Line-driven wearable multi-needle six-degree-of-freedom puncture robot

Abstract

The invention discloses a line-driven wearable multi-needle six-degree-of-freedom puncture robot. The two plane positioning modules are arranged in parallel and are provided with N pairs of two-degree-of-freedom positioning units; a puncture needle is clamped on each rotary needle inserting module, and the rotary needle inserting modules can control feeding, withdrawing and rotary movement of the puncture needles; each rotary needle inserting module is in transmission fit with the corresponding pair of two-degree-of-freedom positioning units, and the pair of two-degree-of-freedom positioning units cooperatively drive the rotary needle inserting modules so as to realize pose control of the other four degrees of freedom of the puncture needle; and the man-machine interaction module is used for supporting and fixing the puncture robot on the body surface of the human body. The device is compact in structure, can finish precise puncture under the guidance of medical images in a narrow space, and is suitable for clinical scenes such as IRE ablation and multi-target biopsy of multi-needle synchronous operation.

Description

Technical Field

[0001] This invention relates to the field of medical robot technology, specifically to a wearable robot-assisted system for needle puncture surgery, which is particularly suitable for minimally invasive surgical scenarios that are wearable, feature multi-needle collaborative positioning, high-precision needle control, and compatibility with medical imaging (such as CT and MRI). Background Technology

[0002] As a minimally invasive interventional technique, biopsy is widely used in clinical settings such as biopsy, irreversible electroporation ablation, tumor treatment, and anesthesia due to its advantages of minimal trauma and rapid recovery. However, traditional biopsy relies on manual operation by doctors under the guidance of images such as ultrasound, CT, or MRI. Due to intraoperative tissue deformation, organ displacement, and operational errors, the puncture path often needs to be adjusted multiple times to hit the target, which not only prolongs the operation time and increases the risk of complications but also affects the doctor-patient experience.

[0003] To improve puncture accuracy and efficiency, robot-assisted puncture systems have emerged. In the existing technology, puncture robot systems exist in various designs, categorized as follows: 1. Installation methods: including bedside fixed type, bed-mounted type and wearable type; 2. Drive method: such as motor drive, line drive, or fluid drive; 3. Operating modes: covering manual, automatic, and remote operation; 4. Image compatibility: It needs to be compatible with different imaging equipment such as ultrasound, CT or MRI.

[0004] However, in specific clinical applications (such as multi-needle simultaneous IRE ablation or multi-target biopsy), existing systems have significant limitations: 1. Insufficient multi-needle coordination capability: Most systems only support single-needle operation, making it difficult to achieve synchronous positioning and coordinated control of multiple needles; 2. Limited degrees of freedom of manipulation: Existing wearable robots typically only provide 4 degrees of freedom for positioning, with a few supporting the 5th degree of freedom (needle insertion), but they lack the ability to coordinate high-precision control of needle rotation and feeding. 3. Image compatibility deficiencies: Traditional bedside / bed-mounted robots, due to their large size and metal components, are prone to interfering with CT / MRI scans. While wearable systems are compact, they struggle to balance multi-needle manipulation with precise control of all degrees of freedom. Specifically: Bedside / bed-mounted robots, despite their large workspace and multiple degrees of freedom, suffer from bulky size, require modifications to the surgical environment, and have poor image compatibility; wearable robots, while offering advantages such as conforming to the patient's body and good image compatibility, have limited functionality and cannot meet the demands of multi-needle collaboration and precise six-degree-of-freedom control under complex pathways.

[0005] In summary, existing technologies struggle to achieve multi-needle collaborative positioning and high-precision puncture manipulation while maintaining CT / MRI compatibility. Therefore, there is an urgent need to develop a novel wearable puncture robot system to address the following core issues: 1. Multi-needle synchronous control: Supports precise positioning of six degrees of freedom for multiple needles, either independently or collaboratively; 2. Full-degree-of-freedom puncture control: integrates a high-precision closed-loop drive module for needle insertion and rotation; 3. Image compatibility optimization: Through a metal-free transmission design and compact structure, it ensures barrier-free use in CT / MRI environments; 4. Human-computer interaction stability: Provides stable installation function, adapts to the curvature of the human body and maintains stable support during surgery. Summary of the Invention

[0006] To address the aforementioned technological gaps, this invention proposes a wire-driven wearable multi-needle six-degree-of-freedom puncture robot, providing an efficient, precise, and medical imaging-compatible solution for complex puncture surgeries.

[0007] The technical solution adopted in this invention is as follows: I. A wire-driven wearable multi-needle six-degree-of-freedom puncture robot The wire-driven wearable multi-needle six-degree-of-freedom puncture robot includes: The planar positioning module includes two planar positioning modules arranged in parallel to each other. Each planar positioning module is equipped with multiple two-degree-of-freedom positioning units, and the two-degree-of-freedom positioning units between the two planar positioning modules are arranged in a one-to-one correspondence. Multiple rotary needle insertion modules are arranged on the first side of the planar positioning module, with the same number as the two-degree-of-freedom positioning units on the planar positioning module. Each rotary needle insertion module holds a puncture needle. The rotary needle insertion module can control the feeding, retraction, and rotation of the puncture needle. The feeding of the puncture needle is in the direction from the rotary needle insertion module to the planar positioning module. Each rotary needle insertion module is driven by a pair of corresponding two-degree-of-freedom positioning units on the two planar positioning modules. The pair of two-degree-of-freedom positioning units work together to drive the rotary needle insertion module to achieve the pose control of the remaining four degrees of freedom of the puncture needle. A human-computer interaction module is arranged on the second side of the planar positioning module opposite to the first side, and is used to support and fix the puncture robot to the human body surface. Both the two-degree-of-freedom positioning unit and the rotary needle insertion module adopt a line-driven method.

[0008] Specifically, with the puncture needle's feed direction as the bottom, two planar positioning modules are arranged vertically in parallel, namely an upper planar positioning module and a lower planar positioning module, with the rotating needle insertion module positioned above the upper planar positioning module. Each planar positioning module includes an annular planar positioning module frame and an external gear ring capable of rotating around the center of the planar positioning module frame. The two-degree-of-freedom positioning unit includes a guide rail, a linear guide slider, and a ball joint. The guide rail is arranged radially along the planar positioning module frame, with one end near the center extending to the center and connected to an auxiliary support rod located at the center. The other end of the guide rail, away from the center, is fixedly connected. A linear guide slider is slidably arranged on the guide rail, and the ball joint is rotatably supported on the linear guide slider.

[0009] Furthermore, the multi-needle six-degree-of-freedom puncture robot also includes multiple needle guide sleeves, the number of which is the same as and corresponds one-to-one with the number of two-degree-of-freedom positioning units on the rotating needle insertion module and the planar positioning module.

[0010] Specifically, the puncture needle held on the rotating needle insertion module is inserted into the needle guide sleeve. The rotating needle insertion module is connected to the upper end of the needle guide sleeve, and the lower end passes through the ball joint of the two-degree-of-freedom positioning unit of the upper plane positioning module and is connected to the ball joint of the two-degree-of-freedom positioning unit of the lower plane positioning module.

[0011] Specifically, both the external gear ring and the linear slider are driven by wire.

[0012] Preferably, the wire drive method of the external gear ring is as follows: the wire drive assembly of the external gear ring includes a toothed ring rubber-coated wheel and a drive line D wound on the toothed ring rubber-coated wheel. The toothed ring rubber-coated wheel meshes with the external gear ring, and the drive line D drives the toothed ring rubber-coated wheel to rotate by traction, thereby driving the external gear ring to rotate.

[0013] Preferably, the linear drive method of the linear slider is as follows: the linear drive assembly of the linear slider includes a fixed pulley A, a fixed pulley B and a drive line C; the fixed pulley A and the fixed pulley B are respectively arranged at both ends of the guide rail, and the drive line C passes around the fixed pulley A and the fixed pulley B to form two segments, one segment of which is fixedly connected to the linear slider and the other segment moves through the linear slider.

[0014] Preferably, the rotary needle insertion module includes a first ceramic bearing, an internal rotating shaft, two sets of rubber-coated wheels, a second ceramic bearing, a third ceramic bearing, and a needle insertion module housing; the puncture needle is held between the two sets of rubber-coated wheels, the internal rotating shaft is coaxially arranged with the puncture needle, and the rotation axis of the rubber-coated wheels is perpendicular to the puncture needle. When the rubber-coated wheels rotate, they can drive the puncture needle to achieve puncture and retraction movements through friction; the internal rotating shaft is supported in the needle insertion module housing by the first and third ceramic bearings, and the rubber-coated wheels are supported in the internal rotating shaft by the second ceramic bearing; both the internal rotating shaft and the rubber-coated wheels adopt a line drive method.

[0015] Preferably, the linear drive method of the internal rotating shaft is as follows: the linear drive assembly of the internal rotating shaft includes a rotation drive line B, and the rotation drive line B is fixedly connected to the internal rotating shaft.

[0016] Preferably, the line drive method of the rubber-coated wheel is as follows: the line drive assembly of the rubber-coated wheel includes a puncture drive line A, the two sets of rubber-coated wheels include a set of driving wheels and a set of driven wheels, the puncture drive line A is wound on the driving wheel, and the puncture drive line A drives the driving wheel to rotate by traction, thereby driving the puncture needle to realize the puncture and retraction movement.

[0017] Furthermore, the six-degree-of-freedom puncture robot also includes several sheaths, a first pose detection tool, a second pose detection tool, and a third pose detection tool; the sheaths are used to protect the drive lines, each planar positioning module is equipped with a first pose detection tool, each rotary needle insertion module is equipped with a second pose detection tool, and the needle hub of the puncture needle is equipped with a third pose detection tool.

[0018] Specifically, the human-computer interaction module includes a human-computer interaction module, a human-computer interaction module frame, a support rail, an auxiliary support base, and a motion slip ring. The human-computer interaction module frame is fixedly connected to the planar positioning module on one side, and the human-computer interaction module is installed on the other side. The human-computer interaction module frame adopts a ring frame with a three-layer structure, with the upper and lower layers sandwiching the middle layer. The motion slip ring is rotatably disposed in the middle layer of the human-computer interaction module frame and has a clearance fit with the middle layer. Both ends of the support rail are embedded in the motion slip ring, and the auxiliary support base is disposed at the center of the support rail. One end of the drive line E is fixedly connected to the motion slip ring and completely wound around the outside of the motion slip ring. Since the motion slip ring is placed inside the middle layer of the human-computer interaction frame to form a clearance fit, the motion slip ring can be driven to rotate around the center of the human-computer interaction module frame by traction, thereby driving the support rail and the auxiliary support base to rotate synchronously.

[0019] Optionally, the human-computer interaction module adopts human-computer interaction module A; the human-computer interaction module A includes two pairs of three-bar structure units arranged symmetrically on the left and right, each three-bar structure unit includes a fixed rod fixed on the frame of the human-computer interaction module and two moving rods respectively arranged on both sides of the fixed rod, the moving rods are hinged to the fixed rods, and an angle fixer is provided at the hinge.

[0020] Optionally, the human-computer interaction module adopts human-computer interaction module B; the human-computer interaction module B includes two pairs of symmetrically arranged negative pressure driven variable stiffness adsorption mechanisms; the variable stiffness adsorption mechanism includes an exoskeleton frame, a flexible shell, an inner skeleton frame, blocking particles, a vacuum suction cup, and a pneumatic connector; the exoskeleton frame includes an exoskeleton frame A, two exoskeleton frames B respectively arranged on both sides of the exoskeleton frame A, and an exoskeleton frame hinge for connecting the exoskeleton frame A and the exoskeleton frame B; the flexible shell and the exoskeleton frame form a sealed cavity, the cavity contains the inner skeleton frame and blocking particles, a vacuum suction cup is installed on the side of the flexible shell away from the exoskeleton frame, the vacuum suction cup is connected to the cavity, and the cavity is connected to an external negative pressure source through a pneumatic connector.

[0021] II. A drive control method for a wire-driven wearable multi-needle six-degree-of-freedom puncture robot The drive control method includes the following steps: The corresponding one-to-two-degree-of-freedom positioning units on the two planar positioning modules are driven to move in coordination to adjust the spatial position and attitude of the rotating needle insertion module; Drive the rotating needle insertion module to control the feed and retraction of the puncture needle; The rotating needle insertion module is driven to control the rotational movement of the puncture needle.

[0022] The beneficial effects of this invention are as follows: 1. Multi-needle collaboration: Supports six degrees of freedom collaborative control of multiple puncture needles to meet the needs of multi-needle surgeries such as IRE ablation (irreversible electric field ablation surgery) and multi-target biopsy; 2. High-precision control: The combination of wire transmission and closed-loop detection enables six-degree-of-freedom automatic control of the puncture needle, achieving precise control of four-degree-of-freedom posture adjustment and two-degree-of-freedom needle insertion / rotation. 3. Full image compatibility: Through the combination of non-metallic actuators and drive separation design, the puncture robot of this invention can be adapted to CT / MRI environments. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the puncture robot of the present invention; wherein, (a) is a schematic diagram of the three motion branches, and (b) is a schematic diagram of the planar positioning branch.

[0024] Figure 2 This is the overall assembly drawing of the puncture robot of the present invention.

[0025] Figure 3 This is a three-dimensional schematic diagram of an instance of a rotating needle insertion module in the puncture robot of the present invention and a schematic diagram of its internal wire transmission structure; wherein, (a) is a three-dimensional schematic diagram and (b) is a schematic diagram of the internal wire transmission structure.

[0026] Figure 4 This is a schematic diagram of the internal wire transmission principle and an instantiated assembly diagram of a planar positioning module in the puncture robot of the present invention; wherein, (a) is a schematic diagram of the principle and (b) is an instantiated schematic diagram.

[0027] Figure 5 This is a schematic diagram of the internal assembly of an instantiated planar positioning module in the puncture robot of the present invention.

[0028] Figure 6 This is an assembly diagram of an instance of a human-computer interaction module A in the puncture robot of the present invention; wherein, (a) is a schematic diagram of the middle layer of the human-computer interaction module frame, and (b) is an assembly diagram of the entire human-computer interaction module A.

[0029] Figure 7 This is a schematic diagram of the centerline drive tensioning device for the puncture robot of the present invention.

[0030] Figure 8 This is an assembly diagram of an instance of the human-computer interaction module B in the puncture robot of the present invention.

[0031] Figure 9 This is a cross-sectional schematic diagram of an instance of the human-computer interaction module B in the puncture robot of the present invention.

[0032] Figure 10 This is a schematic diagram of the human-machine interaction module B in the puncture robot of the present invention; wherein, (a) is the flexible state before applying negative pressure; and (b) is the rigid state after applying negative pressure.

[0033] In the diagram: 1. Needle holder; 2. Puncture needle; 3. Rotary needle insertion module; 301. First ceramic bearing; 302. Internal rotating shaft; 303. Rubber-coated wheel; 304. Second ceramic bearing; 305. Third ceramic bearing; 306. Needle insertion module housing; 307. NDI cursor ball tracking tool holder; 308. Puncture drive line A; 309. Rotation drive line B; 4. Upper plane positioning module; 401. Planar positioning module frame; 402. External gear ring; 403. Two-degree-of-freedom positioning unit; 404. First tube sheath sleeve; 405. Drive line D; 406. Linear slider; 407. Ball joint; 408. Fixed pulley A; 409. Fixed pulley B; 410. Rubber-coated wheel with gear ring; 411. Guide rail; 412. Drive line C; 5. Lower plane positioning module; 6. NDI cursor ball; 7. Human-computer interaction module; 701. Human-computer interaction module frame, 702, motion rod, 703, fixed rod, 704, second tube sheath sleeve, 705, support guide rail, 706, auxiliary support seat, 707, motion slip ring, 708, drive line E; 8, needle guide sleeve; 801, tensioner seat, 802, tensioner rotating handle, 803, tensioner slider, 804, tensioner fixed pulley, 805, adjustable tension line, 806, fixed guide rail, 807, motor base slider, 808, winding wheel, 809, drive line, 810 tube sheath sleeve fixed end, 811, motor; 9, variable stiffness adsorption mechanism, 901, exoskeleton support A, 902, exoskeleton support hinge, 903, exoskeleton support B, 904, mounting hole, 905, flexible shell, 906, endoskeleton support, 907, blocking particles, 908, vacuum suction cup, 909, pneumatic connector. Detailed Implementation

[0034] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0035] This invention provides a wire-driven wearable multi-needle six-degree-of-freedom puncture robot. The puncture robot adopts a drive-execution separation architecture, achieving power transmission through a wire-driven flexible transmission method. The execution module is entirely made of non-metallic materials, ensuring compatibility with medical imaging.

[0036] The puncture robot provided by this invention includes: The planar positioning module includes two planar positioning modules arranged in parallel to each other. Each planar positioning module is equipped with N two-degree-of-freedom positioning units 403, and the two-degree-of-freedom positioning units 403 between the two planar positioning modules are arranged in a one-to-one correspondence. N rotating needle insertion modules 3 are arranged on one side of the planar positioning module, with the same number as the two-degree-of-freedom positioning units 403 on the planar positioning module. Each rotating needle insertion module 3 holds a puncture needle 2. The rotating needle insertion module 3 can independently control the feeding, retraction, and rotation of the puncture needle 2. The feeding of the puncture needle 2 is from the rotating needle insertion module 3 to the planar positioning module. Each rotating needle insertion module 3 is driven by a pair of corresponding two-degree-of-freedom positioning units 403 on the two planar positioning modules. The pair of two-degree-of-freedom positioning units 403 work together to drive the rotating needle insertion module 3 to achieve the pose control of the remaining four degrees of freedom of the puncture needle 2 on each rotating needle insertion module 3. The human-computer interaction module 7 is arranged on the second side of the planar positioning module opposite to the first side, and is used to support and fix the puncture robot to the human body surface.

[0037] The puncture robot provided by the present invention also includes N needle guide sleeves 8. The lower end of the needle guide sleeve 8 is connected to a two-degree-of-freedom positioning unit 403 on a planar positioning module away from the rotating needle insertion module 3, and the upper end passes through a two-degree-of-freedom positioning unit 403 on another planar positioning module and is connected to the rotating needle insertion module 3.

[0038] Where N represents the number of puncture needles that need to be manipulated simultaneously.

[0039] The two planar positioning modules, along with their corresponding two-degree-of-freedom positioning units 403 and the rotating needle insertion module 3, form a parallel mechanism configuration. The six-degree-of-freedom motion control of a single puncture needle 2 is decoupled into three motion chains: two planar positioning chains and one needle insertion chain. The two planar positioning chains cooperate to achieve needle pose control, while the needle insertion chain independently performs needle feeding and rotation operations. Through modular combination, it supports independent or coordinated control of multiple puncture needles.

[0040] The cooperative positioning of two planar branches to achieve pose control of the puncture needle means that each of the two planar branches provides a rotational degree of freedom (around the center of the plane) and a linear degree of freedom (radial motion), which can then be used to describe the motion trajectory of the two sliders in polar coordinates: for example, the center position of the slider in plane A is P. A =[R1*sin(θ1),R1*cos(θ1),Z1]; The center position of the slider in plane B is... PB =[R2*sin(θ2),R2*cos(θ2),Z2]), two sliders are connected by a hollow link. By controlling the planar position of the two sliders, the spatial pose of the link can be adjusted. The hollow link can be used as a guide for the puncture needle, i.e., the needle guide sleeve 8.

[0041] The needle insertion chain provides control over the feeding and rotation of the puncture needle around the needle axis. This means that the needle insertion chain provides linear motion (feed) along the needle axis and rotational freedom around the axis, thereby achieving coordinated control of puncture and rotation.

[0042] Supporting independent or collaborative operation of multiple puncture needles means that, through a parallel configuration, multiple puncture needles can each have their own planar positioning branches and share a single frame, supporting independent or collaborative operation of multiple needles, and is suitable for multi-needle collaborative puncture scenarios.

[0043] The schematic diagram of the overall mechanism of the puncture robot provided by this invention is as follows: Figure 1 As shown in (a), the six-degree-of-freedom motion of the puncture needle 2 can be decoupled into three motion chains (A... i -C i , where i represents the i-th needle), that is, two planar motion branches B / C and one needle insertion motion branch A. For example Figure 1 As shown in (a), the needle feed branch C includes a linear feed and a rotary motion. Figure 1 As shown in (b), each planar motion branch B / C includes a rotational motion and a linear telescoping motion.

[0044] The two planar motion chains correspond to the upper plane positioning module 4 and the lower plane positioning module 5, respectively, while the needle insertion motion chain corresponds to the rotary needle insertion module 3. Taking two puncture needles as an example, each upper plane positioning module 4 and lower plane positioning module 5 contains two two-degree-of-freedom positioning units 403. Within the planar positioning module, the two-degree-of-freedom positioning unit 403 employs a combination of rotational and linear motion to achieve precise positioning of the slider within the plane.

[0045] Specifically: With the feeding direction of the puncture needle 2 as the bottom, two planar positioning modules are arranged in parallel, namely the upper planar positioning module 4 and the lower planar positioning module 5. The rotating needle insertion module 3 is arranged above the upper planar positioning module 4 and is connected to the corresponding one-to-two degree-of-freedom positioning units 403 on the upper planar positioning module 4 and the lower planar positioning module 5 through the needle guide sleeve 8. The human-machine interaction module 7 is arranged below the lower planar positioning module 5 and is fixedly connected to the lower planar positioning module 5.

[0046] The planar positioning module includes a ring-shaped planar positioning module frame 401 and an external gear ring 402 capable of rotating around the center of the planar positioning module frame 401. All two-degree-of-freedom positioning units 403 (planar positioning motion sub-chains) share one planar positioning module frame 401, thus the number of two-degree-of-freedom positioning units can be controlled, enabling simultaneous manipulation of multiple puncture needles.

[0047] The two-degree-of-freedom positioning unit 403 includes a guide rail 411, a linear slider 406, and a ball joint 407. The guide rail 411 is arranged radially along the plane positioning module frame 401. One end of the guide rail 411 near the center extends to the center and is connected to an auxiliary support rod arranged at the center. The other end of the guide rail 411 away from the center is fixedly connected to 402, so that the guide rail 411 can rotate around the center as the external gear ring 402 rotates. The linear slider 406 is slidably arranged on the guide rail 411. The linear slider 406 can reciprocate radially along the guide rail 411. The ball joint 407 is rotatably supported on the linear slider 406.

[0048] The puncture needle 2 held on the rotating needle insertion module 3 is inserted into the needle guide sleeve 8. The rotating needle insertion module 3 is connected to the upper end of the needle guide sleeve 8, and the lower end passes through the ball joint 407 of the two-degree-of-freedom positioning unit 403 of the upper plane positioning module 4 and is connected to the ball joint 407 of the two-degree-of-freedom positioning unit 403 of the lower plane positioning module 5.

[0049] The rotating needle insertion module 3 uses the friction between the wire, the rubber-coated wheel, and the puncture needle to drive the feeding of the puncture needle 2. In addition, the rotation of the puncture needle is achieved by directly pulling the central rotating shaft inside the rotating needle insertion module 3 with the wire.

[0050] Specifically: The rotary needle insertion module 3 includes a first ceramic bearing 301, an internal rotating shaft 302, two sets of rubber-coated wheels 303, a second ceramic bearing 304, a third ceramic bearing 305, a needle insertion module housing 306, and a posture detection tool. The puncture needle 2 is held between the two sets of rubber-coated wheels 303. The internal rotating shaft 302 is coaxially arranged with the puncture needle 2, and the rotation axis of the rubber-coated wheels 303 is perpendicular to the puncture needle 2. When the rubber-coated wheels 303 rotate, they can drive the puncture needle 2 to achieve puncture and retraction movements through friction. The internal rotating shaft 302 is supported in the needle insertion module housing 306 by the first ceramic bearing 301 and the third ceramic bearing 305, and the rubber-coated wheels 303 are supported in the internal rotating shaft 302 by the second ceramic bearing 304.

[0051] The puncture robot provided by this invention adopts a wire drive system compatible with MRI / CT. The wire drive system adopts a drive-execution separation architecture: the drive end, such as the motor and other electromagnetic components, is placed outside the scanning room to avoid interfering with the image; the execution end is made of non-metallic materials, and the driving force between the drive end and the execution end is transmitted through the wire.

[0052] The actuators that can use line drive in this invention include, but are not limited to: the external gear ring 402 and the linear slider 406 both use line drive; the internal rotating shaft 302 and the rubber-coated wheel 303 both use line drive.

[0053] The wire drive methods that can be used in this invention include, but are not limited to, direct pulling of the wire and indirect driving by using friction force through wire winding around a rubber-coated wheel.

[0054] Optionally, the wire drive method of the external gear ring 402 is as follows: the wire drive assembly of the external gear ring 402 includes a toothed ring rubber-coated wheel 410 and a drive line D405 wound on the toothed ring rubber-coated wheel 410. The toothed ring rubber-coated wheel 410 meshes with the external gear ring 402, and the drive line D405 drives the toothed ring rubber-coated wheel 410 to rotate by traction, thereby driving the external gear ring 402 to rotate.

[0055] Optionally, the linear drive method of the linear slider 406 is as follows: the linear drive assembly of the linear slider 406 includes a fixed pulley A408, a fixed pulley B409 and a drive line C412; the fixed pulleys A408 and B409 are respectively arranged at both ends of the guide rail 411, and the drive line C412 passes around the fixed pulleys A408 and B409 to form two segments, one segment of which is fixedly connected to the linear slider 406, and the other segment moves through the linear slider 406.

[0056] Optionally, the internal rotating shaft 302 is driven by a linear drive assembly including a rotary drive line B309, which is fixedly connected to the internal rotating shaft 302.

[0057] Optionally, the line drive method of the rubber-coated wheel 303 is as follows: the line drive assembly of the rubber-coated wheel 303 includes a puncture drive line A308, and the two sets of rubber-coated wheels 303 include a set of driving wheels and a set of driven wheels. The puncture drive line A308 is wound on the driving wheel. The puncture drive line A308 drives the driving wheel to rotate by traction, thereby driving the puncture needle 2 to realize the puncture and retraction movement.

[0058] In this invention, the following methods can be used: Figure 7 The illustrated wire-driven tensioning device serves as the driving end: The wire-driven tensioning device includes a tensioner, a motor base slider 807, a winding reel 808, a drive line 809, a sheath fixing end 810, and a motor 811. The tensioner includes a tensioner seat 801, a tensioner rotating handle 802, a tensioner slider 803, a tensioner fixed pulley 804, an adjustable tension line 805, and a fixed guide rail 806. The drive lines 809 in each wire drive assembly (piercing drive line A / rotation drive line B / drive line C / drive line D / drive line E) are wound on the winding reel 808, and their ends are all fixed relative to the winding reel 808. The motor 811 is mounted on the motor base slider 807 and drives the winding reel 808 to rotate, thereby moving the drive lines 809. By rotating the handle 802 of the tensioner, the tensioner slider 803 is driven to move to the left, which in turn pulls the motor base slider 807 to the left through the adjustable tension line 805, ultimately maintaining the tension of the drive line 809.

[0059] Furthermore, the six-degree-of-freedom puncture robot also includes several sheaths for protecting the drive line between the drive end and the actuator end. The ends of the sheaths are fixed to the sheath fixing end 810 of the line drive tensioning device. As an example, Figure 4 The image shows the first sheath 404, which is fitted onto the outside of the drive line D, in the upper plane positioning module 4. Figure 5 The image shows the second sheath 704, which is fitted onto the outside of the drive line E in the human-computer interaction module 7. In specific implementations, a PEEK sheath is preferably used.

[0060] Based on the above structure, the upper plane positioning module 4 and the lower plane positioning module 5 can cooperate to control the position and posture of the puncture needle 2. The insertion / retraction and rotational movement of the puncture needle 2 around the needle axis can be controlled by the rotating needle insertion module 3.

[0061] Furthermore, the six-degree-of-freedom puncture robot also includes several first-position detection tools, with the first-position detection tools installed on both the upper plane positioning module 4 and the lower plane positioning module 5.

[0062] Furthermore, the six-degree-of-freedom puncture robot also includes several second pose detection tools, with each rotating needle insertion module 3 having a second pose detection tool mounted on its internal rotating shaft 302.

[0063] Furthermore, the six-degree-of-freedom puncture robot also includes several third pose detection tools, with each puncture needle 2 having a third pose detection tool installed on its needle hub 1.

[0064] Optionally, the first pose detection tool, the second pose detection tool, and the third pose detection tool can all use the NDI cursor ball 6. As an example, Figure 2 The diagram shows an NDI cursor ball 6 on the needle hub 1, used to detect the tail position of the puncture needle 2. Figure 2 The diagram also shows that the upper plane positioning module 4 is equipped with four NDI cursor balls 6 for detecting the pose of the robot body. Figure 2 The diagram also shows that the rotating needle insertion module 3 is equipped with four NDI cursor balls 6, used to detect the posture of the puncture needle (e.g., Figure 3 (As shown). It should be noted that the number of NDI cursor balls 6 mentioned above is only an example. In actual applications, different numbers of NDI cursor balls 6 can be set according to the detection accuracy requirements, such as at least three to achieve three-dimensional positioning, or more to improve measurement accuracy.

[0065] The NDI cursor ball 6 can be installed on the rotary needle module 3 in the following way: an NDI cursor ball tracking tool holder 307 is installed at the top of the internal rotating shaft 302 of the rotary needle module 3. Four NDI cursor balls 6 are installed on the NDI cursor ball tracking tool holder 307. The position and pose information of the NDI cursor ball tracking tool holder 307 can be detected by using these four NDI cursor balls.

[0066] Furthermore, the implementation method of using non-metallic materials for the execution end of the present invention includes, but is not limited to, carbon fiber guide rails being used for the guide rail 411, the support guide rail 705, and the fixed guide rail 806.

[0067] The human-machine interaction module 7 includes a human-machine interaction module, a human-machine interaction module frame 701, a support guide rail 705, an auxiliary support base 706, and a motion slip ring 707. The human-machine interaction module frame 701 is fixedly connected to the planar positioning module on one side near the planar positioning module, and the human-machine interaction module is installed on the other side. The human-machine interaction module frame 701 adopts a ring frame, and the ring frame has a three-layer structure, in which the upper and lower layers sandwich the middle layer. The motion slip ring 707 is rotatably set in the middle layer of the human-machine interaction module frame 701. The inner diameter of the middle layer is slightly larger than the outer diameter of the motion slip ring 707, forming a clearance fit. Both ends of the support rail 705 are embedded in the motion slip ring 707 and fixedly connected to the motion slip ring 707. The auxiliary support seat 706 is fixedly set at the center of the support rail 706. One end of the drive line E708 is fixedly connected to the motion slip ring 707 and completely wrapped around the outside of the motion slip ring 707. Since the motion slip ring 707 is placed inside the middle layer of the human-machine interface frame 701 to form a clearance fit, the motion slip ring 707 can be rotated around the center of the human-machine interface module frame 701 by traction, thereby driving the support rail 706 and the auxiliary support seat 706 to rotate synchronously.

[0068] Preferably, the drive line E708 drives the motion slip ring 707 to rotate around the center of the human-machine interface module frame 701 by traction, specifically as follows: Figure 6 As shown in the simplified cross-sectional diagram (a), one end of the drive line E708 is fixed to the outer side of the motion slip ring 707 and wound multiple times around the outer groove of the motion slip ring 707. Since the motion slip ring 707 is placed in the annular groove on the inner side of the middle layer of the human-machine interface frame 701, and the two are in a clearance fit, the motion slip ring 707 can be rotated around the center of the human-machine interface module frame 701 by traction, thereby driving the support guide rail 705 and the auxiliary support seat 706 to rotate synchronously. The human-machine interface frame 701 is provided with a straight hole tangent to the outer diameter of the motion slip ring 707, through which the drive line E708 can pass and connect to the outside.

[0069] The human-computer interaction module includes, but is not limited to, the following two implementation methods: Method 1: A three-bar linkage combined with straps provides stable installation. In this three-bar linkage unit, the three bars are connected by hinges and are equipped with angle fixers. The angle of the three bars can be actively adjusted to adapt to the curvature of the human body.

[0070] Figure 6 (b) provides an instantiated human-computer interaction module A. For example... Figure 6 As shown in (b), the human-computer interaction module A includes two pairs of symmetrically arranged three-bar linkage units. Each three-bar linkage unit includes a fixed rod 703 fixed on the frame 701 of the human-computer interaction module and two movable rods 702 respectively arranged on both sides of the fixed rod 703. The movable rods 702 and the fixed rods 703 are hinged together by hinges or other means, and an angle fixer is provided at the hinge point. This allows for flexible adjustment of the included angle of the internal linkages of the three-bar linkage, and the linkage angle is fixed by the angle fixer.

[0071] like Figure 6 As shown in (b), the angle fixer at the hinge can be provided by having circular pin holes evenly distributed on both the moving rod 702 and the fixed rod 703, through which the angle can be fixed.

[0072] Method 2: Utilizing the blocking effect driven by negative pressure and the principle of negative pressure adsorption, after passively conforming to the curved surface of the human body in a flexible state, it switches to a negative pressure state. By utilizing the particle blocking effect combined with the mechanical self-locking between the particles and the endoskeleton, it switches to a high-rigidity state to provide stable support, while being stably adsorbed to the body surface based on the negative pressure adsorption force.

[0073] Figures 8-10 An instantiated human-computer interaction module B is provided. The human-computer interaction module B includes two pairs of symmetrically arranged, negative pressure-driven variable stiffness adsorption mechanisms 9. Before negative pressure is applied, the variable stiffness adsorption mechanism 9 is in a flexible state to passively adapt to the curvature of the human body surface. After negative pressure is applied, it adsorbs onto the body surface and switches to a high stiffness state to provide stable support. Figures 8-10 As shown, the variable stiffness adsorption mechanism 9 includes an exoskeleton frame, a flexible shell 905, an inner skeleton frame 906, blocking particles 907, a vacuum suction cup 908, and a pneumatic connector 909. The exoskeleton frame includes an exoskeleton frame A901, two exoskeleton frames B903 respectively arranged on both sides of the exoskeleton frame A901, and an exoskeleton frame hinge 902 for connecting the exoskeleton frame A901 and the exoskeleton frame B903. The flexible shell 905 and the exoskeleton frame form a sealed cavity, in which the inner skeleton frame 906 and the blocking particles 907 are placed. A vacuum suction cup 908 is installed on the side of the flexible shell 905 away from the exoskeleton frame. The vacuum suction cup 908 is connected to the cavity, and the cavity is connected to an external negative pressure source through the pneumatic connector 909.

[0074] like Figure 9As shown in the figure below, the endoskeleton scaffold 906 adopts a chain-like structure composed of multiple connecting rods, which can freely fluctuate inside the flexible shell 905. Under normal air pressure, the blocking particles 907 envelop the endoskeleton scaffold 906 and can flow freely inside the flexible shell 905, and the overall human-machine interaction module B presents a flexible state. When negative pressure is applied, the movement of the blocking particles 907 is restricted under the compression of the flexible shell 905, and at the same time, they are stuck between the joint angles of the endoskeleton scaffold 906, restricting the fluctuation of 906. Therefore, the flexible shell 905, the endoskeleton scaffold 906, and the blocking particles 907 form a high-rigidity state under negative pressure.

[0075] In practice, the blocking particles 907 can be made of spherical, lightweight, hard materials such as plastic particles or glass spheres.

[0076] The present invention also provides a drive control method for a wire-driven wearable multi-needle six-degree-of-freedom puncture robot.

[0077] The drive control method for the puncture robot of the present invention includes the following steps: The corresponding pair of two-degree-of-freedom positioning units 403 on the two planar positioning modules are driven to move in coordination to adjust the spatial position and attitude of the rotating needle insertion module 3. Drive the rotating needle insertion module 3 to control the feeding and retraction of the puncture needle 2; The drive rotation needle insertion module 3 controls the rotation of the puncture needle 2.

[0078] For example Figure 3 Taking the rotary needle insertion module 3 as an example, the process of controlling the feeding and retraction of the puncture needle 2 by driving it is as follows: The internal rotating shaft 302 houses four rubber-coated wheels 303, with the two on the right being the driving wheel set and the two on the left being the driven wheel set. A puncture drive line A308 is wound around the two rubber-coated wheels 303 of the driving wheel set. When the puncture drive line A308 is pulled, the friction between the puncture drive line A308 and the rubber-coated wheels 303 causes the two rubber-coated wheels 303 to rotate together. The puncture needle 2 is sandwiched between the two sets of rubber-coated wheels 303. As the rubber-coated wheels 303 rotate, they drive the puncture needle 2 to perform puncture and retraction movements.

[0079] For example Figure 3 Taking the rotating needle insertion module 3 shown as an example, the process of controlling the rotation of the puncture needle 2 by driving it is as follows: The internal rotating shaft 302, the rubber-coated wheel 303, and the second ceramic bearing 304 are arranged as a whole between the upper and lower ceramic bearings (the first ceramic bearing 301 and the third ceramic bearing 305), and the end of the rotation drive line B309 is fixedly connected to the internal rotating shaft 302. Therefore, pulling the rotation drive line B309 can realize the overall rotation of the internal rotating shaft 302, the rubber-coated wheel 303, and the second ceramic bearing 304, thereby driving the puncture needle 2, which is sandwiched between the two sets of rubber-coated wheels 303, to rotate together.

[0080] Furthermore, the process of driving the rotating needle insertion module 3 to control the feed and retraction motion of the puncture needle 2, and driving the rotating needle insertion module 3 to control the rotational motion of the puncture needle 2, also includes: By detecting the position information of the four NDI cursor balls 6, the pose information of the rotating needle insertion module 3 can be calculated.

[0081] For example Figure 4 and Figure 5 Taking the planar positioning module shown as an example, the process of driving the corresponding one-to-two-degree-of-freedom positioning units 403 on the two planar positioning modules to coordinate their movements and adjust the spatial position and attitude of the rotating needle insertion module 3 is as follows: When the drive line D405 is pulled, it drives the toothed ring rubber-coated wheel 410 to rotate. Due to gear meshing, the two-degree-of-freedom positioning unit 403 rotates together around the center of the plane. On the other hand, the wire-pulled linear slider 416 is placed on the carbon fiber tube guide rail 411 and can move linearly along the guide rail under the pull of the drive line C412. At the same time, the ball joint 407 can rotate freely inside the wire-pulled slider 406. Both the upper plane positioning module 4 and the lower plane positioning module 5 are equipped with ball joints 407 and wire-pulled sliders 406, and are connected by needle guide sleeve 8. When the wire-pulled sliders 406 of the upper and lower plane positioning modules move within their respective planes, they drive the needle guide sleeve 8 to achieve position adjustment. The needle insertion module housing 306 of the rotating needle insertion module 3 is fixedly connected to the needle guide sleeve 8, and the puncture needle 2 passes through the rotating needle insertion module 3 and the needle guide sleeve 8.

[0082] The present invention also provides a human-computer interaction method for using the wire-driven wearable multi-needle six-degree-of-freedom puncture robot of the present invention.

[0083] For example Figure 6 (b) and Figure 8 Taking the human-computer interaction module shown as an example, the motion slip ring 707 can rotate around the center of the plane under the pull of the drive line E708, thereby driving the support guide rail 705 and the auxiliary support seat 706 to rotate. The purpose is to dynamically avoid the spatial interference of the guide rail 705 on the puncture needle 2. The auxiliary support seat 706, located at the center of the guide rail 705, provides auxiliary support for the two-degree-of-freedom positioning unit 403, optimizing its single-sided fixed cantilever beam structure into a double-sided supported simply supported beam structure.

[0084] For example Figure 6 Taking the human-computer interaction module A shown in (b) as an example, the motion rods 702 and fixed rods 703 on both sides of the robot form two pairs of three-bar linkages respectively. Both the fixed rods 703 and the motion rods 702 are provided with evenly distributed circular pin holes, which can actively adjust the included angle of the three-bar linkage to adapt to the human body surface, and fix the angle through the pin holes.

[0085] For example Figures 8-10 Taking the human-computer interaction module B as an example, in the human-computer interaction module B, the exoskeleton support B903 is fixed to the auxiliary support base 706 through the mounting hole 904 provided on its upper part. The flexible shell 905 is filled with blocking particles 907 and the internal skeleton support 906, as shown in Figure 10(a). Under atmospheric pressure, the blocking particles 907 can flow freely inside the shell, thus exhibiting a flexible state overall; Figure 10 As shown in (b), under negative pressure, the flexible shell 905 collapses inward, compressing the blocking particles 907. Simultaneously, the blocking particles 907 are embedded within the hinge angle of the internal skeleton scaffold 906. The flexible shell 905, the internal skeleton scaffold 906, and the blocking particles 907 together form a rigid body, exhibiting a rigid state. The vacuum suction cup 908, also driven by negative pressure, adheres to the human body surface, providing stable support.

[0086] The above specific embodiments are used to explain and illustrate the present invention, but not to limit the present invention. Any modifications and changes made to the present invention within the spirit and scope of the claims shall fall within the protection scope of the present invention.

[0087] The above are merely preferred embodiments of the present invention. Therefore, all equivalent changes or modifications made in accordance with the structure, features and principles of the present invention patent application are included within the scope of the present invention patent application.

Claims

1. A wire-driven wearable multi-needle six-degree-of-freedom puncture robot, characterized in that, include: The planar positioning module includes two planar positioning modules arranged in parallel to each other. Each planar positioning module is provided with multiple two-degree-of-freedom positioning units (403). The two-degree-of-freedom positioning units (403) between the two planar positioning modules are arranged in a one-to-one correspondence. Multiple rotating needle insertion modules (3) are arranged on the first side of the planar positioning module, with the same number as the two-degree-of-freedom positioning units (403) on the planar positioning module. Each rotating needle insertion module (3) holds a puncture needle (2). The rotating needle insertion module (3) can control the feeding, retraction and rotation of the puncture needle (2). Each rotating needle insertion module (3) is connected to a pair of corresponding two-degree-of-freedom positioning units (403) on the two planar positioning modules. The pair of two-degree-of-freedom positioning units (403) work together to drive the rotating needle insertion module (3) to achieve the pose control of the remaining four degrees of freedom of the puncture needle (2). The human-computer interaction module (7) is arranged on the second side of the planar positioning module opposite to the first side, and is used to support and fix the puncture robot to the human body surface. The two-degree-of-freedom positioning unit (403) and the rotating needle insertion module (3) both adopt a line-driven method.

2. The wire-driven wearable multi-needle six-degree-of-freedom puncture robot according to claim 1, characterized in that: With the feeding direction of the puncture needle (2) as the bottom, two planar positioning modules are arranged in parallel, namely the upper planar positioning module (4) and the lower planar positioning module (5), and the rotating needle insertion module (3) is arranged above the upper planar positioning module (4); The planar positioning module includes an annular planar positioning module frame (401) and an external gear ring (402) capable of rotating around the center of the planar positioning module frame (401); the two-degree-of-freedom positioning unit (403) includes a guide rail (411), a linear slider (406), and a ball joint (407); the guide rail (411) is arranged radially along the planar positioning module frame (401), the end of the guide rail (411) near the center extends to the center and is connected to an auxiliary support rod arranged at the center, and the end of the guide rail (411) away from the center is fixedly connected to the (402); the linear slider (406) is slidably arranged on the guide rail (411), and the ball joint (407) is rotatably supported on the linear slider (406); The multi-needle six-degree-of-freedom puncture robot also includes multiple needle guide sleeves (8). The number of needle guide sleeves (8) is the same as the number of the rotating needle insertion module (3) and the number of the two-degree-of-freedom positioning units (403) on the planar positioning module, and they correspond one-to-one. The puncture needle (2) held on the rotating needle insertion module (3) is inserted into the needle guide sleeve (8). The rotating needle insertion module (3) is connected to the upper end of the needle guide sleeve (8), and the lower end passes through the ball joint (407) of the two-degree-of-freedom positioning unit (403) of the upper planar positioning module (4) and is connected to the ball joint (407) of the two-degree-of-freedom positioning unit (403) of the lower planar positioning module (5). Both the external gear ring (402) and the linear slider (406) adopt a linear drive method.

3. The wire-driven wearable multi-needle six-degree-of-freedom puncture robot according to claim 2, characterized in that: The linear drive methods of the external gear ring (402) and the linear slider (406) are as follows: The wire drive assembly of the outer gear ring (402) includes a toothed ring rubber-coated wheel (410) and a drive line D (405) wound on the toothed ring rubber-coated wheel (410). The toothed ring rubber-coated wheel (410) meshes with the outer gear ring (402). The drive line D (405) drives the toothed ring rubber-coated wheel (410) to rotate by traction, thereby driving the outer gear ring (402) to rotate. The linear drive assembly of the linear slider (406) includes a fixed pulley A (408), a fixed pulley B (409), and a drive line C (412). The fixed pulley A (408) and fixed pulley B (409) are respectively arranged at both ends of the guide rail (411). The drive line C (412) passes around the fixed pulley A (408) and fixed pulley B (409) to form two segments. One segment is fixedly connected to the linear slider (406), and the other segment moves through the linear slider (406).

4. The wire-driven wearable multi-needle six-degree-of-freedom puncture robot according to claim 1, characterized in that: The rotating needle insertion module (3) includes a first ceramic bearing (301), an internal rotating shaft (302), two sets of rubber-coated wheels (303), a second ceramic bearing (304), a third ceramic bearing (305), and a needle insertion module housing (306). The puncture needle (2) is held between the two sets of rubber-coated wheels (303). The internal rotating shaft (302) is coaxially arranged with the puncture needle (2). The rotation axis of the rubber-coated wheel (303) is perpendicular to the puncture needle (2). When the rubber-coated wheel (303) rotates, it can drive the puncture needle (2) to achieve puncture and retraction movements. The internal rotating shaft (302) is supported in the needle insertion module housing (306) by the first ceramic bearing (301) and the third ceramic bearing (305). The rubber-coated wheel (303) is supported in the internal rotating shaft (302) by the second ceramic bearing (304). Both the internal rotating shaft (302) and the rubber-coated wheel (303) adopt a line drive method.

5. The wire-driven wearable multi-needle six-degree-of-freedom puncture robot according to claim 4, characterized in that: The linear drive methods of the internal rotating shaft (302) and the rubber-coated wheel (303) are as follows: The wire drive assembly of the internal rotating shaft (302) includes a rotary drive line B (309), which is fixedly connected to the internal rotating shaft (302); The wire drive assembly of the rubber-coated wheel (303) includes a puncture drive line A (308). The two sets of rubber-coated wheels (303) include a set of driving wheels and a set of driven wheels. The puncture drive line A (308) is wound around the driving wheel. The puncture drive line A (308) drives the driving wheel to rotate by traction, thereby driving the puncture needle (2) to achieve puncture and retraction movements.

6. The wire-driven wearable multi-needle six-degree-of-freedom puncture robot according to any one of claims 1 to 5, characterized in that: The six-degree-of-freedom puncture robot also includes several sheaths, a first pose detection tool, a second pose detection tool and a third pose detection tool; the sheaths are used to protect the drive line, each planar positioning module is equipped with a first pose detection tool, each rotating needle insertion module (3) is equipped with a second pose detection tool, and the needle seat (1) of the puncture needle (2) is equipped with a third pose detection tool.

7. The wire-driven wearable multi-needle six-degree-of-freedom puncture robot according to claim 1, characterized in that: The human-computer interaction module (7) includes a human-computer interaction module, a human-computer interaction module frame (701), a support rail (705), an auxiliary support base (706), and a motion slip ring (707). The human-computer interaction module frame (701) is fixedly connected to the planar positioning module on one side near the planar positioning module, and the human-computer interaction module is installed on the other side. The human-computer interaction module frame (701) adopts a ring frame and the ring frame has a three-layer structure with the upper and lower layers sandwiching the middle layer. The motion slip ring (707) is rotatably set in the middle layer of the human-computer interaction module frame (701) and is clearance-fitted with the middle layer. The two ends of the support guide rail (705) are embedded in the motion slip ring (707), and the auxiliary support seat (706) is set at the center of the support guide rail (706). One end of the drive line E (708) is fixed to the motion slip ring (707) and completely wrapped around the outside of the motion slip ring (707). By pulling, the motion slip ring (707) rotates around the center of the human-machine interaction module frame (701), thereby driving the support rail (706) and the auxiliary support seat (706) to rotate synchronously.

8. The wire-driven wearable multi-needle six-degree-of-freedom puncture robot according to claim 7, characterized in that: The human-computer interaction module adopts human-computer interaction module A; the human-computer interaction module A includes two pairs of three-bar structure units arranged symmetrically on the left and right. The three-bar structure unit includes a fixed rod (703) fixed on the frame (701) of the human-computer interaction module and two moving rods (702) respectively arranged on both sides of the fixed rod (703). The moving rods (702) are hinged to the fixed rods (703), and an angle fixer is provided at the hinge.

9. The wire-driven wearable multi-needle six-degree-of-freedom puncture robot according to claim 7, characterized in that: The human-computer interaction module adopts human-computer interaction module B; the human-computer interaction module B includes two pairs of symmetrically arranged negative pressure driven variable stiffness adsorption mechanisms (9); the variable stiffness adsorption mechanism (9) includes an exoskeleton frame, a flexible shell (905), an endoskeleton frame (906), blocking particles (907), a vacuum suction cup (908), and a pneumatic connector (909); the exoskeleton frame includes an exoskeleton frame A (901) and two exoskeleton frames B (903) respectively arranged on both sides of the exoskeleton frame A (901). The exoskeleton frame hinge (902) is used to connect the exoskeleton frame A (901) and the exoskeleton frame B (903); the flexible shell (905) and the exoskeleton frame form a closed cavity, the cavity contains the inner skeleton frame (906) and the blocking particles (907), a vacuum suction cup (908) is installed on the side of the flexible shell (905) away from the exoskeleton frame, the vacuum suction cup (908) is connected to the cavity, and the cavity is connected to an external negative pressure source through a pneumatic connector (909).

10. A drive control method applied to a wire-driven wearable multi-needle six-degree-of-freedom puncture robot as described in any one of claims 1 to 9, characterized in that, Includes the following steps: The corresponding pair of two-degree-of-freedom positioning units (403) on the two planar positioning modules are driven to move in coordination to adjust the spatial position and attitude of the rotating needle insertion module (3); Drive the rotating needle insertion module (3) to control the feeding and retraction of the puncture needle (2); Drive the rotating needle insertion module (3) to control the rotation of the puncture needle (2).

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