CN111437011A - Puncture surgery robot system - Google Patents
Puncture surgery robot system Download PDFInfo
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- CN111437011A CN111437011A CN202010235200.0A CN202010235200A CN111437011A CN 111437011 A CN111437011 A CN 111437011A CN 202010235200 A CN202010235200 A CN 202010235200A CN 111437011 A CN111437011 A CN 111437011A
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- puncture
- puncture needle
- needle
- ultrasonic
- working end
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
- A61B2017/3413—Needle locating or guiding means guided by ultrasound
Abstract
The invention provides a robot system for puncture surgery, which comprises a control assembly, a movable bearing platform, an ultrasonic arm, an ultrasonic detection assembly and a puncture assembly, wherein the ultrasonic arm is provided with a first connecting end and a first working end, the ultrasonic detection assembly comprises an ultrasonic probe, the puncture assembly comprises a pose adjusting mechanism, a needle feeding mechanism and a puncture needle, the pose adjusting mechanism is provided with a second connecting end and a second working end, the ultrasonic detection assembly is used for detecting a patient to be punctured and obtaining an ultrasonic imaging plane, the ultrasonic probe is connected to the first working end, the second connecting end is connected to the first working end, the needle feeding mechanism is connected to the second working end, one end of the puncture needle is clamped on the needle feeding mechanism, and the central axis of the puncture needle is positioned in the ultrasonic imaging plane. The technical scheme of the invention solves the problems that the puncture surgical robot in the prior art is heavy and bulky in volume structure, cannot be operated and moved in a smaller space range, and is difficult to realize flexible coordination and movement of the ultrasonic probe and the puncture needle.
Description
Technical Field
The invention belongs to the technical field of surgical robots, and particularly relates to a puncture surgical robot system.
Background
The percutaneous puncture operation is widely applied to interventional operations such as tissue biopsy and tumor ablation, and the puncture accuracy has great influence on the biopsy accuracy and the ablation operation effect. Due to the characteristics of accuracy and stability of the surgical robot, and the characteristics of convenience and low cost of ultrasonic imaging, the ultrasonic guided puncture surgical robot receives more and more attention. Clinically, during the ultrasound-guided puncture operation, the puncture needle and the ultrasound probe are limited to a small regional space range, but at the same time, the ultrasound probe and the puncture needle must be capable of being freely positioned.
In the prior art, a Dual-robot ultrasonic-guided needle placement robot is introduced in the closing and imaging-action loop (network data), which adopts two seven-degree-of-freedom active mechanical arms to respectively hold an ultrasonic probe and a puncture needle so as to realize ultrasonic-guided automatic puncture operation. However, the scheme that the two mechanical arms are respectively arranged to respectively hold the ultrasonic probe and the puncture needle causes the robot to have huge volume, and the problem that the two mechanical arms collide with each other due to insufficient space exists. The article "An ultrasonic-driven needle-insertion robot" introduces a puncture surgical robot, which employs a five-degree-of-freedom passive arm to hold An ultrasonic probe and a two-degree-of-freedom active arm to hold a puncture needle, wherein the two-degree-of-freedom active arm is mounted at the end of the five-degree-of-freedom passive arm, although the spatial arrangement problem of the two arms is solved, the five-degree-of-freedom passive arm cannot realize the automatic adjustment of the ultrasonic probe, the two-degree-of-freedom active arm causes the unique needle insertion point and cannot be adjusted, and the requirement of flexible positioning of the puncture needle cannot be met.
Disclosure of Invention
The invention aims to provide a puncture surgical robot system, and aims to solve the problems that a puncture surgical robot in the prior art is heavy and bulky in volume structure, cannot be operated and moved in a small space range, and is difficult to flexibly and coordinately move an ultrasonic probe and a puncture needle.
In order to achieve the purpose, the invention adopts the technical scheme that: a robotic puncture surgical system comprising: a control component; the control assembly is arranged on the movable bearing platform; the ultrasonic arm is provided with a first connecting end and a first working end, the first connecting end is connected to the movable bearing table, and the ultrasonic arm is electrically connected with the control assembly to control the motion trail of the first working end; the ultrasonic detection assembly is used for detecting a patient to be punctured and obtaining an ultrasonic imaging plane and comprises an ultrasonic probe and an ultrasonic imager, the ultrasonic probe is connected to the first working end and transmits data to the ultrasonic imager, and the ultrasonic imager is electrically connected with the control assembly; the puncture assembly comprises a pose adjusting mechanism, a needle feeding mechanism and a puncture needle, wherein the pose adjusting mechanism is provided with a second connecting end and a second working end, the second connecting end is connected to the first working end, the needle feeding mechanism is connected to the second working end, the needle feeding mechanism is electrically connected with the control assembly to control the feeding work of the needle feeding mechanism, one end of the puncture needle is clamped on the needle feeding mechanism, the central axis of the puncture needle is positioned in an ultrasonic imaging plane, and the pose adjusting mechanism is electrically connected with the control assembly to control the pose adjusting mechanism to adjust the relative position between the puncture needle and a to-be-punctured surgical site of a patient.
Further, the ultrasonic detection assembly further comprises: a first optical positioner mounted on the first working end; a second optical positioner mounted on the second working end; the first optical positioner and the second optical positioner position the first working end and the second working end through an optical positioning system, and the optical positioning system is electrically connected with the control assembly; the first optical positioner converts an ultrasonic imaging plane into a physical space coordinate system established by the optical positioning system, a first position coordinate and a second position coordinate of a to-be-punctured operation part and a puncture needle inserting point are determined in the physical space coordinate system, the second optical positioner converts a plane where a central axis of the puncture needle is located into the physical space coordinate system, the second optical positioner feeds back a third position coordinate of a needle point of the puncture needle in the physical space coordinate system in real time, the control assembly controls the adjusting mechanism to adjust the puncture needle according to the first position coordinate and the second position coordinate, and feeds back whether the position of the puncture needle deviates from a puncture planning track formed by connecting the first position coordinate and the second position coordinate and whether the puncture needle accurately punctures the to-be-punctured operation part or not in real time according to the third position coordinate.
Further, the posture adjustment mechanism includes: the first end of the connecting rod structure is rotatably connected to the first working end; the first driver is electrically connected with the control assembly and drives the first end of the connecting rod structure to rotate relative to the first working end; the sliding rail seat is rotatably connected to the second end of the connecting rod structure, and the needle inserting mechanism is installed on the sliding rail seat; and the second driver is electrically connected with the control assembly and drives the slide rail seat to rotate relative to the second end of the connecting rod structure.
Further, the link structure includes: the first end of the first rod piece is rotatably connected to the first working end; the first end of the second rod piece is rotatably connected to the second end of the first rod piece, and the sliding rail seat is rotatably connected to the second end of the second rod piece; and the third driver is electrically connected with the control assembly and drives the first end of the second rod piece to rotate relative to the second end of the first rod piece.
Further, the needle inserting mechanism comprises: the linear feeding structure comprises a sliding block and a fourth driver, the sliding rail seat is provided with a straight sliding groove, the sliding block is slidably mounted on the straight sliding groove, the fourth driver is mounted on the sliding rail seat and electrically connected with the control assembly, and the fourth driver drives the sliding block to slide in the straight sliding groove; the puncture needle mounting seat is connected to the sliding block, and one end of the puncture needle is clamped on the puncture needle mounting seat.
Further, the needle inserting mechanism further comprises: the rotary motor is connected to the sliding block, the puncture needle mounting seat is connected to the power output end of the rotary motor, the rotary motor is electrically connected with the control assembly, and when the puncture needle is bent in the process of puncture surgery, the control assembly controls the rotary motor to drive the puncture needle to rotate.
Further, the needle inserting mechanism further comprises: the force sensor is connected to the power output end of the rotating motor and electrically connected with the control assembly, and the puncture needle mounting seat is connected to the force sensor.
Furthermore, a puncture needle guide piece is arranged on the slide rail seat, and the other end of the puncture needle penetrates through the puncture needle guide piece.
Furthermore, the control assembly comprises a control host and a display, the movable bearing platform is provided with an installation space and a table board, the control host is installed in the installation space, the display is installed on the table board, and the display, the ultrasonic arm, the ultrasonic imager, the pose adjusting mechanism, the needle inserting mechanism and the optical positioning system are respectively and electrically connected with the control host.
Furthermore, the fourth driver comprises a stepping motor and a ball screw pair, the stepping motor is connected to the slide rail seat, a lead screw of the ball screw pair is coaxially connected with a rotating shaft of the stepping motor, the ball screw pair is located in the straight sliding groove, and the sliding block is connected to a nut of the ball screw pair.
The invention has at least the following beneficial effects:
the puncture surgery robot system is characterized in that the ultrasonic arm, the pose adjusting mechanism and the needle inserting mechanism are sequentially connected in sequence, so that a puncture needle can freely move in a smaller space range to realize flexible coordinated positioning, the mechanism composition of the robot system is reasonably designed, the volume of the robot system is reduced, the structural arrangement is more compact and miniaturized, the ultrasonic probe and the puncture needle are respectively arranged on the first working end of the ultrasonic arm and the needle inserting mechanism, the ultrasonic probe and the puncture needle do not have the motion interference condition of mutual collision in the moving process, and the whole process of the puncture surgery is intelligently and automatically controlled through the control assembly, so that the puncture surgery process is more quickly, accurately and safely operated.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
FIG. 1 is a diagrammatic perspective view of an assembled robotic surgical system in accordance with an embodiment of the present invention;
FIG. 2 is a simplified perspective view of the assembly of the mobile carrier of the robotic puncture surgical system in accordance with an embodiment of the present invention;
FIG. 3 is a simplified assembled perspective view of an ultrasonic arm and ultrasonic testing assembly of the robotic puncture surgical system according to an embodiment of the present invention;
fig. 4 is a diagrammatic perspective view of the assembled piercing assembly of the robotic piercing surgical system in accordance with an embodiment of the present invention.
Wherein, in the figures, the respective reference numerals:
10. moving the bearing table; 11. a wheel; 12. a push handle; 13. a table top; 20. an ultrasonic arm; 21. a first connection end; 22. a first working end; 30. an ultrasonic detection assembly; 31. an ultrasonic probe; 32. a first optical positioner; 33. a second optical positioner; 40. a puncture assembly; 41. a pose adjusting mechanism; 411. a connecting rod structure; 4111. a first bar member; 4112. a second bar member; 412. a slide rail seat; 4121. a puncture needle guide; 42. a needle inserting mechanism; 421. a linear feed structure; 4211. a slider; 4212. a fourth driver; 422. a puncture needle mounting base; 423. a rotating electric machine; 424. a force sensor; 43. a puncture needle.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
In the description of the present invention, it is to be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships illustrated in the drawings, and are used merely for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention.
Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
As shown in fig. 1 to 4, an embodiment of the present invention provides a robot system for puncture surgery, a medical staff can perform an automatic and intelligent surgery on a patient by using the robot system for puncture surgery, the robot system has good motion stability, the surgery performing process is more stable, and the robot system can control a puncture needle 43 to reach a surgical site to be punctured of the patient more accurately. Specifically, the robotic puncture surgical system comprises a control assembly (not shown), a mobile carrier 10, an ultrasonic arm 20, an ultrasonic detection assembly 30 and a puncture assembly 40, wherein the ultrasonic arm 20 has a first connecting end 21 and a first working end 22, the ultrasonic detection assembly 30 comprises an ultrasonic probe 31 and an ultrasonic imager (not shown), the puncture assembly 40 comprises a posture adjusting mechanism 41, a needle inserting mechanism 42 and a puncture needle 43, and the posture adjusting mechanism 41 has a second connecting end and a second working end. When the puncture surgical robot is assembled and formed, the control component is arranged on the movable bearing platform 10, the first connecting end 21 is connected on the movable bearing platform 10, the ultrasonic arm 20 is a space six-degree-of-freedom active mechanical arm (that is, the ultrasonic arm 20 realizes space six-degree-of-freedom flexible motion by designing a plurality of connecting joints, and each joint position is provided with a corresponding power source device, and the motion power is autonomously generated by coordinating work among the power source devices), the ultrasonic arm 20 is electrically connected with the control component to control the motion track of the first working end 22, the ultrasonic detection component 30 is used for detecting a patient to be treated and obtaining an ultrasonic imaging plane (the ultrasonic imaging plane is a sectional view of the body part of the patient, and medical staff observes the ultrasonic imaging plane presented in real time in the process of scanning the patient by the ultrasonic detection component 30 in real time, thereby determining the surgical site to be punctured of the patient), the ultrasonic probe 31 is connected to the first working end 22, the ultrasonic probe 31 transmits the scanning data to the ultrasonic imager, the ultrasonic imager is electrically connected to the control component, the patient is directly ultrasonically scanned by the ultrasonic probe 31 and an ultrasonic imaging plane is presented in real time, the second connecting end is connected to the first working end 22, the needle inserting mechanism 42 is connected to the second working end, the needle inserting mechanism 42 is electrically connected to the control component to control the feeding operation of the needle inserting mechanism 42, one end of the puncture needle 43 is clamped on the needle inserting mechanism 42, the central axis of the puncture needle 43 is located in the ultrasonic imaging plane, the puncture needle 43 is driven by the needle inserting mechanism 42 to move along the direction of the central axis and generate a propelling force, thereby puncturing the surgical site to be punctured of the patient, the posture adjusting mechanism 41 is electrically connected to the control component to control the posture adjusting mechanism 41 to adjust the relative position between the puncture needle 43 and the surgical site to be punctured of the patient .
When the medical staff determines the ultrasonic imaging plane in the scanning process, the medical staff controls the ultrasonic arm 20 to stop moving through the control assembly and keeps the ultrasonic probe 31 at the determined position of the ultrasonic imaging plane. Then, the posture adjustment mechanism 41 is controlled by the control unit, thereby adjusting the puncture needle 43 to a proper position and a needle insertion posture with respect to the surgical site to be punctured of the patient (i.e., a puncture needle insertion point at which the puncture needle 43 performs a puncture operation and a puncture posture along a line connecting the needle insertion point and the target point to be punctured). Then, the needle inserting mechanism 42 is controlled by the control assembly to drive the puncture needle 43 to move, and the puncture needle 43 punctures the surgical site to be punctured of the patient.
The robot system for puncture surgery of the invention sequentially connects the ultrasonic arm 20, the pose adjusting mechanism 41 and the needle inserting mechanism 42 in sequence, can enable the puncture needle 43 to move in a smaller space range to realize flexible coordination and positioning, thus reasonably designing the mechanism composition of the robot system, reducing the volume of the robot system, leading the structural arrangement to be more compact and miniaturized, because the ultrasonic probe 31 and the puncture needle 43 are respectively arranged on the first working end 22 of the ultrasonic arm 20 and the needle inserting mechanism 42, the two do not have the motion interference condition of mutual collision in the moving process, and the whole process of puncture surgery is intelligently and automatically controlled by the control assembly, thereby more rapidly, accurately and safely completing the puncture surgery process.
As shown in fig. 1, 3 and 4, the ultrasonic detection assembly 30 further includes a first optical locator 32 and a second optical locator 33, and cooperation between the first optical locator 32 and the second optical locator 33 is achieved by writing a program algorithm in advance in the control assembly. In this embodiment, the first optical positioner 32 is installed on the first working end 22, and the first optical positioner 32 is electrically connected to the control component through an optical positioning system (the optical positioning system is used by connecting the first optical positioner 32 and the second optical positioner 33 together, so as to convert and unify the position data obtained by the detection of the first optical positioner 32 and the second optical positioner 33 in the same physical space coordinate system), so that, during the ultrasound scanning of the ultrasound probe 31 on the patient, the first optical positioner 32 can feed back the position condition of the ultrasound probe 31 in real time (that is, the first optical positioner 32 positions the first working end 22 and transmits the positioning data to the optical positioning system). The second optical positioner 33 is installed on the second working end, the second optical positioner 33 is electrically connected with the control component through the optical positioning system, and similarly, the second optical positioner 33 can feed back the position adjustment condition of the position adjustment mechanism 41 to the puncture needle 43 in real time, and finally adjust the puncture needle 43 to the puncture needle point and the needle inserting posture of the most reasonable puncture surgery (that is, the second optical positioner 33 positions the second working end and transmits the positioning data to the optical positioning system). In the process of performing a puncture operation on a patient, the first optical positioner 32 converts an ultrasonic imaging plane into a physical space coordinate system established by the optical positioning system, the physical space coordinate system is used for determining position coordinates of each position point in the ultrasonic imaging plane, so that a first position coordinate of a to-be-punctured operation part in the physical space coordinate system and a second position coordinate of a puncture needle point in the physical space coordinate system are obtained, simultaneously, the second optical positioner 33 converts a plane where a central axis of the puncture needle 43 is located into the physical space coordinate system, in the process that the posture adjusting mechanism 41 drives the puncture needle 43 to move, the second optical positioner 33 feeds back a third position coordinate of the needle point of the puncture needle 43 in the physical space coordinate system in real time, the control assembly controls the posture adjusting mechanism 41 to adjust the puncture needle 43 according to the first position coordinate and the second position coordinate, through the coordination work between the first optical localizer 32 and the second optical localizer 33, the puncture needle 43 can be accurately and rapidly flexibly moved to reach the starting position (puncture needle point) and the needle inserting posture (the connecting direction between the puncture needle point and the operation part to be punctured) of the puncture operation, so that the puncture operation can be more accurately carried out.
As shown in fig. 4, specifically, the attitude adjusting mechanism 41 includes a link structure 411, a first driver (not shown), a rail base 412, and a second driver (not shown). In the specific design, the first end of the link structure 411 is rotatably connected to the first working end 22, the slide rail seat 412 is rotatably connected to the second end of the link structure 411, and the needle inserting mechanism 42 is installed on the slide rail seat 412, at this time, the link structure 411 and the slide rail seat 412 constitute a mechanical arm which drives the puncture needle 43 to move so as to adjust the relative position of the puncture needle 43 with respect to the to-be-punctured surgical site of the patient, the mechanical arm is a secondary arm, the ultrasonic arm 20 is a primary arm, and the two arms work in coordination, so that the ultrasonic probe 31 and the puncture needle 43 can be flexibly and coordinately moved in space. The first driver is electrically connected with the control component, the first driver drives the first end of the connecting rod structure 411 to rotate relative to the first working end 22, the second driver is electrically connected with the control component, the second driver drives the slide rail seat 412 to rotate relative to the second end of the connecting rod structure 411, similarly to the ultrasonic arm 20, a mechanical arm (sub-arm) composed of the connecting rod structure 411 and the slide rail seat 412 is also an active mechanical arm, so that full-automatic control is intelligently performed through the control component, and the purpose of automatically performing a puncture operation is achieved.
The link structure 411 may be formed by two rods or a plurality of rods.
When the link structure 411 is formed by two rods, the link structure 411 includes a first rod 4111, a second rod 4112 and a third driver (not shown), the first end of the first rod 4111 is rotatably connected to the first working end 22, the first end of the second rod 4112 is rotatably connected to the second end of the first rod 4111, and the rail seat 412 is rotatably connected to the second end of the second rod 4112, so that three rod-type mechanical arms (sub-arms) are formed between the first rod 4111, the second rod 4112 and the rail seat 412. In the three-bar type robot arm, the first bar 4111 rotates relative to the second bar 4112 in a first plane, the rail base 412 rotates relative to the second bar 4112 in a second plane, and the first plane is parallel to the second plane. The third driver is electrically connected to the control component, and the third driver drives the first end of the second rod 4112 to rotate relative to the second end of the first rod 4111, so that the three-rod mechanical arm has three degrees of freedom of movement relative to the first working end 22, thereby more flexibly and accurately moving the puncture needle 43 to the initial position and the needle inserting posture of the puncture operation.
When the link structure 411 is composed of a plurality of rods, the assembling connection manner between the rods is similar to the case that the link structure 411 is composed of two rods, and each time one rod is added, the degree of freedom of the movement of the formed auxiliary arm is added by one degree of freedom, so that the puncture needle 43 can be more flexibly and accurately moved to the starting position and the needle inserting posture of the puncture operation (of course, a more complicated program algorithm of the control process needs to be written in the control assembly).
As shown in fig. 4, the needle inserting mechanism 42 in the robotic puncture surgical system includes a linear feeding mechanism 421 and a puncture needle mounting seat 422, wherein the linear feeding mechanism 421 includes a slider 4211 and a fourth driver 4212, and the slider 4211 is driven by the fourth driver 4212 to move. The slide rail seat 412 is provided with a straight sliding groove, the sliding block 4211 can be installed on the straight sliding groove in a sliding manner, during specific assembly, a guide groove is formed in the groove wall of the straight sliding groove, a matching protrusion is arranged on the sliding block 4211, and the matching protrusion is inserted into the guide groove, so that the sliding block can realize a stable guiding effect in the moving process along the straight sliding groove. The fourth driver 4212 is installed on the slide rail seat 412, the fourth driver 4212 is electrically connected with the control component, and the fourth driver 4212 drives the sliding block 4211 to slide in the straight sliding groove. The puncture needle mounting seat 422 is connected to the sliding block 4211, one end of the puncture needle 43 is clamped on the puncture needle mounting seat 422, and therefore the control component intelligently and automatically controls the feeding work of the puncture needle 43. At this time, the control component controls the fourth driver 4212 to drive the slider 4211 to move, so that the puncture needle mounting seat 422 moves synchronously with the slider 4211 and drives the puncture needle 43 to move slowly, and under the thrust action of the puncture needle mounting seat 422, the puncture needle 43 slowly and linearly feeds for puncture (in this way, the puncture needle 43 is directly pushed and fed for puncture, and the puncture needle 43 is slowly fed for puncture, so that the puncture needle 43 is linearly fed to the target position of the operation to be punctured).
Preferably, the fourth driver 4212 includes a stepping motor and a ball screw pair, the stepping motor is connected to the slide rail base 412, a screw of the ball screw pair is coaxially connected to a rotating shaft of the stepping motor, the ball screw pair is located in the straight sliding groove, and the slider 4211 is connected to a nut of the ball screw pair.
During the feeding operation of the puncture needle 43, the puncture needle 43 is relatively slender and is easy to bend during the feeding process, once the puncture needle 43 bends during the feeding process, if the puncture needle 43 is not adjusted in position and is continuously fed, the puncture needle 43 cannot accurately reach the to-be-punctured operation part of the patient, and the puncture operation fails. Therefore, in order to ensure that the puncture needle 43 can accurately reach the surgical site to be punctured of the patient in the feeding process, the needle feeding mechanism 42 further comprises a rotating motor 423, the rotating motor 423 is connected to the slider 4211, the puncture needle mounting seat 422 is connected to the power output end of the rotating motor 423, the rotating motor 423 is electrically connected with the control component, and in the process of puncturing surgery, when the puncture needle 43 is bent, the control component controls the rotating motor 423 to drive the puncture needle 43 to rotate (in such a way, the puncture is performed in a feeding mode combining pushing and rotating). In the robotic puncture surgical system of the present invention, in fact, the bending direction of the puncture needle 43 is still controllably adjusted on the ultrasound imaging plane, that is, in the ultrasound imaging plane, during the process that the fourth driver 4212 drives the puncture needle 43 to linearly feed, when the puncture needle 43 bends, the control module controls the fourth driver 4212 to pause feeding, then controls the rotating motor 423 to drive the puncture needle 43 to rotate 180 ° (in each puncture, because the position reached by the puncture belongs to the internal organ of the human body, the number of times of rotating the puncture needle 43 in each puncture process is limited to 1-2 times, which cannot exceed 2 times), and then controls the fourth driver 4212 to drive the puncture needle 43 to continuously feed.
Further, the needle inserting mechanism 42 further comprises a force sensor 424, and the force sensor 424 is utilized to detect the puncture force of the puncture needle 43 during the feeding process, so as to monitor the safety of the puncture operation and maintain the puncture speed to be proper to reduce the pain suffered by the patient during the puncture operation. Specifically, the force sensor 424 is connected to the power output end of the rotating motor 423, and the force sensor 424 is electrically connected to the control component, so as to transmit the puncturing force data detected by the force sensor 424 to the control component, and then intelligently and automatically control the puncturing operation implementation process through the control component. Then, the puncture needle mounting seat 422 is connected to the force sensor 424, and thus, the rotary motor 423, the force sensor 424, the puncture needle mounting seat 422 and the puncture needle 43 are sequentially mounted and connected with each other by using the slider 4211 as a mounting stand, and the extending direction of the puncture needle 43 is consistent with the connecting line direction of the rotary motor 423, the force sensor 424 and the puncture needle mounting seat 422 (the central axes of the rotary motor 423, the force sensor 424 and the puncture needle mounting seat 422 are on the same straight line).
In this embodiment, as shown in fig. 4, the needle guide 4121 is provided on the rail base 412, and the other end of the puncture needle 43 passes through the needle guide 4121. Therefore, the puncture needle 43 can be guided in the process that the fourth driver 4212 drives the puncture needle 43 to move and feed to the target position to be punctured, and the accuracy of the movement direction of the puncture needle 43 is ensured.
Specifically, the control assembly includes a control host (not shown) and a display (not shown), in the present invention, the control host may be a PC host, or may be a control board integrated with an MCU, or may be a control module having a control operation function in the prior art, which is not limited herein. The mobile carrier 10 has an installation space (not shown) and a table top 13, that is, the main body of the mobile carrier 10 is formed by a box, the host controller is installed in the installation space, the display is installed on the table top 13 (the host controller is stably placed in the hollow space of the box, the display is arranged outside the top of the box and is used for passing through a transmission cable to connect the host controller and the display by forming a through hole at the top of the box), and the display, the ultrasonic arm 20, the ultrasonic imager, the pose adjusting mechanism 41, the needle inserting mechanism 42 and the optical positioning system are respectively electrically connected with the host controller.
When medical staff uses the robot system for puncture surgery to perform puncture surgery on a patient, the ultrasonic imaging plane obtained in real time in the scanning process of the ultrasonic probe 31 and the process of feeding and puncturing the puncture needle 43 are both displayed on the display in real time, and meanwhile, the display can also monitor surgery implementation data in the process of puncture surgery in real time, such as the feeding depth, the feeding moving speed, the detection data of the force sensor 424 and the like when puncture feeding, so that the medical staff can conveniently monitor the progress of the puncture surgery in real time.
In order to facilitate the medical staff to conveniently move the puncture surgery robot system, the bottom of the movable bearing platform 10 is provided with wheels 11, in the invention, the bottom of the movable bearing platform 10 of the puncture surgery robot system is provided with at least three wheels 11, preferably, as shown in fig. 1, the bottom of the movable bearing platform 10 is provided with four wheels 11, each wheel 11 has a 360-degree steering function, in addition, each wheel 11 has a locking function, and the puncture surgery robot system is stably parked during the puncture surgery. Further, a push handle 12 is provided on the side of the table top 13 of the mobile carrier 10, and the medical staff can easily move the robotic puncture surgery system through the push handle 12.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. A robotic puncture surgical system, comprising:
a control component;
the control assembly is arranged on the movable bearing platform;
the ultrasonic arm is provided with a first connecting end and a first working end, the first connecting end is connected to the movable bearing table, and the ultrasonic arm is electrically connected with the control assembly to control the motion trail of the first working end;
the ultrasonic detection assembly is used for detecting a patient to be punctured and obtaining an ultrasonic imaging plane, the ultrasonic detection assembly comprises an ultrasonic probe and an ultrasonic imager, the ultrasonic probe is connected to the first working end and transmits data to the ultrasonic imager, and the ultrasonic imager is electrically connected with the control assembly;
the puncture assembly comprises a pose adjusting mechanism, a needle inserting mechanism and a puncture needle, wherein the pose adjusting mechanism is provided with a second connecting end and a second working end, the second connecting end is connected to the first working end, the needle inserting mechanism is connected to the second working end, the needle inserting mechanism is electrically connected with the control assembly to control the feeding work of the needle inserting mechanism, one end of the puncture needle is clamped on the needle inserting mechanism, the central axis of the puncture needle is located in the ultrasonic imaging plane, and the pose adjusting mechanism is electrically connected with the control assembly to control the pose adjusting mechanism to adjust the relative position between the puncture needle and a to-be-punctured surgical site of a patient.
2. The robotic puncture surgical system of claim 1, wherein the ultrasonic probe assembly further comprises:
a first optical positioner mounted on the first working end;
a second optical positioner mounted on the second working end;
the first optical positioner and the second optical positioner position the first working end and the second working end through a shared optical positioning system, and the optical positioning system is electrically connected with the control assembly;
the first optical locator converts the ultrasonic imaging plane into a physical space coordinate system established by the optical locating system, a surgical site to be punctured and a puncture needle point determine a first position coordinate and a second position coordinate in the physical space coordinate system, the second optical localizer converts the plane of the central axis of the puncture needle into the physical space coordinate system, the second optical positioner feeds back the third position coordinate of the puncture needle tip in the physical space coordinate system in real time, the control component controls the pose adjusting mechanism to adjust the puncture needle according to the first position coordinate and the second position coordinate, and feeding back whether the puncture needle deviates from a planned puncture track formed by connecting the first position coordinate and the second position coordinate or not and whether the puncture needle accurately punctures to the surgical site to be punctured or not in real time according to the third position coordinate.
3. The robotic puncture surgical system according to claim 1 or 2, wherein the pose adjustment mechanism includes:
a link structure, a first end of the link structure being rotatably connected to the first working end;
the first driver is electrically connected with the control assembly and drives the first end of the connecting rod structure to rotate relative to the first working end;
the sliding rail seat is rotatably connected to the second end of the connecting rod structure, and the needle inserting mechanism is installed on the sliding rail seat;
and the second driver is electrically connected with the control assembly and drives the slide rail seat to rotate relative to the second end of the connecting rod structure.
4. The robotic puncture surgical system according to claim 3, wherein the linkage structure includes:
a first rod member, a first end of the first rod member being rotatably connected to the first working end;
the first end of the second rod piece is rotatably connected to the second end of the first rod piece, and the sliding rail seat is rotatably connected to the second end of the second rod piece;
and the third driver is electrically connected with the control assembly and drives the first end of the second rod piece to rotate relative to the second end of the first rod piece.
5. The robotic puncture surgical system according to claim 4, wherein the needle insertion mechanism includes:
the linear feeding structure comprises a sliding block and a fourth driver, the sliding rail seat is provided with a straight sliding groove, the sliding block is slidably mounted on the straight sliding groove, the fourth driver is mounted on the sliding rail seat, the fourth driver is electrically connected with the control assembly, and the fourth driver drives the sliding block to slide in the straight sliding groove;
the puncture needle mounting seat is connected to the sliding block, and one end of the puncture needle is clamped on the puncture needle mounting seat.
6. The robotic puncture surgical system according to claim 5, wherein the needle insertion mechanism further comprises:
the rotary motor is connected to the sliding block, the puncture needle mounting seat is connected to the power output end of the rotary motor, the rotary motor is electrically connected with the control assembly, and in the process of puncture surgery, when the puncture needle is bent, the control assembly controls the rotary motor to drive the puncture needle to rotate.
7. The robotic puncture surgical system according to claim 6, wherein the needle insertion mechanism further comprises:
the force sensor is connected to the power output end of the rotating motor, the force sensor is electrically connected with the control assembly, and the puncture needle mounting seat is connected to the force sensor.
8. The robotic puncture surgical system according to claim 3,
and a puncture needle guide piece is arranged on the slide rail seat, and the other end of the puncture needle penetrates through the puncture needle guide piece.
9. The robotic puncture surgical system according to claim 2,
the control assembly comprises a control host and a display, the mobile bearing platform is provided with an installation space and a table board, the control host is installed in the installation space, the display is installed on the table board, and the display, the ultrasonic arm, the ultrasonic imager, the pose adjusting mechanism, the needle inserting mechanism and the optical positioning system are respectively electrically connected with the control host.
10. The robotic puncture surgical system according to claim 5,
the fourth driver comprises a stepping motor and a ball screw pair, the stepping motor is connected to the slide rail seat, a lead screw of the ball screw pair is coaxially connected with a rotating shaft of the stepping motor, the ball screw pair is located in the straight sliding groove, and the sliding block is connected to a nut of the ball screw pair.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010235200.0A CN111437011B (en) | 2020-03-30 | 2020-03-30 | Puncture surgery robot system |
| PCT/CN2020/129192 WO2021196633A1 (en) | 2020-03-30 | 2020-11-16 | Surgical robot system for performing puncture |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010235200.0A CN111437011B (en) | 2020-03-30 | 2020-03-30 | Puncture surgery robot system |
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| Publication Number | Publication Date |
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| CN111437011A true CN111437011A (en) | 2020-07-24 |
| CN111437011B CN111437011B (en) | 2021-04-13 |
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| CN202010235200.0A Active CN111437011B (en) | 2020-03-30 | 2020-03-30 | Puncture surgery robot system |
Country Status (2)
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| CN (1) | CN111437011B (en) |
| WO (1) | WO2021196633A1 (en) |
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| WO2021196633A1 (en) | 2021-10-07 |
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