Puncture robot main manipulator and puncture biopsy robot

Abstract

The utility model provides a main manipulator of a puncture robot and a puncture biopsy robot, and relates to the technical field of medical instruments, a simulated puncture needle is operated outside a CT (Computed Tomography) room, and the swing angle and depth of the simulated puncture needle are detected by arranging a posture adjusting mechanism and a depth adjusting mechanism; a master control unit is used for controlling a slave end mechanical arm in a CT room to do the same action to complete a puncture operation, resistance information borne by the slave end mechanical arm is transmitted to the master control unit, and the master control unit correspondingly controls a posture adjusting mechanism and a depth adjusting mechanism to apply resistance to a simulated puncture needle according to the resistance information to form force feedback. Compared with the prior art, the operation risk and uncertainty are reduced, the teleoperation puncture process is more visual and accurate, the operation is safer, and the technical problems that in the prior art, a traditional master-slave type robot auxiliary puncture system cannot provide force feedback for medical workers in the puncture process, and the operation is likely to have risks are solved.

Description

Technical Field

[0001] The utility model relates to the technical field of biopsy, in particular to a puncture robot main operator and a puncture biopsy robot. Background Art

[0002] Malignant tumors of soft tissue organs such as the liver, kidneys, and lungs have become a serious threat to national health. Even after repeated imaging examinations and even experimental treatments, an accurate diagnosis cannot be obtained. CT-guided percutaneous puncture surgery is a procedure in which a puncture needle is accurately inserted into the human lesion under the guidance of CT images to obtain pathological tissue. After pathological examination, the most suitable treatment plan for the patient is determined. This method has become an important clinical method for detecting and treating tumors.

[0003] However, the working principle of CT equipment is to form images through X-ray scanning. X-rays have strong radiation. Performing puncture surgery next to the CT equipment will expose doctors to the radiation environment for a long time, seriously affecting the doctors' health. Based on this, the use of a master-slave robot-assisted puncture system allows doctors to remotely control the slave robot in the CT room through the master operator in the control room outside the CT room to perform puncture surgery. This system avoids exposing doctors to CT radiation and has great clinical significance.

[0004] However, the traditional master-slave robot-assisted puncture system cannot provide force feedback to medical staff during the puncture process. Medical staff cannot truly feel the resistance of the puncture and cannot perform the operation more accurately, which is prone to risks. Utility Model Content

[0005] The purpose of the present utility model is to provide a puncture robot master operator and a puncture biopsy robot to alleviate the technical problem in the prior art that the traditional master-slave robot-assisted puncture system cannot provide force feedback to medical staff during the puncture process, which makes the operation prone to risks.

[0006] In a first aspect, the present invention provides a main operator for a puncture robot, comprising: a simulated puncture needle, a posture adjustment mechanism, a depth adjustment mechanism, and a main control unit;

[0007] The simulated puncture needle is inserted into the posture adjustment mechanism, and the posture adjustment mechanism is configured to rotate along a first direction and a second direction as the simulated puncture needle swings, so as to detect the swing angle of the simulated puncture needle and apply feedback resistance to the simulated puncture needle;

[0008] The depth adjustment mechanism is fixed to the posture adjustment mechanism, and is used to detect the displacement of the simulated puncture needle in the third direction and apply feedback resistance to the simulated puncture needle;

[0009] The third direction is the axial direction of the simulated puncture needle, and the first direction, the second direction and the third direction are perpendicular to each other;

[0010] The main control unit is electrically connected to the posture adjustment mechanism and the depth adjustment mechanism respectively, and is also connected to the slave-end robotic arm signal. The main control unit is used to read the angular changes of the simulated puncture needle in the first direction and the second direction and the displacement changes in the third direction, and correspondingly control the slave-end robotic arm to perform the same movement in the same direction. The main control unit is also used to receive resistance information received by the slave-end robotic arm, and correspondingly control the posture adjustment mechanism and the depth adjustment mechanism to apply feedback resistance to the simulated puncture needle.

[0011] The posture adjustment mechanism (20) includes an operating rod (24), and the operating rod (24) is configured as a middle through-structure for allowing the simulated puncture needle (10) to pass through;

[0012] The depth adjustment mechanism (30) includes a puncture base (36), a puncture gear set (33) and a puncture motor (32);

[0013] The puncture base (36) is fixed on the operating rod (24);

[0014] The puncture gear set (33) includes a first puncture gear (331) and a second puncture gear (332) coaxially arranged and rotatably connected to the puncture base (36); the simulated puncture needle (10) is provided with a rack segment, and the first puncture gear (331) is meshedly connected to the rack segment;

[0015] The driving end of the puncture motor (32) is meshedly connected with the second puncture gear (332).

[0016] In an alternative embodiment,

[0017] The posture adjustment mechanism further includes a fixed base, a first direction base and a second direction base;

[0018] Both ends of the first direction base are rotatably connected to the fixed base;

[0019] Both ends of the second direction base are rotatably connected to the fixed base;

[0020] The operating rod is rotatably connected to the first direction base, and the second direction base is provided with a long hole. The operating rod passes through the long hole so that the operating rod can rotate along the first direction around the fixed base together with the first direction base, and the operating rod can rotate along the second direction around the fixed base together with the second direction base.

[0021] In an alternative embodiment,

[0022] The fixed base is provided with a first direction motion metering component for detecting the rotation angle of the first direction base along the first direction;

[0023] The fixed base is provided with a second direction motion measuring component for detecting a rotation angle of the second direction base along the second direction.

[0024] In an alternative embodiment,

[0025] The first direction motion metering assembly includes a first magnet and a first read head;

[0026] The first magnet is fixed on the first rotating shaft of the first direction base, the first reading head is fixed on the fixed base, and the first reading head is used to sense the angle change value of the first magnet.

[0027] In an alternative embodiment,

[0028] The posture adjustment mechanism further includes a first motor and a first gear set;

[0029] The first gear set is connected to a second rotating shaft of the first direction base and is arranged opposite to the first rotating shaft, and the driving end of the first motor is meshed and connected with the first gear set;

[0030] The first motor is provided with a first encoder for reading the rotation angle information of the motor end.

[0031] In an alternative embodiment,

[0032] The main control unit controls the movement of the slave end robot arm according to the detection information of the first reading head and the first encoder;

[0033] The main control unit controls the first motor according to the resistance information received by the slave-end robotic arm, so that the first motor applies feedback resistance to the first direction base through the first gear set.

[0034] In an alternative embodiment,

[0035] The puncture base is provided with a third-direction motion metering component, and the third-direction motion metering component is used to detect the displacement of the puncture base relative to the simulated puncture needle in the third direction.

[0036] In an alternative embodiment,

[0037] The third directional motion measurement assembly includes a third reading head and a third magnet;

[0038] The third magnet is fixed on the puncture rotating shaft of the puncture gear set, the third reader is fixed on the puncture base, and the third reader is used to sense the angle change value of the third magnet.

[0039] In an alternative embodiment,

[0040] The puncture motor is provided with a third encoder for reading the rotation angle information of the motor end;

[0041] The main control unit controls the movement of the slave end robot arm according to the detection information of the third reading head and the third encoder;

[0042] The main control unit controls the puncture motor according to the resistance information received by the slave end robot arm, so that the puncture motor applies feedback resistance to the simulated puncture needle through the puncture gear set.

[0043] In a second aspect, the present invention provides a puncture biopsy robot, comprising a main operator of the puncture robot;

[0044] The slave end robotic arm drives the actual puncture needle to perform the same movement according to the displacement change information of the simulated puncture needle read by the main control unit;

[0045] The slave end robotic arm is provided with a six-dimensional force sensor, and the six-dimensional force sensor is used to detect the resistance experienced by the slave end robotic arm and transmit the resistance information to the main control unit.

[0046] In a third aspect, the present invention provides an operating method based on the puncture biopsy robot, comprising the following steps:

[0047] Swing the simulated puncture needle. The main control unit reads the swing angle change information of the simulated puncture needle in the first direction and the second direction, and controls the slave end robot arm to drive the actual puncture needle to swing the same in the first direction and the second direction;

[0048] The simulated puncture needle is driven to move in the third direction. The main control unit reads the displacement change information of the simulated puncture needle in the third direction and controls the slave end robotic arm to drive the actual puncture needle to make the same movement in the third direction.

[0049] In an alternative embodiment,

[0050] The method also includes the following steps: calculating a safe angle range for the slave-end robotic arm to drive the actual puncture needle to swing, and when the swing angle change of the simulated puncture needle in the first direction and the second direction read by the main control unit exceeds the safe angle range, the main control unit controls the first motor and the second motor to stop rotating, so as to prevent the simulated puncture needle from swinging;

[0051] Calculate the safe depth range for the slave-end robotic arm to drive the actual puncture needle into the needle. When the displacement change of the simulated puncture needle in the third direction read by the main control unit exceeds the safe depth range, the main control unit controls the third motor to stall to prevent the simulated puncture needle from going deeper.

[0052] The utility model provides a main operator of the puncture robot, which operates a simulated puncture needle outside the CT room, detects the swing angle and depth of the simulated puncture needle through the setting of the posture adjustment mechanism and the depth adjustment mechanism, and uses the main control unit to control the slave-end mechanical arm in the CT room to perform the same action to complete the puncture operation. The resistance information received by the slave-end mechanical arm is transmitted to the main control unit, and the main control unit controls the posture adjustment mechanism and the depth adjustment mechanism according to the resistance information to apply resistance to the simulated puncture needle, thereby forming force feedback, reducing surgical risks and uncertainties, making the process more intuitive and accurate, and the operation safer, thereby alleviating the technical problem in the prior art that the traditional master-slave robot-assisted puncture system cannot provide force feedback to medical staff during the puncture process, and the operation is prone to risks. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In order to more clearly illustrate the specific implementation methods of the utility model or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0054] Figure 1 A schematic structural diagram of the simulated puncture needle, posture adjustment mechanism, and depth adjustment mechanism in the main operator's hand of the puncture robot provided in an embodiment of the present invention;

[0055] Figure 2 A perspective view of the overall structure of the main operator of the puncture robot provided by an embodiment of the utility model;

[0056] Figure 3 A structural diagram of the posture adjustment mechanism in the main operating hand of the puncture robot provided by an embodiment of the utility model;

[0057] Figure 4 This is an exploded view of the structure of the posture adjustment mechanism in the main operating hand of the puncture robot provided by an embodiment of the utility model;

[0058] Figure 5 A schematic diagram of a half-section structure of the posture adjustment mechanism in the main operating hand of the puncture robot provided by an embodiment of the utility model;

[0059] Figure 6 A schematic diagram of the use of the posture adjustment mechanism in the main operating hand of the puncture robot provided by an embodiment of the utility model;

[0060] Figure 7 A schematic diagram of the structure of the depth adjustment mechanism in the main operating hand of the puncture robot provided by an embodiment of the utility model;

[0061] Figure 8 A structural diagram of the depth adjustment mechanism in the main operator's hand of the puncture robot provided by an embodiment of the utility model from another perspective;

[0062] Figure 9 A schematic diagram of the use of the depth adjustment mechanism in the main operator's hand of the puncture robot provided in an embodiment of the utility model;

[0063] Figure 10 A schematic structural diagram of the outer shell of the main operating hand of the puncture robot provided by an embodiment of the present invention;

[0064] Figure 11 This is a schematic structural diagram of a simulated puncture needle in the hands of the main operator of the puncture robot provided by an embodiment of the present utility model.

[0065] Icons: 10-simulated puncture needle; 11-needle handle; 12-needle rod; 13-anti-drop block; 20-posture adjustment mechanism; 21-first encoder; 22-first motor; 23-first gear set; 24-operating lever; 25-first direction motion metering assembly; 251-first magnet; 252-first reader; 26-second direction motion metering assembly; 27-fixed base; 28-second direction base; 29-first direction base; 30-depth adjustment mechanism; 31-third encoder Encoder; 32-puncture motor; 33-puncture gear set; 331-first puncture gear; 332-second puncture gear; 34-bevel gear; 35-third directional motion metering component; 351-third reader; 352-third magnet; 36-puncture base; 37-puncture rotation axis; 40-main control unit; 50-control panel; 52-lever; 53-status indicator light; 54-emergency stop button; 60-slave end robotic arm; 70-six-dimensional force sensor; 80-actual puncture needle. DETAILED DESCRIPTION

[0066] The following will clearly and completely describe the technical solutions of the present invention in conjunction with the embodiments. Obviously, the embodiments described are only a part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0067] The traditional master-slave robot-assisted puncture system cannot provide force feedback to medical staff during the puncture process. Medical staff cannot truly feel the resistance of the puncture and cannot perform the operation more accurately, which is prone to risks.

[0068] In view of this, if Figure 1 、 Figure 2 As shown, the main operator of the puncture robot provided in this embodiment includes: a simulated puncture needle 10, a posture adjustment mechanism 20, a depth adjustment mechanism 30 and a main control unit 40; the simulated puncture needle 10 is inserted into the posture adjustment mechanism 20, and the posture adjustment mechanism 20 is configured to be able to rotate along the first direction and the second direction as the simulated puncture needle 10 swings, so as to detect the swing angle of the simulated puncture needle and apply feedback resistance to the simulated puncture needle.

[0069] Specifically, if Figure 3 、 Figure 4 and Figure 5 As shown, the posture adjustment mechanism 20 includes an operating rod 24, a fixed base 27, a first direction base 29 and a second direction base 28; the operating rod 24 has a through hole in the middle to form a middle through structure, and the simulated puncture needle 10 passes through the through hole. After the simulated puncture needle 10 passes through the middle through structure, the axial direction of the simulated puncture needle 10 is consistent with the axial direction of the simulated puncture needle 10; the first direction base 29 is a frame structure with a middle through structure, and the first rotation axis and the second rotation axis are respectively provided on the opposite sides of the first direction base 29. The line connecting the first rotation axis and the second rotation axis is the first direction, and the fixed base 27 is formed with grooves at the positions corresponding to the first rotation axis and the second rotation axis. The first rotation axis and the second rotation axis extend into the two grooves respectively. The first direction base 29 is rotatably connected to the fixed base 27 by the setting of the rotation axis, so that the first direction base 29 can rotate relative to the first direction The fixed base 27 rotates; similarly, the second direction base 28 is rotatably connected to the fixed base 27 via the rotating shaft, so that the second direction base 28 rotates around the second direction relative to the fixed base 27; the operating rod 24 is located in the middle through-through area of the first direction base 29 and is rotatably connected to the first direction base 29. The second direction base 28 is provided with a long hole, and the operating rod 24 passes through the long hole. When the simulated puncture needle 10 moves in the first direction, the operating rod 24 moves together with the simulated puncture needle 10 in the first direction, and the first direction base 29 rotates around the first direction. The operating rod 24 moves in the long hole. When the simulated puncture needle 10 moves in the second direction, the operating rod 24 moves together with the simulated puncture needle 10 in the second direction. The operating rod 24 fits against the hole wall of the long hole to push the second direction base 28 to rotate around the second direction, thereby realizing the conversion of the swing of the simulated puncture needle 10 into movement in the first and second directions.

[0070] In an optional embodiment, the rotating shaft in the first direction base and the rotating shaft in the second direction base are both connected to the fixed base by means of bearings. The use of bearings can reduce friction and reduce the risk of friction affecting the accuracy of remote-controlled puncture.

[0071] The operating rod 24 is rotationally connected to the first direction base rather than being fixed on the fixed base 27. Therefore, in an optional embodiment, there is a gap between the bottom of the operating rod 24 and the fixed base 27, and there is no contact between the two, so as to avoid friction between the operating rod 24 and the fixed base 27 affecting the accuracy of remote-controlled puncture.

[0072] The posture adjustment mechanism 20 also includes a first motor 22 and a first gear set 23; the first gear set 23 is connected to the second rotating shaft of the first direction base 29 and is arranged opposite to the first rotating shaft, and the driving end of the first motor 22 is meshed with the first gear set 23. Specifically, the first gear set 23 includes a rotating shaft gear and a motor bevel gear. The rotating shaft gear is fixed on the second rotating shaft, and the motor bevel gear is fixed on the driving end of the first motor 22. The motor bevel gear and the rotating shaft gear are meshed with each other. The cooperation of the rotating shaft gear and the motor bevel gear saves more space for the overall device; the main control unit 40 controls the first motor 22 according to the resistance information received by the slave end robotic arm 60. The first motor 22 applies feedback force to the first direction base 29 through the first gear set 23, and applies resistance to the rotation of the operating lever 24 along the first direction. Specifically, the operator operates the simulated puncture needle 10 to move around the first direction and the second direction, the first motor 22 senses the rotation information of the first direction base 29 and sends the rotation information to the main control unit 40, and the main control unit adjusts the slave-end robotic arm 60 to make corresponding actions according to the rotation information; the slave-end robotic arm 60 will feel real resistance when it moves, and the main control unit 40 can also receive the slave-end resistance signal sent by the slave-end robotic arm 60, and feed back the resistance signal to the first motor 22. The first motor 22 then applies feedback resistance information to the first direction base 29 through the first gear set 23, and applies resistance to the rotation of the operating rod 24 along the first direction. The operator makes corresponding adjustments based on the feedback resistance information.

[0073] Similarly, the posture adjustment mechanism 20 also includes a second motor and a second gear set. The second motor is connected to the rotating shaft on the second direction base 28 through the second gear set. The main control unit 40 controls the second motor according to the resistance information received by the slave-end robotic arm 60. The second motor applies feedback force to the second direction base 28 through the second gear set, that is, applies resistance to the rotation of the operating rod 24 along the second direction. Specifically, the second motor senses the rotation information of the second direction base 28 and sends this rotation information to the main control unit 40. The main control unit controls the slave-end robotic arm 60 to make corresponding movements based on this rotation information. The slave-end robotic arm 60 will feel the actual resistance when it moves. The main control unit 40 can also receive the slave-end resistance signal sent by the slave-end robotic arm 60 and feed this resistance signal back to the second motor. The second motor then applies feedback resistance information to the second direction base 28 through the second gear set, applying resistance to the rotation of the operating rod 24 along the second direction. The operator makes corresponding adjustments based on this feedback resistance information.

[0074] like Figure 7 、 Figure 8 As shown, the depth adjustment mechanism 30 is fixed on the posture adjustment mechanism 20. The depth adjustment mechanism 30 is used to detect the displacement of the simulated puncture needle 10 in the third direction and apply feedback resistance to the simulated puncture needle; the third direction is the axial direction of the simulated puncture needle 10, and the first direction, the second direction and the third direction are perpendicular to each other.

[0075] Specifically, the depth adjustment mechanism 30 includes a puncture base 36, a puncture gear set 33 and a puncture motor 32; the puncture base 36 is fixed to the operating rod 24 by a hexagonal nut, so that the puncture base 36 and the fixed base 27 are integrated; the puncture gear set 33 includes a first puncture gear 331 and a second puncture gear 332 coaxially arranged and rotatably connected to the puncture base 36, that is, the first puncture gear 331 and the second puncture gear 332 are coaxially connected, and the first puncture gear 331 and the second puncture gear 332 are both connected to the puncture base 36 through a rotating shaft; The simulated puncture needle 10 is provided with a rack segment, the first puncture gear 331 is meshed with the rack segment, the driving end of the puncture motor 32 is connected to the bevel gear 34, the bevel gear 34 is meshed with the second puncture gear 332, and the coordinated use of the bevel gear 34 and the second puncture gear 332 saves more space on the whole device; the main control unit 40 controls the puncture motor 32 according to the resistance information received by the slave end robotic arm 60, and the puncture motor 32 applies resistance to the simulated puncture needle 10 through the puncture gear group 33 to form feedback resistance, so that medical staff can sense the resistance during actual needle insertion. Specifically, the puncture motor 32 senses the displacement information of the simulated puncture needle 10 in the third direction and sends the displacement information to the main control unit 40. The main control unit adjusts the slave-end robotic arm 60 to make corresponding actions according to the displacement information; the slave-end robotic arm 60 will feel the real resistance when it moves. The main control unit 40 can also receive the slave-end resistance signal sent by the slave-end robotic arm 60 and feed the resistance signal back to the puncture motor 32. The puncture motor 32 then applies resistance to the simulated puncture needle 10 through the puncture gear set 33 to form feedback resistance information, and the operator makes corresponding adjustments based on the feedback resistance information.

[0076] The main operator of the puncture robot provided in this embodiment operates the simulated puncture needle 10 outside the CT room, and detects the swing angle and depth of the simulated puncture needle 10 through the configuration of the posture adjustment mechanism 20 and the depth adjustment mechanism 30. The main control unit 40 is used to control the slave-end robotic arm 60 in the CT room to perform the same action to complete the puncture operation. The resistance information received by the slave-end robotic arm 60 is transmitted to the main control unit 40. The main control unit 40 controls the posture adjustment mechanism 20 and the depth adjustment mechanism 30 according to the resistance information to apply resistance to the simulated puncture needle 10, thereby forming force feedback, reducing surgical risks and uncertainties, making the remote-controlled puncture process more intuitive and accurate, and making the operation safer. This alleviates the technical problem in the prior art that the traditional master-slave robot-assisted puncture system cannot provide force feedback to medical staff during the puncture process, which makes the operation prone to risks.

[0077] In an optional embodiment, the fixed base 27 is provided with a first direction motion metering component 25 for detecting the rotation angle of the first direction base 29 along the first direction. Specifically, the first direction motion metering component 25 includes a first magnet 251 and a first reader 252; the first reader 252 is fixed on the fixed base 27, and the first magnet 251 is fixed on the first rotation axis of the first direction base 29. The first magnet 251 will move with the first direction base 29. The first reader 252 can sense the change in the angle of the first magnet 251, and can read the change in the angle of the simulated puncture needle 10 in the first direction.

[0078] Similarly, the fixed base 27 is provided with a second direction motion metering component 26 for detecting the rotation angle of the second direction base 28 along the second direction. By using the second direction motion metering component 26 to sense the rotation angle of the second direction base 28, the change in the second direction angle of the simulated puncture needle 10 can be read.

[0079] In an optional embodiment, the first motor 22 is provided with a first encoder 21 for reading the rotation angle information of the motor end. The first encoder 21 collects the rotation angle information of the motor end of the first motor 22, and the first reader 252 collects the rotation angle information of the output end. The first encoder 21 and the first reader 252 verify each other, which is more secure. If only the first encoder 21 or the first reader 252 is set, there is a risk of failure.

[0080] like Figure 6 As shown, Figure 6This is a usage scenario diagram of the posture adjustment mechanism 20. The main control unit 40 controls the movement of the slave-end robotic arm 60 according to the detection information of the first-direction motion metering component 25 and the second-direction motion metering component 26. That is, the main control unit 40 reads the angle changes of the simulated puncture needle 10 in the first direction and the second direction and controls the slave-end robotic arm 60 to make the same movement in the same direction; when the simulated puncture needle 10 rotates by an angle θ1, the main control unit 40 controls the slave-end robotic arm 60 to drive the actual puncture needle 80 to rotate by an angle θ1.

[0081] In an optional embodiment, the puncture base 36 is provided with a third directional motion metering component 35, which is used to detect the displacement of the puncture base 36 relative to the simulated puncture needle 10 in the third direction; specifically, the third directional motion metering component 35 includes a third reader 351 and a third magnet 352; the third magnet 352 is fixed on the puncture rotating shaft 37 of the puncture gear group 33, and the third reader 351 is fixed on the puncture base 36. The third reader 351 senses the angle change value of the third magnet 352, and can read the depth change of the simulated puncture needle 10 in the third direction.

[0082] In an optional embodiment, the puncture motor 32 is provided with a third encoder 31 for reading the rotation angle information of the motor end; the main control unit 40 controls the movement of the slave end robotic arm 60 according to the detection information of the third reader 351 and the third encoder 31; the third encoder 31 collects the rotation angle information of the motor end of the third motor, and the third reader 351 collects the rotation angle information of the output end, and the third encoder 31 and the third reader 351 verify each other, which is more secure.

[0083] like Figure 9 As shown, Figure 9 This is a usage scenario diagram of the depth adjustment mechanism 30 , simulating that when the puncture needle 10 penetrates to the depth Z1, the main control unit 40 controls the slave end robotic arm 60 to also penetrate to the depth Z1.

[0084] In addition, a six-dimensional force sensor 70 is installed at the end of the slave-end robotic arm 60, and the six-dimensional force sensor 70 reads the actual resistance experienced by the puncture needle 80. The main control unit 40 receives the real resistance information experienced by the slave-end robotic arm 60 collected by the six-dimensional force sensor, and applies resistance in the swing direction through the first motor 22 and the second motor, and applies resistance in the depth direction through the third motor.

[0085] The main control unit 40 in this embodiment includes a motor drive board, which reads the action of the master end and controls the slave end robotic arm 60 to perform the same action. At the same time, it reads the resistance through the six-dimensional force sensor 70 on the slave end robotic arm 60 and transmits the resistance to the simulated puncture needle 10.

[0086] like Figure 11As shown, the simulated puncture needle 10 in this embodiment includes a needle handle 11 and a needle rod 12 connected to each other, a rack segment is provided on the needle rod 12, and an anti-slip block 13 is provided at the end of the needle rod 12 away from the needle handle 11. The size of the anti-slip block 13 is larger than the size of the through hole of the operating rod 24, which effectively prevents the needle rod 12 from slipping out of the operating rod 24.

[0087] like Figure 10 As shown, a control panel 50 is also included. The control panel 50 covers the depth adjustment mechanism 30 and the posture adjustment mechanism 20. The control panel 50 has a through hole, and the simulated puncture needle 10 passes through the through hole and extends into the operating rod 24. The control panel 50 is provided with a lever 52, a status indicator light 53 and an emergency stop button 54. The lever 52 is used to switch between direction adjustment and depth adjustment modes. The emergency stop button 54 is used to stop the action of the slave end robot arm 60 in an emergency. The status indicator light 53 is used to display the status of the main operator. When the main operator is working normally, the green light is on. When the main operator has an irrecoverable fault, the red light is on.

[0088] The puncture biopsy robot provided in this embodiment includes a puncture robot main operator; a slave-end robotic arm 60 drives an actual puncture needle 80 to perform the same movement according to the displacement change information of the simulated puncture needle 10 read by the main control unit 40; the slave-end robotic arm 60 is provided with a six-dimensional force sensor 70, which is used to detect the resistance exerted on the slave-end robotic arm 60 and transmit the resistance information to the main control unit 40; through the mutual cooperation between the slave-end robotic arm 60 and the puncture robot main operator, the puncture surgery can be completed outside the CT room.

[0089] The operation method of the puncture biopsy robot provided in this embodiment includes the following steps: swinging the simulated puncture needle 10, the main control unit 40 reads the swing angle change information of the simulated puncture needle 10 in the first direction and the second direction, and controls the slave end robot arm 60 to drive the actual puncture needle 80 to swing in the same manner in the first direction and the second direction; drives the simulated puncture needle 10 to move in the third direction, the main control unit 40 reads the displacement change information of the simulated puncture needle 10 in the third direction, and controls the slave end robot arm 60 to drive the actual puncture needle 80 to move in the same manner in the third direction; and further includes the following steps: calculating the displacement change information of the slave end robot arm 60; The robotic arm 60 drives the actual puncture needle 80 to swing within a safe angle range. When the swing angle change of the simulated puncture needle 10 in the first direction and the second direction read by the main control unit 40 exceeds the safe angle range, the main control unit 40 controls the first motor 22 and the second motor to stall to prevent the simulated puncture needle 10 from swinging; the slave-end robotic arm 60 drives the actual puncture needle 80 to penetrate the needle within a safe depth range. When the displacement change of the simulated puncture needle 10 in the third direction read by the main control unit 40 exceeds the safe depth range, the main control unit 40 controls the third motor to stall to prevent the simulated puncture needle 10 from penetrating deeper.

[0090] The operation method provided in this embodiment has a safe adjustment range. In the CT room, after the slave-end robotic arm 60 and the patient undergo a CT scan, the navigation and positioning software reconstructs the CT image. After the image reconstruction, the relative positions of the slave-end robotic arm 60 and the lesion can be known, and then the angles ΔA and ΔB that the slave-end robotic arm 60 needs to adjust with the actual puncture needle 80 and the depth ΔZ of the needle insertion can be calculated. ΔA, ΔB, and ΔZ are the safe adjustment range. When the adjustment of the master end is within the safe range, the master operator can control the slave-end robotic arm 60 normally. When the adjustment of the master operator is about to exceed the safe range, the first motor 22, the second motor, and the third motor of the master operator will apply very large resistance to the operator, preventing the operator from adjusting the simulated puncture needle 10. This control mode can prevent the unexpected movement of the master operator from affecting the safety of the operation.

[0091] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A puncture robot main operator, characterized in that: include: A simulated puncture needle (10), a posture adjustment mechanism (20), a depth adjustment mechanism (30) and a main control unit (40); The simulated puncture needle (10) is inserted into the posture adjustment mechanism (20), and the posture adjustment mechanism (20) is configured to rotate along a first direction and a second direction as the simulated puncture needle (10) swings, so as to detect the swing angle of the simulated puncture needle and apply feedback resistance to the simulated puncture needle; The depth adjustment mechanism (30) is fixed on the posture adjustment mechanism (20), and the depth adjustment mechanism (30) is used to detect the displacement of the simulated puncture needle (10) in the third direction and apply feedback resistance to the simulated puncture needle; The third direction is the axial direction of the simulated puncture needle (10), and the first direction, the second direction and the third direction are perpendicular to each other. The main control unit (40) is electrically connected to the posture adjustment mechanism (20) and the depth adjustment mechanism (30) respectively, and the main control unit (40) is connected to the slave end mechanical arm (60) by signal. The main control unit (40) is used to read the angle change of the simulated puncture needle (10) in the first direction and the second direction and the displacement change in the third direction, and correspondingly control the slave end mechanical arm (60) to make the same movement in the same direction. The main control unit (40) is used to receive the resistance information received by the slave end mechanical arm (60), and correspondingly control the posture adjustment mechanism (20) and the depth adjustment mechanism (30) to apply feedback resistance to the simulated puncture needle (10); The posture adjustment mechanism (20) includes an operating rod (24), and the operating rod (24) is configured as a middle through-structure for allowing the simulated puncture needle (10) to pass through; The depth adjustment mechanism (30) includes a puncture base (36), a puncture gear set (33) and a puncture motor (32); The puncture base (36) is fixed on the operating rod (24); The puncture gear set (33) includes a first puncture gear (331) and a second puncture gear (332) coaxially arranged and rotatably connected to the puncture base (36); the simulated puncture needle (10) is provided with a rack segment, and the first puncture gear (331) is meshedly connected to the rack segment; The driving end of the puncture motor (32) is meshedly connected with the second puncture gear (332).

2. The puncture robot main operator according to claim 1, characterized in that: The posture adjustment mechanism (20) further includes a fixed base (27), a first direction base (29) and a second direction base (28); Both ends of the first direction base (29) are rotatably connected to the fixed base (27); Both ends of the second direction base (28) are rotatably connected to the fixed base (27); The operating rod (24) is rotatably connected to the first direction base (29); the second direction base (28) is provided with a long hole; the operating rod (24) passes through the long hole, so that the operating rod (24) can rotate along the first direction around the fixed base (27) along with the first direction base (29); and the operating rod (24) can rotate along the second direction around the fixed base (27) along with the second direction base (28).

3. The main operator of the puncture robot according to claim 2, characterized in that: The fixed base (27) is provided with a first direction motion metering component (25) for detecting the rotation angle of the first direction base (29) along the first direction; The fixed base (27) is provided with a second direction motion metering component (26) for detecting the rotation angle of the second direction base (28) along the second direction.

4. The puncture robot main operator according to claim 3, characterized in that: The first direction motion metering assembly (25) includes a first magnet (251) and a first reading head (252); The first magnet (251) is fixed on the first rotating shaft of the first direction base (29), the first reading head (252) is fixed on the fixed base (27), and the first reading head (252) is used to sense the angle change value of the first magnet (251).

5. The main operator of the puncture robot according to claim 4, characterized in that: The posture adjustment mechanism (20) further includes a first motor (22) and a first gear set (23); The first gear set (23) is connected to a second rotating shaft of the first direction base (29) and arranged opposite to the first rotating shaft, and the driving end of the first motor (22) is meshedly connected to the first gear set (23); The first motor (22) is provided with a first encoder (21) for reading motor end rotation angle information.

6. The main operator of the puncture robot according to claim 5, characterized in that: The main control unit (40) controls the movement of the slave end mechanical arm (60) according to the detection information of the first reading head (252) and the first encoder (21); The main control unit (40) controls the first motor (22) according to the resistance information received by the slave end mechanical arm (60), so that the first motor (22) applies feedback resistance to the first direction base (29) through the first gear set (23).

7. The main operator of the puncture robot according to claim 1, characterized in that: The puncture base (36) is provided with a third-direction motion metering component (35), and the third-direction motion metering component (35) is used to detect the displacement of the puncture base (36) relative to the simulated puncture needle (10) in the third direction.

8. The main operator of the puncture robot according to claim 7, characterized in that: The third directional motion measurement component (35) includes a third reading head (351) and a third magnet (352); The third magnet (352) is fixed on the puncture rotating shaft (37) of the puncture gear set (33), and the third reader (351) is fixed on the puncture base (36). The third reader (351) is used to sense the angle change value of the third magnet (352).

9. The main operator of the puncture robot according to claim 8, characterized in that: The puncture motor (32) is provided with a third encoder (31) for reading the rotation angle information of the motor end; The main control unit (40) controls the movement of the slave end mechanical arm (60) according to the detection information of the third reading head (351) and the third encoder (31); The main control unit (40) controls the puncture motor (32) according to the resistance information received by the slave end mechanical arm (60), so that the puncture motor (32) applies feedback resistance to the simulated puncture needle (10) through the puncture gear set (33).

10. A biopsy robot, characterized in that: comprising a main operator of the puncture robot according to any one of claims 1 to 9; The slave end mechanical arm (60) drives the actual puncture needle (80) to perform the same movement according to the displacement change information of the simulated puncture needle (10) read by the main control unit (40); The slave end mechanical arm (60) is provided with a six-dimensional force sensor (70), and the six-dimensional force sensor (70) is used to detect the resistance experienced by the slave end mechanical arm (60) and transmit the resistance information to the main control unit (40).

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