Lung puncture robot and master-slave control puncture system with force feedback

Abstract

The utility model provides a lung puncture robot and a master-slave control puncture system with force feedback, and the robot comprises an upper translation mechanism with a Corexy structure; the lower layer translation mechanism is provided with a Corexy structure; the bracket is connected with the lower surface of the upper-layer translation mechanism and the upper surface of the lower-layer translation mechanism; one end of the puncture needle inserting mechanism is rotationally connected to the upper-layer translation mechanism, and the other end of the puncture needle inserting mechanism is rotationally connected to the lower-layer translation mechanism; the upper-layer translation mechanism and the lower-layer translation mechanism drive the puncture needle inserting mechanism to move in the X direction and the Y direction; the puncture needle is connected to the puncture needle inserting mechanism and used for executing puncture operation. The robot provided by the utility model has five degrees of freedom, has the characteristics of small volume and light weight, and can enter a CT scanning hole together with a patient to effectively compensate the influence of respiratory movement on an operation; the puncture system provided by the utility model can improve the safety and efficiency of a lung puncture operation.

Description

TECHNICAL FIELD

[0001] The utility model relates to medical equipment technical field, specifically, a lung puncture robot and master-slave control puncture system with force feedback. BACKGROUND

[0002] Pulmonary puncture surgery, as a common medical operation, is widely used in the diagnosis and treatment of lung diseases, especially in the early screening and biopsy of lung cancer. However, during the operation, the doctor needs to accurately locate the target lesion within a certain time window and perform the puncture operation, which requires a high level of technical skill and a good operating environment. Especially when the patient's physical condition is unstable or the tumor site is relatively concealed, the success rate and safety of the operation will be affected. In addition, during the pulmonary puncture surgery, real-time guidance and positioning are usually needed with the help of CT images. Although CT scanning can provide accurate lung images, long-term exposure to CT radiation can pose potential risks to the health of patients and medical staff. Especially when multiple lung puncture operations are performed, patients and doctors may unknowingly receive excessive radiation, which poses a threat to their health.

[0003] With the continuous development of medical technology, the application of robot technology in surgical operations has gradually increased, which can effectively improve the accuracy and safety of operations. In particular, through precise robot control systems, errors caused by human factors in traditional operations can be overcome, providing a more stable operation process. However, existing robots are generally large in size and heavy in weight, making it impossible for the robot to enter the CT scanning hole together with the patient.

[0004] After searching, it was found that the Chinese invention patent with the application publication number CN114469282A discloses an orthogonal structure five-degree-of-freedom puncture robot, which includes two layers of driving platforms. Each driving platform includes a base, a translation assembly, a linear driving assembly, a driving link, a bracket, a slider, and a connection joint. The translation assembly drives the bracket to translate linearly. The first end of the driving link is hinged to the linear driving assembly through a vertical shaft, and the second end is hinged to the slider through a vertical shaft. The slider is arranged on the bracket and can slide in the translation direction perpendicular to the bracket. The connection joint is hinged to the slider through a Y-direction rotating shaft. A first fixed part and a second fixed part are respectively hinged to the connection joint of one of the driving platforms and the connection joint of the other driving platform through an X-direction horizontal shaft. It also includes a needle feeding mechanism composed of a lifting motor and a pneumatic gripper. This patent guides the needle entry position and attitude of the puncture needle by driving two layers of driving assemblies, and realizes the movement of the puncture needle in its axial direction through the needle feeding mechanism. This robot cannot independently complete the puncture function, and the master-slave control technology has limited application in pulmonary puncture surgery, which cannot fully meet the needs of the operation and cannot guarantee the accuracy and safety of the operation process. UTILITY MODEL CONTENT

[0005] In view of the defects in the prior art, the utility model aims at providing a lung puncture robot and master-slave control puncture system with force feedback.

[0006] The utility model is realized through the following technical schemes:

[0007] According to one aspect of the utility model, provide a kind of lung puncture robot, comprising:

[0008] Upper layer translation mechanism, the upper layer translation mechanism has Corexy structure;

[0009] Lower layer translation mechanism, the lower layer translation mechanism has Corexy structure;

[0010] Support, the lower surface of the upper layer translation mechanism is connected with the upper surface of the lower layer translation mechanism;

[0011] Puncture needle insertion mechanism, one end is rotatably connected on the upper layer translation mechanism, the other end is rotatably connected on the lower layer translation mechanism;The upper layer translation mechanism and the lower layer translation mechanism drive the puncture needle insertion mechanism moves in X direction and Y direction;

[0012] Puncture needle, it is connected on the puncture needle insertion mechanism, for executing puncture operation.

[0013] Optionally, the upper layer translation mechanism includes:

[0014] Upper support, with the frame structure of one side opening, including the first upper edge frame, the second upper edge frame and the third upper edge frame that are sequentially arranged, wherein the second upper edge frame is opposite the opening of the upper support;

[0015] Motor one, at the end of the second upper edge frame close to first upper edge frame;

[0016] Motor two, at the end of the second upper edge frame close to third upper edge frame;

[0017] Upper slide rail, set in the inner side of the third upper edge frame, the upper slide rail is along the length direction of the third upper edge frame;

[0018] Upper connecting rod, one end is connected with upper sliding block, the upper sliding block moves along the upper slide rail, the other end of the upper connecting rod is equipped with first upper connecting piece and first lower connecting piece, and the first lower connecting piece is connected with the upper surface of the first upper edge frame;

[0019] The upper transmission wheel assembly comprises a first transmission wheel and a second transmission wheel arranged on one side of the first motor, a third transmission wheel and a fourth transmission wheel arranged on one side of the second motor, a fifth transmission wheel arranged at one end of the first upper frame close to the opening of the upper support, a sixth transmission wheel arranged at one end of the third upper frame close to the opening of the upper support, a seventh transmission wheel and an eighth transmission wheel arranged at one end of the upper connecting rod, and a ninth transmission wheel and a tenth transmission wheel arranged at the other end of the upper connecting rod, wherein the first transmission wheel and the third transmission wheel are arranged on the side away from the opening of the upper support, and the seventh transmission wheel and the ninth transmission wheel are arranged on the side close to the opening of the upper support.

[0020] The first transmission belt is arranged on the first motor, the second transmission wheel, the fifth transmission wheel, the seventh transmission wheel, the tenth transmission wheel and the first transmission wheel in sequence.

[0021] The second transmission belt is arranged on the second motor, the fourth transmission wheel, the sixth transmission wheel, the ninth transmission wheel, the eighth transmission wheel and the third transmission wheel in sequence.

[0022] Optionally, the lower translation mechanism comprises:

[0023] The lower support has a frame structure with an opening on one side, and comprises a first lower frame, a second lower frame and a third lower frame arranged in sequence, wherein the second lower frame is opposite to the opening of the lower support;

[0024] The third motor is arranged at one end of the second lower frame close to the first lower frame.

[0025] The fourth motor is arranged at one end of the second lower frame close to the third lower frame.

[0026] The lower slide rail is arranged on the inner side of the third lower frame, and is arranged along the length direction of the third lower frame.

[0027] The lower connecting rod is connected with the lower sliding block at one end, the lower sliding block moves along the lower slide rail, and the other end of the lower connecting rod is provided with a second upper connecting piece and a second lower connecting piece, and the second lower connecting piece is connected with the upper surface of the first lower frame.

[0028] The lower conveying wheel assembly comprises a eleventh conveying wheel and a twelfth conveying wheel arranged on the three outer sides of the motor, a thirteenth conveying wheel and a fourteenth conveying wheel arranged on the four outer sides of the motor, a fifteenth conveying wheel located at the opening end of the first lower frame close to the lower support, a sixteenth conveying wheel located at the opening end of the third lower frame close to the lower support, a seventeenth conveying wheel and an eighteenth conveying wheel located at one end of the lower connecting rod, and a nineteenth conveying wheel and a twentieth conveying wheel located at the other end of the lower connecting rod, wherein the eleventh transmission wheel and the thirteenth conveying wheel are located on the side away from the opening of the lower support, and the seventeenth conveying wheel and the nineteenth conveying wheel are located on the side close to the opening of the lower support;

[0029] The third conveying belt is arranged on the third motor, the twelfth conveying wheel, the fifteenth conveying wheel, the seventeenth conveying wheel, the twentieth conveying wheel and the eleventh conveying wheel in sequence.

[0030] The fourth conveying belt is arranged on the fourth motor, the fourteenth conveying wheel, the sixteenth conveying wheel, the nineteenth conveying wheel, the eighteenth conveying wheel and the thirteenth conveying wheel in sequence.

[0031] Optionally, the side surface of the upper connecting rod is provided with a first belt clamp for fixing the first conveying belt and the second conveying belt.

[0032] Optionally, the side surface of the upper connecting rod is provided with a second sliding block connecting piece, the second sliding block connecting piece is connected with one end of the spherical hinge through a first spherical hinge connecting piece, and the other end of the spherical hinge is connected with the sliding block of the puncture needle insertion mechanism through a second spherical hinge connecting piece.

[0033] Optionally, the side surface of the lower connecting rod is connected with a universal joint connecting piece, the universal joint connecting piece is connected with a universal joint through a second connecting shaft, and the inner wall of the universal joint is provided with a first connecting shaft connected with the puncture needle insertion mechanism.

[0034] Optionally, the puncture needle insertion mechanism comprises:

[0035] A connecting rod, one side of the connecting rod is provided with a puncture needle insertion mechanism sliding rail, and a puncture needle insertion mechanism sliding block slides along the puncture needle insertion mechanism sliding rail; the first connecting shaft passes through the connecting rod;

[0036] A puncture needle fixing plate is located on the other side of the connecting rod, and the puncture needle fixing plate is used for fixing a puncture needle.

[0037] A fifth motor is located on the other side of the connecting rod, the fifth motor is fixed above the puncture needle fixing plate, and the fifth motor drives the puncture needle fixing plate to move up and down.

[0038] According to another aspect of the utility model, provide a kind of master-slave control puncture system with force feedback, the system includes the above-mentioned lung puncture robot, still include master hand and host computer, the lung puncture robot and the master hand are connected with the host computer respectively, the lung puncture robot is as slave hand, for completing the positioning orientation of puncture needle and final puncture process;The host computer transmits the position information of master hand to slave hand, so that robot reaches target position;The host computer is also used to feedback the force condition of puncture needle, and transmits the force of puncture needle to master hand.

[0039] Further, the host computer transmits the force of puncture needle to master hand by master-slave mapping.

[0040] Further, when the force sensor at the end of the puncture needle detects that the needle tip of the puncture needle is stressed greater than a preset value, the host computer controls the lung puncture robot to stop moving.

[0041] Compared with the prior art, the utility model has at least one of the following beneficial effects:

[0042] 1. The lung puncture robot provided by the utility model realizes two translations and two orientations by two superimposed Cartesian platforms and an innovative Corexy winding mode, so as to realize four degrees of freedom of the robot and one degree of freedom of the puncture process of the puncture needle in the puncture mechanism. The robot has a total of five degrees of freedom, a total size of 315*210*225mm, and a total weight of 1.8kg. The robot can enter a CT scanning hole together with a patient while ensuring the comfort when fixed on the patient's body, so as to effectively compensate for the influence of respiratory motion on the operation.

[0043] 2. The master-slave control puncture system with force feedback provided by the utility model transmits the force condition of the needle tip of the puncture needle to master hand, so as to improve the safety during puncture and enable doctors to remotely control master hand to operate the robot to complete the puncture process. By adopting high-precision positioning technology and real-time force feedback mechanism, the utility model significantly improves the safety and efficiency of lung puncture operation and promotes the development of lung puncture operation towards higher precision and intelligence. BRIEF DESCRIPTION OF DRAWINGS

[0044] Other features, objects and advantages of the utility model will become more apparent by reading the following detailed description of the non-limiting embodiments with reference to the accompanying drawings:

[0045] Figure 1 It is the structure schematic view of the lung puncture robot in an embodiment of the utility model;

[0046] Figure 2 It is the structure schematic view of the upper layer translation mechanism of the lung puncture robot in an embodiment of the utility model;

[0047] Figure 3 It is the structure schematic view of lower translation mechanism of the lung puncture robot in an embodiment of the utility model;

[0048] Figure 4 It is the winding schematic view of Corexy mechanism of the lung puncture robot in an embodiment of the utility model;

[0049] Figure 5 It is the structure schematic view of puncture needle insertion mechanism of the lung puncture robot in an embodiment of the utility model;

[0050] Figure 6 It is the principle schematic view of master-slave control puncture system with force feedback in an embodiment of the utility model.

[0051] Corresponding figure mark in the drawing is: 1-upper translation mechanism, 2-puncture needle insertion mechanism, 3-puncture needle, 4-lower translation mechanism, 5-bracket, 201-upper bracket, 202-motor one, 203-motor two, 204-third transmission wheel, 205-screw, 206-upper slide rail, 207-upper sliding block, 208-sliding block connecting piece one, 209-first upper connecting piece, 210-first lower connecting piece, 211-sliding block connecting piece two, 212-first belt clamp, 213-ball hinge connecting piece one, 214-ball hinge, 215-puncture needle insertion mechanism sliding block, 216-ball hinge connecting piece two, 301-motor three, 302-motor four, 305-gimbal connecting piece, 306-continuous axle one, 307-gimbal, 308-continuous axle two, 401-connecting rod, 402-motor five, 403-guide column, 404-puncture needle fixing plate, 405-puncture needle insertion mechanism slide rail. DETAILED DESCRIPTION

[0052] The utility model will be explained in detail below by combining with specific embodiment. The following embodiment will help the person skilled in the art further understand the utility model, but does not limit the utility model in any form. It should be pointed out that, for ordinary skilled person in the art, on the premise of not departing from the utility model concept, can make a number of deformation and improvement. These all belong to the protection scope of the utility model.

[0053] REFERENCE Figure 1The lung puncture robot provided by the embodiment of the utility model, including upper layer translation mechanism 1, lower layer translation mechanism 4, support 5, puncture needle insertion mechanism 2 and puncture needle 3, wherein: upper layer translation mechanism 1 and lower layer translation mechanism 4 have Corexy structure (i.e. Cartesian platform); support 5 is connected with the lower surface of upper layer translation mechanism 1 and the upper surface of lower layer translation mechanism 4, including the connecting piece of rod shape at four corners; one end of puncture needle insertion mechanism 2 is rotatably connected on upper layer translation mechanism 1, and the other end is rotatably connected on lower layer translation mechanism 4, realizing rotation around X direction and Y direction; upper layer translation mechanism 1 and lower layer translation mechanism 4 drive puncture needle insertion mechanism 2 to move in X direction and Y direction; puncture needle 3 is connected on puncture needle insertion mechanism 2, and is used for executing puncture operation.

[0054] The positioning and orientation four degrees of freedom of the robot in the embodiment of the utility model are realized by two superimposed same Cartesian platforms based on Corexy structure, and each Cartesian platform realizes translation in X direction and Y direction by synchronous pulling of a motor.

[0055] Referring to Figure 2 and Figure 4In some embodiments, the upper translation mechanism 1 comprises an upper support 201, a first motor 202, a second motor 203, an upper slide rail 206, an upper connecting rod, an upper transmission wheel assembly, a first transmission belt and a second transmission belt. The upper support 201 has a frame structure with one side opening, comprising a first upper edge frame, a second upper edge frame and a third upper edge frame arranged in sequence, wherein the second upper edge frame is opposite to the opening of the upper support 201; the first motor 202 is located at one end of the second upper edge frame close to the first upper edge frame; the second motor 203 is located at one end of the second upper edge frame close to the third upper edge frame; the upper slide rail 206 is arranged on the inner side of the third upper edge frame, and the upper slide rail 206 is arranged along the length direction of the third upper edge frame; one end of the upper connecting rod is connected with an upper slide block 207 through a slide block connector 208, and the upper slide block 207 moves along the upper slide rail 206; the other end of the upper connecting rod is provided with a first upper connector 209 and a first lower connector 210 for fixing transmission wheels, the first upper connector 209 and the first lower connector 210 are symmetrical, and the first lower connector 210 is connected with the upper surface of the first upper edge frame; the upper transmission wheel assembly comprises a first transmission wheel and a second transmission wheel arranged outside the first motor 202, a third transmission wheel 204 and a fourth transmission wheel arranged outside the second motor 203, a fifth transmission wheel located at one end of the first upper edge frame close to the opening of the upper support 201, a sixth transmission wheel located at one end of the third upper edge frame close to the opening of the upper support 201, a seventh transmission wheel and an eighth transmission wheel located at one end of the upper connecting rod, and a ninth transmission wheel and a tenth transmission wheel located at the other end of the upper connecting rod, wherein the first transmission wheel and the third transmission wheel 204 are located at the side away from the opening of the upper support 201, and the seventh transmission wheel and the ninth transmission wheel are located at the side close to the opening of the upper support 201; for example, the third transmission wheel 204 is fixed to the upper support 201 through a screw 205, and other transmission wheels are fixed in the same way as the third transmission wheel 204; as shown by the middle red line, the first transmission belt is arranged on the first motor, the second transmission wheel, the fifth transmission wheel, the seventh transmission wheel, the tenth transmission wheel and the first transmission wheel in sequence; as shown by the middle blue line, the second transmission belt is arranged on the second motor, the fourth transmission wheel, the sixth transmission wheel, the ninth transmission wheel, the eighth transmission wheel and the third transmission wheel 204 in sequence. Figure 4 Figure 4

[0056] Referring to Figure 3 and Figure 4 ​​In some embodiments, the lower translation mechanism 4 has the same structure as the upper translation mechanism 1, but their placement directions are opposite, i.e., they are symmetrically arranged. The lower translation mechanism 4 includes a lower support, a third motor 301, a fourth motor 302, a lower slide rail, a lower connecting rod, a lower conveyor wheel assembly, a third conveyor belt, and a fourth conveyor belt. The lower support has a frame structure with an opening on one side, including a first lower frame, a second lower frame, and a third lower frame arranged sequentially, wherein the second lower frame is opposite to the opening of the lower support; the third motor 301 is located at the end of the second lower frame near the first lower frame; the fourth motor 302 is located at the end of the second lower frame near the third lower frame; the lower slide rail is located inside the third lower frame and is arranged along the length of the third lower frame; one end of the lower connecting rod is connected to the lower slider, which moves along the lower slide rail; the other end of the lower connecting rod is provided with a second upper connector and a second lower connector, the second lower connector being connected to the upper surface of the first lower frame; the lower conveyor wheel assembly... The conveyor assembly includes an eleventh and twelfth conveyor wheel located outside motor 301, a thirteenth and fourteenth conveyor wheel located outside motor 402, a fifteenth conveyor wheel located at one end of the first lower frame near the opening of the lower support, a sixteenth conveyor wheel located at one end of the lower support of the third lower frame, a seventeenth and eighteenth conveyor wheel located at one end of the lower connecting rod, and a nineteenth and twentieth conveyor wheel located at the other end of the lower connecting rod. The eleventh and thirteenth conveyor wheels are located on the side away from the opening of the lower support, and the seventeenth and nineteenth conveyor wheels are located on the side near the opening of the lower support. The third conveyor belt is sequentially wound around the third motor, the twelfth conveyor wheel, the fifteenth conveyor wheel, the seventeenth conveyor wheel, the twentieth conveyor wheel, and the eleventh conveyor wheel. The fourth conveyor belt is sequentially wound around the fourth motor, the fourteenth conveyor wheel, the sixteenth conveyor wheel, the nineteenth conveyor wheel, the eighteenth conveyor wheel, and the thirteenth conveyor wheel.

[0057] In some embodiments, the upper connecting rod has a first belt clamp 212 on its side for securing the first and second conveyor belts. The lower connecting rod has a second belt clamp on its side for securing the third and fourth conveyor belts.

[0058] like Figure 4 The diagram shows the winding of the Corexy structure corresponding to the upper-level translation mechanism 1. The Corexy structure is a parallel motion platform driven by two motors on the same layer, providing two degrees of freedom in Cartesian motion. The compact structure of the Corexy mechanism ensures miniaturization of the robot, while the conveyor belt drive ensures lightweight design. Simultaneously, both motors in the Corexy structure remain fixed during movement, enabling more agile and rapid motion and achieving higher positioning accuracy.

[0059] In the Corexy structure, the relationship between motor rotation and positional movement is shown in the following formula:

[0060]

[0061] Where ΔX and ΔY are the relative displacements at the corresponding positions of the belt clamps, i.e., the displacements of the upper translation mechanism 1 (or the lower translation mechanism 4), while ΔA and ΔB are the distances corresponding to the number of revolutions of the motor itself, i.e., the distances the conveyor belts move. Two sets of conveyor belts ( Figure 4 The red and blue lines (in the diagram) convert the motor's rotational motion into the module's translational motion. When the motor rotates in the same direction and at the same speed, its motion is translated into the module's translation in the X direction; when the motor rotates in opposite directions at the same speed, its motion is translated into the module's translation in the Y direction. This position conversion relationship can be integrated into a control motherboard, enabling the computer to quickly and accurately send position signals to the mechanism for precise control of the robot's movement.

[0062] Continue to refer to Figure 2 In some embodiments, to facilitate the connection between the upper translation mechanism 1 and the upper part of the puncture needle insertion mechanism 2, a ball joint connection is adopted between the two. Specifically, the side of the upper connecting rod is provided with a slider connector 211. The slider connector 211 is connected to one end of the ball joint 214 through a ball joint connector 213, and the other end of the ball joint 214 is connected to the slider 215 of the puncture needle insertion mechanism through a ball joint connector 216.

[0063] Continue to refer to Figure 3 In some embodiments, to facilitate the connection between the lower translation mechanism 4 and the lower part of the puncture needle insertion mechanism 2, a universal joint connection is used between the two. Specifically, a universal joint connector 305 is connected to the side of the lower connecting rod, and the universal joint connector 305 is connected to the universal joint 307 via a second connecting shaft 308. The inner wall of the universal joint 307 is provided with a first connecting shaft 306 that connects to the puncture needle insertion mechanism 2. The above-mentioned connection method between the puncture needle insertion mechanism 2 and the upper translation mechanism 1 and the lower translation mechanism 4 is convenient for assembly and facilitates the movement of the puncture needle insertion mechanism 2.

[0064] In the above embodiments of this invention, the robot's four degrees of freedom—translation and orientation—are achieved by two superimposed Corexy structures. The puncture needle insertion mechanism 2 connects the two Cartesian platforms via ball joints and universal joints 307, allowing the puncture needle 3 to achieve five degrees of freedom of movement within a suitable workspace. When both mechanisms operate simultaneously, the needle tip can move in the XY plane, achieving the positioning of the puncture needle 3. When the bottom Corexy structure remains stationary, and only the top Corexy structure moves, the needle tip can rotate around the x and y axes, achieving the orientation of the puncture needle 3.

[0065] Reference Figure 5In some embodiments, the puncture needle mechanism 2 includes a connecting rod 401, a motor five 402, and a puncture needle fixing plate 404. One side of the connecting rod 401 is provided with a puncture needle mechanism sliding rail 405, which is a groove-shaped structure located at the back of the puncture needle mechanism 2. A puncture needle mechanism sliding block 215 slides along the puncture needle mechanism sliding rail 405. Since the ball hinge 214 is connected to the puncture needle mechanism sliding block 215, the puncture needle mechanism sliding rail 405 is connected to the ball hinge 214 through the puncture needle mechanism sliding block 215. The connecting shaft one 306 penetrates through the connecting rod 401. The puncture needle fixing plate 404 is located on the other side of the connecting rod 401 and is used for fixing the puncture needle 3. The motor five 402 is fixed on the other side of the connecting rod 401 and is located above the puncture needle fixing plate 404. Specifically, the motor five 402 is provided with a nut with a small hole. A screw penetrates through the small hole to connect the motor five 402 to the upper side of the puncture needle fixing plate 404. The motor five 402 is a lead screw stepper motor. The puncture needle mechanism 2 converts the rotary motion of the lead screw motor into the linear motion of the puncture needle fixing plate 404 through the motor five 402. The puncture needle fixing plate 404 drives the puncture needle 3 to move up and down, thereby realizing the puncture needle 3 puncture and withdrawal process.

[0066] In order to guide the linear motion of the puncture needle fixing plate 404, in further embodiments, the puncture needle mechanism 2 further includes a guide column 403 which is parallel to the lead screw of the motor five 402. The guide column 402 is provided with threads at both ends. The guide column 403 is connected to the puncture needle fixing plate 404 through a nut. Under the action of the motor five 402, the puncture needle fixing plate 404 moves up and down along the guide column 403.

[0067] In the above embodiments, the main structure of the robot is selected from a 3D printed photosensitive resin material to reduce the overall weight and avoid metal artifacts caused by CT scanning.

[0068] In order to meet the requirements of lung puncture surgery, the robot provided in the above embodiments includes five degrees of freedom in total. The five degrees of freedom are two translational degrees of freedom of the robot along the X and Y directions, two rotational degrees of freedom of the robot around the X and Y directions (imitating the wrist joint of a doctor), and one degree of freedom of the puncture needle 3 in the puncture needle mechanism 2. Among them, the two translational and two directional degrees of freedom are realized by a motor pulling a conveyor belt through an innovative corexy winding method based on two superimposed Cartesian platforms. The one degree of freedom of the puncture needle mechanism 2 is controlled by the motor five 402 to realize the puncture needle process. The total size of the robot is 315*210*225mm, and the total weight is 1.8kg. The robot can enter the CT scanning hole together with the patient while ensuring the comfort when fixed on the patient's body, thereby effectively compensating for the influence of respiratory motion on the operation.

[0069] The design of the upper translation mechanism 1 and the lower translation mechanism 4 in the above-mentioned embodiment of the utility model, based on the winding mode of Corexy, adopts the mode of line driving, so that the mechanism can meet the requirements of accuracy and stability, and can also meet the design requirements of miniaturization and light weight. The above-mentioned robot can be fixed to the body through a bandage, and an arc curve can be designed at the part adhering to the human body. The installation mode of the body fixing type can compensate for the influence of respiratory movement. The weight of the above-mentioned robot device is less than 2Kg, so that the comfort when fixed to the patient's body can be ensured.

[0070] The robot in the above-mentioned embodiment of the utility model has high positioning accuracy, and the distal end of the puncture needle 3 is fixed with a force sensor. The force state of the needle tip of the puncture needle 3 can be detected through the force sensor, and real-time force feedback can be realized.

[0071] Another embodiment of the utility model provides a master-slave control puncture system with force feedback, which refers to Figure 6 The system includes the lung puncture robot in the above-mentioned embodiment, and further includes a master hand and a host computer (i.e. a control system). The lung puncture robot and the master hand are connected with the host computer respectively. The lung puncture robot serves as a slave hand and is used to complete the positioning and orientation of the puncture needle 3 and the final puncture process. The host computer transmits the position information of the master hand to the slave hand, so that the robot reaches the target position. The puncture needle 3 of the lung puncture robot is provided with a force sensor, and the force sensor is connected with the host computer. The host computer is further used to feed back the force state of the puncture needle 3 according to the measurement value of the force sensor, and transmit the force of the puncture needle 3 to the master hand.

[0072] In some embodiments, the host computer transmits the force of the puncture needle 3 to the master hand through master-slave mapping. Specifically, Figure 6 In the above-mentioned embodiment, P represents the pose of the slave hand, F represents the force of the needle tip of the puncture needle read by the sensor, and F f represents the force mapped to the master hand; the force sensor fixed at the distal end of the puncture needle 3 can monitor the force state of the needle tip of the puncture needle 3 in real time. After the signal is processed and amplified, it is converted into a force signal that is easy for the doctor to perceive, and the signal is fed back to the master hand end. The processing and amplification of the signal are realized based on forward kinematics, inverse kinematics, force sensors, image information and the like. Therefore, during the operation process, the hand of the doctor can perceive the force state of the puncture needle 3 in X, Y and Z directions.

[0073] In some embodiments, when the force sensor at the distal end of the puncture needle 3 detects that the force of the needle tip of the puncture needle 3 is greater than a preset value, the host computer controls the lung puncture robot to stop moving, so as to avoid tissue tearing and strain. Exemplarily, according to the maximum puncture force collected by the doctor during normal operation, the preset value is 4N. Through the safety protection mechanism, the puncture safety can be effectively guaranteed.

[0074] The utility model embodiment, master hand has force feedback system, can realize better man -machine interactive effect, strengthens the operation on -the -spot feeling of doctor. The slave hand is five degree of freedom puncture robot for above, is used for completing the positioning orientation and final puncture process of puncture needle. The host computer is as decision layer, transmits the position information of master hand to slave hand, makes robot reach target position, simultaneously and will the force condition of puncture needle feedback to the system, and through master-slave mapping algorithm will the force of puncture needle transmission to master hand, and join security protection mechanism, to guarantee the safety of operation process.

[0075] The utility model above -mentioned embodiment, robot has the characteristics of small volume, light weight, can be conveniently placed in CT room and is fixed on the patient's body, thereby effectively compensating the influence of respiratory motion on operation. Puncture system adds real -time force feedback system, through a kind of master-slave mapping algorithm will the force condition of puncture needle tip transmission to master hand, to improve the safety in puncture process. The system can provide real -time feedback, accurate control in operation process, and simplify operation process, so that doctor can remotely control master hand operation robot to complete puncture process. By adopting high-precision positioning technology and real-time force feedback mechanism, the utility model above -mentioned embodiment can significantly improve the safety and efficiency of lung puncture operation, to promote lung puncture operation towards higher precision and intelligent direction development.

[0076] The specific embodiments of the utility model are described above. It should be understood that the utility model is not limited to the above specific embodiments, and those skilled in the art can make various modifications or changes within the scope of claims, which does not affect the essential content of the utility model.

Claims

1. A lung puncture robot, characterized in that, include: An upper-level translation mechanism, wherein the upper-level translation mechanism has a Corexy structure; A lower-level translation mechanism, wherein the lower-level translation mechanism has a Corexy structure; A bracket, which connects the lower surface of the upper translation mechanism to the upper surface of the lower translation mechanism; The puncture needle insertion mechanism has one end rotatably connected to the upper translation mechanism and the other end rotatably connected to the lower translation mechanism; the upper translation mechanism and the lower translation mechanism drive the puncture needle insertion mechanism to move in the X and Y directions; A puncture needle, which is connected to the puncture needle insertion mechanism, is used to perform a puncture operation.

2. The lung puncture robot according to claim 1, characterized in that, The upper translation mechanism includes: The upper support has a frame structure with an opening on one side, including a first upper frame, a second upper frame and a third upper frame arranged in sequence, wherein the second upper frame is opposite to the opening of the upper support; Motor 1 is located at the end of the second upper frame that is close to the first upper frame; Motor 2 is located at the end of the second upper frame near the third upper frame; An upper slide rail is provided on the inner side of the third upper frame, and the upper slide rail is provided along the length direction of the third upper frame; An upper connecting rod is provided with one end connected to an upper slider, the upper slider moving along the upper slide rail, and the other end of the upper connecting rod is provided with a first upper connecting member and a first lower connecting member, the first lower connecting member being connected to the upper surface of the first upper frame. The upper conveyor wheel assembly includes a first and second conveyor wheel located outside the first motor, a third and fourth conveyor wheel located outside the second motor, a fifth conveyor wheel located at one end of the first upper frame near the opening of the upper bracket, a sixth conveyor wheel located at one end of the third upper frame near the opening of the upper bracket, a seventh and eighth conveyor wheel located at one end of the upper connecting rod, and a ninth and tenth conveyor wheel located at the other end of the upper connecting rod. The first and third conveyor wheels are located on the side away from the opening of the upper bracket, and the seventh and ninth conveyor wheels are located on the side near the opening of the upper bracket. The first conveyor belt is sequentially wound around the first motor, the second conveyor wheel, the fifth conveyor wheel, the seventh conveyor wheel, the tenth conveyor wheel, and the first conveyor wheel; The second conveyor belt is sequentially wound around the second motor, the fourth conveyor wheel, the sixth conveyor wheel, the ninth conveyor wheel, the eighth conveyor wheel, and the third conveyor wheel.

3. The lung puncture robot according to claim 2, characterized in that, The lower-level translation mechanism includes: The lower support has a frame structure with an opening on one side, including a first lower frame, a second lower frame and a third lower frame arranged in sequence, wherein the second lower frame is opposite to the opening of the lower support; Motor 3 is located at the end of the second lower frame that is close to the first lower frame; Motor 4 is located at one end of the second lower frame near the third lower frame; A sliding rail is provided on the inner side of the third lower frame, and the sliding rail is provided along the length direction of the third lower frame; The lower connecting rod has one end connected to the lower slider, which moves along the lower slide rail. The other end of the lower connecting rod is provided with a second upper connecting member and a second lower connecting member. The second lower connecting member is connected to the upper surface of the first lower frame. The lower conveyor wheel assembly includes an eleventh and twelfth conveyor wheel located on the outer side of the third motor, a thirteenth and fourteenth conveyor wheel located on the outer side of the fourth motor, a fifteenth conveyor wheel located at one end of the first lower frame near the opening of the lower support, a sixteenth conveyor wheel located at one end of the third lower frame near the opening of the lower support, a seventeenth and eighteenth conveyor wheel located at one end of the lower connecting rod, and a nineteenth and twentieth conveyor wheel located at the other end of the lower connecting rod. The eleventh and thirteenth conveyor wheels are located on the side away from the opening of the lower support, and the seventeenth and nineteenth conveyor wheels are located on the side near the opening of the lower support. The third conveyor belt is sequentially wound around the motor, the twelfth conveyor wheel, the fifteenth conveyor wheel, the seventeenth conveyor wheel, the twentieth conveyor wheel, and the eleventh conveyor wheel; The fourth conveyor belt is sequentially wound around the fourth motor, the fourteenth conveyor wheel, the sixteenth conveyor wheel, the nineteenth conveyor wheel, the eighteenth conveyor wheel, and the thirteenth conveyor wheel.

4. The lung puncture robot according to claim 3, characterized in that, The upper connecting rod is provided with a first belt clamp on its side for fixing the first conveyor belt and the second conveyor belt.

5. The lung puncture robot according to claim 3, characterized in that, The upper connecting rod is provided with a second slider connector on its side. The second slider connector is connected to one end of the ball joint through a first ball joint connector, and the other end of the ball joint is connected to the slider of the puncture needle insertion mechanism through the second ball joint connector.

6. The lung puncture robot according to claim 5, characterized in that, The lower connecting rod is connected to a universal joint connector on its side. The universal joint connector is connected to the universal joint via a second connecting shaft. The inner wall of the universal joint is provided with a first connecting shaft that is connected to the puncture needle insertion mechanism.

7. The lung puncture robot according to claim 6, characterized in that, The puncture needle insertion mechanism includes: A connecting rod is provided on one side of the connecting rod, and the sliding block of the puncture needle insertion mechanism slides along the puncture needle insertion mechanism slide; a connecting shaft passes through the connecting rod. A puncture needle fixing plate is located on the other side of the connecting rod, and the puncture needle fixing plate is used to fix the puncture needle. Motor 5 is located on the other side of the connecting rod. Motor 5 is fixed above the puncture needle fixing plate. Motor 5 drives the puncture needle fixing plate to move up and down.

8. A master-slave controlled puncture system with force feedback, characterized in that, The lung puncture robot, as described in any one of claims 1-7, further includes a master hand and a host computer. The lung puncture robot and the master hand are respectively connected to the host computer. The lung puncture robot acts as a slave hand, used to complete the positioning and orientation of the puncture needle and the final puncture process. The host computer transmits the position information of the master hand to the slave hand, enabling the robot to reach the target position. The host computer is also used to provide feedback on the force on the puncture needle and transmit the force on the puncture needle to the master hand.

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