According to the puncture intervention
robot end executing mechanism and
system and the positioning method, the end executing mechanism comprises a clamping module and a guide needle module, and the clamping module comprises a carrying piece body, a development board, a connecting piece, a rotary driving mechanism, a clamping device, an ultrasonic probe and an electromagnetic sensor; the
needle guide module comprises a guide rail, a sliding block, a
needle guide device and displacement driving mechanisms, the coordinate
system of the whole
system is unified, meanwhile, calibration is conducted through an electromagnetic-visual registration method,
operation planning is conducted after preoperative CT scanning is conducted on an affected part of a patient, and after a target
pose is obtained through calculation of a constraint positioning
algorithm, the target
pose is determined to be the target
pose. The rotation driving mechanism drives the needle guiding device to rotate, non-coplanar puncture channel path selection is achieved, the displacement driving mechanism drives the needle guiding device to move, the needle entering angle is adjusted, the puncture process and target spot information are monitored in real
time based on real-time ultrasonic images, operation errors are reduced, the puncture precision is improved, and the
operation safety is improved. And
radiation exposure and postoperative complications of a patient are reduced.