first driving member (83) is connected with the needle (824) through the first force sensor (85), the second driving member (84) is connected with the plunger rod (822) through the second force sensor (86), the first driving member (83) is configured to drive the needle (824) to move in a first direction, and the second driving member (84) is configured to drive the plunger rod (822) to move in a second direction; The percutaneous nephrostomy device (8) further comprises a guide wire conveyor (88), and the injector (82) further comprises a first plug (825); The guide wire conveyor (88) is located at a rear side of the needle (824) and is connected with the first driving member (83), the first plug (825) is at least partially arranged in the first end of the needle (824), the guide wire conveyor (88) is configured to clamp and convey a guide wire (89) in the first direction, and the guide wire (89) can pierce the first plug (825).

2. The percutaneous nephrostomy device according to claim 1, wherein The injector (82) further comprises a second plug (826), a third plug (827), and a connector (828), a rear end and a front end of the outer sleeve (823) are respectively provided with a first opening part (8231) and a second opening part (8232), and a side wall of the outer sleeve (823) is provided with a third opening part (8233); the second plug (826) and the third plug (827) are at least partially arranged in the first opening part (8231) and the second opening part (8232) respectively, the needle (824) is sequentially arranged in the second plug (826) and the third plug (827), and an outlet part (8211) of the syringe barrel (821) and the third opening part (8233) are connected through the connector (828); and / or The percutaneous nephrostomy device (8) further comprises a first clamping member (871), the first clamping member (871) is arranged at a front end of the puncture base (81), and the first clamping member (871) is configured to clamp the needle (824) and the guide wire (89); and / or The puncture base (81) comprises a support seat (811), a mounting seat (812) located above the support seat (811), a connecting plate (813) connecting the support seat (811) and the mounting seat (812); the first driving member (83) and the second driving member (84) are both arranged on the support seat (811) and both penetrate to the rear side of the connecting plate (813) at the output end, the upper surface of the mounting seat (812) is formed with two mounting grooves (812a), and the injection cylinder (821) and the outer sleeve (823) are arranged at least partially in the two mounting grooves (812a) respectively; and / or, An acoustic enhancement material coating is arranged on the outer surface of the injection needle (824).

3. A percutaneous nephrostomy robot system, comprising: The percutaneous nephrostomy robot system comprises a workstation (1), a first mechanical arm (3), a connecting platform (5), a second mechanical arm (6), a third mechanical arm (7), an ultrasonic assembly (9) and the percutaneous nephrostomy device (8) of claim 1 or 2. The first mechanical arm (3) is arranged on the workstation (1), the connecting platform (5) is connected to the end of the first mechanical arm (3), the second mechanical arm (6) and the third mechanical arm (7) are both arranged on the connecting platform (5), the ultrasonic assembly (9) comprises an ultrasonic probe (91), the ultrasonic probe (91) and the puncture base (81) are arranged at the ends of the second mechanical arm (6) and the third mechanical arm (7) respectively, and the first mechanical arm (3) is a multi-degree-of-freedom mechanical arm. The ultrasonic probe (91), each driving member, each force sensor and each mechanical arm are in communication connection with the workstation (1) respectively. The second mechanical arm (6) and the third mechanical arm (7) are in planar motion, and the first mechanical arm (3) is a six-degree-of-freedom mechanical arm. The percutaneous nephrostomy robot system further comprises a third force sensor (4), and the ultrasonic assembly (9) further comprises a fourth force sensor (92); the third force sensor (4) is arranged between the connecting platform (5) and the end of the first mechanical arm (3), and the fourth force sensor (92) is arranged between the ultrasonic probe (91) and the end of the second mechanical arm (6). The percutaneous nephrostomy robot system further comprises a control handle (2); the control handle (2) is arranged on the workstation (1), the motion of the end of the control handle (2) can be mapped to the motion of the ends of the first mechanical arm (3), the second mechanical arm (6) and the third mechanical arm (7) respectively, and the workstation (1) is configured to feed back the contact force of the ultrasonic probe (91) and the tissue to the control handle (2).

4. The percutaneous nephrolithotomy robot system of claim 3, wherein, The use method of the percutaneous nephrostomy robot system comprises: Controlling the redundant mechanical arm structure formed by the first mechanical arm (3) and the second mechanical arm (6) to move, so that the ultrasonic probe (91) performs scanning, so as to determine the puncture starting point position and the puncture attitude under the guidance of the ultrasonic probe (91); Controlling the third mechanical arm (7) to move, so that the end of the injection needle (824) moves to the puncture starting point position and the posture reaches the puncture posture; Driving the injection needle (824) to advance along the first direction by the first driving element (83) to perform puncture; Measuring the puncture force of the injection needle (824) by the first force sensor (85) and measuring the advancing force of the core rod (822) by the second force sensor (86), and identifying the instant of penetration according to the change of at least one of the puncture force and the advancing force; At the instant of penetration, controlling the injection needle (824) to stop advancing by the first driving element (83), and driving the core rod (822) to advance along the second direction by the second driving element (84) to inject the contrast medium into the renal pelvis through the injection needle (824).

5. The percutaneous nephrolithotomy robot system of claim 4, wherein, The control of the redundant mechanical arm structure formed by the first mechanical arm (3) and the second mechanical arm (6) to move, so that the ultrasound probe (91) performs scanning to determine the puncture starting point position and the puncture posture under the guidance of the ultrasound probe (91), comprising: According to the DH parameters of the second mechanical arm (6) and the third mechanical arm (7), an ideal space is generated; the ideal space is a space in which the working space of the second mechanical arm (6) and the working space of the third mechanical arm (7) overlap, and the movement of the third mechanical arm (7) can make the posture of the end of the injection needle (824) within a preset posture range; Controlling the first mechanical arm (3) to move, so that the ultrasound probe (91) scans in the target area to determine the starting point of the fine scan; Controlling the first mechanical arm (3) to perform planar motion, so that the ultrasound probe (91) starts scanning from the starting point to determine the fine scan trajectory (a); Judging whether the fine scan trajectory (a) exceeds the ideal space, if the fine scan trajectory (a) exceeds the ideal space, re-determining the fine scan trajectory (a); if the fine scan trajectory (a) does not exceed the ideal space, extracting the midpoint of the fine scan trajectory (a); Controlling the first mechanical arm (3) to perform planar motion, so that the end of the ultrasound probe (91) moves to the midpoint; Controlling the second mechanical arm (6) to move, so that the end of the ultrasound probe (91) moves to the starting point; Controlling the second mechanical arm (6) to move, so that the ultrasound probe (91) scans along the fine scan trajectory (a) to obtain a plurality of ultrasound images, performing three-dimensional reconstruction of the kidney using the plurality of ultrasound images, and determining the puncture starting point position and the puncture posture according to the three-dimensionally reconstructed kidney model.

6. The percutaneous nephrolithotomy robot system of claim 5, wherein, The control of the first mechanical arm (3) to move, the control of the first mechanical arm (3) to perform planar motion, the control of the second mechanical arm (6) to move, and the control of the third mechanical arm (7) to move are all controlled by controlling the control handle (2) to control the corresponding mechanical arm to move; And / or, Before the ultrasound probe (91) performs scanning, the method for using the percutaneous renal puncture fistula robot system further comprises: setting a contact force threshold. When the ultrasound probe (91) is scanning, the method for using the percutaneous nephrostomy robot system further comprises: controlling the ultrasound probe (91) to scan within a set contact force threshold range; And / or, The third force sensor (4) is a six-dimensional force sensor, and the fourth force sensor (92) is a one-dimensional force sensor; the method for using the percutaneous nephrostomy robot system further comprises: The contact force monitoring step: obtaining a first force collected by the third force sensor (4) in the axial direction of the ultrasonic probe (91) , obtaining a second force collected by the fourth force sensor (92) ; ultrasound contact effect evaluation step: calculating the difference between the first force and the second force , judging whether the difference exceeds a preset contact force difference threshold , if , the contact effect of the ultrasound probe (91) is poor, entering a contact posture adjustment step; if , the contact effect of the ultrasound probe (91) is good​​ Contact posture adjustment step: if the scanning of the ultrasound probe (91) is controlled by the first robot arm (3) at this time, the first robot arm (3) is controlled to move to adjust the posture of the ultrasound probe (91) so that ; if the scanning of the ultrasound probe (91) is controlled by the second robot arm (6) at this time, the scanning is stopped, and the fine scanning trajectory (a) is re-determined.

7. The percutaneous nephrolithotomy robot system of claim 4, wherein, The instant of puncture is identified according to a change in at least one of the puncture force and the pushing force, comprising: The puncture force change rate at the current time is calculated as ， wherein, is the puncture force at the i-th sampling point in the puncture force data measured by the first force sensor (85); is the puncture force at the i-th sampling point in the puncture force data measured by the first force sensor (85); is the data window size; is the sampling time interval of the first force sensor (85) and the second force sensor (86); The pushing force change rate at the current time is calculated as ， wherein, is the data measured by the second force sensor (86) at the i-th sample point of the propulsion force data; and is the data measured by the second force sensor (86) at the i-th sample point of the propulsion force data. Identifying the instant of puncture according to the puncture force rate of change and the push force rate of change: comparing the puncture force rate of change to a puncture force rate of change threshold , the push force rate of change to a push force rate of change threshold , if and , then the current time is the instant of puncture; if or , then the current time is not the instant of puncture.

8. The percutaneous nephrolithotomy robot system of claim 4, wherein, After the contrast agent is injected into the renal pelvis through the injection needle (824), the method for using the percutaneous nephrostomy robot system further comprises: The guide wire (89) is driven by the guide wire conveyor (88) to advance in the first direction and enter the renal pelvis through the injection needle (824); After the guide wire (89) enters the renal pelvis, the guide wire conveyor (88) is controlled to release the guide wire (89), and the injection needle (824) and the guide wire conveyor (88) are driven by the first driving member (83) to retreat in the first direction, so that the guide wire (89) is left in the human body.

Images