A puncture surgical robot with a quick-release lasso angle fixing mechanism

Abstract

This invention relates to a quick-release and fixing device for a lasso-driven puncture surgical robot, comprising a lasso driving unit, a lasso, a quick-release lasso angle fixing guide rail, and a puncture robot body. The lasso driving unit is located outside the MRI machine, and the puncture robot body is placed inside the MRI machine bed. The lasso is output from the lasso driving unit, guided by the quick-release lasso angle fixing guide rail arranged along the transmission path, and then connected to the puncture execution end of the puncture robot body. The quick-release lasso angle fixing guide rail is used to limit the bending angle and direction of the lasso, and can complete the assembly and disassembly of the guide rail and the lasso. A static model of the single lasso transmission system is constructed based on the constant bending angle of the lasso throughout the entire path. The fixed bending angle constant is used to replace the traditional time-varying bending angle. The tensile loss and displacement error of the lasso throughout the entire path are calculated. A lasso position and force reverse transmission compensation model is constructed to simplify the transmission control algorithm. There is no need to set displacement and force sensors at the puncture execution end; the displacement and puncture force control of the puncture execution end are achieved only through feedback from the lasso driving end.

Description

Technical Field

[0001] This invention relates to the field of minimally invasive medical surgical robot technology, specifically to a lasso quick-release fixation device for a lasso-driven puncture surgical robot. Background Technology

[0002] Magnetic resonance imaging (MRI) technology possesses core advantages such as no ionizing radiation, extremely high soft tissue resolution, and multi-planar, multi-parameter imaging capabilities. It can clearly distinguish the boundary between lesions and surrounding normal tissue, making it an ideal image-guided method for minimally invasive diagnostic and therapeutic procedures such as percutaneous biopsy, tumor ablation, and radioactive particle implantation. MRI-guided precision puncture surgery enables minimally invasive diagnosis and treatment of deep soft tissue lesions in areas such as the lungs, breasts, prostate, and liver, possessing irreplaceable clinical value in early tumor diagnosis and precision treatment.

[0003] Due to the strong magnetic field of MRI equipment, the drive unit of the puncture surgical robot cannot be placed directly inside the scanning cavity, as this would interfere with the magnetic field and pose a safety risk. The lasso-driven solution allows the drive unit to be placed outside the MRI scanner, transmitting power over long distances via a flexible lasso, and is currently the mainstream drive method for MRI-compatible puncture robots. However, existing lasso-driven MRI-compatible puncture robots still have significant technical shortcomings. The transmission path of the lasso from the outdoor drive end to the indoor puncture execution end is relatively long, requiring adaptation to the walls, passageways, and equipment layout of the MRI room. The bending angle and routing of the lasso cannot achieve stable and precise constraints, leading to uneven tension, increased friction loss, and transmission lag during transmission. This directly reduces the control precision of the puncture action, failing to meet the precise puncture requirements for small lesions.

[0004] Meanwhile, existing lasso-guided structures also have shortcomings in application. One type uses a fixed, integrated guide channel, which cannot adapt to different models of MRI equipment and different operating room layouts. It is difficult to disassemble and maintain, and the preoperative preparation process is cumbersome, making it difficult to meet the needs of rapid switching in clinical surgical scenarios. Another type uses a segmented free guide structure, which lacks precise angle fixing and coaxiality calibration design. The lasso entrances and exits of adjacent guide segments may be misaligned, further aggravating frictional wear between the lasso and the guide port, and even causing the lasso to jam. At the same time, it cannot provide precise path angle parameters for the lasso transmission algorithm, making it difficult to compensate for transmission errors, further limiting the improvement of puncture accuracy. Summary of the Invention

[0005] The purpose of this invention is to address the shortcomings of existing lasso-driven MRI-compatible puncture robots, such as the inability to fix the bending angle of the lasso along the entire path, large coaxiality deviation between adjacent guide sections leading to insufficient transmission accuracy, and the inability to achieve split-type quick assembly and disassembly of the guide structure, resulting in poor adaptability to surgical scenarios. This invention provides a quick-assembly fixing device for the lasso in a lasso-driven puncture surgical robot, achieving precise angular constraint, coaxiality calibration, and quick assembly and disassembly adaptation of the lasso transmission path. Simultaneously, based on a constant bending angle θ1~θ8 along the entire path, a precise static model of the lasso transmission is constructed to achieve quantitative compensation for transmission errors, thereby improving the accuracy of lasso power transmission and displacement.

[0006] This invention provides a lasso-driven puncture surgical robot quick-release fixing device, comprising a lasso driving unit (1), a lasso (2), multiple sets of quick-release lasso angle fixing guide rails (3, 4, 5, 6, 7), and a puncture robot body (8). The lasso driving unit (1) is used to output puncture power and can be installed outside the scanning room of the MRI machine to avoid interference from the strong magnetic field environment on the driving components. The puncture robot body (8) is used to perform puncture actions and can be mounted on the bed of the MRI machine. It is made of non-ferromagnetic material and can be adapted to the strong magnetic field working environment of the MRI machine. The multiple sets of quick-release lasso angle fixing guide rails (3, 4, 5, 6, 7) are arranged sequentially along the transmission path of the lasso (2) to form a continuous guide channel from the lasso driving unit (1) to the puncture robot body (8). Each set of guide rails is provided with a preset fixed bending angle and a quick-release positioning structure, which can flexibly adapt to the spatial layout requirements of different operating rooms. The distal end of the lasso (2) is connected to the power output end of the lasso drive unit (1), and the main body is inserted into the guide groove of each quick-release lasso angle fixing guide rail (3, 4, 5, 6, 7) to complete the precise constraint of the entire path direction and bending angle. The proximal end is connected to the puncture execution end of the puncture robot body (8). The power output by the lasso drive unit (1) is transmitted over a long distance through the lasso (2) to drive the puncture execution end to complete the multi-degree-of-freedom puncture action.

[0007] The lasso drive unit (1) serves as the power source for the entire puncture robot and can be installed outside the scanning room of the MRI scanner to avoid the strong magnetic field working environment of the MRI equipment. The far end of the lasso (2) is connected to the output interface of the lasso drive unit (1), and the integrated power mechanism of the lasso drive unit (1) provides driving force for the transmission of the lasso (2).

[0008] The lasso (2) adopts a split transmission structure with a flexible cable inside the sleeve, including a flexible transmission cable (2-1) that can slide back and forth with low friction and an outer protective sleeve (2-2). The flexible transmission cable (2-1) passes through the closed inner cavity of the protective sleeve (2-2), which can realize the stable transmission of power over long distances. The far end of the protective sleeve (2-2) is fixed at the output interface of the lasso drive unit (1). Multiple sets of quick-install lasso angle fixing guide rails (3, 4, 5, 6, 7) arranged along the transmission path of the sleeve body complete the constraint of the entire path direction and bending angle, and finally extend into the puncture robot body (8). The proximal end of the protective sleeve (2-2) is fixed on the sleeve fixing bracket (8-2) inside the puncture robot body (8), and the installation position and length are fixed throughout the process. One end of the transmission flexible cable (2-1) is connected to the power output end of the lasso drive unit (1), and the other end extends along the inner cavity of the protective sleeve (2-2) throughout the entire length. After passing through the proximal end of the sleeve, it is connected to the puncture execution end of the puncture robot body (8). Through the coordinated extension and retraction of multiple lassos (2), the puncture execution end is driven to complete the multi-degree-of-freedom puncture action.

[0009] The quick-release lasso angle fixing guide rails numbered 3 to 5 serve as the main guiding components for the long-distance transmission of the lasso (2) and are arranged sequentially along the transmission path. The components of guide rails 4 and 5 are completely identical to those of guide rail 3, except that the preset bending angle of the lasso fixing angle guide rail is different. Taking guide rail 3 as an example, its corresponding attached labels are hand pump suction cup (3-5), gimbal (3-4), lasso fixing angle guide rail (3-2), laser emitter (3-1), and laser receiving target (3-3). The hand pump suction cup (3-5) serves as the support base of the guide rail and can be quickly fixed to a flat ground through negative pressure adsorption, providing a continuous and stable adsorption force to prevent the guide rail from shifting during the transmission of the lasso (2). At the same time, it does not require drilling holes in the ground or gluing, making it easy to assemble and disassemble and reusable. The gimbal (3-4) is mounted on top of the hand pump suction cup (3-5), and the lasso fixing angle guide rail (3-2) is mounted on the gimbal (3-4). The protective sleeve (2-2) passes through the built-in guide groove of the lasso fixing angle guide rail (3-2), and the bending angle of the lasso (2) in this section is fixed by the constraint of the guide groove. The laser emitter (3-1) and the laser receiving target (3-3) are respectively installed at the entrance and exit of the lasso fixing angle guide rail (3-2). The coaxiality of the entrance and exit between adjacent guide rails can be calibrated by laser alignment to prevent the lasso (2) from generating additional friction loss at the edge of the guide rail entrance and exit.

[0010] The quick-installation lasso angle fixing guide rail (6), as a guide component for the lasso (2) to transition from the ground to the NMR bed, can be installed at the ground position at the bottom of the NMR bed. It includes a hand pump suction cup (6-1), a triangular bracket lasso angle fixing guide rail (6-3), a laser emitter (6-2), and a laser receiving target (6-4). The hand pump suction cup (6-1) is fixed to the flat ground at the edge of the bed by negative pressure adsorption. It does not require drilling or gluing, is easy to install and disassemble, and can be reused. It can fix the position of the guide rail with stable adsorption force, avoiding the transmission deviation of the lasso (2) caused by the shaking of the guide rail during vertical guidance. The triangular bracket lasso angle fixing guide rail (6-3) is vertically mounted on the hand pump suction cup (6-1), forming a vertical transition guide structure from the ground to the height of the bed, which can smoothly transition the horizontally installed lasso (2) to the height of the bed. The protective sleeve (2-2) passes through the guide groove of the guide rail, enabling quick assembly and disassembly and locking of the vertical bending angle. Laser emitters (6-2) and laser receivers (6-4) are installed at the entrances and exits at the upper and lower ends of the guide rail, respectively, allowing for coaxiality calibration with the adjacent upper and lower guide rails to prevent additional frictional loss during vertical turning of the lasso (2). The fixed bending angle value of this guide rail serves as the input parameter for the lasso transmission control algorithm, forming a continuous lasso guiding channel in conjunction with guide rails numbered 3 to 7.

[0011] The quick-release lasso angle fixing guide rail (7), as the end guide component adapted to the MRI bed, can be installed on the edge of the MRI bed. It includes the lasso angle fixing guide rail (7-2), laser emitter (7-1), laser receiving target (7-5), bed board fixing clamp (7-3), and tension adjustment bolt (7-4). The bed board fixing clamp (7-3) can be placed on the edge platform of the MRI bed. By turning the tension adjustment bolt (7-4), the clamp's execution end is pushed to press against the edge of the bed, achieving interference clamping fixation between the two. The lasso angle fixing guide rail (7-2) is fixedly installed on the top of the bed board fixing clamp (7-3), forming a lasso guide structure on the bed. The lasso (2) is built into the guide groove of the lasso angle fixing guide rail (7-2), realizing quick disassembly and assembly of the lasso (2) and the guide rail and fixing of the bending angle. The laser emitter (7-1) and the laser receiving target (7-5) are respectively installed at the entrance and exit positions of the lasso fixed angle guide rail (7-2) at both ends. The two work together to achieve coaxiality calibration with the adjacent quick-install lasso fixed angle guide rail (6) to prevent additional friction between the lasso (2) and the guide rail entrance and exit. The fixed bending angle value of the guide rail is used as the input parameter of the lasso transmission control algorithm.

[0012] The puncture robot body (8) can be mounted on the bed inside the MRI scanner. All components are made of non-ferromagnetic materials, which are fully compatible with the strong magnetic field environment of the MRI scanning cavity. The puncture robot body (8) includes a support shell (8-3), a support cover plate (8-1), a support rear cover (8-5), a built-in dual-segment fixed-angle lasso guide rail (8-4), a cannula fixing bracket (8-2), and a laser emitter (8-6). The support cover plate (8-1) and the support rear cover (8-5) are respectively sealed to the front and rear ends of the support shell (8-3) by fasteners, forming a closed protective cavity to prevent the internal guiding components from shifting or loosening during the operation. The built-in double-segment fixed-angle lasso guide rail (8-4) is fixedly installed in the closed cavity of the support housing (8-3). It adopts a symmetrical fixed-angle bending structure with two sections. After the lasso (2) is introduced from the bed guide rail, it passes into the guide groove of the guide rail. The two fixed-angle structures complete the fixing of the lasso bending angle inside the robot, eliminating the transmission movement and path deviation of the lasso (2) before it enters the puncture execution end. The sleeve fixing bracket (8-2) is installed inside the support housing (8-3) at the output end of the built-in double-segment fixed-angle lasso guide rail (8-4). It is used to fix the proximal end of the protective sleeve (2-2) of the lasso (2). The transmission flexible cable (2-1) inside the sleeve is guided and output to the puncture execution mechanism. The laser emitter (8-6) is installed at the lasso inlet of the rear cover (8-5) of the bracket, and cooperates with the laser receiving target (7-5) at the end of the quick-release lasso angle fixing guide rail (7) to complete the coaxiality calibration of the piercing robot body (8) and the front guide rail, and prevent the lasso (2) from generating additional friction at the inlet. The two bending angle values ​​of the built-in double-segment fixed-angle lasso guide rail (8-4) are both used as the end input parameters of the lasso transmission control algorithm.

[0013] The sleeve fixing bracket (8-2) adopts a closed frame structure. Multiple sets of lasso locking and fixing components are evenly arranged circumferentially on the side of the frame, each set corresponding to the insertion and locking of a lasso (2). Each set of lasso locking and fixing components includes a guide threading hole, a locking ring and a locking bolt. After the lasso (2) is output from the built-in double-segment fixed angle lasso guide rail (8-4), it enters the inner arc guide groove of the locking ring through the guide threading hole to complete the turning angle, forming the final fixed angle constraint of the lasso transmission path. The locking ring has a through threaded locking hole. By turning the locking bolt, the ring body of the locking ring can be pushed to shrink radially, thereby forming an interference fit with the outer wall of the protective sleeve (2-2) of the lasso (2), preventing the lasso (2) from shifting or deviating during the reciprocating transmission. Multiple sets of lasso locking and fixing components are symmetrically and evenly distributed on the bracket, so that the locking tension of all lassos (2) is consistent with the turning angle. The turning angle value formed by the lasso (2) in the locking ring is used as the end fixed angle input parameter of the lasso transmission control algorithm, and together with the guide rail angle parameter of the whole path, it constitutes a complete lasso transmission calculation model.

[0014] Based on the aforementioned lasso guide structure with a constant bending angle throughout the entire path, this invention makes the following innovations in the lasso transmission control level: It replaces the time-varying bending angles that change in real-time with spatial layout and transmission process in traditional lasso transmissions with constant fixed bending angles for each segment of the entire path, eliminating the calculation uncertainties and errors caused by time-varying parameters in traditional transmission models. A static model of a single lasso transmission system is constructed, including a lasso tension transmission sub-model and a lasso displacement transmission sub-model. These models can quantitatively calculate the tension loss and elastic deformation displacement error of the lasso within a single guide structure segment, and then obtain the total tension loss and total displacement transmission error of the entire lasso path through chain-like calculations. The total path displacement error calculated by the model is used as the feedforward compensation parameter of the lasso transmission control algorithm to quantitatively compensate the input displacement of the lasso drive unit, eliminating the control errors caused by elastic deformation and friction loss during the lasso transmission process, and achieving precise displacement control at the puncture execution end. Attached Figure Description

[0015] Figure 1 A schematic diagram of the overall working layout of a lasso quick-release fixing device for a lasso-driven puncture surgical robot;

[0016] Figure 2 A schematic diagram of the assembly of a No. 3 quick-release lasso angle fixing guide rail for a lasso-driven puncture surgical robot.

[0017] Figure 3 Exploded view of a quick-release lasso angle fixing guide rail (No. 3) for a lasso-driven puncture surgical robot.

[0018] Figure 4A schematic diagram of the assembly of a No. 4 quick-release lasso angle fixing guide rail for a lasso-driven puncture surgical robot.

[0019] Figure 5 A schematic diagram of the assembly of a No. 5 quick-release lasso angle fixing guide rail for a lasso-driven puncture surgical robot.

[0020] Figure 6 A schematic diagram of the assembly of a No. 6 quick-release lasso angle fixing guide rail for a lasso-driven puncture surgical robot.

[0021] Figure 7 Exploded side view of the No. 6 quick-release lasso angle fixing guide rail structure for a lasso-driven puncture surgical robot.

[0022] Figure 8 A front view schematic diagram of the No. 6 quick-release lasso angle fixing guide rail for a lasso-driven puncture surgical robot.

[0023] Figure 9 A side view of the No. 7 quick-release lasso angle fixing guide rail structure for a lasso-driven puncture surgical robot.

[0024] Figure 10 A schematic diagram of the reverse view structure of a quick-release lasso fixing device No. 7 quick-release lasso angle fixing guide rail for a lasso-driven puncture surgical robot.

[0025] Figure 11 A schematic diagram of the assembly of a puncture robot body using a lasso-driven quick-release fixing device for a lasso-driven puncture surgical robot.

[0026] Figure 12 A schematic diagram of the assembly of a sling fixation bracket and a sling for a sling-driven puncture surgical robot;

[0027] Figure 13 A schematic diagram of the lasso locking and fixing ring structure of a lasso quick-release fixing device for a lasso-driven puncture surgical robot;

[0028] Figure 14 A schematic diagram of the assembly of the lasso guide structure inside the puncture robot body for a lasso-driven puncture surgical robot quick-release fixing device.

[0029] Figure 15 A schematic diagram of the overall appearance of the puncture robot body and the assembly of the puncture execution end for a lasso-driven puncture surgical robot with a lasso quick-release fixing device;

[0030] Figure 16A schematic diagram of the puncture execution end position control system for a lasso quick-release fixation device for a lasso-driven puncture surgical robot;

[0031] Figure 17 A schematic diagram of the force control system at the puncture execution end of a lasso quick-release fixation device for a lasso-driven puncture surgical robot.

[0032] In the figure: 1-Lasso drive unit; 2-Lasso; 3, 4, 5, 6, 7-Quick-release lasso angle fixing guide rail; 8-Punch robot body; 9-Patient; 10-Magnetic resonance imaging (MRI) scanner. Detailed Implementation

[0033] Combined with appendix Figure 1 The present invention will be further described below:

[0034] The present invention provides a lasso-driven puncture surgical robot quick-release fixing device, which includes a lasso driving unit (1), a lasso (2), multiple quick-release lasso angle fixing guide rails (3, 4, 5, 6, 7), a puncture robot body (8), a patient (9), and an MRI scanner (10).

[0035] The lasso drive unit (1) is fixed on a flat surface outside the scanning room of the MRI scanner (10). The puncture robot body (8) is mounted on the bed inside the MRI scanner (10). Multiple quick-release lasso angle fixing guide rails (3, 4, 5, 6, 7) are arranged sequentially along the transmission path of the lasso (2) on the floor of the scanning room passage, the edge of the bed, and the side of the bed, forming a continuous guide channel from the lasso drive unit (1) to the puncture robot body (8). The lasso (2) is output from the lasso drive unit (1), passes through the guide grooves of each quick-release lasso angle fixing guide rail, and then connects to the puncture execution end of the puncture robot body (8). The power output by the lasso drive unit (1) is transmitted over a long distance through the lasso (2) to drive the puncture execution end to complete a precise puncture action with multiple degrees of freedom. The patient (9) lies flat and is fixed on the bed of the MRI machine (10). The surgical area corresponds to the puncture execution end of the puncture robot body (8). The ends of the puncture robot body (8) and the lasso (2) are made of non-ferromagnetic materials, which can be adapted to the strong magnetic field working environment of the MRI machine (10).

[0036] Combined with appendix Figure 2 Appendix Figure 3 Appendix Figure 4 Appendix Figure 5 The present invention will be further described below:

[0037] The quick-release lasso angle-fixing guide rails numbered 3 to 7 are arranged sequentially along the transmission path as guide components for the long-distance transmission of the lasso (2). Each set of guide rails is equipped with a quick-release positioning structure, a preset fixed bending angle and a coaxiality calibration component, forming a continuous guide channel from the lasso drive unit (1) to the puncture robot body (8). The guide rail number 3, which is arranged on the floor of the MRI room, is labeled as hand pump suction cup (3-5), gimbal (3-4), lasso fixed angle guide rail (3-2), laser emitter (3-1), and laser receiving target (3-3) in the attached drawing. The guide rail number 4 is labeled as hand pump suction cup (4-5), gimbal (4-4), lasso fixed angle guide rail (4-2), laser emitter (4-1), and laser receiving target (4-3) in the attached drawing. The guide rail number 5 is labeled as hand pump suction cup (5-5), gimbal (5-4), lasso fixed angle guide rail (5-2), laser emitter (5-1), and laser receiving target (5-3) in the attached drawing.

[0038] The hand pump suction cup serves as the support base for the guide rail. It can be quickly fixed to the flat ground of the MRI room through negative pressure adsorption, providing a continuous and stable adsorption force to prevent the guide rail from shifting during the transmission of the lasso (2), ensuring guiding accuracy. At the same time, it does not require drilling holes or adhesive fixing on the ground, making it easy to assemble and disassemble and reusable, adapting to the rapid layout and switching needs of different surgical scenarios. The gimbal is installed on the top of the hand pump suction cup, and the lasso fixing angle guide rail is mounted on the gimbal. The protective sleeve (2-2) of the lasso (2) is inserted into the built-in guide groove of the lasso fixing angle guide rail, and the bending angle of the lasso (2) in this section is fixed by the constraint of the guide groove. The preset bending angle θ1 of the No. 3 quick-install lasso angle fixing guide rail is 60°, the preset bending angle θ2 of the No. 4 quick-install lasso angle fixing guide rail is 30°, and the preset bending angles θ3, θ4, and θ5 of the three quick-install lasso angle fixing guide rails No. 5 are all 90°. The laser emitter and laser receiver target are respectively installed at the entrance and exit of the fixed angle guide rail of each lasso section. The coaxiality of the entrance and exit between adjacent guide rails can be calibrated by laser alignment to avoid additional friction loss of the lasso (2) at the edge of the guide rail entrance and exit. The fixed bending angle values ​​θ1~θ5 of all the above guide rails are used as input parameters of the lasso transmission control algorithm. The number, order and combination of guide rails can be flexibly adjusted according to the actual surgical space layout.

[0039] Combined with appendix Figure 6 Appendix Figure 7 Appendix Figure 8 The present invention will be further described below:

[0040] The quick-release lasso angle fixing guide rail (6) serves as a guide component for the lasso (2) to transition from the ground to the bed of the nuclear magnetic resonance instrument (10). It is located at the ground position at the bottom of the bed of the nuclear magnetic resonance instrument (10) and includes a hand pump suction cup (6-1), a triangular bracket lasso angle fixing guide rail (6-3), a laser emitter (6-2), and a laser receiving target (6-4).

[0041] The hand pump suction cup (6-1) is fixed to the flat ground at the edge of the bed using negative pressure adsorption. It does not require drilling or gluing, is easy to assemble and disassemble, and is reusable. It can fix the position of the guide rail with stable adsorption force, avoiding the transmission deviation of the lasso (2) caused by the shaking of the guide rail during vertical guidance. The triangular bracket lasso fixing angle guide rail (6-3) is vertically mounted on the hand pump suction cup (6-1), forming a vertical transition guide structure from the ground to the height of the bed. It can smoothly transition the horizontally laid lasso (2) to the height of the bed. The preset bending angle of the guide rail is θ6=90°. The protective sleeve (2-2) of the lasso (2) is inserted into the guide groove of the guide rail to complete quick assembly and disassembly and lock the vertical bending angle. The laser emitter (6-2) and the laser receiver target (6-4) are installed at the entrance and exit of the upper and lower ends of the guide rail, respectively. They can be aligned with the adjacent upper and lower guide rails to avoid additional friction loss of the lasso (2) during vertical turning. The bending angle value θ6 of the guide rail is used as the input parameter of the lasso transmission control algorithm, and it works with the guide rails numbered 3 to 7 to form a continuous lasso guide channel.

[0042] Combined with appendix Figure 9 Appendix Figure 10 The present invention will be further described below:

[0043] The quick-release lasso angle fixing guide rail (7) is used as the end guide assembly for the bed of the nuclear magnetic resonance instrument (10). It is arranged on the edge of the bed of the nuclear magnetic resonance instrument (10) and includes the lasso angle fixing guide rail (7-2), the laser emitter (7-1), the laser receiving target (7-5), the bed board fixing clamp (7-3), and the tension adjustment bolt (7-4).

[0044] The bed board fixing clamp (7-3) can be placed on the edge platform of the MRI machine (10). By tightening the tension adjusting bolt (7-4), the clamp's execution end is pushed to press against the edge of the bed, achieving interference clamping and fixing between the two. The disassembly and assembly are convenient and meet the needs of rapid assembly and disassembly of the MRI machine bed. The lasso fixing angle guide rail (7-2) is fixedly installed on the top of the bed board fixing clamp (7-3), forming a lasso guide structure on the MRI machine (10) bed. The lasso (2) is built into the guide groove of the lasso fixing angle guide rail (7-2), realizing rapid disassembly and assembly of the lasso (2) and the guide rail and fixing of the bending angle. The preset bending angle θ7 of the guide rail is 90°. The laser emitter (7-1) and the laser receiving target (7-5) are respectively installed at the inlet and outlet positions of the lasso fixed angle guide rail (7-2). The two work together to achieve coaxiality calibration with the adjacent quick-install lasso fixed angle guide rail (6), avoiding additional friction between the lasso (2) and the guide rail inlet and outlet, and ensuring the accuracy of the lasso transmission. The bending angle value θ7 of the guide rail is one of the core input parameters of the lasso transmission control algorithm.

[0045] Combined with appendix Figure 11 Appendix Figure 14 Appendix Figure 15 The present invention will be further described below:

[0046] The puncture robot body (8) is mounted on the bed inside the MRI scanner (10). All components are made of non-ferromagnetic materials, which are fully compatible with the strong magnetic field environment of the MRI scanning cavity. The puncture robot body (8) includes a support shell (8-3), a support cover plate (8-1), a support rear cover (8-5), a built-in double-segment fixed-angle lasso guide rail (8-4), a sleeve fixing bracket (8-2), and a laser emitter (8-6).

[0047] The bracket cover plate (8-1) and the bracket rear cover (8-5) are respectively sealed to the front and rear ends of the bracket housing (8-3) by fasteners, forming a closed protective cavity to prevent the internal guide components from shifting or loosening during the operation. The built-in double-segment fixed-angle lasso guide rail (8-4) is fixedly installed in the closed cavity of the bracket housing (8-3). It adopts a symmetrical fixed-angle bending structure with two segments. After the lasso (2) is introduced from the bed guide rail, it passes into the guide groove of the guide rail. The two fixed-angle structures complete the fixing of the lasso bending angle inside the robot, eliminating the transmission movement and path deviation of the lasso (2) before it enters the puncture execution end. The bending angle of the front segment is θ8=60° and the bending angle of the rear segment is θ9=60°. The laser emitter (8-6) is installed at the lasso inlet of the rear cover (8-5) of the bracket, and cooperates with the laser receiving target (7-5) at the end of the quick-release lasso angle fixing guide rail (7) to complete the coaxiality calibration of the puncture robot body (8) and the front guide rail, and avoid the lasso (2) from generating additional friction at the inlet. The two bending angle values ​​θ8 and θ9 of the built-in double-segment fixed-angle lasso guide rail (8-4) are both used as the end input parameters of the lasso transmission control algorithm.

[0048] Combined with appendix Figure 12 Appendix Figure 13 The present invention will be further described below:

[0049] The sleeve fixing bracket (8-2) is installed inside the bracket housing (8-3) at the output end of the built-in double-segment fixed angle sling guide rail (8-4) and is used to fix the proximal end of the protective sleeve (2-2) of the sling (2). The sleeve fixing bracket (8-2) adopts a closed frame structure, and multiple sets of sling locking and fixing components are evenly arranged along the circumference of the side of the frame, each set corresponding to the insertion and locking of a sling (2).

[0050] Each lasso locking assembly includes a guide hole, a locking ring, and a locking bolt. After the lasso (2) is output from the built-in double-segment fixed-angle lasso guide rail (8-4), it enters the inner arc guide groove of the locking ring through the guide hole to complete the turning angle, forming the final fixed-angle constraint of the lasso transmission path. The turning angle value θ 10 =90°. A through-threaded locking hole is provided on the locking ring. By tightening the locking bolt, the ring body of the locking ring can be radially contracted, thus forming an interference fit with the outer wall of the protective sleeve (2-2) of the lasso (2), preventing axial movement and radial offset of the lasso (2) during reciprocating transmission. Multiple sets of lasso locking components are symmetrically and evenly distributed on the bracket, ensuring that the locking tension and turning angle of all lassos (2) are completely consistent. This turning angle value θ 10As the end-point fixed angle input parameter of the lasso transmission control algorithm, together with the bending angle parameters θ1~θ7 of the quick-install lasso angle fixed guide rail along the entire lasso path and the angle parameters θ8 and θ9 of the built-in guide structure of the piercing robot body, they constitute a complete lasso transmission calculation model, providing a calculation basis for error compensation of lasso transmission and precise control of piercing action.

[0051] Combined with appendix Figure 1 Appendix Figure 12 The present invention will be further described below:

[0052] The lasso (2) adopts a split transmission structure with a flexible cable inside the sleeve, including a flexible transmission cable (2-1) that can slide back and forth with low friction and an outer protective sleeve (2-2). The flexible transmission cable (2-1) is inserted into the closed inner cavity of the protective sleeve (2-2), which can realize the stable transmission of power over a long distance. The far end of the protective sleeve (2-2) is locked to the output end of the lasso drive unit (1). The main body of the sleeve is sequentially inserted into the guide grooves of each quick-install lasso angle fixing guide rail (3, 4, 5, 6, 7). The entire path direction and bending arc are constrained by the preset fixed bending angle of the guide rail. The proximal end of the protective sleeve (2-2) is connected to the sleeve fixing bracket (8-2) of the puncture robot body (8). The lasso locking and fixing components on the bracket are used to complete the clamping and locking, and the installation position and length are fixed throughout the process. One end of the transmission flexible cable (2-1) is connected to the power output end of the lasso drive unit (1), and the other end extends along the inner cavity of the protective sleeve (2-2) throughout the entire length. After passing through the proximal end of the sleeve, it is connected to the puncture execution end of the puncture robot body (8). Through the coordinated extension and retraction of multiple lassos (2), the puncture execution end is driven to complete the precise puncture action with multiple degrees of freedom.

[0053] The lasso tension transmission sub-model is used to quantitatively calculate the relationship between the input and output tension losses of the lasso within a single fixed-angle guide segment. The complete derivation process and fixed parameter substitution are as follows:

[0054] F(l) is the tension of the lasso segment at a distance l from the input end, μ is the coefficient of sliding friction between the outer wall of the transmission cable (2-1) and the inner wall of the protective sleeve (2-2), and θ is the fixed bending angle of the guide structure of this segment, corresponding to the fixed values ​​θ1~θ1 of the entire path in this patent. 10 κ is the fixed radius of curvature of the guide groove of the guide structure, l is the arc length of the infinitesimal segment of the lasso from the input end of the guide structure, L is the total arc length of the lasso within the guide structure, and λ is the dimensionless curvature correction coefficient of the bent section of the lasso.

[0055] By resolving the radial and tangential forces on the infinitesimal segment of the lasso, neglecting the lasso's own weight and inertial forces, and based on Coulomb's law of friction and the tangential force equilibrium criterion of the infinitesimal segment, the differential relationship of the tension at both ends of the infinitesimal segment can be obtained as follows:

[0056]

[0057] Separating the variables from the above differential relationship yields a standardized differential equation that can be directly integrated:

[0058]

[0059] The standardized differential equation above is solved by matched integration along the lasso arc length direction and the corresponding bending angle direction. The boundary conditions for integration are: the initial tension at the lasso arc length position l is F(l), the corresponding cumulative bending angle is 0°, and the corresponding cumulative bending angle at the arc length position l+dl is θ. After integration, the tension transmission relationship of the lasso micro-segment is obtained as follows:

[0060]

[0061] If the tension F at the input end of the lasso is taken as in As initial boundary conditions, the above-mentioned tension transmission relationship of the micro-segment can be simplified to:

[0062]

[0063] Based on the above-mentioned tension transmission relationship of the micro-segments, a global solution is performed on a complete lasso segment with a total length of L and a total fixed bending angle of θ. The final general relationship between the output tension and the input tension of the lasso segment is as follows:

[0064]

[0065] In this embodiment, the lasso path comprises 8 fixed bending segments, corresponding to guide rail segment 3, guide rail segment 4, guide rails 5-7 and the locking ring segment, and the built-in double-section guide rail segment. The fixed bending angles of each segment are 60°, 30°, 6 segments at 90°, and 2 segments at 60°, respectively. The total fixed bending angle of the entire path is:

[0066]

[0067] Based on the general formula for lasso force transmission with a fixed bending angle, a chain-like cumulative calculation is performed on the eight fixed bending segments along the entire lasso path in this embodiment. The final quantitative relationship between the output tension at the lasso actuator end and the input tension at the drive end is as follows:

[0068]

[0069] The lasso displacement transfer sub-model is used to quantitatively calculate the displacement transfer error between the input and output ends of the lasso within a single fixed-angle guide segment. The complete derivation process and fixed parameter substitution are as follows:

[0070] Among them, F inThe input end tension of this section of the lasso is given by λ, the total arc length of the lasso within the guide structure of this section is given by L, the dimensionless curvature correction coefficient of the bent section of the lasso is given by λ, the sliding friction coefficient between the outer wall of the transmission flexible cable (2-1) and the inner wall of the protective sleeve (2-2) is given by μ, and the fixed bending angle of the guide structure of this section is given by θ, corresponding to the fixed values ​​θ1~θ1 of the entire path in this patent. 10 The physical meanings of the remaining parameters are consistent with those defined in the lasso tension transfer sub-model.

[0071] The displacement transmission error in the lasso transmission process is essentially the linear elastic deformation of the transmission cable under axial tension. Based on Hooke's law and the linear elastic deformation criterion in mechanics of materials, and neglecting the axial deformation of the protective sleeve, the differential relationship of the axial elastic deformation of the lasso infinitesimal segment dl under the corresponding tension F(l) can be obtained as follows:

[0072]

[0073] Where E is the elastic modulus of the transmission flexible cable (2-1), A is the cross-sectional area of ​​the transmission flexible cable (2-1), and Δx is the displacement transmission error between the input and output ends of the inner cable of the single-segment guide structure. Based on the derivation of the cable tension transmission sub-model, since the bending angle θ of this guide structure in this patent is a fixed constant value, and the tension of the inner cable of the single-segment guide decreases exponentially along the arc length, substituting the tension distribution function into the above elastic deformation differential expression, and combining it with the total arc length L of this cable segment for a global solution, the simplified general closed-form solution for the displacement transmission error of the single-segment fixed-angle guide segment cable is:

[0074]

[0075] In this embodiment, the total fixed bending angle θ along the entire path of the lasso is a constant 750°, corresponding to the following radian value: Substituting the radian values ​​of the fixed bending angles of each segment directly into the above general closed-form solution, we obtain the precise calculation formula for the total displacement transmission error of the lasso along the entire path:

[0076]

[0077] Based on the above-mentioned positive model of lasso force and displacement transmission with fixed-angle constraints along the entire path, in order to eliminate the errors in position and force control of the puncture execution end caused by friction loss and elastic deformation during lasso transmission, this embodiment constructs a reverse transmission compensation model for a single lasso transmission system. This model does not require the installation of displacement and force sensors at the puncture execution end. It can achieve precise position and force control of the puncture execution end simply by acquiring parameters and pre-compensating at the proximal drive end, which is fully compatible with the surgical application requirements in the strong magnetic field environment of nuclear magnetic resonance.

[0078] For the two bidirectional motion states of the lasso drive, namely pulling and releasing, based on the constant total bending angle along the entire path, the constant force transmission constant under the two working conditions is defined as follows:

[0079]

[0080] In the formula: Q r Q is the constant force transmission constant along the entire path in the released state. p The constant force transmission constant along the entire path under pulling conditions satisfies the following conditions:

[0081] Based on the above constant force transmission constant, the forward model of lasso force transmission can be simplified as follows:

[0082]

[0083] In the formula: F out F is the output tension at the lasso piercing actuator. in The lasso drive end is input with tension, Q is the constant force transmission constant under the corresponding motion state, and Q is taken at release. r Take Q when pulling. p .

[0084] The reverse derivation yields the force inverse transmission compensation model, where the puncture actuator needs to output the target tensile force F. d At that time, the lasso drive end needs to provide a command input force F. c for:

[0085]

[0086] In this embodiment, based on Hooke's law in mechanics of materials and the aforementioned distribution law of tension in the lasso, a formula for calculating the total elastic deformation of the lasso along its entire path is first constructed. The total elastic deformation ΔL along the entire path is the integral sum of the elastic deformation of each infinitesimal segment of the entire path, and its expression is:

[0087]

[0088] In the formula, F(s) is the axial tension at position s of the lasso arc length, corresponding to the actual input force F at the proximal end of this patent. in E is the elastic modulus of the transmission flexible cable (2-1), A is the cross-sectional area of ​​the transmission flexible cable (2-1), and L is the total arc length of the cable along the entire path. All of these are fixed structural parameters.

[0089] Correspondingly, based on the constant total bending angle, and according to the above formula, the constant deformation compensation constant under the two working conditions is defined as follows:

[0090]

[0091] Where: Φ rΦ is the constant deformation compensation constant along the entire path in the released state. p Let θ be the constant deformation compensation constant along the entire path under tension, θ be the total fixed bending angle along the entire path of the lasso, and θ be a constant. rad.

[0092] Based on the physical properties of the lasso's elastic deformation, a correspondence between the displacements at both ends of the lasso and the total elastic deformation is established. The output displacement at the far end of the lasso is the input displacement at the near end minus the total elastic deformation along the entire path, and its expression is:

[0093]

[0094] In the formula x in x is the input displacement of the lasso's proximal drive end. out The output displacement of the lasso distal puncture actuator.

[0095] Combining the load characteristics of puncture surgery with the aforementioned lasso force transmission law, a linear relationship between the load force and displacement at the puncture end and the lasso force transmission relationship are constructed. The output force and output displacement at the puncture execution end are linearly related, and the output force and the proximal input force satisfy the aforementioned constant force transmission law. Its expression is:

[0096]

[0097] After rearranging the above formula, we obtain the lasso position transmission model:

[0098]

[0099] Based on the above forward position transmission model, a constant position transmission coefficient M is defined for the entire lasso path, simplifying the position transmission relationship at both ends of the lasso. Its general expression is:

[0100]

[0101] For the two motion states of the lasso being pulled and released, the expression for the position transmission coefficient M is:

[0102]

[0103] Based on the aforementioned forward model of position transmission with constant coefficients, the reverse transmission compensation model of the lasso position of this invention is derived in reverse, and is used for precise position control of the piercing actuator. When the piercing actuator needs to output the desired target displacement x... d At that time, the lasso drive end needs to provide the target input displacement command x. s for:

[0104]

[0105] Based on the linear relationship between load force and displacement at the puncture end and the position reverse transmission compensation model, the lasso force reverse transmission compensation model of this invention is further constructed for precise force control at the puncture execution end. When the puncture execution end needs to output the desired target force F... d First, the desired force is converted into the corresponding desired displacement at the distal end by using the linear relationship between the load force and displacement at the puncture end. Then, the target input displacement command x of the lasso drive end is obtained by solving the position inverse transmission model. s The complete expression is:

[0106]

[0107] Combined with appendix Figure 16 , 17 The present invention will be further described as follows:

[0108] Based on the above-mentioned position reverse transmission compensation model and force reverse transmission compensation model, this invention constructs a puncture execution end position control system and a force control system adapted to the strong magnetic field environment of nuclear magnetic resonance. Neither system requires the installation of displacement and force sensors at the puncture execution end. Precise control can be achieved solely through parameter acquisition at the lasso drive end, making it fully compatible with the application scenarios of nuclear magnetic resonance surgery.

[0109] The position control system adopts a composite control architecture of feedforward compensation and PID feedback, which will x d The pre-constructed position reverse transmission compensation model is input, and the constant position transmission coefficient corresponding to the constant bending angle of the lasso's entire path is used to calculate the feedforward compensation target input displacement command xc of the lasso drive end. Open-loop feedforward compensation is performed on the friction loss and elastic deformation displacement error of the lasso transmission under a fixed bending angle to eliminate the inherent nonlinear error of the system in advance. The actual displacement xc output by the lasso drive end is then calculated. in With x c The deviation is used as the input for PID control to complete feedback adjustment, and finally the control command is input to the lasso drive unit to control the output of the puncture actuator to match the target desired displacement x. d Consistent actual puncture displacement.

[0110] The force control system aims at the desired force F. d As the total input, the target force F d Converted to feedforward target displacement command x for lasso drive end s , target force F d The actual input tension F at the lasso drive end in The force control deviation value is obtained by comparison. This deviation value is input into the PI controller, and the output is the compensation displacement command x. f Feedforward target displacement command x s With compensation displacement command x fBy superimposing the values, the total target displacement x at the lasso driving end is obtained. c x c Precise displacement control is achieved by connecting to the aforementioned closed-loop control circuit, and finally the corresponding puncture force F is output through the lasso transmission system. out This enables high-precision closed-loop force control without end force sensors.

[0111] The core innovation of the reverse transmission compensation model of this invention is that the model structure is consistent with the traditional lasso reverse transmission compensation model, but by using the fixed angle constraint of the whole path, the key parameter θ is solidified from the traditional time-varying parameter θ(t) into a constant constant. This simplifies the traditional time-varying nonlinear model that needs to be solved in real time into a constant coefficient linear compensation model that can be calculated in advance, which greatly reduces the algorithm complexity, improves the compensation accuracy and real-time performance, adapts to the strong magnetic field environment of nuclear magnetic resonance, and can effectively offset the friction, hysteresis and deformation errors of lasso transmission, providing support for the precise control of puncture robots.

[0112] The above description is merely a preferred embodiment of the present invention. Any person skilled in the art can modify the above-described technical solutions or modify them into equivalent technical solutions. Therefore, any simple modifications or equivalent substitutions made based on the technical solutions of the present invention fall within the scope of protection claimed by the present invention.

Claims

1. A lasso-driven quick-release fixing device for a puncture surgical robot, comprising a lasso driving unit (1), a lasso (2), multiple sets of quick-release lasso angle fixing guide rails (3, 4, 5, 6, 7), and a puncture robot body (8), wherein the lasso driving unit (1) is used to output puncture power, and the puncture robot body (8) is used to perform puncture actions; the ends of the puncture robot body (8) and the lasso (2) are both made of non-ferromagnetic materials to adapt to the strong magnetic field working environment of a nuclear magnetic resonance spectrometer, characterized in that... Multiple sets of guide rails are sequentially arranged along the transmission path of the lasso (2). After the lasso (2) is output from the lasso drive unit (1), it passes through each guide rail in sequence and finally connects to the puncture execution end of the puncture robot body (8). The guide rails are equipped with quick-release positioning structures, preset fixed bending angles, and coaxiality calibration components at both ends, which are used for the installation, fixing, and disassembly of the guide rails, limiting the direction and bending angle of the lasso (2), and calibrating the alignment accuracy of the lasso entrance and exit of adjacent guide rails. The puncture robot body (8) is equipped with a built-in double-segment fixed-angle lasso guide rail (8-4) and a sleeve fixing bracket (8-2) with a fixed-angle guide structure lasso locking component. Based on the bending angle at the end of the lasso (2), a static model of the single lasso transmission system is constructed. The model replaces the traditional time-varying bending angle with a fixed bending angle, and solidifies the time-varying parameters into constants. Based on this model, a lasso position and force reverse transmission compensation model is constructed to simplify the control algorithm. Then, a position and force control system is constructed based on the reverse transmission compensation model. The two systems do not need to install sensors at the puncture execution end. They only need to use the feedback from the lasso drive end to realize the displacement and force control of the puncture execution end. The lasso drive unit (1) transmits power to the puncture robot body (8) through the lasso (2) and drives it to complete the puncture action.

2. The lasso quick-release fixing device for a lasso-driven puncture surgical robot according to claim 1, characterized in that, The coaxiality calibration component includes a laser emitter and a laser receiving target, which are respectively installed at the entrances and exits of each quick-release lasso angle fixing guide rail (3, 4, 5, 6, 7). Guide rail 3 corresponds to laser emitter (3-1) and laser receiving target (3-3), guide rail 4 corresponds to laser emitter (4-1) and laser receiving target (4-3), guide rail 5 corresponds to laser emitter (5-1) and laser receiving target (5-3), guide rail 6 corresponds to laser emitter (6-1) and laser receiving target (6-3), and guide rail 7 corresponds to laser emitter (7-1) and laser receiving target (7-3). The coaxiality of the lasso entrances and exits is calibrated by laser alignment between adjacent guide rails. The fixed bending angle value of each quick-release lasso angle fixing guide rail is used as the input parameter of the lasso transmission control algorithm.

3. The lasso-driven puncture surgical robot quick-release fixing device according to claim 1, characterized in that, The quick-release lasso angle fixing guide rails (3, 4, 5, 6, 7) are all equipped with quick-release positioning structures. Among them, guide rails No. 3, No. 4, and No. 5, which are laid on the floor of the MRI room, all have quick-release positioning structures including a hand pump suction cup, a gimbal, and a lasso angle fixing guide rail. The hand pump suction cup is attached to the floor of the MRI room as a support base. The gimbal is mounted on the upper end of the hand pump suction cup. The lasso angle fixing guide rail is mounted on the gimbal. The lasso (2) is inserted into the guide rail guide groove. Guide rail No. 3 corresponds to the hand pump suction cup (3-5), the gimbal (3-4), and the lasso angle fixing guide rail (3-2). Guide rail No. 4 corresponds to the hand pump suction cup (4-5), the gimbal (4-4), and the lasso angle fixing guide rail (4-2). Guide rail No. 5... The rails correspond to the hand pump suction cup (5-5), the gimbal (5-4), and the lasso fixing angle guide rail (5-2). The No. 6 guide rail is laid on the ground at the edge of the bed. The quick-installation positioning structure includes the hand pump suction cup (6-1) and the triangular bracket lasso fixing angle guide rail (6-3). The hand pump suction cup (6-1) is attached to the corresponding ground, and the guide rail (6-3) is mounted on it to form a transition guide structure from the ground to the bed. The No. 7 guide rail is laid on the side of the bed. The quick-installation positioning structure includes the bed board fixing clamp (7-3) and the tension adjustment bolt (7-4). The bed board fixing clamp (7-3) is clamped and fixed to the side of the bed by the bolt (7-4), and the lasso fixing angle guide rail (7-2) is installed on it.

4. The lasso quick-release fixing device for a lasso-driven puncture surgical robot according to claim 1, characterized in that, The puncture robot body (8) includes a support shell (8-3), a support cover plate (8-1), a support rear cover (8-5), a sleeve fixing bracket (8-2), a built-in double-segment fixed-angle lasso guide rail (8-4), and a laser emitter (8-6). The support cover plate (8-1) and the support rear cover (8-5) are sealed at the front and rear ends of the support shell (8-3). The built-in double-segment fixed-angle lasso guide rail (8-4) is fixed inside the support shell (8-3), and the lasso is constrained by a two-segment symmetrical fixed-angle bending structure. (2) Direction and bending angle, the sleeve fixing bracket (8-2) is installed inside the bracket housing (8-3) and the output end of the guide rail (8-4). The bracket is equipped with a sling locking and fixing assembly containing a locking ring and a locking bolt, which can drive the locking ring to retract radially and form an interference fit with the sling (2) protective sleeve to complete the clamping and locking. The laser emitter (8-6) is installed at the sling inlet end of the bracket back cover (8-5) and cooperates with the laser receiving target (7-5) of the guide rail (7) to calibrate the coaxiality of the sling inlet and outlet.

5. The lasso quick-release fixing device for a lasso-driven puncture surgical robot according to claim 1, characterized in that, The lasso (2) includes a flexible transmission cable (2-1) and an outer protective sleeve (2-2). The flexible transmission cable (2-1) can slide back and forth inside the protective sleeve (2-2). The far end of the protective sleeve (2-2) is locked to the output end of the lasso drive unit (1). The sleeve body is sequentially inserted into the guide grooves of each quick-release lasso angle fixing guide rail (3, 4, 5, 6, 7). The near end is fixed to the sleeve fixing bracket (8-2) of the puncture robot body (8). One end of the flexible transmission cable (2-1) is connected to the power output end of the lasso drive unit (1), and the other end is output to the puncture execution end of the puncture robot body (8).

6. The lasso quick-release fixing device for a lasso-driven puncture surgical robot according to claim 1, characterized in that, A static model of a single-sling transmission system is constructed by replacing the time-varying bending angle θ(t) in traditional lasso transmission with a constant fixed bending angle θ for each segment of the lasso's entire path. This model includes a lasso tension transmission sub-model and a lasso displacement transmission sub-model, both solved by integral calculation based on the constant fixed bending angle θ, yielding quantitative closed-form solutions for the lasso tension transmission relationship and displacement transmission error. Based on this static model, a reverse transmission compensation model is derived, simplifying the traditional time-varying nonlinear transmission model, which requires real-time solution, into a constant-coefficient linear compensation model that can be calculated in advance. This reverse transmission compensation model includes lasso position and force reverse transmission compensation sub-models, which can calculate the target input displacement and force command at the lasso drive end, respectively. The position control system constructed based on this position reverse transmission compensation model employs a control architecture combining feedforward compensation and PID feedback. This allows for open-loop feedforward compensation and PID feedback adjustment of the lasso transmission displacement error, eliminating the need for displacement and force sensors at the puncture execution end; control of the puncture execution end can be achieved solely through feedback from the lasso drive end.

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