A quick-change robot end effector for percutaneous interventional procedures

Abstract

The application provides a quick-change robot end effector for percutaneous intervention surgery, and belongs to the technical field of advanced medical robots. The quick-change robot end effector comprises a first end effector and a second end effector, the first end effector and the second end effector are switched on the same robot system through a quick-change module, wherein the first end effector is used for pre-puncture positioning guidance, puncture execution and guide wire basic propulsion, and the second end effector realizes fine direction regulation of the guide wire through magnetic control. The application can quickly switch on the same robot system, solve problems such as separation of functional modules, spatial interference of multiple mechanisms, mutual interference of motion accuracy and low quick-change efficiency, and can be integrated in the same robot system, has compact structure and high motion accuracy, can realize various percutaneous intervention surgeries, and covers precise operation of the whole process of percutaneous intervention surgery.

Description

Technical Field

[0001] This invention belongs to the field of advanced medical robot technology and relates to a quick-change robotic end effector for percutaneous interventional surgery. Background Technology

[0002] With the rapid development of minimally invasive interventional techniques, percutaneous vascular interventional procedures (such as percutaneous coronary intervention, neurointervention, and peripheral angioplasty) have become the mainstream treatment for cardiovascular, cerebrovascular, and oncological diseases. In recent years, surgical robot systems have been gradually introduced into this field. Through robotic arm operation, surgical precision can be significantly improved, radiation to both doctors and patients can be reduced, and remote precision treatment can be achieved.

[0003] As the core operating unit of a surgical robot, the end effector is directly responsible for gripping and driving interventional instruments. Due to the complexity of surgical procedures, multiple functional instruments need to be used alternately in a single surgery. However, traditional robotic systems have significant drawbacks when changing instruments: current systems mostly use a single fixed end effector, making instrument changes time-consuming or even impossible, reducing surgical efficiency and increasing the risk of anesthesia and vascular complications for patients. Existing integrated multi-functional actuator solutions also have serious shortcomings: spatial interference between multiple mechanisms affects imaging equipment projection, leading to a significant reduction in workspace; multiple motion mechanisms share a drive source, causing mutual interference in accuracy; the docking process is cumbersome and the changeover time is long; and there is a lack of adaptive drive parameter capabilities, requiring manual calibration after changeover.

[0004] Chinese invention patent CN115568954A discloses an XMR image-guided cardiovascular interventional surgery robot. Although it can simultaneously perform wire insertion / retraction and wire rotation operations, it requires changing the robot to achieve positioning, puncture, and guidance steps, which not only reduces surgical efficiency but also affects surgical precision and easily leads to postoperative complications. Chinese invention patent CN113633382A discloses a guidewire / catheter delivery device and a vascular interventional surgery robot. Although it can adapt to various types of guidewires, it occupies too much space, encroaching on the surgical operating space.

[0005] Therefore, it is necessary to provide a quick-change robotic end effector for percutaneous interventional surgery to address the problems existing in the prior art. Summary of the Invention

[0006] To overcome the problems of existing technologies, this invention proposes a quick-change robotic end effector for percutaneous interventional surgery. The end effector comprises a first end effector and a second end effector, which can be rapidly switched on the same robotic system via a quick-change module. This solves problems such as functional module separation, spatial interference between multiple mechanisms, mutual interference in motion accuracy, and low quick-change efficiency. This invention can be integrated into a single robotic system, has a compact structure, high motion accuracy, and can realize various percutaneous interventional procedures, covering precise operation throughout the entire percutaneous interventional surgery process.

[0007] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0008] The quick-change robot end effector consists of two quick-change modules, a positioning and puncture module, a guidewire feeding module, an ultrasonic probe positioning module, and a magnetic control module. One quick-change module, positioning and puncture module, guidewire feeding module, and ultrasonic probe positioning module constitute the first end effector, and the other quick-change module and magnetic control module constitute the second end effector. The first and second end effectors are switched on the same robot system via the quick-change modules. The first end effector is used for pre-puncture positioning guidance, puncture execution, and basic guidewire advancement, while the second end effector uses magnetic control for fine-tuning the guidewire's direction. The quick-change modules of the first and second end effectors have identical structures and installation methods. Specifically:

[0009] The quick-change module in the first and second end effectors includes a quick-change male connector connected to the robotic arm of the robot system, a quick-change female connector connected to the main body of the first and second end effectors, and a hook; the quick-change female connector and the hook are hinged by a pin, and the hook is locked to an external quick-change frame; the quick-change male connector is equipped with a pneumatic control unit, which controls the pneumatic pressure to connect and unlock the quick-change male connector and the quick-change female connector, thereby realizing the rapid locking or separation of the first or second end effector from the robotic arm.

[0010] The positioning and puncture module has three degrees of freedom, including a main body connector, a first linear motion component arranged along the Z-axis, a second linear motion component arranged along the needle insertion direction, and a first rotary motion component that controls the needle insertion angle, used to control the movement of the guide wire feeding module and the needle insertion angle; the main body connector simultaneously connects the quick-change module of the first and second end effectors, the first linear motion component, and the ultrasonic probe positioning module to reduce assembly errors; the first linear motion component is installed on the left and right sides of the main body connector, divided into left and right parts; the first rotary motion component is installed on the first linear motion component, located between the left and right parts of the first linear motion component; the second linear motion component is installed on the first rotary motion component, located on the opposite side of the main body connector.

[0011] The guidewire feeding module includes a needle tip clamping mechanism, a guidewire clamping mechanism, and a guidewire advancing mechanism, used to fix the needle tip and clamp and advance the guidewire; the guidewire advancing mechanism is mounted on the second linear motion component of the positioning puncture module; the needle tip clamping mechanism is mounted on the guidewire advancing mechanism in front of the guidewire advancing mechanism; the guidewire clamping mechanism is mounted on the guidewire advancing mechanism above the guidewire advancing mechanism.

[0012] The ultrasonic probe positioning module has two degrees of freedom, including a second rotational motion component and a third rotational motion component, for accurately locating the puncture point; the second rotational motion component is mounted on the main body connector and located inside the main body connector; the third rotational motion component is mounted on the second rotational motion component and located below the second rotational motion component.

[0013] The magnetic control module includes a magnet connector and an electromagnet, used to control the direction of the guide wire movement. The electromagnet is mounted on the magnet connector, which is connected to the quick-change female head of the quick-change module of the second end effector, enabling quick assembly and disassembly of the second end effector and the robot system through the quick-change module.

[0014] Furthermore, the specific structure of the positioning and puncture module is described as follows:

[0015] The main connecting component is a frame structure composed of four plates: a left side plate, a right side plate, a rear side plate, and a top plate. The first linear motion component includes a first linear guide rail, a left sliding platform, a first linear slider, and a right sliding platform. The first rotary motion component includes a first motor, a flange drive shaft, and a first brake. The second linear motion component includes a guide rail adapter and a second linear guide rail.

[0016] The top surface of the top plate of the main connecting member is connected to the quick-change female connector. The upper inner surface of the main connecting member is connected to the top adapter of the second rotary motion component in the ultrasonic probe positioning module. The left outer surface of the main connecting member is connected to the first linear guide rail. The rear outer surface of the main connecting member is connected to the third motor of the second rotary motion component in the ultrasonic probe positioning module. The right inner surface of the main connecting member is connected to the first linear slider. The first linear guide rail is connected to the left sliding platform, and the first linear slider is connected to the right sliding platform. The left and right sliding platforms are connected by the first rotary motion component. The first motor is connected to the flange end of the flange drive shaft. The flange drive shaft is placed in the first brake. The shaft body of the flange drive shaft is placed in the hollow part of the guide rail adapter and is fastened by bolts. The second linear guide rail is connected to the guide rail adapter.

[0017] Furthermore, the specific structure of the guidewire feeding module is described as follows:

[0018] The needle tip clamping mechanism includes a puncture needle, a chuck nut, a chuck, a chuck flange, a sensor adapter, a force sensor, and a sensor fixing component; the guide wire clamping mechanism includes an electric push rod, a wedge block, a lubrication roller, a slide rail adapter, a fixed slider, a linear guide rail, a first tension spring, and a second tension spring; the guide wire pushing mechanism includes a guide wire feeding main body, a first rubber roller, a second rubber roller, a second motor, and a bearing seat. Details are as follows:

[0019] The guide wire feed module is connected to the second linear motion assembly. The guide wire feed main body is composed of six plates, including a bottom reference surface, a roller motor mounting surface, a force sensor mounting surface, a slider mounting surface, a spring-fixed aluminum column, and an electric actuator mounting surface. The plate containing the bottom reference surface is connected to the second linear guide rail; the roller motor mounting surface is connected to the second motor; the force sensor mounting surface is connected to the sensor fixing component; the slider mounting surface is connected to the fixed slider; and the electric actuator mounting surface is connected to the electric actuator. The spring-fixed aluminum column is connected to the first tension spring and the second tension spring, respectively.

[0020] The second rubber roller is connected to the bearing housing, and the collet nut is tightened onto the collet flange, causing the collet to be pressed by the tapered surface on the collet flange, thereby clamping the puncture needle, which is mounted on the collet. The sensor adapter connects both the collet flange and the force sensor. The guide wire is clamped by the first and second rubber rollers through the action of the first and second tension springs in the guide wire clamping mechanism. The second motor drives the first rubber roller, and due to friction, the first rubber roller advances the guide wire.

[0021] The slide rail adapter is composed of three plates spliced ​​together, located at the top, bottom, and side, including a top plate, a bottom plate, and a side plate. The top plate is parallel to the bottom plate and perpendicular to the side plate. The bearing seat mounting surface and the slide rail mounting surface are the upper and lower surfaces of the top plate, respectively. The lubrication roller center column is located on the side plate, and the spring moving end aluminum column is located on the bottom plate. The bearing seat mounting surface is connected to the bearing seat, and the slide rail mounting surface is connected to the linear guide rail. The lubrication roller is mounted on the lubrication roller center column of the slide rail adapter, the wedge block is mounted on the top of the electric actuator, and the lubrication roller center column of the slide rail adapter is connected to the first tension spring and the second tension spring, respectively.

[0022] Furthermore, the bottom reference surface plate is located at the bottommost position; the roller motor mounting surface plate is connected to and perpendicular to the bottom reference surface plate; the force sensor mounting surface plate is connected to the bottom reference surface plate and is perpendicular to both the bottom reference surface plate and the roller motor mounting surface plate; the spring fixing end aluminum column plate is connected to and perpendicular to the roller motor mounting surface plate and is parallel to the bottom reference surface plate; the slider mounting surface plate is connected to and perpendicular to the spring fixing end aluminum column plate and is parallel to the roller motor mounting surface plate; the electric actuator mounting surface plate is connected to and perpendicular to both the slider mounting surface plate and the spring fixing end aluminum column plate.

[0023] Furthermore, the specific structure of the ultrasonic probe positioning module is described as follows:

[0024] The second rotary motion assembly includes a third motor, a flange adapter, a drive shaft, a second brake, and a top adapter; the third rotary motion assembly includes a fourth motor, a probe clamp, a fixing spring plate, and an ultrasonic probe. Specifically: the third motor is connected to the rear outer surface of the main connecting piece; the top adapter, the upper inner surface of the main connecting piece, and the quick-change female connector are connected by the same set of bolts. The third motor drives the flange adapter to rotate; the drive shaft is located within the flange adapter and the second brake. The flange adapter connects to the third rotary motion assembly; the probe clamp is fixed to the rotor side of the fourth motor; the fixing spring plate is held in place by the probe clamp; and the ultrasonic probe is clamped by both the fixing spring plate and the probe clamp.

[0025] The beneficial effects of this invention are:

[0026] (1) The present invention enables the quick replacement of two end effectors by means of the pneumatic compression unit and hook design of the quick-change module, thereby improving efficiency;

[0027] (2) The three-degree-of-freedom independent drive architecture of the positioning and puncture module of the first end effector designed in this invention can greatly improve the puncture positioning accuracy and eliminate multi-motion coupling error; the needle tip clamping mechanism and the guidewire pushing mechanism of the guidewire feeding module work together, and the puncture status is sensed in real time through the force sensor. Combined with the adaptive clamping design of the guidewire clamping mechanism, it takes into account both accuracy and stability and adapts to the instrument operation requirements of different percutaneous puncture intervention scenarios; the dual-degree-of-freedom rotation mechanism of the ultrasonic probe positioning module supports multi-angle scanning, which is convenient for locating the best puncture point;

[0028] (3) The magnetic control module of the present invention is installed on the second end effector and can be quickly switched through the quick-change module to perform fine control of the guide wire direction.

[0029] In summary, the multi-module integration of this invention enables two end effectors to work together to cover the surgical process of ultrasound guidance, puncture insertion, and guidewire advancement, significantly improving surgical efficiency. At the same time, the compact structure facilitates maintenance, providing a high-precision, high-efficiency, and highly adaptable operating platform for diverse percutaneous interventional surgeries. Attached Figure Description

[0030] Figure 1 The coordinate system is the coordinate system of the overall assembly drawing of the first end effector in the embodiment of the present invention.

[0031] Figure 2 This is an assembly diagram of the quick-change module according to an embodiment of the present invention.

[0032] Figure 3 This is an assembly diagram of the positioning and puncture module according to an embodiment of the present invention.

[0033] Figure 4 This is an assembly diagram (left front side view) of the guide wire feeding module according to an embodiment of the present invention.

[0034] Figure 5 This is an assembly diagram (right rear side view) of the guide wire feeding module according to an embodiment of the present invention.

[0035] Figure 6 This is a cross-sectional view of the needle tip clamping mechanism in the guide wire feeding module of an embodiment of the present invention.

[0036] Figure 7 This is a side view of the ultrasonic probe positioning module according to an embodiment of the present invention.

[0037] Figure 8 This is an assembly diagram of the second end effector according to an embodiment of the present invention.

[0038] Figure 9 This is a structural schematic diagram of the main connecting component.

[0039] Figure 10 This is a schematic diagram of the main component for guide wire feeding.

[0040] Figure 11 This is a schematic diagram of the slide rail adapter.

[0041] In the diagram: 1 Quick-change module, 2 Positioning and puncture module, 3 Guide wire feeding module, 4 Ultrasonic probe positioning module, 5 Magnetically controlled module;

[0042] 11. Quickly replace the male connector; 12. Quickly replace the female connector; 13. Hook;

[0043] 21 Main connecting component; 22 First linear motion component; 23 First rotary motion component; 24 Second linear motion component; 211 Top surface; 212 Upper inner surface; 213 Left outer surface; 214 Rear outer surface; 215 Right inner surface; 221 First linear guide rail; 222 Left sliding platform; 223 First linear slider; 224 Right sliding platform; 231 First motor; 232 Flange drive shaft; 233 First brake; 241 Guide rail adapter; 242 Second linear guide rail.

[0044] 31 Needle tip clamping mechanism, 32 Guide wire clamping mechanism, 33 Guide wire advancing mechanism; 311 Puncture needle, 312 Clamp nut, 313 Clamp, 314 Clamp flange, 315 Sensor adapter, 316 Force sensor, 317 Sensor fixing component; 321 Electric actuator, 322 Wedge block, 323 Lubricating roller, 324 Slide rail adapter, 325 Fixed slider, 326 Linear guide rail, 327 First tension spring, 328 Second tension spring; 331 Guide wire The main feed component includes: 332 first rubber roller, 333 second rubber roller, 334 second motor, and 335 bearing housing; 3241 bearing housing mounting surface, 3242 slide rail mounting surface, 3243 lubricating roller center column, and 3244 spring moving end aluminum column; 3311 bottom reference surface, 3312 roller motor mounting surface, 3313 force sensor mounting surface, 3314 slider mounting surface, 3315 spring fixed end aluminum column, and 3316 electric actuator mounting surface.

[0045] 41 Second rotary motion assembly, 42 Third rotary motion assembly; 411 Third motor, 412 Flange adapter, 413 Drive shaft, 414 Second brake, 415 Top adapter; 421 Fourth motor, 422 Probe clamp, 423 Fixing spring plate, 424 Ultrasonic probe.

[0046] 51. Magnet connector; 52. Electromagnet. Detailed Implementation

[0047] The specific embodiments of the present invention will be described in detail below with reference to the technical solutions and accompanying drawings.

[0048] A quick-change robotic end effector for percutaneous interventional surgery includes a first end effector and a second end effector. The first end effector is used for pre-puncture positioning and guidance, puncture execution, and basic guidewire advancement. The second end effector is used for precise guidewire orientation control via magnetic control, defining a coordinate system such as... Figure 1As shown, the right-hand rule is satisfied. The first end effector includes a quick-change module 1, a positioning and puncture module 2, a guide wire feeding module 3, and an ultrasonic probe positioning module 4; the second end effector includes a quick-change module 1 and a magnetic control module 5. The quick-change module 1 of the first end effector and the quick-change module 1 of the second end effector have the same structure and installation method. The quick-change module 1 includes a quick-change male connector 11 connected to the robotic arm of the robot system, a quick-change female connector 12 connected to the main body of the first end effector and the second end effector, and a hook 13; the quick-change female connector 12 and the hook 13 are hinged by a pin, and the opening width of the hook 13 is 8mm for fastening the crossbar of the external quick-change frame; the quick-change male connector 11 is equipped with a pneumatic control unit, which controls the pneumatic pressure to connect and unlock the quick-change male connector 11 and the quick-change female connector 12, realizing the rapid locking or separation of the first end effector or the second end effector from the robotic arm. The assembly diagram of the quick-change module 1 is shown below. Figure 2 As shown.

[0049] Each module of the first end effector is integrated on the main connector 21, which is made of aluminum alloy. Figure 9 This is a structural schematic diagram of the main connector 21. The positioning and puncture module 2 includes the main connector 21, a first linear motion component 22 arranged along the Z-axis, a second linear motion component 24 arranged along the needle insertion direction, and a first rotary motion component 23 for controlling the needle insertion angle. Figure 3 This is an assembly diagram of the positioning and puncture module according to an embodiment of the present invention. The main connecting member 21 connects the quick-change module 1, the first linear motion component 22, and the ultrasonic probe positioning module 4 simultaneously, reducing assembly errors.

[0050] In this embodiment, the first linear motion component 22 includes a first linear guide rail 221, a left sliding platform 222, a first linear slider 223, and a right sliding platform 224; the first rotary motion component 23 includes a first motor 231, a flange drive shaft 232, and a first brake 233; the second linear motion component 24 includes a guide rail adapter 241 and a second linear guide rail 242; the top surface 211 of the main body connector 21 is connected to the quick-change female head 12, the upper inner surface 212 of the main body connector 21 is connected to the top adapter 415, and the left outer surface 213 of the main body connector 21 is connected to the first linear guide rail 221. The main connecting member 21 has its rear outer surface 214 connected to the third motor 411, and its right inner surface 215 connected to the first linear slider 223. The first linear guide rail 221 is connected to the left sliding platform 222. A ball screw with a lead of 2mm is used as the transmission part of the first linear guide rail 221. The first linear slider 223 is connected to the right sliding platform 224. The left sliding platform 222 and the right sliding platform 224, which are made of aluminum alloy, are connected by a first rotary motion component 23. The first linear motion component 22 has a stroke of 50mm and an accuracy of ±0.02mm. The first motor 231 is connected to the flange end of the flange drive shaft 232, which is located in the hole of the first brake 233. The shaft of the flange drive shaft 232 is located in the hollow part of the guide rail adapter 241 and is fastened by bolts. The second linear guide rail 242 is connected to the guide rail adapter 241. A ball screw with a lead of 2mm is used as the transmission part of the second linear guide rail 242, with an accuracy of ±0.02mm and a stroke of 80mm. The positioning and puncture module 2 is used to control the movement of the guide wire feeding module 3 and the angle of needle insertion.

[0051] In this embodiment, the needle tip clamping mechanism 31 includes a puncture needle 311, a chuck nut 312, a chuck 313, a chuck flange 314, a sensor adapter 315, a force sensor 316, and a sensor fixing component 317; the guide wire clamping mechanism 32 includes an electric push rod 321, a wedge block 322, a lubricating roller 323, a slide rail adapter 324, a fixed slider 325, a linear guide rail 326, a first tension spring 327, and a second tension spring 328; the guide wire pushing mechanism 33 includes a guide wire feeding main body 331, a first rubber roller 332, a second rubber roller 333, a second motor 334, and a bearing seat 335. Figure 4 This is an assembly diagram (left front side view) of the guide wire feeding module according to an embodiment of the present invention. Figure 5 This is an assembly diagram (right rear side view) of the guide wire feeding module according to an embodiment of the present invention. Figure 6 This is a cross-sectional view of the needle tip clamping mechanism in the guide wire feeding module according to an embodiment of the present invention. Figure 10This is a schematic diagram of the main component for guide wire feeding. Specifically, the wire feed module 3 is connected to the second linear motion assembly 24. The wire feed main body 331 simultaneously supports the needle tip clamping mechanism 31, the wire clamping mechanism 32, and the wire pushing mechanism 33. The plate containing the bottom reference surface 3311 of the wire feed main body 331 is connected to the second linear guide rail 242. The plate containing the roller motor mounting surface 3312 of the wire feed main body 331 is connected to the second motor 334. The plate containing the force sensing mounting surface 3313 of the wire feed main body 331 is connected to the sensor fixing component 317. The plate containing the slider mounting surface 3314 of the wire feed main body 331 is connected to the fixed slider 325. The plate containing the electric push rod mounting surface 3316 of the wire feed main body 331 is connected to the electric push rod 321. The spring fixing end aluminum column 3315 of the wire feed main body 331 is connected to the first tension spring 327 and the second tension spring 328, respectively. Figure 10 This is a structural schematic diagram of the guide wire feed main component 331. Figure 11 This is a schematic diagram of the slide rail adapter 324. The second rubber roller 333 is connected to the bearing seat 335. The chuck nut 312 is screwed onto the thread of the chuck flange 314, so that the chuck 313 is pressed by the tapered surface on the chuck flange 314, thereby clamping the puncture needle 311. The sensor adapter 315 connects the chuck flange 314 and the force sensor 316. Through the action of the first tension spring 327 and the second tension spring 328 in the wire clamping mechanism 32, the two tension springs are identical and the spring stiffness coefficient is 2N / mm. The first rubber roller 332 and the second rubber roller 333 clamp the wire. The second motor 334 drives the first rubber roller 332 with a Shore hardness of 60A to feed the wire at a friction speed of 0.1-10mm / s. The bearing seat mounting surface 3241 of the slide rail adapter 324 is connected to the bearing seat 335, the slide rail mounting surface 3242 of the slide rail adapter 324 is connected to the linear guide rail 326, the lubrication roller 323 is mounted on the lubrication roller center column 3243 of the slide rail adapter 324, the wedge block 322 is mounted on the top of the electric actuator 321, and the spring moving end aluminum column 3244 of the slide rail adapter 324 is connected to the first tension spring 327 and the second tension spring 328 respectively. Figure 11 The slide rail adapter (Figure 324) is used to fix the needle tip and to clamp and advance the guide wire.

[0052] In this embodiment, the second rotary motion assembly 41 includes a third motor 411, a flange adapter 412, a drive shaft 413, a second brake 414, and a top adapter 415; the third rotary motion assembly 42 includes a fourth motor 421, a probe clamp 422, a fixing spring plate 423, and an ultrasonic probe 424. Specifically, the ultrasonic probe positioning module 4 has two degrees of freedom. Figure 7 This is a side view of the ultrasonic probe positioning module according to an embodiment of the present invention. The rear outer surface 214 of the main body connector 21 is connected to the third motor 411. The top adapter 415, the main body connector 21, and the quick-change female head 12 are connected by the same set of bolts. The third motor 411 drives the flange adapter 412 to rotate. The transmission shaft 413 is placed in the hole between the flange adapter 412 and the second brake 414. The flange adapter 412 is connected to the third rotary motion assembly 42. The probe clamp 422 is fixed to the rotor side of the fourth motor 421. The fixing spring plate 423 is clipped on the probe clamp 422. The ultrasonic probe 424 is clamped by the fixing spring plate 423 and the probe clamp 422 together, and the clamping force can reach 2-8N. The ultrasonic probe positioning module 4 is used to accurately locate the puncture point.

[0053] In this embodiment, the magnetic control module 5 includes a magnet connector 51 and an electromagnet 52. Figure 8 This is an assembly diagram of the magnetic control module according to an embodiment of the present invention. The magnet connector 51 is fixedly connected to the quick-change female head 12 of the quick-change module 1 of the second end effector, and the electromagnet 52 is fixed to the magnet connector 51.

[0054] The above embodiments are merely illustrative of the implementation methods of the present invention, but should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the protection scope of the present invention.

Claims

1. A quick-change robotic end effector for percutaneous interventional surgery, characterized in that, The quick-change robot end effector consists of two quick-change modules (1), a positioning and puncture module (2), a guide wire feeding module (3), an ultrasonic probe positioning module (4), and a magnetic control module (5). One quick-change module (1), the positioning and puncture module (2), the guide wire feeding module (3), and the ultrasonic probe positioning module (4) form the first end effector, and the other quick-change module (1) and the magnetic control module (5) form the second end effector. The first end effector and the second end effector are switched on the same robot system through a quick-change module (1). The first end effector is used for pre-puncture positioning guidance, puncture execution and guide wire basic propulsion. The second end effector achieves fine direction control of the guide wire through magnetic control. The specific structure of the quick-change robot end effector is as follows: The quick-change module (1) in the first end effector and the second end effector includes a quick-change male connector (11) connected to the robotic arm of the robot system, a quick-change female connector (12) connected to the main body of the first end effector and the second end effector, and a hook (13); the quick-change female connector (12) is connected to the hook (13); the quick-change male connector (11) is equipped with a pneumatic control unit, which controls the pneumatic pressure to connect and unlock the quick-change male connector (11) and the quick-change female connector (12), thereby realizing the quick locking or separation of the first end effector or the second end effector from the robotic arm; The positioning and puncture module (2) has three degrees of freedom, including a main body connector (21), a first linear motion component (22) arranged along the Z-axis, a second linear motion component (24) arranged along the needle insertion direction, and a first rotary motion component (23) for controlling the needle insertion angle, which is used to control the movement of the guide wire feeding module (3) and the needle insertion angle; the main body connector (21) is connected to the quick-change module (1) of the first end effector and the second end effector, the first linear motion component (22), and the ultrasonic probe positioning module (4); the first linear motion component (22) is installed on the left and right sides of the main body connector (21) and is divided into left and right parts; the first rotary motion component (23) is installed on the first linear motion component (22) and is located between the left and right parts of the first linear motion component (22); the second linear motion component (24) is installed on the first rotary motion component (23) and is located on the opposite side of the main body connector (21); The guide wire feeding module (3) includes a needle tip clamping mechanism (31), a guide wire clamping mechanism (32), and a guide wire pushing mechanism (33); the guide wire pushing mechanism (33) is mounted on the second linear motion assembly (24); the needle tip clamping mechanism (31) and the guide wire clamping mechanism (32) are mounted on the guide wire pushing mechanism (33); The ultrasonic probe positioning module (4) has two degrees of freedom, including a second rotational motion component (41) and a third rotational motion component (42), for accurately locating the puncture point; the second rotational motion component (41) is installed inside the main body connector (21); the third rotational motion component (42) is installed on the second rotational motion component (41); The magnetic control module (5) includes a magnet connector (51) and an electromagnet (52) for controlling the direction of the guide wire movement. The electromagnet (52) is mounted on the magnet connector (51). The magnet connector (51) is connected to the quick-change female head (12) of the quick-change module (1) of the second end effector. The quick-change module (1) enables the assembly and disassembly of the second end effector and the robot system.

2. The quick-change robotic end effector for percutaneous interventional surgery according to claim 1, characterized in that, The structure of the positioning and puncture module (2) is described as follows: The main connecting component (21) is assembled from four plates, including a left side plate, a right side plate, a rear side plate, and a top plate; the first linear motion assembly (22) includes a first linear guide rail (221), a left sliding platform (222), a first linear slider (223), and a right sliding platform (224); the first rotary motion assembly (23) includes a first motor (231), a flange drive shaft (232), and a first brake (233); the second linear motion assembly (24) includes a guide rail adapter (241) and a second linear guide rail (242); specifically: The top surface (211) of the main connector (21) is connected to the quick-change female head (12), the upper inner surface (212) is connected to the top adapter (415) of the second rotary motion component (41) in the ultrasonic probe positioning module (4), the left outer surface (213) is connected to the first linear guide rail (221), the rear outer surface (214) is connected to the third motor (411) of the second rotary motion component (41) in the ultrasonic probe positioning module (4), and the right inner surface (215) is connected to the first linear slider (223). The first linear guide rail (221) is connected to the left sliding platform (222), the first linear slider (223) is connected to the right sliding platform (224), and the left sliding platform (222) and the right sliding platform (224) are connected by the first rotary motion component (23); the first motor (231) is connected to the flange drive shaft (232), the flange drive shaft (232) is placed in the first brake (233), the shaft of the flange drive shaft (232) is placed in the hollow part of the guide rail adapter (241) and is fastened, and the second linear guide rail (242) is connected to the guide rail adapter (241).

3. A quick-change robotic end effector for percutaneous interventional surgery according to claim 2, characterized in that, The specific structure of the guide wire feeding module (3) is described as follows: The needle tip clamping mechanism (31) includes a puncture needle (311), a chuck nut (312), a chuck (313), a chuck flange (314), a sensor adapter (315), a force sensor (316), and a sensor fixing component (317); the wire clamping mechanism (32) includes an electric push rod (321), a wedge block (322), a lubrication roller (323), a slide rail adapter (324), a fixed slider (325), a linear guide rail (326), a first tension spring (327), and a second tension spring (328); the wire pushing mechanism (33) includes a wire feeding main body (331), a first rubber roller (332), a second rubber roller (333), a second motor (334), and a bearing seat (335); specifically as follows: The wire feed module (3) is connected to the second linear motion component (24); the wire feed main body (331) is composed of six plates spliced ​​together, including a bottom reference surface (3311), a roller motor mounting surface (3312), a force sensor mounting surface (3313), a slider mounting surface (3314), a spring fixed end aluminum column (3315), and an electric push rod mounting surface (3316); the plate containing the bottom reference surface (3311) is connected to the second linear guide rail (242); the roller motor mounting surface (3312) is connected to the second motor (334), the force sensor mounting surface (3313) is connected to the sensor fixing component (317); the slider mounting surface (3314) is connected to the fixed slider (325); the electric push rod mounting surface (3316) is connected to the electric push rod (321); the spring fixed end aluminum column (3315) is connected to the first tension spring (327) and the second tension spring (328) respectively; The second rubber roller (333) is connected to the bearing seat (335), and the collet nut (312) is screwed onto the collet flange (314) to clamp the puncture needle (311). The puncture needle (311) is mounted on the collet (313). The sensor adapter (315) connects the collet flange (314) and the force sensor (316). The guide wire is clamped by the first rubber roller (332) and the second rubber roller (333) through the action of the first tension spring (327) and the second tension spring (328) in the guide wire clamping mechanism (32). The second motor (334) drives the guide wire to advance by driving the first rubber roller (332). The slide rail adapter (324) is composed of three plates spliced ​​together, including a top plate, a bottom plate and a side plate. The top plate is parallel to the bottom plate and perpendicular to the side plate. The bearing seat mounting surface (3241) and the slide rail mounting surface (3242) are the upper and lower surfaces of the top plate, respectively. The lubrication roller center column (3243) is located on the side plate, and the spring moving end aluminum column (3244) is located on the bottom plate. The bearing seat mounting surface (3241) is connected to the bearing seat (335), and the slide rail mounting surface (3242) is connected to the linear guide rail (326). The lubricating roller (323) is mounted on the lubricating roller center column (3243) of the slide rail adapter (324), the wedge block (322) is mounted on the top of the electric push rod (321), and the lubricating roller center column (3243) of the slide rail adapter (324) is connected to the first tension spring (327) and the second tension spring (328) respectively.

4. A quick-change robotic end effector for percutaneous interventional surgery according to claim 3, characterized in that, The six plates of the guide wire feeding main body (331) are specifically: The plate containing the bottom reference surface (3311) is located at the bottommost position; the plate containing the roller motor mounting surface (3312) is connected to and perpendicular to the plate containing the bottom reference surface (3311); the plate containing the force sensor mounting surface (3313) is connected to the plate containing the bottom reference surface (3311), and is perpendicular to both the plate containing the bottom reference surface (3311) and the plate containing the roller motor mounting surface (3312); the plate containing the spring fixing end aluminum column (3315) is connected to and perpendicular to the plate containing the roller motor mounting surface (3312), and is parallel to the plate containing the bottom reference surface (3311); the plate containing the slider mounting surface (3314) is connected to and perpendicular to the plate containing the spring fixing end aluminum column (3315), and is parallel to the plate containing the roller motor mounting surface (3312); the plate containing the electric actuator mounting surface (3316) is connected to and perpendicular to the plate containing the slider mounting surface (3314) and the plate containing the spring fixing end aluminum column (3315).

5. A quick-change robotic end effector for percutaneous interventional surgery according to claim 4, characterized in that, The specific structure of the ultrasonic probe positioning module (4) is described as follows: The second rotary motion assembly (41) includes a third motor (411), a flange adapter (412), a drive shaft (413), a second brake (414), and a top adapter (415); the third rotary motion assembly (42) includes a fourth motor (421), a probe clamp (422), a fixing spring plate (423), and an ultrasonic probe (424); specifically as follows: The third motor (411) is connected to the rear outer surface (214) of the main body connector (21). The top adapter (415), the upper inner surface (212) of the main body connector (21), and the quick-change female head (12) are connected by the same set of bolts. The third motor (411) drives the flange adapter (412) to rotate. The transmission shaft (413) is placed in the flange adapter (412) and the second brake (414). The flange adapter (412) is connected to the third rotary motion assembly (42). The probe clamp (422) is fixed to the rotor side of the fourth motor (421). The fixing spring plate (423) is clipped on the probe clamp (422). The ultrasonic probe (424) is clamped by the fixing spring plate (423) and the probe clamp (422).

Images