Crawler-type medical puncture robot

Abstract

The invention discloses a crawler-type medical puncture robot, and relates to the technical field of medical puncture, the crawler-type medical puncture robot comprises a crawler walking part, a fixing plate is fixedly connected to the middle of the upper part of the crawler walking part, a shell is fixedly connected to the upper part of the fixing plate, a first fixing table is rotatably connected to the middle of the upper part of the shell, and a lifting threaded rod is rotatably connected to the middle of the upper part of the first fixing table; the outer surface of the lifting threaded rod is in threaded connection with a moving seat, the left side of the moving seat is fixedly connected with a mounting bin, the left side of the mounting bin is rotationally connected with a rotating table through a bearing, a tenth motor for driving the rotating table to rotate is fixedly mounted in the mounting bin, and rocker arm assemblies are rotationally connected to the upper and lower sides of the rotating table. The device has the advantages that the problem of positioning degree of freedom is solved, automation of the whole process from moving to positioning to puncture execution is achieved through the highly-integrated puncture assembly and systematized control, and the accuracy, stability and efficiency of an operation are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical puncture, in particular to a tracked medical puncture robot. BACKGROUND

[0002] Medical robot technology is a new cross-research field integrating medicine, mechanics, computer graphics, robots and many other disciplines. Robot-assisted surgery is one of the important fields of medical robot technology. Image-guided puncture surgery is an important means of diagnosing and treating tumors. Under the guidance of medical images such as ultrasound, CT and MRI, a puncture needle is inserted into a soft tissue lesion target area to perform biopsy sampling, radioactive particle implantation, ablation treatment and other operations. However, manual percutaneous puncture surgery also has problems such as high dependence on doctor experience, guided frame restriction of puncture path selection, and difficulty in accurately hitting the target point due to lesion position drift. Robots have become an ideal way to solve the development problems of manual puncture surgery due to their reliable accuracy, stability and safety.

[0003] A miniaturized puncture robot disclosed in Chinese patent (CN114469286B) includes a first fixed part, a second fixed part, a needle feeding mechanism and a driving assembly. The driving assembly is arranged in two groups and is distributed vertically. The driving assembly includes a first linear motion mechanism, a second linear motion mechanism, a connecting piece and a connecting joint. The first end of the connecting piece is fixed to the output end of the first linear motion mechanism and is simultaneously hinged to the output end of the second linear motion mechanism through a vertical shaft. The second end of the connecting piece is hinged to the connecting joint through an X-direction rotating shaft. The first fixed part and the second fixed part are hinged to the connecting joint of one of the driving assemblies and the connecting joint of the other driving assembly through a Y-direction horizontal shaft respectively. The first fixed part and the second fixed part are slidingly connected. The needle feeding mechanism includes a lifting motor and a pneumatic gripper. The present application guides the needle insertion position and attitude of the puncture needle by jointly driving the first linear motion mechanism and the second linear motion mechanism of the two-layer driving assembly.

[0004] The prior art guides the needle insertion position and attitude of the puncture needle by jointly driving the first linear motion mechanism and the second linear motion mechanism of the two-layer driving assembly. However, only four linear motion mechanisms are used to realize puncture needle guidance control, which has low degree of freedom and is insufficient for occasions requiring precise positioning. Moreover, this scheme can only realize puncture needle positioning and cannot autonomously complete needle feeding and rotation operations, and the degree of automation is limited. In view of the above problems, a tracked medical puncture robot is proposed to solve the problems. SUMMARY

[0005] To solve the above technical problems, the application provides a tracked medical puncture robot, which solves the problems of the current puncture needle guiding control using only four linear motion mechanisms, low degree of freedom, and limited automation degree.

[0006] To achieve the above object, the application adopts the technical scheme of a tracked medical puncture robot, which comprises a tracked walking part, a fixed plate fixedly connected to the middle part of the top of the tracked walking part, an outer shell fixedly connected to the top of the fixed plate, a first fixed table rotatably connected to the middle part of the top of the outer shell, a lifting threaded rod rotatably connected to the middle part of the top of the first fixed table, a moving seat threadedly connected to the outer surface of the lifting threaded rod, an installation bin fixedly connected to the left side of the moving seat, a rotating table rotatably connected to the left side of the installation bin through a bearing, a tenth motor fixedly installed in the installation bin to drive the rotating table to rotate, a rocker arm assembly rotatably connected to the upper and lower sides of the rotating table, a third motor fixedly installed in the rotating table to drive the two rocker arm assemblies to rotate relative to each other, a puncture assembly installed at the end of the upper rocker arm assembly, and an ultrasonic probe detachably installed at the end of the lower rocker arm assembly through a quick connector.

[0007] Preferably, the top of the lifting threaded rod is rotatably connected to a second fixed table, at least four guide rods are fixedly connected between the first fixed table and the second fixed table, the four guide rods are slidably connected to the right side of the moving seat through guide sleeves, and a second motor is fixedly installed on the middle part of the top of the second fixed table to drive the lifting threaded rod to rotate.

[0008] Preferably, a rotating column is rotatably connected to the middle part of the upper surface of the fixed plate, the top of the rotating column is fixedly connected to the bottom surface of the fixed plate, and a gear ring is fixedly connected to the outer surface of the rotating column.

[0009] Preferably, a first motor is fixedly connected to one side of the upper surface of the fixed plate, a first gear is fixedly connected to the output end of the first motor, and the first gear is engaged with the gear ring.

[0010] Preferably, the rocker arm assembly comprises a first mounting sleeve and a second mounting sleeve, one end of the first mounting sleeve close to the moving seat is fixedly connected to the output end of the third motor, and one end of the second mounting sleeve is rotatably connected to the end of the first mounting sleeve away from the moving seat through a rotating shaft.

[0011] Preferably, a fourth motor is fixedly installed on the side of the first mounting housing away from the third motor. The output end of the fourth motor passes through the side wall of the first mounting housing and is fixedly connected to a first synchronous pulley. The first synchronous pulley is connected to a second synchronous pulley via a synchronous belt drive. The second synchronous pulley is fixedly installed at the end of a rotating shaft. A connecting column is rotatably connected to the left side of the inside of the second mounting housing via a bearing. A fifth motor is fixedly connected on the side of the second mounting housing away from the first mounting housing. The output end of the fifth motor passes through the side wall of the second mounting housing and is fixedly connected to a third synchronous pulley. The third synchronous pulley is connected to a fourth synchronous pulley via a synchronous belt drive. The fourth synchronous pulley is fixedly connected to the end of the connecting column.

[0012] Preferably, the puncture assembly includes a hollow fixed seat, the top surface of which is fixedly connected to the bottom surface of the connecting column in the rocker arm assembly above. A sixth motor is fixedly installed inside the fixed seat, and the output end of the sixth motor passes through the left side wall of the fixed seat and is fixedly connected to a fixing strip. A first guide rail is fixedly connected to the upper front side of the fixing strip, and a first rack is fixedly connected to the lower front side of the fixing strip.

[0013] Preferably, a connecting plate is slidably connected to the front side of the first guide rail via a sliding block. A seventh motor is fixedly connected to the right end of the front side of the connecting plate. The output end of the seventh motor passes through the connecting plate and is fixedly connected to a second gear. The second gear meshes with the first rack. A second rack in the shape of an arc is fixedly connected above the front side of the connecting plate. A second guide rail in the shape of an arc is fixedly connected below the second rack on the front side of the connecting plate.

[0014] Preferably, a mounting bracket is slidably connected to the front side of the second guide rail via a sliding block, and an eighth motor is fixedly connected to the upper front side of the mounting bracket. The output end of the eighth motor passes through the mounting bracket and is fixedly connected to a third gear, which meshes with the second rack.

[0015] Preferably, a third guide rail is fixedly connected to the front side of the mounting bracket, and a piercing threaded rod is rotatably connected to the front side of the third guide rail inside the mounting bracket. A ninth motor for driving the piercing threaded rod to rotate is fixedly installed above the mounting bracket. A moving block is threadedly connected to the outer surface of the piercing threaded rod. The rear side of the moving block is slidably connected to the third guide rail through a sliding block. A piercing needle is fixedly connected above the moving block. A guide sleeve is fixedly connected below the mounting bracket, and the piercing needle is slidably connected inside the guide sleeve.

[0016] Compared with the prior art, the advantages of the present invention are as follows: 1. This invention, by incorporating a tracked walking unit, enables the robot to move autonomously, flexibly approaching patients or moving between different surgical sites. This provides initial macroscopic positional adjustment freedom for puncture operations, a capability lacking in fixed robots or those capable only of limited movement. Through the rotating column, gear ring, and first motor, the entire puncture mechanism achieves horizontal rotation to align with the approximate direction of the target point. The lifting screw drives the moving seat to rise and fall, enabling precise height adjustment of the puncture component, ensuring it is at a suitable height plane with the lesion target. The rocker arm assembly, rotating with the moving seat and driven by a third motor, allows for large-angle swinging of the puncture component in the vertical plane, significantly expanding the reach and attitude adjustment range of the puncture needle. The puncture component itself also possesses multiple levels of fine-tuning freedom, such as rotation around the connecting column and sliding along the arc guide rail, for precise alignment and angle correction. This constitutes a high-degree-of-freedom spatial positioning system, enabling more flexible and precise adjustment of the puncture needle to complex preset positions and attitudes, effectively solving the positioning limitations caused by insufficient degrees of freedom in existing technologies.

[0017] 2. This invention uses a threaded rod inside the puncture assembly to drive a moving block, which in turn moves the puncture needle forward and backward along the guide sleeve. This achieves automatic feeding and retraction of the puncture needle, replacing the manual pushing of the puncture needle in traditional or some existing technologies. It automates, unifies, and precisely controls the depth of needle delivery. The entire puncture process can be automatically executed sequentially under the control system's instructions or remotely controlled by the doctor, significantly improving the automation level of the surgery and reducing reliance on the doctor's manual operating experience and stability. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a schematic diagram of the structure of the present invention with the track running gear removed; Figure 3 This is a schematic diagram of the internal structure of the outer shell in this invention; Figure 4 This is a schematic diagram of the rocker arm assembly structure in this invention; Figure 5 This is a schematic diagram of the internal structure of the first and second mounting housings in this invention. Figure 6 This is a schematic diagram of the puncture component structure in this invention; Figure 7 This is a schematic diagram of the puncture component in this invention from another perspective; Figure 8 for Figure 6 A magnified view of a portion of point A in the middle; Figure 9This is a schematic diagram of the structure of the present invention with the track walking part, rocker arm assembly and puncture assembly removed.

[0019] The numbers on the map are: 1. Tracked walking unit; 2. Fixed plate; 3. Outer shell; 4. Rotating column; 5. Gear ring; 6. First motor; 7. First gear; 8. First fixed platform; 9. Guide rod; 10. Lifting threaded rod; 11. Second fixed platform; 12. Second motor; 13. Moving seat; 14. Third motor; 15. Rocker arm assembly; 1501. First mounting sleeve; 1502. Fourth motor; 1503. First synchronous pulley; 1504. Second synchronous pulley; 1505. Second mounting sleeve; 1506. Fifth motor; 1507. Third synchronous pulley; 1508. Connecting column; 1509. Fourth synchronous pulley; 1510. Rotating shaft; 16. Puncture assembly; 1601. Fixing base; 1602. Sixth motor; 1603. Fixing strip; 1604. First guide rail; 1605. First rack; 1606. Connecting plate; 1607. Seventh motor; 1608. Second gear; 1609. Second rack; 1610. Second guide rail; 1611. Mounting bracket; 1612. Eighth motor; 1613. Third gear; 1614. Third guide rail; 1615. Puncture threaded rod; 1616. Moving block; 1617. Ninth motor; 1618. Puncture needle; 1619. Guide sleeve; 17. Ultrasonic probe; 18. Mounting chamber; 19. Rotary table; 20. Tenth motor. Detailed Implementation

[0020] In the description of this invention, it should be noted that the terms "front", "up", "down", "left", "right", "vertical", "horizontal", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0021] The following description is intended to disclose the invention and enable those skilled in the art to implement it. The preferred embodiments described below are merely examples, and other obvious variations will occur to those skilled in the art.

[0022] Reference Figure 1 - Figure 9As shown, a tracked medical puncture robot includes a tracked walking unit 1. The tracked walking unit 1 serves as a mobile carrier, possessing advantages such as a large ground contact area, strong stability, and adaptability to complex terrain. It can flexibly move the robot to the target puncture position, ensuring a smooth and bump-free movement to avoid affecting puncture accuracy. A fixed plate 2 is fixedly connected to the upper center of the tracked walking unit 1. A shell 3 is fixedly connected above the fixed plate 2. A first fixed platform 8 is rotatably connected to the upper center of the shell 3. A lifting threaded rod 10 is rotatably connected to the upper center of the first fixed platform 8. A movable seat 13 is threadedly connected to the outer surface of the lifting threaded rod 10. An installation chamber 18 is fixedly connected to the left side of the movable seat 13. A rotating platform 19 is rotatably connected to the left side of the installation chamber 18 via a bearing. A tenth motor 20, which drives the rotating platform 19, is fixedly installed inside the installation chamber 18. Rocker arm assemblies 15 are rotatably connected to both the upper and lower sides of the rotating platform 19. A third motor 14, which drives the upper and lower rocker arm assemblies 15 to rotate relative to each other, is fixedly installed inside the rotating platform 19. A [missing information - likely a device or component] is installed at the end of the upper rocker arm assembly 15. The puncture assembly 16 has an ultrasonic probe 17 detachably mounted at the end of the rocker arm assembly 15 via a quick-connect connector. Except for the third motor 14, all other motors are servo motors and controlled by an external PLC controller. The motor specifications are selected based on actual conditions to ensure the required torque. The third motor 14 provides a stable and controllable driving force for the rotation of the rocker arm assembly 15, precisely controlling its rotation angle and ensuring accurate posture adjustment. As the core puncture execution component, the puncture assembly 16 accurately reaches the puncture target point through the coordinated action of various adjustment mechanisms, ensuring precise puncture operation. Through ultrasonic imaging by the ultrasonic probe 17, the doctor can clearly identify and locate the puncture target, ensuring the needle reaches the required position accurately and reducing damage to surrounding tissues. The selection of the ultrasonic probe 17 does not need to be detailed in the instruction manual; technical personnel can easily select it based on the existing structure. The installation and removal of the ultrasonic probe 17 can be easily achieved through the quick-connect connector; this is existing technology and will not be elaborated further.

[0023] In one embodiment of the present invention, a second fixed platform 11 is rotatably connected to the top of the lifting threaded rod 10. At least four guide rods 9 are fixedly connected between the first fixed platform 8 and the second fixed platform 11. The four guide rods 9 are slidably connected to the right side of the movable seat 13 through guide sleeves. A second motor 12 for driving the lifting threaded rod 10 to rotate is fixedly installed in the middle of the upper part of the second fixed platform 11. The four guide rods 9 can provide multiple precise guides for the vertical lifting of the movable seat 13, effectively preventing the movable seat 13 from shifting or shaking due to uneven force on the lifting threaded rod 10 when it is lifted, ensuring the smooth lifting of the movable seat 13, and thus ensuring the accuracy of the height adjustment of the puncture assembly 16.

[0024] In one embodiment of the present invention, a rotating column 4 is rotatably connected to the middle of the upper surface of the fixed plate 2. The top of the rotating column 4 is fixedly connected to the bottom surface of the fixed plate 2. A gear ring 5 is fixedly connected to the outer surface of the rotating column 4. A first motor 6 is fixedly connected to one side of the upper surface of the fixed plate 2. A first gear 7 is fixedly connected to the output end of the first motor 6. The first gear 7 meshes with the gear ring 5. The first motor 6 has precise speed adjustment and positioning functions, and can precisely control the rotation angle and speed of the first gear 7. The first gear 7 can accurately transmit the power of the first motor 6 to the rotating column 4, driving the rotating column 4 and the first fixed platform 8 above it and the puncture assembly 16 to rotate synchronously horizontally, realizing the precise adjustment of the horizontal position of the puncture assembly 16, and ensuring that the puncture assembly 16 can quickly and accurately align with the puncture target point.

[0025] In one embodiment of the present invention, the rocker arm assembly 15 includes a first mounting housing 1501 and a second mounting housing 1505. The end of the first mounting housing 1501 near the movable base 13 is fixedly connected to the output end of a third motor 14. One end of the second mounting housing 1505 is rotatably connected to the end of the first mounting housing 1501 away from the movable base 13 via a rotating shaft 1510. A fourth motor 1502 is fixedly mounted on the side of the first mounting housing 1501 away from the third motor 14. The output end of the fourth motor 1502 passes through the side wall of the first mounting housing 1501 and is fixedly connected to a first synchronous pulley 1503. The first synchronous pulley 1503 is connected to a synchronous belt drive... The second synchronous pulley 1504 is fixedly installed at the end of the rotating shaft 1510. The connecting column 1508 is rotatably connected to the left side of the second mounting sleeve 1505 through a bearing. The fifth motor 1506 is fixedly connected to the side of the second mounting sleeve 1505 away from the first mounting sleeve 1501. The output end of the fifth motor 1506 passes through the side wall of the second mounting sleeve 1505 and is fixedly connected to the third synchronous pulley 1507. The third synchronous pulley 1507 is connected to the fourth synchronous pulley 1509 through a synchronous belt drive. The fourth synchronous pulley 1509 is fixedly connected to the end of the connecting column 1508. The tensioning of the synchronous belt is prior art and will not be described in detail here.

[0026] In one embodiment of the present invention, the third motor 14 can drive the entire rocker arm assembly 15 to rotate around the movable seat 13, thereby realizing the overall swing angle adjustment of the rocker arm assembly 15; the second mounting sleeve 1505 can rotate independently relative to the first mounting sleeve 1501, providing an additional angle adjustment dimension for the puncture assembly 16, further improving the adaptability of the puncture posture, and ensuring that the puncture assembly 16 can accurately fit the angle requirements of different puncture positions. The synchronous belt drive has the advantages of smooth transmission, low noise, and accurate transmission ratio. Through the coordinated transmission of multiple motors and multiple synchronous pulleys, the rocker arm assembly 15 can realize multi-dimensional and high-precision angle adjustment of the puncture assembly 16, ensuring that the puncture needle 1618 is accurately aligned with the puncture target point. The third motor 14 adopts an integrated dual-motor dual-output permanent magnet motor, and the two output shafts can be controlled independently, so that the two sets of rocker arm assemblies 15 can be driven to rotate relative to each other.

[0027] In one embodiment of the present invention, the puncture assembly 16 includes a hollow fixing seat 1601. The top surface of the fixing seat 1601 is fixedly connected to the bottom surface of the connecting column 1508 in the rocker arm assembly 15 above. A sixth motor 1602 is fixedly installed inside the fixing seat 1601. The output end of the sixth motor 1602 passes through the left side wall of the fixing seat 1601 and is fixedly connected to a fixing strip 1603. A first guide rail 1604 is fixedly connected to the upper front side of the fixing strip 1603, and a first rack 1605 is fixedly connected to the lower front side of the fixing strip 1603. The fixing strip 1603 can achieve precise rotation under the drive of the sixth motor 1602, driving the lower component to adjust the angle synchronously. The first guide rail 1604 fixedly connected to the upper front side of the fixing strip 1603 cooperates with the first rack 1605 fixedly connected to the lower front side to provide precise guidance and transmission basis for the sliding and transmission of the subsequent components.

[0028] In one embodiment of the present invention, a connecting plate 1606 is slidably connected to the front side of the first guide rail 1604 via a sliding block. A seventh motor 1607 is fixedly connected to the right front end of the connecting plate 1606. The output end of the seventh motor 1607 passes through the connecting plate 1606 and is fixedly connected to a second gear 1608. The second gear 1608 meshes with a first rack 1605. A second rack 1609 in an arc shape is fixedly connected to the upper front side of the connecting plate 1606. The front side of the connecting plate 1606 is connected to the second rack 1609. A second arc-shaped guide rail 1610 is fixedly connected below the strip 1609. The power of the seventh motor 1607 is precisely converted into the smooth movement of the connecting plate 1606 along the first guide rail 1604, realizing the precise adjustment of the lateral position of the puncture assembly 16. The second rack 1609 cooperates with the second guide rail 1610 to provide precise guidance and transmission basis for the arc trajectory movement of subsequent components. The arc-shaped structure is adapted to the arc adjustment requirements commonly encountered in puncture operations, and can realize the arc fine adjustment of the puncture needle 1618.

[0029] In one embodiment of the present invention, a mounting bracket 1611 is slidably connected to the front side of the second guide rail 1610 via a sliding block. An eighth motor 1612 is fixedly connected to the upper front side of the mounting bracket 1611. The output end of the eighth motor 1612 passes through the mounting bracket 1611 and is fixedly connected to a third gear 1613. The third gear 1613 meshes with the second rack 1609. The meshing of the third gear 1613 with the second rack 1609 can accurately convert the power of the eighth motor 1612 into the arc movement of the mounting bracket 1611 along the second guide rail 1610, thereby realizing the arc-shaped fine adjustment of the puncture angle of the puncture needle 1618, ensuring that the puncture needle 1618 can accurately fit the puncture path and adapt to the puncture requirements of different depths and angles.

[0030] Specifically, a third guide rail 1614 is fixedly connected to the front side of the mounting bracket 1611. A piercing threaded rod 1615 is rotatably connected to the front side of the third guide rail 1614 inside the mounting bracket 1611. A ninth motor 1617 for driving the piercing threaded rod 1615 to rotate is fixedly installed above the mounting bracket 1611. A moving block 1616 is threadedly connected to the outer surface of the piercing threaded rod 1615. The rear side of the moving block 1616 is slidably connected to the third guide rail 1614 through a sliding block. A piercing thread is fixedly connected above the moving block 1616. The needle 1618 is fixedly connected to the guide sleeve 1619 below the mounting bracket 1611. The puncture needle 1618 is slidably connected inside the guide sleeve 1619. The threaded drive has the advantages of high transmission accuracy and precise positioning, which can realize the precise control of the puncture depth of the puncture needle 1618. The guide sleeve 1619 plays an auxiliary guiding role for the puncture needle 1618, which can prevent the puncture needle 1618 from bending or deviating during the puncture process, ensuring that the puncture needle 1618 always punctures along the preset path, thereby improving the safety and accuracy of the puncture operation.

[0031] The working principle and workflow of this device are as follows: S1: First, determine the coordinates of the lesion target point based on medical images. Preset parameters in the control system: puncture position, puncture angle, and needle depth. Fix the puncture needle 1618 above the moving block 1616 to ensure sliding cooperation with the guide sleeve 1619. Start the calibration program. Through the coordinated action of each motor, adjust the puncture needle 1618 to the initial zero position to ensure positioning accuracy. Start the tracked walking unit 1. Drive the robot to move to the side of the patient's puncture site through remote control or preset path to ensure that the puncture component 16 can cover the target area. Brake and lock the track to prevent the equipment from shifting during puncture. Start the first motor 6. The output end drives the first gear 7 to rotate. Through the meshing of the gear and the gear ring 5, drive the rotating column 4 and the outer shell 3 above it and the entire puncture mechanism to rotate horizontally, aligning the puncture component 16 with the approximate direction of the patient's puncture target point. S2: Start the second motor 12 to drive the lifting threaded rod 10 to rotate, and the moving seat 13 to rise and fall vertically along the guide rod 9, adjusting the rocker arm assembly 15 and the puncture assembly 16 to the same height as the target point, ensuring that the puncture needle 1618 and the target point are on the same horizontal plane. Start the tenth motor 20 to drive the rotary table 19 to rotate, adjusting the tilt angle of the two rocker arm assemblies 15. Then start the third motor 14 to drive the first mounting sleeve 1501 of the rocker arm assembly 15 to rotate around the moving seat 13, adjusting the overall swing angle of the rocker arm. Start the fourth motor 1502 to... The first synchronous pulley 1503, synchronous belt, and second synchronous pulley 1504 drive the rotating shaft 1510 to rotate, realizing the swing of the second mounting sleeve 1505 relative to the first mounting sleeve 1501, further fine-tuning the horizontal posture of the puncture assembly 16. The fifth motor 1506 is started, which drives the connecting column 1508 to rotate through the third synchronous pulley 1507, synchronous belt, and fourth synchronous pulley 1509, driving the puncture assembly 16 to rotate horizontally and accurately align with the target point. Similarly, another set of rocker arm assemblies 15 can also drive the ultrasonic probe 17 to adjust its position. S3: Start the sixth motor 1602 to drive the fixing bar 1603 to rotate, adjust the relative angle of the puncture assembly 16 with respect to the body, start the seventh motor 1607 to drive the second gear 1608 to rotate, so that the connecting plate 1606 slides horizontally along the first guide rail 1604, finely adjust the front and rear position of the puncture needle 1618, start the eighth motor 1612 to drive the third gear 1613 to mesh with the arc-shaped second rack 1609, and the mounting bracket 1611 slides along the second guide rail 1610 to adjust the puncture angle of the puncture needle 1618, ensuring that the puncture path is consistent with the preset trajectory; S4: After confirming that the posture adjustment is correct, start the ninth motor 1617 to drive the puncture threaded rod 1615 to rotate. The moving block 1616 moves smoothly forward along the third guide rail 1614, driving the puncture needle 1618 through the guide sleeve 1619 and advancing towards the target point at the preset depth. The guide sleeve 1619 restricts the swing of the puncture needle 1618 to ensure the stability of the puncture process and avoid needle tip deviation. If the target point drifts slightly during the puncture process, the puncture angle can be finely adjusted by the eighth motor 1612, or the front and rear positions can be finely adjusted by the seventh motor 1607 to correct the puncture path in real time and ensure that the target point is hit. After the puncture needle 1618 reaches the preset depth, the ninth motor 1617 stops running and the puncture needle 1618 remains fixed, allowing subsequent operations such as biopsy sampling and particle implantation to be performed. After the subsequent operations are completed, start the ninth motor 1617 to rotate in the opposite direction, and the moving block 1616 drives the puncture needle 1618 to smoothly retract along the guide sleeve 1619 and exit the patient's body, avoiding needle tip scratching of tissue.

[0032] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed invention. The scope of protection claimed by the appended claims and their equivalents is defined.

Claims

1. A tracked medical puncture robot, characterized in that: The system includes a tracked walking section (1), a fixed plate (2) fixedly connected to the upper center of the tracked walking section (1), a housing (3) fixedly connected above the fixed plate (2), a first fixed platform (8) rotatably connected to the upper center of the housing (3), a lifting threaded rod (10) rotatably connected to the upper center of the first fixed platform (8), a movable seat (13) threadedly connected to the outer surface of the lifting threaded rod (10), an installation chamber (18) fixedly connected to the left side of the movable seat (13), and a bearing rotatably connected to the left side of the installation chamber (18). The rotating platform (19) is fixedly installed inside the installation chamber (18) with a tenth motor (20) for driving the rotating platform (19) to rotate. The upper and lower sides of the rotating platform (19) are rotatably connected with rocker arm assemblies (15). The rotating platform (19) is fixedly installed inside with a third motor (14) for driving the upper and lower rocker arm assemblies (15) to rotate relative to each other. The upper rocker arm assembly (15) is equipped with a puncture assembly (16) at its end, and the lower rocker arm assembly (15) is detachably equipped with an ultrasonic probe (17) at its end via a quick connector.

2. The tracked medical puncture robot according to claim 1, characterized in that: The top of the lifting threaded rod (10) is rotatably connected to a second fixed platform (11). At least four guide rods (9) are fixedly connected between the first fixed platform (8) and the second fixed platform (11). The four guide rods (9) are slidably connected to the right side of the moving seat (13) through guide sleeves. A second motor (12) for driving the lifting threaded rod (10) to rotate is fixedly installed in the middle of the upper part of the second fixed platform (11).

3. The tracked medical puncture robot according to claim 1, characterized in that: A rotating column (4) is rotatably connected to the middle of the upper surface of the fixed plate (2). The top of the rotating column (4) is fixedly connected to the bottom surface of the fixed plate (2). A toothed ring (5) is fixedly connected to the outer surface of the rotating column (4).

4. The tracked medical puncture robot according to claim 3, characterized in that: A first motor (6) is fixedly connected to one side of the upper surface of the fixed plate (2), and a first gear (7) is fixedly connected to the output end of the first motor (6), and the first gear (7) meshes with the gear ring (5).

5. A tracked medical puncture robot according to any one of claims 1-4, characterized in that: The rocker arm assembly (15) includes a first mounting housing (1501) and a second mounting housing (1505). The end of the first mounting housing (1501) near the moving base (13) is fixedly connected to the output end of the third motor (14). The end of the second mounting housing (1505) is rotatably connected to the end of the first mounting housing (1501) away from the moving base (13) via a rotating shaft (1510).

6. The tracked medical puncture robot according to claim 5, characterized in that: A fourth motor (1502) is fixedly installed on the side of the first mounting housing (1501) away from the third motor (14). The output end of the fourth motor (1502) passes through the side wall of the first mounting housing (1501) and is fixedly connected to a first synchronous pulley (1503). The first synchronous pulley (1503) is connected to a second synchronous pulley (1504) via a synchronous belt drive. The second synchronous pulley (1504) is fixedly installed at the end of the rotating shaft (1510). The left side inside the second mounting housing (1505) is connected to the first synchronous pulley (1502) via a synchronous belt drive. The bearing is rotatably connected to the connecting column (1508). The second mounting sleeve (1505) is fixedly connected to the side away from the first mounting sleeve (1501) by the fifth motor (1506). The output end of the fifth motor (1506) passes through the side wall of the second mounting sleeve (1505) and is fixedly connected to the third synchronous pulley (1507). The third synchronous pulley (1507) is connected to the fourth synchronous pulley (1509) through the synchronous belt drive. The fourth synchronous pulley (1509) is fixedly connected to the end of the connecting column (1508).

7. A tracked medical puncture robot according to any one of claims 1-4, characterized in that: The puncture assembly (16) includes a hollow fixed seat (1601). The top surface of the fixed seat (1601) is fixedly connected to the bottom surface of the connecting column (1508) in the rocker arm assembly (15) above. A sixth motor (1602) is fixedly installed inside the fixed seat (1601). The output end of the sixth motor (1602) passes through the left side wall of the fixed seat (1601) and is fixedly connected to a fixing strip (1603). A first guide rail (1604) is fixedly connected to the upper front side of the fixing strip (1603), and a first rack (1605) is fixedly connected to the lower front side of the fixing strip (1603).

8. A tracked medical puncture robot according to claim 7, characterized in that: A connecting plate (1606) is slidably connected to the front side of the first guide rail (1604) via a sliding block. A seventh motor (1607) is fixedly connected to the right front end of the connecting plate (1606). The output end of the seventh motor (1607) passes through the connecting plate (1606) and is fixedly connected to a second gear (1608). The second gear (1608) meshes with the first rack (1605). A second rack (1609) in the shape of an arc is fixedly connected to the upper front side of the connecting plate (1606). A second guide rail (1610) in the shape of an arc is fixedly connected to the lower front side of the connecting plate (1606) below the second rack (1609).

9. A tracked medical puncture robot according to claim 8, characterized in that: The second guide rail (1610) is slidably connected to a mounting bracket (1611) via a sliding block. An eighth motor (1612) is fixedly connected to the upper front side of the mounting bracket (1611). The output end of the eighth motor (1612) passes through the mounting bracket (1611) and is fixedly connected to a third gear (1613). The third gear (1613) meshes with the second rack (1609).

10. A tracked medical puncture robot according to claim 9, characterized in that: The mounting bracket (1611) is fixedly connected to the front side of a third guide rail (1614). Inside the mounting bracket (1611), a piercing threaded rod (1615) is rotatably connected to the front side of the third guide rail (1614). A ninth motor (1617) for driving the piercing threaded rod (1615) to rotate is fixedly installed above the mounting bracket (1611). A moving block (1616) is threadedly connected to the outer surface of the piercing threaded rod (1615). The rear side of the moving block (1616) is slidably connected to the third guide rail (1614) through a sliding block. A piercing needle (1618) is fixedly connected above the moving block (1616). A guide sleeve (1619) is fixedly connected below the mounting bracket (1611). The piercing needle (1618) is slidably connected inside the guide sleeve (1619).

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