Puncture needle regulation and control mechanism with visual perception function and regulation and control method thereof

Abstract

The invention relates to a puncture needle regulation and control mechanism with a visual perception function and a regulation and control method. A guide module is installed at the lower end of a linear motion module and can guide a puncture needle to move in the direction parallel to the linear motion module; the clamping module can clamp and loosen the puncture needle and perform one-way linear motion or reciprocating linear motion to realize puncture or needle withdrawal; the connecting flange is located on the back of the linear motion module, and the whole regulation and control mechanism can be installed at the tail end of the mechanical arm through the connecting flange. Through mutual cooperation of the linear motion module, the clamping module, the guiding module and the visual perception module, the mechanical arm can adjust the pose of the whole regulation and control mechanism, and therefore the needle inserting path of a puncture needle is adjusted; and meanwhile, switching from a clamping state to a floating state and from the floating state to the clamping state of the puncture needle can be achieved, a mechanical arm can conveniently conduct vision-based posture adjustment to achieve puncture or needle withdrawal, the puncture accuracy and safety are improved, and meanwhile a doctor is prevented from being injured by radiation.

Description

Technical Field

[0001] This invention relates to the field of medical devices, and more specifically to a puncture needle control mechanism with visual sensing function and its control method. Background Technology

[0002] Aspiration is a common minimally invasive surgical procedure in clinical practice. It involves inserting a needle into a body cavity to extract secretions for testing, perform biopsies on diseased tissue, inject gas or contrast agents into the cavity for imaging examinations, or inject drugs into the cavity. Clinically, under the guidance of medical imaging, doctors insert a needle through the skin to the lesion area to establish a channel for biopsy or interventional treatment. Minimally invasive surgery is characterized by minimal trauma, less pain, and faster recovery, but it also places high demands on the precision and stability of the surgical procedure and the surgeon's skill.

[0003] Robotic surgery is becoming increasingly common in current technologies, and it is undoubtedly a revolutionary surgical tool in the field of minimally invasive surgery worldwide. Robots assist doctors in performing surgeries not only with high positioning accuracy and dexterity, but also with minimal trauma to patients, facilitating postoperative recovery. However, during current robotic puncture procedures, deviations in the insertion path of the puncture needle on the patient's skin can easily occur, affecting the quality of the surgery and potentially posing safety risks to the patient.

[0004] Patent 202110526610.5 discloses a puncture device in which the puncture needle is simultaneously clamped by a first clamping component and a second clamping component, allowing two positions on the puncture needle to be simultaneously limited. Since two points determine a straight line, the position of the puncture needle is fixed, achieving needle positioning. This alleviates the technical problems of existing puncture surgical robots that can easily affect surgical quality and pose safety hazards to patients. However, this patent lacks a force sensing module, making it unable to quickly detach when subjected to large external forces. Furthermore, the needle insertion path cannot be adjusted, preventing the puncture needle from floating during the puncture process, thus posing a safety hazard.

[0005] Patent 202110719201.7 discloses a spatial positioning and guidance device for C-arm puncture. The specific structure is as follows: the so-called C-arm puncture machine refers to a C-shaped carriage as its main structural component. A slide rail is provided on the carriage, and a coplanar mechanism slides on the slide rail. The coplanar mechanism refers to two mutually perpendicularly connected lead screw moving mechanisms. The lower lead screw moving mechanism has a fixed end for fixing the puncture needle. The coplanar mechanism allows the puncture needle to move freely on a plane, and the carriage can adjust the offset direction of the puncture needle. It guides the puncture needle by setting a clamping seat and a guide tube. The physician holds the puncture needle 2, passes it through the guide tube 3, and inserts it into the human body. It lacks a force sensing module; the interaction forces of the puncture needle in various directions during the puncture process cannot be sensed, and there is no visual perception, so the spatial posture of the puncture needle cannot be sensed in real time.

[0006] Patent 202010134140.3 discloses a fully electric, rapid-release puncture needle inserter for CT fluoroscopy guidance. It employs a fully electric, remote-controlled puncture needle insertion design. When the puncture needle reaches the target, simply pressing an electrical button immediately closes or opens the needle clamp and guide, in less than one second, avoiding tissue damage caused by respiratory movements. The clamping component holds the puncture needle; the guide component guides the insertion direction of the puncture needle. However, this patent's puncture needle insertion design uses a fully electric, remote-controlled system. The needle insertion path cannot be adjusted, and the force applied to the puncture needle cannot be observed.

[0007] Patent 201611034687.6 discloses a minimally invasive spinal surgery robot. This robot, with its hybrid mechanism, has six degrees of freedom. The horizontal linear module 7 and the vertical linear module are parallel, providing two degrees of freedom. The remaining four degrees of freedom are serial, resulting in a six-degree-of-freedom hybrid mechanism. This not only achieves positioning and guidance functions in minimally invasive spinal surgery but also adds automatic Kirschner wire drilling and automatic grinding functions. Simultaneously, it can measure and monitor the drilling and grinding forces, preventing Kirschner wires from penetrating the spine in traditional surgery and avoiding inaccurate spinal grinding. However, this patent has a complex structure and lacks a floating mechanism to ensure safety; it also lacks visual perception, making it impossible to switch from a floating state to a clamping state, and the real-time force on the needle in all directions cannot be reflected. Summary of the Invention

[0008] The purpose of this invention is to address the shortcomings of existing technologies by providing a puncture needle control mechanism and method with visual perception functionality. Through the cooperation of a linear motion module, a clamping module, a guiding module, and a visual perception module, the robotic arm can adjust the posture of the entire control mechanism, thereby adjusting the insertion path of the puncture needle. Simultaneously, it can switch the puncture needle from a clamped state to a floating state and vice versa, facilitating vision-based posture adjustment by the robotic arm to achieve puncture or needle removal.

[0009] The technical solution of the present invention is as follows:

[0010] A puncture needle control mechanism with visual perception function includes a linear motion module and a guide module: the guide module is mounted on the lower end of the linear motion module and can guide the puncture needle to move in a direction parallel to the linear motion module; the guide module is provided with a guide part for holding the guided puncture needle to float and rotate.

[0011] Clamping module: The clamping module is installed on the linear motion module and performs unidirectional linear motion or reciprocating linear motion. It can clamp and release the puncture needle, and perform linear motion while clamping the puncture needle to achieve puncture or needle removal.

[0012] Visual perception module: The visual perception module is capable of capturing and measuring the position and posture of the puncture needle in real time. The visual perception module is located at the top of the linear motion module and / or the bottom of the guide module.

[0013] Connecting flange: The connecting flange is located on the back of the linear motion module. The entire control mechanism can be installed at the end of the robotic arm through the connecting flange 21.

[0014] Preferably, the guiding module includes: two guide claws that keep their opening and closing degrees synchronized. The opening and closing control of the two guide claws is completed by a drive mechanism, and under the action of the guiding mechanism, the pair of guide claws can simultaneously perform opening and closing movements along a fixed trajectory to clamp or release the puncture needle.

[0015] The guide portion is an elastic pad, a guide sheet, or a rotating floating head;

[0016] When the guide portion is an elastic pad, the elastic pad is positioned on the inner side of the two sets of guide claws facing each other;

[0017] When the guide part is a guide sheet, the guide sheet includes a first guide sheet and a second guide sheet respectively disposed on the inner side of the two sets of guide claws facing each other. When the two sets of guide claws are closed, the first guide sheet and the second guide sheet form a through hole through which the puncture needle can pass. The puncture needle passes through the through hole and rotates slightly around the point.

[0018] When the guide is a rotating floating head, the rotating floating head is connected to the guide claw through a floating joint, and the rotating floating head can adaptively rotate around the point as the puncture needle rotates.

[0019] Preferably, the driving mechanism is one or a combination of a spiral groove mechanism, a gear mechanism, a linkage mechanism, or a lead screw mechanism; the guiding mechanism is one or a combination of a guide rail, a slide, a hinge, or a bearing.

[0020] Preferably, the drive mechanism is driven by a motor, which is equipped with a current detection sensor and a position detection sensor. The current detection sensor can detect the output torque of the motor by the magnitude of the current, thereby calculating the clamping force of the guide claw. The position detection sensor can accurately control the opening and closing size of the guide claw.

[0021] Preferably, the guiding module and / or clamping module are mounted on a force sensor, which can collect the external interaction force of the clamped puncture needle;

[0022] The force sensor can measure the interaction force of the puncture needle in three directions: up and down, left and right, and forward and backward.

[0023] Preferably, the elastic pad is made of an elastic material; the material of the elastic pad is one or a combination of silicone, rubber, latex, and polyurethane.

[0024] The elastic pad is provided with a guide groove, which can be used to limit the clamping position.

[0025] Preferably, the clamping module uses at least one of a gripper assembly, a rotary clamping assembly, and a side clamping assembly to clamp and release the puncture needle;

[0026] When the clamping module uses a gripper assembly, the gripper assembly can be opened and closed. The gripper assembly is controlled by a drive device to simultaneously open and close along a fixed trajectory.

[0027] The driving device is one or a combination of a spiral groove mechanism, a gear mechanism, a linkage mechanism, or a lead screw mechanism.

[0028] Preferably, the gripper assembly has a guide bar on its gripper, which extends out of the gripper body at a certain angle for automatically resetting and gripping the puncture needle that has deviated from the gripping position.

[0029] The guide strip is made of a flexible material, which is one or a combination of silicone, rubber, latex, and polyurethane.

[0030] Preferably, the visual perception module employs a visual sensor, which is one or more combinations of a camera, a depth camera, an infrared camera, and a laser sensor, wherein the camera is at least one of a monocular camera, a binocular camera, and a multi-view camera.

[0031] A control method for a puncture needle control mechanism with visual sensing function includes the following steps:

[0032] (1) First, let the clamping module and the guide module clamp the puncture needle at the same time, and adjust the position of the entire control mechanism through the robotic arm to adjust the needle insertion path of the puncture needle.

[0033] (2) In case of danger, release the clamping module so that the puncture needle is only constrained by a single point of the guide module, so that the puncture needle can float around the guide part of the guide module to a certain extent.

[0034] (3) When it is necessary to re-grip the puncture needle, the vision perception module can determine the spatial pose of the puncture needle, which facilitates the robotic arm to perform vision-based pose adjustment and realize the re-grip of the deviated floating puncture needle.

[0035] (4) After the spatial position of the puncture needle is determined, the clamping module clamps the puncture needle. At this time, the puncture needle changes from a floating state to a clamped state. Under the action of the linear motion module and the guidance of the guide part of the guide module, the puncture continues.

[0036] The beneficial effects of this invention are as follows:

[0037] The linear motion module of this invention drives the clamping module to move along the linear module, and the guide module is mounted at the bottom of the linear motion module. The guide module floats and clamps the lower part of the puncture needle and guides it, meaning the puncture needle is in a single-point constraint state. During puncture, the clamping module clamps the upper part of the puncture needle, allowing the puncture needle, clamped on the clamping module and guide module, to penetrate deep into the lesion along the set puncture direction. During puncture, the upper part of the puncture needle is clamped and fixed, while the lower part is limited and guided by a single point constraint, ensuring that the puncture needle will not shift or deform. In dangerous situations, the clamping module releases the upper part of the puncture needle. Since the lower part of the puncture needle is in a floating connection state, it is not completely fixed and is therefore in a floating state. When it is necessary to re-clamp the puncture needle, the vision perception module can determine the spatial pose of the puncture needle, thereby facilitating vision-based pose adjustment of the robotic arm to re-clamp the deviated puncture needle. The linear motion module can precisely control the puncture depth.

[0038] The clamping module and guiding module of the present invention can complete the surgery under the guidance of X-ray, CT, ECT and other images, and promptly confirm the deviation of the puncture angle, and correct the puncture angle and depth in a timely manner, so as to improve the accuracy and safety of puncture, while avoiding radiation damage to doctors. Attached Figure Description

[0039] The invention will be further described below with reference to the accompanying drawings:

[0040] Figure 1 This is one of the structural schematic diagrams of the present invention.

[0041] Figure 2 This is the second structural schematic diagram of the present invention.

[0042] Figure 3 This is an exploded structural diagram of the present invention.

[0043] Figure 4 This is one of the structural schematic diagrams of the clamping module of the present invention.

[0044] Figure 5 This is the second schematic diagram of the clamping module of the present invention.

[0045] Figure 6 This is an exploded structural diagram of the clamping module of the present invention.

[0046] Figure 7 This is a schematic diagram of the structure of the guide module of the present invention.

[0047] Figure 8 This is one of the schematic diagrams of the internal structure of the guide module of the present invention.

[0048] Figure 9 This is the second schematic diagram of the internal structure of the guide module of the present invention.

[0049] Figure 10 This is a schematic diagram of the structure of the guide clamping module of the present invention.

[0050] Figures 1-10 In the middle: Ⅰ—Linear motion module; Ⅱ—Clamping module; Ⅲ—Guiding module; Ⅳ—Vision perception module; 1—Puncture needle; 2—Motor; 3—Linear module; 4—Synchronous belt drive mechanism; 401—First dust cover; 5—Ball screw pair; 6—Module slide; 7—Module connecting plate; 8—Slide; 9—Slider; 10—Guide claw; 11—Second servo; 12—Servo base; 13—Force sensor; 14—Sensor mounting base; 15—Second dust cover; 16—Rotating disk; 17—Helical groove; 18—Elastic pad; 19— Electrical control box; 1901, 1902—box cover; 20—bracket; 21—connecting flange; 22—circuit board; 23—connecting seat; 24—first gripper; 25—second gripper; 26—accommodating slot; 27—motor; 28—third dust cover; 29—drive gear; 30—first rotating shaft; 31—second rotating shaft; 32—driven gear; 33—first gripper connecting seat; 34—second gripper connecting seat; 35—first synchronous pulley; 36—second synchronous pulley; 37—binocular camera; 38—camera mounting base; 39—bearing. Detailed Implementation

[0051] The present invention will be further explained below with reference to the accompanying drawings and specific embodiments.

[0052] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0053] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0054] In the description of this application, it should also be noted that, unless otherwise expressly specified and limited, the terms "set up," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; 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; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0055] Example 1,

[0056] This embodiment discloses a puncture needle control mechanism with visual perception function, which mainly realizes the floating connection and guidance of the puncture needle 1.

[0057] A puncture needle control mechanism with visual perception function includes a linear motion module I, which comprises a motor 2 and a linear module 3. The motor 2 is connected to the linear module 3 via a synchronous belt drive mechanism 4 or via a coupling. The synchronous belt drive mechanism 4 is equipped with a first dust cover 401 to prevent debris and dust from entering the synchronous belt drive mechanism 4. The linear module 3 is connected to a clamping module via a ball screw drive. A ball screw assembly 5 is connected to the cylinder of the linear module 3. The ball nuts of the ball screw assembly 5 are fixed on a module slide 6. The module slide 6 is connected to a clamping module II via a module connecting plate 7, which drives the clamping module to move along the linear module. The rotation of the main shaft of the motor 2 drives the synchronous belt drive mechanism 4 to rotate, thereby rotating the ball screw and moving the ball nuts along the ball screw. The module slide 6 drives the clamping module II to move via the module connecting plate 7.

[0058] It also includes a guide module III: the guide module is installed at the lower end of the linear motion module, the guide module can guide the puncture needle 1 to move in a direction parallel to the linear motion module, and the guide module is provided with a guide part for holding the puncture needle after it is guided to float and rotate.

[0059] Clamping Module II: The clamping module is installed on the linear motion module and performs unidirectional linear motion or reciprocating linear motion. It can clamp or release the puncture needle 1. While clamping the puncture needle 1, it performs linear motion to achieve puncture or needle removal.

[0060] Connecting flange 21: The connecting flange 21 is located on the back of the linear motion module. The entire control mechanism can be installed at the end of the robotic arm through the connecting flange 21.

[0061] The guiding module includes two guide claws that maintain synchronous opening and closing. The opening and closing control of the two guide claws is completed by a drive mechanism, and under the action of the guiding mechanism, the pair of guide claws can simultaneously perform opening and closing movements along a fixed trajectory to clamp or release the puncture needle.

[0062] The guide portion is an elastic pad, a guide sheet, or a rotating floating head;

[0063] When the guide portion is an elastic pad, the elastic pad is positioned on the inner side of the two sets of guide claws facing each other;

[0064] When the guide part is a guide sheet, the guide sheet includes a first guide sheet and a second guide sheet respectively disposed on the inner side of the two sets of guide claws facing each other. When the two sets of guide claws are closed, the first guide sheet and the second guide sheet form a through hole through which the puncture needle can pass. The puncture needle passes through the through hole and rotates slightly around the point.

[0065] When the guide is a rotating floating head, the rotating floating head is connected to the guide claw through a floating joint, and the rotating floating head can adaptively rotate around the point as the puncture needle rotates.

[0066] Specifically, the device includes a guide seat and guide claws 10. Two sets of guide claws 10 are slidably mounted on the guide seat and slide relative to each other under the action of the drive mechanism. Under the action of the guide mechanism, the pair of guide claws 10 can simultaneously perform opening and closing movements along a fixed trajectory to clamp or release the puncture needle. Of course, the two sets of guide claws 10 can also be hinged to the guide seat separately, and the two sets of guide claws 10 can close or open to clamp or release the puncture needle.

[0067] The driving mechanism is one or a combination of a spiral groove mechanism, a gear mechanism, a linkage mechanism, or a lead screw mechanism; the guiding mechanism is one or a combination of a guide rail, a slide, a hinge, or a bearing.

[0068] The drive mechanism is driven by a motor 2. The motor 2 is equipped with a current detection sensor and a position detection sensor. The current detection sensor can detect the output torque of the motor by the magnitude of the current, thereby calculating the clamping force of the guide claw 10. The position detection sensor can accurately control the opening and closing size of the guide claw 10.

[0069] The guiding module and / or clamping module are mounted on the force sensor 13, which can collect the external interaction force of the clamped puncture needle 1; the force sensor 13 can measure the interaction force of the puncture needle 1 in three directions: up and down, left and right, and front and back.

[0070] In this embodiment, the guiding mechanism includes a slide block 8 and two sets of sliders 9 slidably mounted on the slide block 8. Each set of sliders 9 has a guide claw 10 mounted on its inner side, and the two sets of guide claws 10 can float and clamp the puncture needle 1. The slide block 8 is provided with a guide groove, and the two sets of sliders 9 are fitted into the guide groove and can move relative to or towards each other along the guide groove to achieve clamping and releasing of the puncture needle 1.

[0071] The inner side of the guide claw 10 is provided with an elastic pad 18, which is made of an elastic material. The material of the elastic pad is one or more combinations of silicone, rubber, latex, and polyurethane. In this embodiment, the material of the elastic pad 18 is preferably silicone. When the two sets of guide claws 10 clamp the puncture needle 1, the puncture needle 1 and the two sets of guide claws 10 are in a floating connection state. The elastic pad 18 is provided with a guide groove, which can be used to limit the clamping position.

[0072] The drive mechanism includes a second servo motor 11 and a servo motor base 12 on which the second servo motor 11 is mounted. The servo motor base 12 is fixedly connected to the slide 8. The force sensor 13 is connected to the second servo motor 11 and is fixedly locked to the lower end of the linear motion module by a sensor mounting base 14. A second dust cover 15 is installed on the outside of the second servo motor 11 and the force sensor 13 to prevent dust. The second dust cover 15 is installed between the slide 8 and the sensor mounting base 14. A second transmission component is connected to the rotating shaft of the second servo motor 11. The second transmission component is a linkage mechanism, a helical groove mechanism, a cam mechanism, or a lead screw and nut mechanism, etc.

[0073] The spiral groove mechanism includes a rotating disk 16 with two sets of spiral grooves 17. Each set of spiral grooves 17 is connected to a corresponding slider via a sliding rod. In this embodiment, the rotating disk 16 is a disc structure with two sets of spiral grooves 17 symmetrically arranged on its upper surface. The bottom of the slide block 8 has an mounting groove extending upward from the bottom surface, which communicates with the guide groove on the slide block 8. The rotating disk 16 is installed in the mounting groove. The second servo motor 11 drives the rotating disk 16 to rotate, so that the two sets of sliders can move relative to or towards each other along the guide groove to clamp and release the puncture needle 1.

[0074] The back of the linear motion module is equipped with an electrical control box 19. The electrical control box 19 is a box structure composed of two box covers 1901 and 1902 connected together. The back of the linear motion module is connected to a connecting flange 21 via a bracket 20. A robotic arm is connected to the connecting flange 21, and the bracket 20 passes through the electrical control box 19. The connecting flange 21 is located on the side of the electrical control box 19. A circuit board 22 is fixedly installed inside the electrical control box 19 and between the bracket 20 and the two box covers.

[0075] The puncture needle control mechanism also includes a visual perception module IV capable of capturing and measuring the puncture needle's position in real time; the visual perception module is located at the upper end of the linear motion module and / or the bottom of the guide module.

[0076] The visual perception module is one or more combinations of a camera, a depth camera, an infrared camera, and a laser sensor, wherein the camera is at least one of a monocular camera, a binocular camera, and a multi-view camera. In this embodiment, the visual perception module preferably uses a binocular camera 37, which determines the spatial pose of the puncture needle 1 through the parallax principle. The binocular camera 37 is connected to the upper end of the linear motion module and the bottom of the guide module through a camera mounting bracket 38.

[0077] The binocular camera acquires real-time image information, which is then processed by analysis software in the processing module. This application has cameras mounted at the top of the linear motion module and the bottom of the guide module, respectively, with both cameras fixed in place. The real-time image information includes planar positioning information and depth information. The binocular camera has an optical zoom module and an autofocus module, and can output focal length information. After acquiring image information, the binocular camera can calculate the planar position information of the puncture needle 1. The two sets of binocular cameras directly acquire image information and can measure distance, thus obtaining the position and puncture depth of the puncture needle 1, enabling better positioning of the puncture needle 1.

[0078] As one possible approach, the puncture needle positioning and adjustment process in this embodiment is as follows:

[0079] (1) This embodiment can achieve the clamping of the puncture needle: the device is moved above the lesion by the robotic arm, the clamping module and the guiding module clamp the puncture needle at the same time, and the position of the entire control mechanism is adjusted by the robotic arm, thereby adjusting the needle insertion path of the puncture needle.

[0080] (2) This embodiment can realize the single-point constraint state of the puncture needle, that is, change from the tight clamping state in (1) above to the floating state: when a dangerous situation occurs, the clamping module is released and the puncture needle passes through the clamping module. At this time, the clamping module does not clamp the puncture needle, but only plays a guiding and limiting role for the puncture needle. The lower part of the puncture needle passes through the two sets of guide claws 10. The second servo motor 11 drives the rotating disk 16 to rotate. The rotation of the rotating disk 16 causes the slide rod to move along the corresponding spiral groove 17, thereby causing the slide rod to drive the corresponding slider to move relative to or towards each other along the guide groove in the slide block 8. When moving towards each other, the elastic pads 18 on the two sets of guide claws 10 clamp the puncture needle. Since the elastic pads 18 are made of elastic material or silicone, the puncture needle is floatingly connected to the two sets of guide claws 10 at this time, so that the puncture needle is only subject to the single-point constraint of the guide module, so that the puncture needle can float around the guide part of the guide module to a certain extent.

[0081] As an alternative to this embodiment, the floating connection between the puncture needle and the two sets of guide claws 10 can be achieved in the following way: the guide part adopts a guide sheet, which includes a first guide sheet and a second guide sheet respectively disposed on the inner side of the two sets of guide claws. When the two sets of guide claws are closed, the first guide sheet and the second guide sheet form a through hole through which the puncture needle can pass. The puncture needle passes through the through hole and rotates slightly around the point.

[0082] Alternatively, the guide section may be a rotating floating head, which is connected to the guide claw via a floating joint. The rotating floating head can adaptively rotate around the puncture needle.

[0083] (2) This embodiment can switch from floating state to clamping state; when it is necessary to re-clamp the puncture needle, the vision perception module can determine the spatial pose of the puncture needle, so as to facilitate the robot arm to perform vision-based pose adjustment, and realize the clamping module to re-clamp the floating puncture needle after it has deviated; after the spatial pose of the puncture needle is determined, the clamping module clamps the puncture needle, and at this time the puncture needle changes from floating state to clamping state, and continues to puncture under the action of the linear motion module and the guidance of the guide part of the guide module.

[0084] Example 2,

[0085] See attached Figures 1-10 Embodiment 2 provides a puncture needle adjustment mechanism, mainly for clamping and positioning the puncture needle 1 after angle adjustment, and for performing puncture surgery. Embodiment 2 includes the linear motion module and guide module mentioned in Embodiment 1, as well as supporting devices. The technical features of the linear motion module and guide module disclosed in Embodiment 1 are also applicable to this embodiment. Embodiment 2 will not repeat the disclosed technical features. Embodiment 2 will be further described in detail below with reference to the accompanying drawings.

[0086] The clamping module uses at least one of a gripper assembly, a rotary clamping assembly, and a side clamping assembly to clamp and release the puncture needle;

[0087] When the clamping module uses a gripper assembly, the gripper assembly can be opened and closed. The gripper assembly is controlled by a drive device to simultaneously open and close along a fixed trajectory.

[0088] The driving device is one or a combination of a spiral groove mechanism, a gear mechanism, a linkage mechanism, or a lead screw mechanism.

[0089] The gripper assembly has a guide bar on its gripper, which extends out of the gripper body at a certain angle to automatically reset and grip the puncture needle that has deviated from the gripping position.

[0090] The guide strip is made of a flexible material, which is one or a combination of silicone, rubber, latex, and polyurethane.

[0091] In this embodiment, the clamping module includes a connecting seat 23 mounted on the linear motion module, a driving component mounted on the connecting seat 23, and a guide clamping component mounted on the driving component. The guide clamping component includes a first clamp 24 and a second clamp 25 cooperating with the first clamp 24. Two second clamps 25 are arranged side by side, and a receiving groove 26 is provided between the two second clamps 25 to allow the first clamp 24 to pass through. When the guide module floats and adjusts the angle of the puncture needle 1, the upper part of the puncture needle 1 passes through the first clamp 24 and the second clamp 25 and is guided and limited through the guide channel formed between the first clamp 24 and the second clamp 25. During the puncture process, the puncture needle 1 can be pressed between the first clamp 24 and the second clamp 25.

[0092] The drive assembly uses a cylinder-driven transmission component to drive the guide clamping assembly to achieve clamping and releasing of the grippers; or the drive assembly uses a first servo motor, which includes a motor 27 and a first transmission component mounted between the motor 27 and the connecting seat 23. The first transmission component is a gear drive, belt drive, or chain drive. The first servo motor is installed inside a third dust cover 28 to prevent debris and dust from entering the motor 27 and the first transmission component.

[0093] The first transmission component includes a drive gear 29 mounted on the main shaft of the motor 27, a first rotating shaft 30 and a second rotating shaft 31 mounted on a connecting seat via a bearing 39. The middle part of the first rotating shaft 30 is equipped with a driven gear 32 that meshes with the drive gear 29 and a first gripper connecting seat 33. The second rotating shaft 31 is connected to a second gripper connecting seat 34. The first rotating shaft 30 and the second rotating shaft 31 respectively extend out from the side wall of the connecting seat. The end of the first rotating shaft 30 is connected to a first synchronous pulley 35, and the end of the second rotating shaft 31 is connected to a second synchronous pulley 36. The first synchronous pulley 35 and the second synchronous pulley 36 mesh with each other. In this embodiment, the width of the first gripper 24 is greater than the width of the second gripper 25. The motor 27 drives the drive gear 29 to rotate, which causes the driven gear 32 to drive the first rotating shaft 30 to rotate. Due to the transmission between the first synchronous wheel 35 and the second synchronous wheel 36, the first rotating shaft 30 and the second rotating shaft 31 rotate synchronously, thereby causing the first gripper 24 and the second gripper 25 to move synchronously towards each other or relative to each other.

[0094] The first gripper 24 and the second gripper 25 are Y-shaped structures. The vertical arm of the Y-shaped structure is fixed on the first gripper connecting seat 33 or the second gripper connecting seat 34, so that the V-shaped side arms at the top of the first gripper 24 and the second gripper 25 are arranged opposite to each other. The two arms of the V-shaped side arms at the top of the Y-shaped structure are of different lengths, namely a long side wall and a short side wall. The V-shaped side arms of the first gripper 24 and the V-shaped side arms of the two second grippers 25 are arranged in a relatively staggered structure. During the simultaneous movement of the first gripper and the second gripper 25 towards each other, a guide channel is formed between the V-shaped side arms of the first gripper 24 and the V-shaped side arms of the second gripper 25. When the first gripper 24 and the second gripper 25 clamp the puncture needle 1, the puncture needle 1 is clamped in the staggered V-shaped grooves of the first gripper 24 and the second gripper 25.

[0095] Example 3,

[0096] A puncture needle control method employing a puncture needle control mechanism with visual sensing function includes the following steps:

[0097] (1) First, let the clamping module and the guide module clamp the puncture needle at the same time, and adjust the position of the entire control mechanism through the robotic arm to adjust the needle insertion path of the puncture needle.

[0098] (2) In case of danger, release the clamping module so that the puncture needle is only constrained by a single point of the guide module, so that the puncture needle can float around the guide part of the guide module to a certain extent.

[0099] (3) When it is necessary to re-grip the puncture needle, the vision perception module can determine the spatial pose of the puncture needle, which facilitates the robotic arm to perform vision-based pose adjustment and realize the re-grip of the deviated floating puncture needle.

[0100] (4) After the spatial position of the puncture needle is determined, the clamping module clamps the puncture needle. At this time, the puncture needle changes from a floating state to a clamped state. Under the action of the linear motion module and the guidance of the guide part of the guide module, the puncture continues.

[0101] The above embodiments are specific descriptions of the present invention and are only for further explanation of the present invention. They should not be construed as limiting the scope of protection of the present invention. Any non-essential improvements and adjustments made by those skilled in the art based on the above invention shall fall within the scope of protection of the present invention.

Claims

1. A puncture needle control mechanism with visual perception function, characterized in that: Includes a linear motion module; Guiding module: The guiding module is installed at the lower end of the linear motion module. The guiding module can guide the puncture needle to move in a direction parallel to the linear motion module. The guiding module is provided with a guiding part for holding the puncture needle after guidance and allowing it to float and rotate. Clamping module: The clamping module is installed on the linear motion module and performs unidirectional linear motion or reciprocating linear motion. It can clamp and release the puncture needle, and perform linear motion while clamping the puncture needle to achieve puncture or needle removal. Visual perception module: The visual perception module is capable of capturing and measuring the position and posture of the puncture needle in real time. The visual perception module is located at the top of the linear motion module and / or the bottom of the guide module.

2. The puncture needle control mechanism with visual perception function according to claim 1, characterized in that: The guiding module includes two guide claws that maintain synchronous opening and closing. The opening and closing control of the two guide claws is completed by a drive mechanism, and under the action of the guide mechanism, the pair of guide claws can simultaneously perform opening and closing movements along a fixed trajectory to clamp or release the puncture needle. The guide portion is an elastic pad, a guide sheet, or a rotating floating head; When the guide portion is an elastic pad, the elastic pad is positioned on the inner side of the two sets of guide claws facing each other; When the guide part is a guide sheet, the guide sheet includes a first guide sheet and a second guide sheet respectively disposed on the inner side of the two sets of guide claws facing each other. When the two sets of guide claws are closed, the first guide sheet and the second guide sheet form a through hole through which the puncture needle can pass. The puncture needle passes through the through hole and rotates slightly around the point. When the guide is a rotating floating head, the rotating floating head is connected to the guide claw through a floating joint, and the rotating floating head can adaptively rotate around the point as the puncture needle rotates.

3. The puncture needle control mechanism with visual perception function according to claim 2, characterized in that: The driving mechanism is one or a combination of a spiral groove mechanism, a gear mechanism, a linkage mechanism, or a lead screw mechanism; the guiding mechanism is one or a combination of a guide rail, a slide, a hinge, or a bearing.

4. The puncture needle control mechanism with visual perception function according to claim 3, characterized in that: The drive mechanism is driven by a motor, which is equipped with a current detection sensor and a position detection sensor. The current detection sensor can detect the output torque of the motor by the magnitude of the current, thereby calculating the clamping force of the guide claw. The position detection sensor can accurately control the opening and closing size of the guide claw.

5. The puncture needle control mechanism with visual perception function according to claim 1, characterized in that: The guiding module and / or clamping module are mounted on the force sensor, which can collect the external interaction force of the clamped puncture needle. The force sensor can measure the interaction force of the puncture needle in three directions: up and down, left and right, and forward and backward.

6. The puncture needle control mechanism with visual perception function according to claim 2, characterized in that: The elastic pad is made of an elastic material; the material of the elastic pad is one or a combination of silicone, rubber, latex, and polyurethane. The elastic pad is provided with a guide groove, which can be used to limit the clamping position.

7. The puncture needle control mechanism with visual perception function according to claim 1, characterized in that: The clamping module uses at least one of a gripper assembly, a rotary clamping assembly, and a side clamping assembly to clamp and release the puncture needle; When the clamping module uses a gripper assembly, the gripper assembly can be opened and closed. The gripper assembly is controlled by a drive device to simultaneously open and close along a fixed trajectory. The driving device is one or a combination of a spiral groove mechanism, a gear mechanism, a linkage mechanism, or a lead screw mechanism.

8. The puncture needle control mechanism with visual perception function according to claim 7, characterized in that: The gripper assembly has a guide bar on its gripper, which extends out of the gripper body at a certain angle to automatically reset and grip the puncture needle that has deviated from the gripping position. The guide strip is made of a flexible material, which is one or a combination of silicone, rubber, latex, and polyurethane.

9. The puncture needle control mechanism with visual perception function according to claim 1, characterized in that: The visual perception module employs a visual sensor, which is one or more combinations of a camera, a depth camera, an infrared camera, and a laser sensor, wherein the camera is at least one of a monocular camera, a binocular camera, and a multi-view camera.

10. A control method using a puncture needle control mechanism with visual perception function as described in any one of claims 1 to 9, characterized in that: Includes the following steps: (1) First, let the clamping module and the guide module clamp the puncture needle at the same time, and adjust the position of the entire control mechanism through the robotic arm to adjust the needle insertion path of the puncture needle. (2) In case of danger, release the clamping module so that the puncture needle is only constrained by a single point of the guide module, so that the puncture needle can float around the guide part of the guide module to a certain extent. (3) When it is necessary to re-grip the puncture needle, the vision perception module can determine the spatial pose of the puncture needle, which facilitates the robotic arm to perform vision-based pose adjustment and realize the re-grip of the deviated floating puncture needle. (4) After the spatial position of the puncture needle is determined, the clamping module clamps the puncture needle. At this time, the puncture needle changes from a floating state to a clamped state. Under the action of the linear motion module and the guidance of the guide part of the guide module, the puncture continues.

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