Five-degree-of-freedom bed body fixed type puncture robot

Abstract

The utility model relates to a five-degree-of-freedom bed body fixed type puncture robot, and belongs to the field of medical instruments. The puncture robot comprises a gear transmission mechanism, a linear mechanism, a connecting rod mechanism and a puncture module. The connecting rod mechanism comprises a track driving end support, a first linear motor, a second linear motor, a third linear motor, a moving end spherical hinge support and a track driven end support. The gear transmission mechanism drives the connecting rod mechanism to rotate along the arc-shaped track to adjust the transverse position of the puncture robot; the second linear motor moves back and forth to adjust the back-and-forth position of the puncture robot; the second linear motor drives the lower part of the linear mechanism to transversely move to adjust the transverse and longitudinal corners of the puncture robot; the linear mechanism comprises a fourth linear motor, and the fourth linear motor drives the whole puncture module to perform needle insertion motion; and the puncture module is used for realizing rotation and extraction actions of a puncture needle. The device is compatible with CT for use, and performs five-degree-of-freedom movement according to accurate positioning of the CT, so that accurate puncture of the puncture needle is ensured.

Description

Technical Field

[0001] The utility model relates to the field of medical instruments, in particular to a five-degree-of-freedom bed-fixed puncture robot. Background Art

[0002] The puncture operation is an important part of minimally invasive surgery. During the puncture operation, the doctor generally selects the target and the puncture point based on the patient's medical image, and inserts the puncture needle into the target position in the body through the patient's skin based on experience. High-precision puncture is the guarantee of medical safety and quality, but the development of such surgery is limited due to differences in physician experience and operating skills. If a hardware structure is used to reduce the limitations of physician experience and operating skills on surgery, the hardware structure must not only meet clinical requirements, but also match the space setting of the surgical treatment room and the physician's operating habits to reduce the impact of human errors on surgery, thereby improving the safety of surgery.

[0003] In recent years, with the development of robot technology and the improvement of accuracy, robots have the advantages of stable operation, precision and flexibility, which can improve the success rate of puncture and reduce complications. People have also begun to gradually use puncture robots to perform puncture operations. Although most studies have shown that puncture robots have different advantages over manual puncture, most puncture robots so far use multi-dimensional adjustment of the robotic arm to achieve the positioning of the lesion point. In order to ensure the flexible, precise and stable movement of the robotic arm, not only the joint parts of the robotic arm itself need to remain flexible, but also a driving mechanism and a precise adjustment mechanism need to be set. Due to factors such as complex structure and high price, it has not been widely used.

[0004] In addition, radiotherapy is a major means of comprehensive cancer treatment, but for advanced patients, radiotherapy often leads to symptoms such as decreased peripheral white blood cell count and fatigue. Therefore, in recent years, there has been a tendency to use more effective surgical puncture robots to assist in close-range particle local minimally invasive ablation radiotherapy. However, the current puncture robots are not flexible enough for close-range assistance, and there are problems such as limited operating space, low driving accuracy, poor CT compatibility, and immature tumor motion compensation methods. Utility Model Content

[0005] In order to solve the problems existing in the above-mentioned prior art, the utility model provides a five-degree-of-freedom bed-fixed puncture robot, which is a new robot system that improves the puncture speed so as to complete the puncture sampling in one breathing process and compensates for respiratory movement. The puncture robot is compatible with CT, is firm and reliable, has good compatibility, and performs five-degree-of-freedom movement according to the precise positioning of CT to ensure the precise puncture of the puncture needle. It can assist in completing the puncture operation in all directions and at close range, regardless of the puncture site, and promotes the practical application of whole-body puncture, especially chest and abdominal puncture and particle implantation operations that require close-range assistance.

[0006] In order to achieve the above purpose, the specific technical solution of the utility model is:

[0007] A five-degree-of-freedom bed-fixed puncture robot, the puncture robot comprising a gear transmission mechanism, a linear mechanism, a connecting rod mechanism and a puncture module;

[0008] The gear transmission mechanism includes two arc tracks arranged in parallel and at intervals; the connecting rod mechanism includes a track active end bracket, a first linear motor, a second linear motor, a third linear motor, a moving end ball joint bracket, and a track passive end bracket; the track active end bracket and the track passive end bracket are respectively installed on the two arc tracks, and the gear transmission mechanism can drive the connecting rod mechanism to rotate along the arc track through the track active end bracket to adjust the lateral position of the puncture robot; the front and rear ends of the first linear motor and the third linear motor are respectively installed on the track active end bracket and the track passive end bracket, and the first linear motor and the third linear motor are arranged in parallel and at intervals; the two ends of the second linear motor are respectively connected to the first linear motor and the third linear motor, and the second linear motor moves forward and backward under the drive of the first linear motor and the third linear motor to adjust the front and rear position of the puncture robot; the second linear motor is connected to the lower part of the linear mechanism through the moving end ball joint bracket, and the second linear motor drives the lower part of the linear mechanism to move horizontally to adjust the lateral and longitudinal rotation angles of the puncture robot;

[0009] The linear mechanism includes a fourth linear motor, which is connected to the puncture module. The fourth linear motor drives the puncture module as a whole to perform needle insertion movement; the puncture module is used to realize the rotation and extraction of the puncture needle.

[0010] Furthermore, the gear transmission mechanism also includes a large gear fixing bracket, and the two arc-shaped tracks are installed on one end of the horizontal slide rail through the large gear fixing bracket; the bed is placed on the horizontal slide rail, and the bed can slide along the horizontal slide rail, and the bed moves the patient's puncture site to be placed under the puncture robot.

[0011] Furthermore, the linear mechanism also includes a fixed end ball joint bracket, a linear module bracket and a connecting bracket; the upper part of the outer side surface of the linear module bracket is connected to the active end bracket of the track through the fixed end ball joint bracket, and the lower part is connected to the second linear motor through the moving end ball joint bracket; the fourth linear motor is installed in the linear module bracket in a longitudinal form, and the mover of the fourth linear motor is connected to the puncture module through the connecting bracket, and the fourth linear motor drives the puncture module to perform needle insertion movement through the connecting bracket.

[0012] Furthermore, the puncture module also includes a puncture module bracket, a micro motor, a worm, and a turbine; the puncture module bracket is connected to the connecting bracket; the micro motor is installed at the side end of the puncture module bracket, the output shaft of the micro motor is connected to the worm, the worm and the turbine are meshed for transmission, the turbine is connected to the puncture needle shaft of the puncture needle, and the micro motor drives the puncture needle shaft to rotate through the worm and the turbine.

[0013] Furthermore, the puncture module also includes a hook bracket, a ball screw motor, and a ball screw nut; the ball screw motor is installed above the hook bracket, and the hook bracket is connected to the puncture needle shaft of the puncture needle through a hook-shaped structure; the screw of the ball screw motor is threadedly connected to the ball screw nut; the ball screw nut is connected to the puncture needle core of the puncture needle, and the ball screw motor drives the puncture needle core to perform an extraction action.

[0014] Furthermore, the puncture robot further comprises a ball screw mechanism, and the ball screw mechanism comprises a large motor; the gear transmission mechanism further comprises a small gear; the two arc-shaped tracks are a large gear and a stationary track;

[0015] The large motor is driven by meshing the small gear with the large gear, and the large gear drives the active end bracket of the track to rotate; the passive end bracket of the track is sleeved on the stationary track; driven by the large gear, the connecting rod mechanism, the linear mechanism and the puncture module rotate together along the stationary track.

[0016] Furthermore, the ball screw mechanism also includes a primary worm gear, and the large motor is meshed and driven with the small gear through the primary worm gear.

[0017] Furthermore, the track active end bracket is composed of a track back bracket and a track front bracket; the track back bracket and the track front bracket are fixed to the back and front of the large gear by bolts and rotate together with the large gear.

[0018] Furthermore, the connecting rod mechanism also includes a connecting rod bracket; two ends of the second linear motor are respectively connected to the first linear motor and the third linear motor through the connecting rod bracket.

[0019] Furthermore, the puncture robot is used in conjunction with a CT device, and the CT device transmits the position of the target point and the puncture entry point to the puncture robot. The puncture robot controls the gear transmission mechanism and the connecting rod mechanism to adjust the needle insertion position of the puncture module according to the position of the target point and the puncture entry point, and the linear mechanism controls the feeding movement of the puncture module.

[0020] Beneficial effects of the utility model:

[0021] The utility model adjusts the position of the puncture needle through five degrees of freedom movement, including overall position, lateral position, front-to-back position, and lateral and longitudinal rotation angles, to ensure accurate puncture, and has light weight, high precision, flexible positioning, and high stability. It has a compact spatial structure made of non-metallic materials, and the puncture robot adopts independent movement of each mechanism, and the final movement is synthesized to simulate the parallel robot structure of the traditional puncture surgery mode, which can cleverly avoid interference with CT images.

[0022] The utility model realizes the adjustment of five degrees of freedom of the puncture robot, including the overall position, lateral position, front and rear position, longitudinal angle, and lateral angle, through a horizontal slide rail, a gear transmission mechanism, and a connecting rod mechanism, and realizes the puncture needle insertion operation through a linear mechanism. The utility model ensures that the puncture needle accurately punctures the patient's target through five degrees of freedom adjustment, and can make the puncture robot perform corresponding puncture operations according to different puncture sites of the patient through mobile adjustment, which can help doctors to carry out preoperative planning and postoperative analysis, simplify puncture operation operations, and improve the efficiency and stability of the operation. In addition, the utility model cooperates with CT to determine the position of the target point and the puncture needle point through real-time CT image analysis, and perform puncture surgery by controlling the puncture needle insertion operation.

[0023] The utility model can realize the rotation operation of the puncture needle in the horizontal position of the human body by adjusting the transverse and longitudinal angles of the puncture needle, and can realize the translation operation of the puncture needle along the human body by adjusting the front and rear positions. The position of the puncture needle can be controlled by rotation and translation to meet different puncture requirements.

[0024] After the utility model quickly adjusts the needle position through five-degree-of-freedom motion, the feeding, rotation and extraction of the puncture needle are quickly completed under the joint drive of the fourth linear motor, the micro motor and the ball screw motor. Each motor can quickly complete its own action according to its own needs and cooperate with each other to complete the puncture sampling and perform respiratory motion compensation in one breathing process, which greatly improves the puncture speed.

[0025] The utility model can subsequently optimize the robot's motion parameters based on the actual clinical surgical space and constraints, analyze the robot body and key brackets through finite element analysis, and optimize the structure of the puncture robot to achieve the purpose of increasing rigidity, reducing weight and improving accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic diagram of the combined structure of the five-degree-of-freedom bed-fixed puncture robot and CT equipment of the utility model and a partial enlarged diagram;

[0027] Figure 2This is a schematic diagram of the five-degree-of-freedom bed-fixed puncture robot of the utility model.

[0028] Among them: 1-large motor, 2-small gear, 3-large gear, 401-track back bracket, 402-track front bracket, 5-motor fixed S-shaped table, 6-large gear fixed bracket, 7-first linear motor, 8-second linear motor, 9-third linear motor, 10-fixed end ball joint bracket, 11-moving end ball joint bracket, 12-linear module bracket, 13-fourth linear motor, 14-connecting bracket, 15-puncture module bracket, 16-micro motor, 17-worm, 18-worm wheel, 19-hook bracket, 20-ball screw motor, 21-ball screw nut, 22-puncture needle, 23-track passive end bracket, 24-stationary track, 25-connecting rod bracket. DETAILED DESCRIPTION

[0029] In order to enable those skilled in the art to better understand the technical solution of the present application, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0030] The terms such as up, down, left, right, front and back in this application document are based on the positional relationships shown in the drawings. If the drawings are different, the corresponding positional relationships may also change accordingly, so they cannot be understood as limiting the scope of protection.

[0031] In the present utility model, the terms "install", "connected", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, an integral connection, a mechanical connection, an electrical connection or mutual communication, a direct connection, an indirect connection through an intermediate medium, the internal connection of two components, or the interaction relationship between two components. For ordinary technicians in this field, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0032] This embodiment records a five-degree-of-freedom bed-fixed puncture robot, which can realize five-degree-of-freedom movement of the puncture needle, including the overall position, lateral position, front-back position, longitudinal angle and lateral angle, and fully assist in completing the puncture surgery on the patient's entire body.

[0033] The puncture robot is fixed at one end of the horizontal slide rail, and the bed is placed on the horizontal slide rail and can move forward and backward along the horizontal slide rail (i.e. move along the Y axis) to quickly move the patient's puncture site on the bed to the bottom of the puncture robot. Figure 1 and Figure 2As shown, the puncture robot includes a ball screw mechanism, a gear transmission mechanism, a linear mechanism, a connecting rod mechanism and a puncture module. The ball screw mechanism is installed under the horizontal slide rail and meshes with the gear transmission mechanism to drive the gear transmission mechanism to rotate, and then the gear transmission mechanism drives the connecting rod mechanism to adjust the lateral position (i.e., move along the X axis). The puncture module is connected to the connecting rod mechanism through a linear mechanism to achieve the adjustment of the lateral position of the puncture needle, the lateral and longitudinal angles (i.e., the angles around the Y axis and Z axis).

[0034] The ball screw mechanism includes a large motor 1, a motor fixing S-shaped platform 5, and a primary worm gear. The motor fixing S-shaped platform 5 is fixed below the end of the horizontal slide rail, and the large motor 1 is installed in the motor fixing S-shaped platform 5. The large motor 1 is meshed with the pinion 2 of the gear transmission mechanism through the primary worm gear, and the torque output by the large motor 1 is transmitted to the gear transmission mechanism.

[0035] The gear transmission mechanism includes a pinion 2, a large gear 3, a large gear fixing bracket 6 and a stationary track 24. The pinion 2 is located below the large gear 3, meshing with the large gear 3 for transmission, transmitting the output torque of the large motor 1 to the large gear 3, and driving the large gear 3 to rotate. The large gear 3 and the stationary track 24 are arranged in parallel and spaced on the horizontal slide rail, which are two arc tracks at both ends of the puncture robot, wherein the large gear 3 is located outside the end of the horizontal slide rail, and the stationary track 24 is located above the horizontal slide rail. One end of the large gear fixing bracket 6 is embedded in the stationary track 24 through the inside of the large gear 3, and the two ends of the large gear fixing bracket 6 are respectively fixedly connected to the motor fixed S-shaped platform 5 by screws, so as to realize the support of the puncture robot at both ends on the horizontal slide rail, making the whole structure more stable, safe and reliable. Preferably, the outer end of the large gear fixing bracket 6 is an S-shaped structure, which is buckled together with the outer end of the motor fixed S-shaped platform 5, and the large gear 3 can be pressed on the end of the horizontal slide rail to prevent the large gear 3 from detaching from the large gear fixing bracket 6.

[0036] The connecting rod mechanism includes a track active end bracket, a first linear motor 7, a second linear motor 8, a third linear motor 9, a moving end ball joint bracket 11, a track passive end bracket 23 and a connecting rod bracket 25. The track active end bracket is composed of a track back bracket 401 and a track front bracket 402. The track back bracket 401 and the track front bracket 402 are fixed to the back and front of the large gear 3 by bolts and rotate with the large gear 3. The track passive end bracket 23 is sleeved on the stationary track 24. The first linear motor 7 and the third linear motor 9 are arranged in parallel and spaced between the track front bracket 402 and the track passive end bracket 23, and the first linear motor 7 and the third linear motor 9 are respectively fixed on the track front bracket 402 and the track passive end bracket 23. The two ends of the second linear motor 8 are connected to the first linear motor 7 and the third linear motor 9 through the connecting rod bracket 25, respectively. The two connecting rod brackets 25 are respectively sleeved on the first linear motor 7 and the third linear motor 9, and the first linear motor 7 and the third linear motor 9 drive the second linear motor 8 to move forward and backward (i.e., move along the Y-axis direction) through the connecting rod bracket 25. When the front bracket 402 of the track rotates with the large gear 3, the first linear motor 7, the second linear motor 8, the third linear motor 9 and the passive end bracket 23 of the track are driven to rotate synchronously. The second linear motor 8 is connected to the lower part of the linear mechanism through the moving end ball joint bracket 11, and the second linear motor 8 drives the lower part of the linear mechanism to move horizontally through the moving end ball joint bracket 11. In this embodiment, the puncture robot is adjusted forward, backward, left, right and angle through the linear motion of the first linear motor 7, the second linear motor 8 and the third linear motor 9, so as to accurately puncture the patient target.

[0037] The linear mechanism is used to drive the overall longitudinal movement of the puncture module (i.e., movement along the Z-axis direction) to realize the feeding movement of the puncture module, and includes a fixed end ball joint bracket 10, a linear module bracket 12, a fourth linear motor 13, and a connecting bracket 14. The linear module bracket 12 is a U-shaped bracket, which is connected to the track active end bracket through the fixed end ball joint bracket 10 at the upper part of the outer side of the linear module bracket 12, and is connected to the second linear motor 8 through the moving end ball joint bracket 11 at the lower part. The fourth linear motor 13 is installed in the linear module bracket 12 in a longitudinal form, and the mover of the fourth linear motor 13 moves up and down along the axial direction. The mover is connected to the puncture module bracket 15 through the connecting bracket 14, driving the up and down lifting movement of the entire puncture module to realize the up and down needle feeding movement.

[0038] The puncture module is used to realize the puncture action, including a puncture module bracket 15, a micro motor 16, a worm 17, a turbine 18, a hook bracket 19, a ball screw motor 20, a ball screw nut 21 and a puncture needle 22. The puncture needle 22 is mainly composed of a puncture needle shaft and a needle core.

[0039] The puncture module bracket 15 is a mounting bracket for the puncture module. A micro motor 16 is horizontally arranged in the center of the side of the puncture module bracket 15 at the side end of the puncture module bracket 15, and the output shaft of the micro motor 16 is connected to a worm 17, which is meshed with a turbine 18, and the turbine 18 is connected to the puncture needle shaft. The micro motor 16 drives the puncture needle shaft to rotate through the worm 17 and the turbine 18.

[0040] The ball screw motor 20 is installed above the hook bracket 19, the hook bracket 19 is fixed on the upper surface of the puncture module bracket 15, the hook bracket 19 is connected to the puncture needle shaft through a hook-shaped structure, the screw of the ball screw motor 20 is threadedly connected to the ball screw nut 21, the ball screw nut 21 is connected to the puncture needle core, and the puncture needle core is driven by the ball screw motor 20 to move up and down, thereby realizing the extraction action of the puncture needle core.

[0041] The puncture robot of this embodiment can be used in combination with a CT device, and the bed is a CT bed. The large motor 1, the first linear motor 7, the second linear motor 8, the third linear motor 9, the fourth linear motor 13, the micro motor 16 and the ball screw motor 20 of this embodiment are respectively connected to the controller, and the controller is connected to the CT device data. The CT device transmits the position information of the target target and the puncture point to the controller, and the controller accurately and automatically controls the five-degree-of-freedom movement of the puncture robot according to the position information of the target target and the puncture point. The puncture robot can flexibly assist in completing the puncture surgery for the whole body of the patient at a close distance.

[0042] The patient who needs to undergo CT lies on the bed, and the arc track surrounds the top of the patient. The bed slides back and forth on the horizontal slide rail to move the part to be punctured to the bottom of the puncture robot. The position of the target point and the puncture point is determined by analyzing the CT image taken in real time by the CT equipment. The controller controls the large motor 1 to drive the large gear 3 to rotate according to the position information of the target point and the puncture point. The large gear 3 drives the linear mechanism, the connecting rod mechanism and the puncture module to move around the arc track through the front bracket 402 of the track and the back bracket 401 of the track to adjust the lateral position of the puncture needle 22. The controller controls the first linear motor 7 and the third linear motor 9 to adjust the longitudinal position of the puncture needle 22, and controls the second linear motor 8 to drive the ball joint bracket to adjust the longitudinal and lateral rotation angles of the puncture needle 22, thereby realizing the five-degree-of-freedom movement of the puncture robot. Driven by the linear mechanism, the puncture module is accurately fed to the patient's target to realize the needle insertion movement of the entire puncture module. The micro motor 16 drives the puncture needle 22 to rotate and insert the needle through the worm gear structure, and the ball screw motor 20 drives the puncture needle core to extract the needle through the screw nut structure.

[0043] The puncture robot of this embodiment can perform puncture on all parts of the body by moving the bed forward and backward, and accurately puncture the patient's target through five-degree-of-freedom movement. The various mechanisms of the puncture robot of this embodiment move independently, and the final movement is synthesized to simulate the parallel robot structure of the traditional puncture surgery mode. In addition, each component is made of non-metallic materials, which can avoid the puncture robot itself from interfering with the image of the CT device. Through real-time CT image analysis, the puncture robot can accurately determine the location of the target point and the puncture needle point.

[0044] Although the principle of the present invention is described in detail above in conjunction with the preferred embodiments of the present invention, those skilled in the art should understand that the above embodiments are merely explanations of the exemplary implementation of the present invention, and are not intended to limit the scope of the present invention. The details in the embodiments do not constitute limitations on the scope of the present invention. Without departing from the spirit and scope of the present invention, any obvious changes such as equivalent transformations and simple replacements based on the technical solution of the present invention fall within the scope of protection of the present invention.

Claims

1. A five-degree-of-freedom bed-fixed puncture robot, characterized in that: The puncture robot comprises a gear transmission mechanism, a linear mechanism, a connecting rod mechanism and a puncture module; The gear transmission mechanism comprises two arc-shaped tracks arranged in parallel and at intervals; the connecting rod mechanism comprises a track active end bracket, a first linear motor (7), a second linear motor (8), a third linear motor (9), a moving end ball joint bracket (11), and a track passive end bracket (23); the track active end bracket and the track passive end bracket (23) are respectively mounted on the two arc-shaped tracks, and the gear transmission mechanism can drive the connecting rod mechanism to rotate along the arc-shaped tracks through the track active end bracket to adjust the lateral position of the puncture robot; the front and rear ends of the first linear motor (7) and the third linear motor (9) are respectively mounted on the track active end bracket and the passive end bracket (23) of the track, and the first linear motor (7) and the third linear motor (9) are arranged in parallel and at intervals; the two ends of the second linear motor (8) are respectively connected to the first linear motor (7) and the third linear motor (9), and the second linear motor (8) moves forward and backward under the drive of the first linear motor (7) and the third linear motor (9) to adjust the front and rear position of the puncture robot; the second linear motor (8) is connected to the lower part of the linear mechanism through the moving end ball joint bracket (11), and the second linear motor (8) drives the lower part of the linear mechanism to move horizontally to adjust the horizontal and vertical rotation angles of the puncture robot; The linear mechanism comprises a fourth linear motor (13), the fourth linear motor (13) is connected to the puncture module, and the fourth linear motor (13) drives the puncture module as a whole to perform needle insertion movement; the puncture module is used to realize the rotation and extraction action of the puncture needle (22).

2. The five-degree-of-freedom bed-fixed puncture robot according to claim 1, characterized in that: The gear transmission mechanism also includes a large gear fixing bracket (6), and the two arc-shaped tracks are installed on one end of the horizontal slide rail through the large gear fixing bracket (6); the bed body is placed on the horizontal slide rail, and the bed body can slide along the horizontal slide rail, and the bed body moves the patient's puncture site to be placed below the puncture robot.

3. The five-degree-of-freedom bed-fixed puncture robot according to claim 1, characterized in that: The linear mechanism also includes a fixed end ball joint bracket (10), a linear module bracket (12) and a connecting bracket (14); the upper part of the outer side surface of the linear module bracket (12) is connected to the active end bracket of the track through the fixed end ball joint bracket (10), and the lower part is connected to the second linear motor (8) through the moving end ball joint bracket (11); the fourth linear motor (13) is installed in the linear module bracket (12) in a longitudinal form, and the mover of the fourth linear motor (13) is connected to the puncture module through the connecting bracket (14), and the fourth linear motor (13) drives the puncture module to perform needle insertion movement through the connecting bracket (14).

4. The five-degree-of-freedom bed-fixed puncture robot according to claim 3, characterized in that: The puncture module further comprises a puncture module bracket (15), a micro motor (16), a worm (17), and a turbine (18); the puncture module bracket (15) is connected to the connecting bracket (14); the micro motor (16) is mounted on the side end of the puncture module bracket (15); the output shaft of the micro motor (16) is connected to the worm (17); the worm (17) and the turbine (18) are meshed for transmission; the turbine (18) is connected to the puncture needle shaft of the puncture needle (22); the micro motor (16) drives the puncture needle shaft to rotate through the worm (17) and the turbine (18).

5. The five-degree-of-freedom bed-fixed puncture robot according to claim 1, characterized in that: The puncture module also includes a hook bracket (19), a ball screw motor (20), and a ball screw nut (21); the ball screw motor (20) is installed above the hook bracket (19), and the hook bracket (19) is connected to the puncture needle shaft of the puncture needle (22) through a hook-shaped structure; the screw of the ball screw motor (20) is threadedly connected to the ball screw nut (21); the ball screw nut (21) is connected to the puncture needle core of the puncture needle (22), and the ball screw motor (20) drives the puncture needle core to perform an extraction action.

6. The five-degree-of-freedom bed-fixed puncture robot according to claim 1, characterized in that: The puncture robot further comprises a ball screw mechanism, wherein the ball screw mechanism comprises a large motor (1); the gear transmission mechanism further comprises a small gear (2); the two arc-shaped tracks are a large gear (3) and a stationary track (24); The large motor (1) is meshed with the large gear (3) through the small gear (2), and the large gear (3) drives the active end bracket of the track to rotate; the passive end bracket of the track (23) is sleeved on the stationary track (24); driven by the large gear (3), the connecting rod mechanism, the linear mechanism and the puncture module rotate together along the stationary track (24).

7. The five-degree-of-freedom bed-fixed puncture robot according to claim 6, characterized in that: The ball screw mechanism also includes a primary worm gear, and the large motor (1) is meshed and driven with the small gear (2) through the primary worm gear.

8. The five-degree-of-freedom bed-fixed puncture robot according to claim 6, characterized in that: The track active end bracket is composed of a track back bracket (401) and a track front bracket (402); the track back bracket (401) and the track front bracket (402) are fixed to the back and front of the large gear (3) by bolts and rotate together with the large gear (3).

9. The five-degree-of-freedom bed-fixed puncture robot according to claim 1, characterized in that: The connecting rod mechanism also includes a connecting rod bracket (25); two ends of the second linear motor (8) are respectively connected to the first linear motor (7) and the third linear motor (9) through the connecting rod bracket (25).

10. The five-degree-of-freedom bed-fixed puncture robot according to claim 1, characterized in that: The puncture robot is used in conjunction with a CT device, and the CT device transmits the positions of the target point and the puncture entry point to the puncture robot. The puncture robot controls the gear transmission mechanism and the connecting rod mechanism to adjust the needle insertion position of the puncture module according to the positions of the target point and the puncture entry point, and the linear mechanism controls the feeding movement of the puncture module.

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