Flexible continuum needle biopsy robot mechanism controlled by dual-drive rack

Abstract

The invention discloses a flexible continuum needle biopsy robot mechanism controlled by a dual-drive rack, which is mainly used for accurate guiding and posture adjustment of a puncture tool in a mammary gland needle biopsy operation process, and comprises a main body structure, a steering unit and a drive unit. The main body structure is used for constructing a flexible execution unit of the robot and realizing multi-section adjustability and accurate guidance of a puncture path; the steering unit is used for realizing rotary adjustment of an end effector of the robot in the horizontal direction so as to improve the space adaptability and angle control precision of a puncture path; the driving unit is used for achieving accurate and independent driving regulation and control of the double-channel rack in the flexible arm, the problems that a traditional puncture robot cannot be used in the MRI environment, flexibility is insufficient, space adaptability is poor, control precision is not high and the like are solved, flexible adjustment of the puncture angle and position is achieved, and the operation safety, precision and automation degree are improved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of minimally invasive surgery robots, and particularly relates to a flexible continuum puncture biopsy robot mechanism controlled by double driving racks. BACKGROUND

[0002] Continuum robots are widely used in minimally invasive puncture biopsy fields due to their excellent flexibility and environmental adaptability. However, most of the current continuum robots are driven by one side or by wires, and the driving form is single, which leads to insufficient control freedom and slow posture response speed, and it is difficult to achieve precise multi-segment curvature adjustment of the puncture path, and it cannot meet the fine control requirements of the complex path in breast puncture biopsy. In addition, the existing continuum structure generally contains metal components, which can easily cause magnetic field interference or image artifacts in the magnetic resonance imaging (MRI) guided surgery environment, seriously affecting the positioning accuracy and patient safety. At the same time, the existing continuum robot lacks effective high-precision path control means, and the puncture positioning is not accurate, which can easily cause tissue damage to the patient and cause greater trauma.

[0003] Therefore, it is necessary to develop a continuum robot mechanism with compact structure, flexible control and strong magnetic compatibility, which has higher precision, lower trauma puncture capability, and can safely operate in the MRI environment, realizes accurate adjustment of multi-segment posture, meets the puncture requirements of complex paths in each region of the breast, and improves the safety and operation efficiency of the puncture biopsy surgery. SUMMARY

[0004] The technical problem to be solved by the application is to provide a flexible continuum puncture biopsy robot mechanism controlled by double driving racks, which solves the problems of the conventional puncture robot in the prior art, such as inability to use in the MRI environment, insufficient flexibility, poor spatial adaptability, and low control precision.

[0005] The application adopts the following technical solutions to solve the above technical problems:

[0006] The flexible continuum puncture biopsy robot mechanism controlled by double driving racks comprises a main structure, a steering unit and a driving unit; the main structure is used as a flexible execution unit of the robot to realize multi-segment adjustable and guided puncture path; the main structure comprises a flexible continuum composed of a plurality of rigid segments connected in series, and two flexible racks are respectively arranged in the guide grooves on both sides of the rigid segments.

[0007] The steering unit is used to rotate the robot's end effector in the horizontal direction and adjust the puncture path. The steering unit structure includes a turntable, a guide plate, a guide component, and a base plate. The base plate is provided with an internal gear ring structure. The turntable rotates around the central axis by a gear driven by a motor meshing with the internal gear ring. The guide component is installed on the guide plate and cooperates with the bottom limiting structure of the turntable to form a rotation limiting structure. A storage device is installed on the turntable to accommodate the main structure and realize end effector posture adjustment.

[0008] The drive unit is used to achieve precise and independent drive control of the dual-channel rack in the flexible arm; the drive unit structure includes two independent actuators arranged side by side, each actuator is equipped with a micro motor and a small module gear, which independently drive a corresponding flexible rack to perform forward and reverse linear motion; one end of the flexible rack is rigidly connected to the end structure, which is used to fix the puncture needle and transmit the posture adjustment action to the puncture end.

[0009] The rigid segment has an "I" shaped cross-section with through holes at both ends and a central hole or reinforcing annular hole in the middle, for installing connecting bolts and forming a rotatable, multi-degree-of-freedom flexible deformable structure.

[0010] The turntable in the steering unit structure forms a limiting structure by cooperating with the guide groove of the base plate through the guide component, which is used to limit the maximum rotation angle.

[0011] The storage device has a hollow shell structure with a flexible continuous guide channel inside, which is used to guide the flexible rack and protect the flexible continuous.

[0012] The two actuators are set up independently. One actuator is a fixed end, installed on the storage device of the steering unit structure, and the other actuator is a moving end, set on the flexible rack. It can move forward and backward or passively along the rack direction, and there is no rigid connection between the two actuators.

[0013] The actuator includes an actuator housing, a motor, gears, and an actuator cover plate. The cover plate is provided with a cable outlet hole and dustproof ribs for cable guidance and sealing.

[0014] The end structure is rigidly connected to the end of the flexible rack on one hand, and fixedly connected to the end segment of the flexible continuum on the other hand through end bolts and end nuts. It is also equipped with positioning posts for positioning and ensuring stable and consistent assembly position.

[0015] The two actuators in the driving unit structure drive two flexible racks in a differential control mode, and the relative speed difference of the flexible racks realizes the spatial bending adjustment of the continuum; when the speeds of the two flexible racks are the same, the continuum realizes linear extension and contraction; through the cooperation of the fixed-end actuator and the moving-end actuator, the flexible rack always maintains a tensioned and guided state during the deformation process, so that the trajectory generation and guiding puncture of the continuum in a non-coplanar attitude in space are realized.

[0016] The driving unit structure further comprises an integrated support structure installed at a position opposite to the gear output end, for radially supporting the gear to prevent the gear from swinging and yawing.

[0017] The multi-degree-of-freedom bendable continuum robot comprises the flexible continuum puncture biopsy robot mechanism controlled by the double driving racks.

[0018] 1. The continuum robot body of the present application adopts a spine-like multi-section rigid segment in series, and realizes controllable bending through two flexible racks on both sides, the overall structure has continuous and flexible deformation capability, can flexibly adjust the puncture path in a complex tissue environment, has the ability to puncture obstacles, bypass blood vessels and nerves and other high-risk areas, thereby improving the safety of biopsy surgery.

[0019] 2. The robot structure of the present application can form a composite bending path with two different bending radii and directions on the continuum through the cooperation of the two driving units of the fixed end and the moving end, supports the attitude control of asymmetric and double-section continuous curvature in space, and is beneficial to realize accurate puncture operation after bypassing key tissue structures (such as blood vessels and nerves).

[0020] 3. The main segment of the present application is made of photosensitive resin, the flexible rack is made of high-strength polymer, and the connecting piece is made of non-magnetic material, so that the overall structure does not contain ferromagnetic material, has good MRI compatibility, can be navigated and executed in real time under the guidance of magnetic resonance imaging, and provides technical support for intraoperative imaging navigation.

[0021] 4. The present application adopts a gear-rack rigid meshing mode to replace the traditional wire driving or pneumatic control, the rack movement is directly transmitted to the relative angle adjustment between segments, has the advantages of strong transmission rigidity and small friction resistance, can effectively reduce the control error caused by friction interference, and ensures the stability and repeatability of attitude adjustment.

[0022] 5. Each structural unit of the present application is modularly designed, including the main segment, the driving unit, the steering platform and the like, which can be independently disassembled and replaced, facilitating manufacturing and processing and system maintenance; at the same time, the main structure is manufactured by using 3D printing technology, which not only reduces the overall weight, but also can flexibly adjust the segment shape and connection mode. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 The figure is a schematic diagram of the overall structure of the present application.

[0024] Figure 2 The figure is a schematic diagram of the main structure of the present application.

[0025] Figure 3 The figure is a schematic diagram of the steering unit structure of the present application.

[0026] Figure 4 The figure is an exploded view of the bottom plate of the steering unit of the present application.

[0027] Figure 5 The figure is a schematic diagram of the driving unit structure of the present application.

[0028] Figure 6 The figure is a schematic diagram of the connection between the main structure and the end structure of the present application.

[0029] Figure 7 The figure is a structural view of the rigid segment of the present application, wherein a is a front view, b is a left view, c is a top view, and d is a perspective view.

[0030] In the figure, the identification is as follows: 1-main structure; 2-steering unit structure; 3-driving unit structure; 11-flexible rack; 12-rigid segment; 21-housing device; 22-turntable motor cover; 23-turntable; 24-guide plate; 25-guide piece; 26-bottom plate; 27-turntable fixing; 31-actuator; 32-outer needle fixing structure; 33-outer needle; 34-end structure; 35-end bolt; 36-end nut; 37-fixed end gasket; 311-actuator cover plate; 312-motor; 313-actuator shell; 314-small modulus gear; 315-supporting structure. DETAILED DESCRIPTION

[0031] The structure and working process of the present application will be further described below in combination with the drawings.

[0032] The double-drive rack-controlled flexible continuum puncture biopsy robot mechanism is characterized by comprising a main structure, a steering unit, and a driving unit; the main structure is used for the flexible execution unit of the robot, realizes the multi-section adjustable and accurate guidance of the puncture path; the main structure comprises a plurality of rigid segments connected in series, and two flexible racks are respectively penetrated in the guide grooves on the two sides of the rigid segments;

[0033] The steering unit is used to realize the horizontal rotation of the robot's end effector, adjusting the spatial adaptability and control angle of the puncture path. The steering unit structure includes a turntable, a guide plate, a guide component, and a base plate. The base plate is provided with an internal gear ring structure. The turntable rotates around the central axis by a gear driven by a motor meshing with the internal gear ring. The guide component is installed on the guide plate and cooperates with the bottom limiting structure of the turntable to form a rotation limiting structure. A hollow shell-type storage device is installed on the turntable to accommodate the main structure and realize end-effector posture adjustment.

[0034] The drive unit is used to achieve precise and independent drive control of the dual-channel rack in the flexible arm; the drive unit structure includes two independent actuators arranged side by side, each actuator is equipped with a micro motor and a small module gear, which independently drive a corresponding flexible rack to perform forward and reverse linear motion; one end of the flexible rack is rigidly connected to the end structure, and the end structure is rigidly connected to the end of the flexible rack and has a puncture needle mounting interface.

[0035] Specifically, the main structure is used to construct the robot's flexible execution unit, enabling multi-segment adjustment and precise guidance of the puncture path. The main structure includes multiple rigid segments, two flexible racks, and several bolts and nuts.

[0036] The rigid segments are modular structural units, numbered in several and arranged longitudinally to form a continuous strip. Each rigid segment is a one-piece structure with an "I"-shaped cross-section, through holes at both ends, and a central hole or ring structure in the middle for mounting connecting bolts or pins. Rack guide grooves are provided on both sides of the segment, running longitudinally through the entire continuous body to constrain the flexible rack's trajectory and prevent deviation or jamming. The segments can be made of photosensitive resin or high-strength polymer materials, integrally formed using 3D printing technology, balancing lightweight design and structural strength.

[0037] The aforementioned flexible racks consist of two racks made of high-strength polymer material, exhibiting excellent flexibility and wear resistance. The two racks are respectively arranged on both sides of the main structure, penetrating all rigid segments along the segment guide groove direction. One end of each rack is fixed to the end segment of the continuum by a fastening method, while the other end meshes with a drive gear in the drive unit, used to receive the mechanical displacement output by the drive unit, thereby achieving bending control of the continuum structure. When the two racks move in the same direction at the same speed, the main structure exhibits linear expansion and contraction behavior; when there is a difference in the forward and backward speeds of the two racks, the main structure undergoes bending motion in the plane, deflecting towards the side where the rack advances less.

[0038] The bolt and the nut are used for connecting adjacent rigid segments together through the through holes of the segments.

[0039] The steering unit is used for realizing the rotation adjustment of the robot end effector in the horizontal direction, so as to improve the space adaptability and angle control precision of the puncture path.

[0040] The bottom plate is a disc structure, which is a basic supporting component of the whole steering unit, and a plurality of mounting holes are uniformly distributed on the outer edge of the bottom plate for reliable connection with the robot body or the bottom structure.

[0041] The guide plate is an annular structure coaxially arranged with the bottom plate and mounted above the bottom plate and fixed by bolts.

[0042] The guide piece is a roller type limiting structure mounted in the arc-shaped guide groove of the guide plate, which forms a contact fit with the pre-set flange or limiting convex point below the turntable to provide sliding guidance and stroke limitation during rotation, effectively preventing the turntable from rotating excessively or deviating nonlinearly, and improving the rotation precision and stability of the system.

[0043] The turntable is an asymmetric integrated disc structure mounted on the upper part of the guide plate, and the bottom part cooperates with the bearing to form a rotating pair, and the top part is provided with a rectangular mounting surface for connecting the receiving device of the main body structure.

[0044] The motor is fixed on the motor platform of the turntable through the mounting seat, and the output shaft is provided with a small modulus gear, which is meshed and driven with the inner gear ring of the bottom plate to provide stable driving force for the turntable.

[0045] The receiving device is a hollow shell structure, which is installed on the rectangular connecting surface at the top of the rotary table and fixed by bolt connection. The interior of the receiving device is provided with a flexible segment and a double-drive rack channel, which is used for accommodating and protecting the flexible puncture arm structure, and simultaneously serves as a guide shell of the driving force transmission path to realize the precise transition connection between the flexible arm and the steering unit.

[0046] The driving unit is used to realize the precise independent driving control of the double-channel rack in the flexible arm. The driving unit comprises two parallel and independent actuators, an outer needle fixing structure, an outer needle, two fixed end gaskets, a terminal structure and an integrated support member.

[0047] The two actuators are arranged side by side and respectively encapsulated with a double-motor-gear drive system, and are not rigidly connected in mechanical structure. Each actuator is composed of an integrated shell, two micro stepping motors, a small modulus spur gear and an actuator cover plate. The motor drives the small gear connected by the output shaft to rotate, and then drives the flexible rack to move forward and backward in a straight line in the actuator inner cavity, so as to control the stretching, retraction and deflection posture of the flexible arm.

[0048] The actuator on the side close to the direction of the robot body is installed into the receiving device of the steering unit through the fixed end gasket. The fixed end gasket is made of transparent high-strength polymer, has a double-rack guide groove and a central limiting structure, can realize precise guidance of the flexible rack, and can improve the linear stability and transmission accuracy of the driving motion. The gasket is connected with the receiving device by bolt mounting mode, and constitutes a centering support frame of the input end.

[0049] The actuator on the side away from the direction of the body structure is not fixed with the body by a structural member, but is installed on the flexible rack and can freely slide along the direction of the rack. The actuator can actively drive the flexible rack to move in the driving state through the internal motor, gear and transmission assembly, realize the stretching and bending control of the flexible arm, and passively slide with the rack in the non-driving state to adapt to the geometric cooperation in the posture change process of the flexible arm. The dual-function characteristic makes the actuator not only participate in driving in the active mode to improve the flexibility and degree of freedom of the continuum posture adjustment, but also maintain the closed-loop integrity of the system, the smoothness of the rack operation and the motion stability in the passive mode through follow-up compensation, so as to improve the flexibility, motion compatibility and posture control accuracy of the overall system in complex space.

[0050] The outer needle fixing mechanism is fixed with the terminal structure by bolt connection, adopts groove type clamping design, and installs the hollow outer needle for puncture by tight fit or threaded connection. The structure can provide stable support for the outer needle, ensure that the needle does not shake axially and deviate radially during the puncture process, meet the requirements of high-precision positioning and path guidance, and be suitable for minimally invasive interventional operations such as breast biopsy.

[0051] The terminal structure is rigidly connected with the flexible rack, and the terminal is fastened at the front end of the flexible continuum through a bolt, a positioning column or a clamping groove structure, so that the terminal can keep synchronous displacement with the rack during the movement of the continuum, and stably transmit the posture adjustment effect. The structure ensures that the displacement and angle change caused by the deformation of the continuum can be stably and accurately transmitted to the puncture terminal, so that the posture of the terminal is directly controlled.

[0052] The front surface of the actuator shell is provided with a mounting and positioning hole and an output port, and the inside is provided with a double-channel rack meshing channel, which ensures that the two racks are independently controlled under the condition of left-right symmetrical arrangement. The cover plate is fixedly installed on the shell by screws, and is provided with a dustproof sealing rib and a cable through hole, which is used for the motor wire bundle to pass out and be connected to the upper computer control system, and also plays a protective and stable role.

[0053] Opposite to the gear output position at the front end of the actuator, a symmetrical support structure is arranged, which is used for supporting the front end of the pinion and limiting the radial swing thereof, and enhancing the reliability of the driving mechanism during high-speed rotation.

[0054] The driving control strategy supports independent speed regulation of the two motors, when the rotation speeds of the two motors in the two actuators are the same, the whole continuum flexible arm will realize overall translation or synchronous stretching; when the rotation speeds are different, the continuum will be bent in a certain direction in space, realizing active adjustment of the posture of the flexible arm and generation of a trajectory. Through the coordinated control of the two independent driving units of the fixed end and the moving end, dynamic posture tracking, space curve formation and non-coplanar target point puncture operation of the flexible arm during execution can be realized, and the flexibility and operation flexibility of the robot system are significantly improved.

[0055] Specific embodiments are shown in Figures 1 to 7

[0056] As shown in Figure 1 The embodiment discloses a flexible continuum puncture biopsy robot mechanism controlled by double driving racks, which is suitable for breast puncture biopsy scenes, and aims to solve the problems of traditional puncture robots, such as inability to use in an MRI environment, insufficient flexibility, poor space adaptability, low control precision and the like, realize flexible adjustment of a puncture angle and position, and improve surgical safety, precision and automation.

[0057] As shown in Figure 1 ​As shown: The flexible continuum puncture biopsy robot mechanism controlled by dual-drive racks includes a main structure 1, a steering unit structure 2, and a drive unit structure 3. The main structure 1 is mainly composed of multiple rigid segments 12 and two flexible racks 11, used to achieve flexible control of the puncture path; the steering unit structure 2 is used to adjust the robot's end effector posture to achieve horizontal rotation; the drive unit structure 3 is used to drive the flexible racks to achieve posture adjustment of the continuum.

[0058] like Figure 2 As shown: The main structure 1 is a strip-shaped continuous body, and its rigid segments 12 are connected in series by bolts and nuts to form a series structure. Each rigid segment 12 is an integral "I"-shaped structure with limiting through holes and a central hole, which can realize flexible connection and relative rotation between segments, thereby giving the continuous body flexible deformation capability. Two flexible racks 11 are arranged through the segment guide grooves and are located on both sides of the rigid segment 12.

[0059] like Figure 3 and Figure 4 As shown: The steering unit structure 2 includes a storage device 21, a turntable motor cover 22, a turntable 23, a guide plate 24, a guide component 25, a base plate 26, and a turntable fixing 27. The storage device 21 is a hollow shell structure, installed on the rectangular connecting surface at the top of the turntable 23 and fixed by bolts. Its interior has flexible segments and a double-drive rack channel to accommodate and protect the flexible piercing arm structure, while also serving as a guide shell for the drive force transmission path, achieving a precise transition connection between the flexible continuum and the steering unit. The guide plate 24 is fixed to the base plate 26 by bolts. The guide component 25 is embedded in the guide groove and cooperates with the bottom limiting structure of the turntable 23 to limit the rotation range and prevent structural jamming or over-rotation. The turntable fixing 27 is located at the center of the base plate, limiting the axial displacement of the turntable and forming a reliable rotary pair. The base plate 26 has a disc-shaped structure with symmetrical guide grooves and an internal gear ring structure. The small module gear of the motor output shaft can mesh with it to drive the turntable 23 to rotate around the central axis, thereby realizing the angle adjustment of the storage device 21 and the flexible continuum connected thereto, and improving the directional flexibility of the puncture path.

[0060] like Figure 5As shown, the drive unit structure mainly includes: two independently arranged actuators 31, actuator cover plate 311, micro motor 312, actuator housing 313, outer needle fixing structure 32, hollow outer needle for puncture 33, end structure 34, end bolt 35, end nut 36, fixed end washer 37, meshing small module gear 314, and integrated support structure 315 for supporting the gear output end. The actuators 31 are relatively independent and arranged side by side, each encapsulated with a dual motor-gear drive system, and each has the ability to drive the flexible rack 11 to move forward and backward. Among them, the actuator on the side closer to the main body is mounted on the storage device through the fixed end washer, serving as a fixed end driver; the actuator on the side farther from the main body is set on the flexible rack, which can passively move with the rack's advance and retreat, and actively drive the flexible rack when needed. The two are not rigidly connected in mechanical structure, but they cooperate in function. The motor's output shaft is connected to the flexible rack 11 via a meshing small-module gear 314, achieving linear motion output and driving the flexible continuous body to extend or bend. The actuator cover plate 311 is fixed to the housing 313 with screws and has dustproof ribs and cable through holes for guiding the motor wiring harness and connecting to external interfaces, while also improving the actuator's sealing and structural integrity. The integrated support structure 315 is installed opposite the meshing gear at the front end of the actuator and is not directly connected to the two actuators 31. This structure provides radial support to the front end of the meshing small-module gear 314, limiting its sway and wobble during high-speed operation and enhancing the reliability and output stability of the gear-rack meshing process. The outer needle fixing structure 32 is installed on the end structure 34 by bolt connection. Its body adopts a groove clamping design and can be fixed in the outer needle fixing structure 32 by slot engagement or thread fastening. This structure ensures that the external needle maintains axial stability and radial non-deviation during puncture, thus meeting the requirements for high-precision positioning and path guidance. The end structure 34 and the flexible rack 11 are rigidly connected and fastened by end bolts 35 and end positioning posts 36, ensuring that displacement and attitude changes during continuous motion are accurately transmitted to the puncture needle, guaranteeing the consistency and accuracy of the end response. The actuator, located closer to the robot body, is mounted in the steering unit via a fixed end washer 37, which has guide grooves and limiting bosses to constrain the rack path and support the centering structure of the input end. This component improves the smoothness of the rack drive process, effectively controls assembly errors, and enhances the consistency and control accuracy of the overall transmission system.

[0061] like Figure 6 As shown: The ends of the two flexible racks 11 are rigidly connected to the end structure 34 by bolts or slot structures respectively.

[0062] like Figure 7As shown: The rigid segment 12 has an "I"-shaped cross-section, with bolt through holes at both ends and a perforated or annular reinforcing structure in the middle to ensure connection strength and rotational freedom. Guide grooves on both sides extend the entire length, working in conjunction with the flexible rack 11 for sliding control, forming a continuous deformation mechanism that combines rigidity and flexibility.

[0063] Based on the aforementioned flexible continuum puncture biopsy robot mechanism controlled by dual-drive racks, the present invention also provides a multi-degree-of-freedom bendable continuum robot for biopsy puncture sites requiring precise directional control.

[0064] It should be noted that the terms "comprising" and "having" and any variations thereof in the specification, claims and accompanying drawings of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to such process, method, product or device.

[0065] In this application, the terms "upper," "lower," "left," "right," "front," "rear," "top," "bottom," "inner," "outer," "middle," "vertical," "horizontal," "lateral," and "longitudinal" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are primarily for the purpose of better describing this application and its embodiments, and are not intended to limit the indicated device, element, or component to having a specific orientation, or to be constructed and operated in a specific orientation.

[0066] Furthermore, in addition to indicating location or positional relationship, some of the aforementioned terms may also have other meanings. For example, the term "above" may also be used in some cases to indicate a certain dependency or connection relationship. Those skilled in the art can understand the specific meaning of these terms in this application based on the specific circumstances.

[0067] Furthermore, the terms "installation," "setting," "equipped with," "connection," "linking," and "socketing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral structure; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium, or an internal connection between two devices, components, or parts. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances. Unless otherwise specified, the embodiments and features described in this application can be combined with each other.

[0068] It should be understood that this solution is not limited to the specific embodiments described above. Devices and structures not described in detail herein should be understood as being implemented in a manner common to the art. Any person skilled in the art can make many possible variations and modifications to this solution, or modify it into equivalent embodiments, without departing from the scope of this solution, using the methods and techniques disclosed above. This does not affect the substantive content of this solution. Therefore, any simple modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of this solution, without departing from its scope, still fall within the protection scope of this solution.

Claims

1. A flexible continuum puncture biopsy robot mechanism controlled by dual-drive rack and pinion, characterized in that: It includes a main structure, a steering unit, and a drive unit; the main structure is used as the robot's flexible execution unit to realize multi-segment adjustable and guided puncture path; the main structure includes a flexible continuum composed of multiple rigid segments connected in series, with two flexible racks passing through guide grooves on both sides of the rigid segments respectively; The steering unit is used to rotate the robot's end effector in the horizontal direction and adjust the puncture path. The steering unit structure includes a turntable, a guide plate, a guide component, and a base plate. The base plate is provided with an internal gear ring structure. The turntable rotates around the central axis by a gear driven by a motor meshing with the internal gear ring. The guide component is installed on the guide plate and cooperates with the bottom limiting structure of the turntable to form a rotation limiting structure. A storage device is installed on the turntable to accommodate the main structure and realize end effector posture adjustment. The drive unit is used to achieve precise and independent drive control of the dual-channel rack in the flexible arm; the drive unit structure includes two independent actuators arranged side by side, each actuator is equipped with a micro motor and a small module gear, which independently drive a corresponding flexible rack to perform forward and reverse linear motion; one end of the flexible rack is rigidly connected to the end structure, which is used to fix the puncture needle and transmit the posture adjustment action to the puncture end.

2. The flexible continuum puncture biopsy robot mechanism controlled by dual-drive rack and pinion as described in claim 1, characterized in that: The rigid segment has an "I" shaped cross-section with through holes at both ends and a central hole or reinforcing annular hole in the middle, for installing connecting bolts and forming a rotatable, multi-degree-of-freedom flexible deformable structure.

3. The flexible continuum puncture biopsy robot mechanism controlled by dual-drive rack and pinion as described in claim 1, characterized in that: The turntable in the steering unit structure forms a limiting structure by cooperating with the guide groove of the base plate through the guide component, which is used to limit the maximum rotation angle.

4. The flexible continuum puncture biopsy robot mechanism controlled by dual-drive rack and pinion as described in claim 1, characterized in that: The storage device has a hollow shell structure with a flexible continuous guide channel inside, which is used to guide the flexible rack and protect the flexible continuous.

5. The flexible continuum puncture biopsy robot mechanism controlled by dual-drive rack and pinion as described in claim 1, characterized in that: The two actuators are set up independently. One actuator is a fixed end, installed on the storage device of the steering unit structure, and the other actuator is a moving end, set on the flexible rack. It can move forward and backward or passively along the rack direction, and there is no rigid connection between the two actuators.

6. The flexible continuum puncture biopsy robot mechanism controlled by dual-drive rack and pinion as described in claim 5, characterized in that: The actuator includes an actuator housing, a motor, gears, and an actuator cover plate. The cover plate is provided with a cable outlet hole and dustproof ribs for cable guidance and sealing.

7. The flexible continuum puncture biopsy robot mechanism controlled by dual-drive rack and pinion as described in claim 5, characterized in that: The end structure is rigidly connected to the end of the flexible rack on one hand, and fixedly connected to the end segment of the flexible continuum on the other hand through end bolts and end nuts. It is also equipped with positioning posts for positioning and ensuring stable and consistent assembly position.

8. The flexible continuum puncture biopsy robot mechanism controlled by dual-drive rack and pinion as described in claim 5, characterized in that: The two actuators in the drive unit structure drive two flexible racks using differential control. The spatial bending adjustment of the continuum is achieved through the relative speed difference of the flexible racks. When the speeds of the two flexible racks are the same, the continuum achieves linear extension and contraction. Through the cooperation of the fixed-end actuator and the moving-end actuator, the flexible racks are kept in a tensioned and guiding state during the deformation process, realizing the trajectory generation and guidance puncture of the continuum in a non-coplanar posture in space.

9. The flexible continuum puncture biopsy robot mechanism controlled by dual-drive rack and pinion as described in claim 8, characterized in that: The drive unit structure also includes an integrated support structure, which is installed opposite the gear output end to radially support the gear and prevent it from swaying or deflecting.

10. A multi-degree-of-freedom bendable continuum robot, characterized in that: The invention includes the flexible continuum puncture biopsy robot mechanism with dual-drive rack control as described in any one of claims 1 to 9.

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