CN115607288A

CN115607288A - Minimally invasive surgery robot compatible with MRI and CT environments

Info

Publication number: CN115607288A
Application number: CN202210769561.2A
Authority: CN
Inventors: 林军
Original assignee: Individual
Current assignee: Individual
Priority date: 2021-12-28
Filing date: 2022-06-30
Publication date: 2023-01-17
Also published as: CN218528882U; CN218515900U; CN218515792U

Abstract

The invention discloses a minimally invasive surgery robot compatible with MRI and CT environments, which comprises: the arched door module comprises an arched door body and an arched door sliding block mechanism; the puncture needle positioning module comprises an R translation mechanism capable of radially moving along an arc-shaped guide track, a Z rotating mechanism capable of realizing rotary motion around a Z axis, and an X rotating mechanism at least used for providing rotary motion around an X axis; and a lancet insertion module. The minimally invasive surgical robot compatible with MRI and CT environments provided by the invention can adapt to the closed pore cavity size of a standard MRI and CT scanner, and can realize accurate adjustment of the position and posture of a puncture needle in the closed pore cavity, so that the puncture needle can be ensured to puncture at a human skin insertion point according to a planned path; the minimally invasive surgery robot allows image scanning and robot movement to be carried out synchronously in real time, a patient does not need to be repeatedly moved into or out of a closed cavity of MRI or CT in the surgery process, the surgery time can be reduced, and the surgery precision is improved.

Description

Minimally invasive surgery robot compatible with MRI and CT environments

Technical Field

The invention relates to the technical field of medical robots, in particular to a minimally invasive surgery robot compatible with MRI and CT environments.

Background

Percutaneous interventions are a common minimally invasive clinical procedure involving the insertion of a puncture needle through the skin of a patient into the body for pathological diagnosis or treatment. Percutaneous interventional applications include: biopsy, marking seed or drug capsule implantation, and ablation electrode insertion for minimally invasive surgery such as tumor ablation, etc., which are applicable to most organs of the human body, for example: breast, prostate, lung, kidney, liver, etc. Compared to conventional surgical treatments, percutaneous interventions are characterized by guiding the insertion of the needle according to the puncture path of the medical image planning needle.

During operation, the puncture needle is usually guided by image navigation methods such as Computed Tomography (CT) or Magnetic Resonance Imaging (MRI) to reach a target position of a lesion through the skin of a human body. Although CT scanners may emit relatively high doses of ionizing radiation and may pose further health risks to the patient; the relatively low cost and applicability make CT guidance methods still widely used worldwide. MRI, in turn, not only has excellent soft tissue contrast and spatial resolution in any direction, but also does not expose the patient to ionizing radiation. From the MRI image diagnosis, the physician may determine the surgical target location, perform surgical needle insertion path planning and determine the needle insertion point, and introduce the needle through the skin into the target anatomy, such as the joint space or nerve roots, to inject contrast or pain medication, etc. The physician may also manipulate the control needle to different internal organs for needle biopsy or to perform minimally invasive radio frequency or cryoablation treatment of cancerous sites. Accordingly, there is an increasing demand for minimally invasive surgical robots suitable for use in MRI and CT environments.

However, there are very few surgical robots on the market that are compatible with MRI and CT environments, and most of them are still in the development stage. The main challenges it faces come from: 1) Operating space limitations. Since horizontal closed-bore MRI scanners with a bore diameter of 60cm and horizontal closed-bore CT scanners with a bore diameter of 70cm are still used more frequently, it is extremely difficult to perform surgical operations in such narrow spaces; 2) Material compatibility limitations. High density, ferromagnetic and electrically conductive materials are generally incompatible with MRI scanners; 3) And limiting the driving mode. Namely, when the surgical robot moves, the normal work of the scanner is not interfered, and image artifacts are not generated; similarly, the operation of the robot should not be affected when the scanner is working; 4) And (4) limiting the precision. The insertion accuracy of the puncture needle must meet requirements, since for insertion depths of 15 to 20cm, the target is usually in the order of millimeters.

To date, minimally invasive surgical robotic systems have been developed that meet MRI and CT compatibility requirements, but all suffer from certain limitations. For example, some surgical robotic systems utilize pneumatically or hydraulically driven robotic movements, but pneumatically driven robots suffer from low relative speed stability and positional accuracy, hydraulically driven robots may suffer from cavitation or fluid leakage, and the overall drive system may be bulky; in addition, most puncture needles used in minimally invasive surgical robots are rigid puncture needles, and are limited by the narrow space of the obturator foramen, so that such robots can only realize the positioning function of the puncture needle (i.e. ensure that the insertion direction of the puncture needle is consistent with the planned path) under the guidance of MRI or CT, and the whole operation steps, such as the insertion function of the puncture needle, especially organ operations at the thoracic cavity and the abdominal cavity, are difficult to be completed in real time in MRI or CT obturator foramen. In this case, the needle is inserted manually by the physician only after the patient has removed the MRI or CT obturator foramen to avoid interference with the obturator walls by conventional lengths of needle in the obturator foramen. In some particular cases, the insertion movement of the puncture needle can be carried out in the obturator foramen, in which case the puncture needle is of short length and therefore has a very limited insertion depth in order to avoid interference; for example, patent CN113349896a discloses a puncture mechanism and a puncture robot which can perform a surgical operation in a narrow space for scanning obturator foramen in CT and MRI. However, the robot device has the following disadvantages: 1) The structural form of the frame supporting mechanism has relatively small application range for patients with different body types; 2) And because the needle puncturing mechanism and the needle positioning and guiding mechanism are arranged on the top platform of the frame supporting mechanism, the movement or operation space of each actuating mechanism is smaller. If the needs of patients with larger body sizes are met, the height of the frame supporting mechanism can be increased, and the top platform is closer to the top of a scanning closed hole of the CT or MRI, so that the movement space of other mechanisms is more limited; 3) The motion pattern of some joints, also defines its working space. For example, when an X-axis rotary joint of the needle positioning and guiding mechanism works, the front end and the rear end of the needle puncturing mechanism arranged on the X-axis rotary joint along the Z direction are easy to generate a contact interference phenomenon with a CT or MRI scanning closed hole wall; 4) The robot device is complex in structure and lacks of reconfigurable characteristics, namely, the reconstruction of each module of the robot is difficult to perform according to specific different surgical organ positions and surgical operation space sizes so as to meet surgical requirements.

It would therefore be advantageous to provide a minimally invasive robot that is compatible with MRI and CT environments, which not only allows image scanning and robot motion to be performed in real time simultaneously, but also does not require patients to move in or out of the scanner for imaging and needle insertion during surgery, and which overcomes the above-mentioned deficiencies of existing robotic systems.

Disclosure of Invention

The technical problem to be solved by the present invention is to provide a minimally invasive surgical robot compatible with MRI and CT environments, aiming at the above-mentioned deficiencies in the prior art. The minimally invasive surgery robot disclosed by the invention can be compatible with MRI and CT environments, can be suitable for a standard closed pore space, allows image scanning and robot motion to be synchronously carried out in real time, does not need to repeatedly move a patient into or out of a closed pore cavity of MRI or CT in the whole surgery process, can reduce surgery time and improve surgery precision; it can be used for minimally invasive surgery of the abdomen, chest or other organs, such as biopsy, marker seed or drug capsule delivery, and tumor ablation.

In order to achieve the purpose, the invention adopts the technical scheme that: a minimally invasive surgical robot compatible with MRI and CT environments, comprising:

the arch module comprises an arch body with an arc-shaped guide track and an arch slide block mechanism which can automatically move on the arc-shaped guide track along an arc track parallel to the XY plane;

the puncture needle positioning module is connected to the arch sliding block mechanism and comprises an R translation mechanism, a Z rotation mechanism and an X rotation mechanism, the R translation mechanism is used for providing linear motion in an XY plane along the radius R direction of the arc-shaped guide track, the Z rotation mechanism is used for providing rotary motion around a Z axis, the X rotation mechanism is at least used for providing rotary motion around an X axis, the R translation mechanism, the Z rotation mechanism and the X rotation mechanism can be connected in series according to different sequences, the base end and the output end of the puncture needle positioning module are formed at the two ends of the puncture needle positioning module, and the base end of the puncture needle positioning module is connected to the arch sliding block mechanism;

and the puncture needle inserting module is detachably connected to the output end of the puncture needle positioning module and is used for puncturing a puncture needle.

Preferably, the arch door body comprises an incomplete internal gear and two lateral brackets connected to two ends of the incomplete internal gear, the outer contour surface of the incomplete internal gear forms the circular arc guide track, and the inner contour surface of the incomplete internal gear is provided with an inner gear part;

arched door slider mechanism includes that mobile cover is established mounting bracket, rotatable setting on the incomplete internal gear are in on the mounting bracket and with the outer gear, the rotatable setting of internal gear portion meshing be in on the mounting bracket and with at least one gyro wheel and the setting of the smooth outline surface contact of incomplete internal gear are in be used for the drive on the mounting bracket the rotatory arched door slider driving motor of outer gear.

Preferably, the arch door body further comprises two Z1 translation mechanisms capable of providing Z-direction linear motion, and the two lateral supports are respectively mounted on the two Z1 translation mechanisms so as to drive the arch door module to perform linear motion in the Z direction through the two Z1 translation mechanisms.

Preferably, the R translation mechanism includes an R mounting seat, an R screw rod rotatably disposed on the R mounting seat, an R nut fitted on the R screw rod in a threaded manner, and an R motor for driving the R screw rod to rotate.

Preferably, the Z rotation mechanism is a worm and gear mechanism capable of transmitting two-staggered-axis motion and power, and includes a Z mounting seat, a Z rotation shaft rotatably disposed on the Z mounting seat around the Z axis, a Z worm gear drivingly connected to the Z rotation shaft, a Z worm rotatably disposed on the Z mounting seat and engaged with the Z worm gear, and a Z motor disposed on the Z mounting seat and used for driving the Z worm to rotate.

Preferably, the X rotating mechanism includes an X mounting seat, two Z2 translation mechanisms which are arranged in parallel on the X mounting seat and spaced in the Y direction and can provide Z-direction linear motion, and an interface assembly connected to the two Z2 translation mechanisms, each of the two Z2 translation mechanisms has an output portion which can perform reciprocating linear motion in the Z direction, and both the output portions are rotatably connected to the interface assembly;

when the output parts of the two Z2 translation mechanisms move along the same direction at the same speed, the interface component moves linearly along the Z direction;

when the output parts of the two Z2 translation mechanisms move along different directions or move along the same direction but at different speeds, the interface component can realize that: (1) rotational motion about only the X axis; or (2) both linearly along the Z-direction and rotationally about the X-axis.

Preferably, the interface assembly comprises an interface board, two interface fixed connecting seats and at least one interface movable connecting seat, wherein the two interface fixed connecting seats and the at least one interface movable connecting seat are arranged on the back surface of the interface board at intervals along the length direction of the interface board;

the output part of one Z2 translation mechanism is rotatably connected with one interface movable connecting seat, and the output part of the other Z2 translation mechanism is rotatably connected with one interface fixed connecting seat.

Preferably, the Z2 translational mechanism includes an X bracket disposed on the X mounting seat, an X screw rotatably disposed on the bracket, an X nut fitted on the X screw in a threaded manner, an X motor for driving the X screw to rotate, and two X translational output rods connected to the X nut, and the two X translational output rods form an output part of the Z2 translational mechanism.

Preferably, the R translation mechanism is connected to the arch slide mechanism, and the Z rotation mechanism and the X rotation mechanism are sequentially connected to the R translation mechanism.

Preferably, the Z-rotating mechanism is connected to the arch sliding block mechanism, and the R-translation mechanism and the X-rotating mechanism are sequentially connected to the Z-rotating mechanism.

Preferably, the R translation mechanism is connected to the arch slide mechanism, and the X rotation mechanism and the Z rotation mechanism are sequentially connected to the R translation mechanism.

The invention has the beneficial effects that:

the invention provides a minimally invasive surgery robot compatible with MRI and CT environments, which can adapt to the sizes of closed pore cavities of standard MRI scanners and CT scanners, and the robot can realize the accurate adjustment and determination of the position and the posture of a puncture needle in the closed pore cavity, so that the puncture needle can be ensured to puncture at a human skin insertion point according to a planned path; the minimally invasive surgery robot can complete the whole puncture needle inserting step in the obturator cavity, the puncture needle can move and adjust the pose without interfering with image scanning, the image scanning and the robot movement can be allowed to be synchronously carried out in real time, a patient does not need to be repeatedly moved into or removed from the obturator cavity of MRI or CT in the whole surgery process, the surgery time can be reduced, and the surgery precision can be improved;

the minimally invasive surgery robot can meet the requirements of various body types of patients to the greatest extent, and the operation space of the robot surgery is maximized;

the minimally invasive surgical robot can realize rotary motion in any direction at a selected insertion point (pivot point), and then can insert a puncture needle into a target lesion position through the skin in an automatic or remote control or manual mode;

the minimally invasive surgery robot has the characteristics of modularization, reconfigurability and the like, and each module can be combined and reconfigured according to different surgical parts and organs and actual surgical space conditions so as to better realize the function of the robot, has greater flexibility and is convenient to maintain, replace, assemble and expand;

the minimally invasive surgery robot can be combined with a rigid needle automatic insertion mechanism, a rigid needle manual insertion mechanism or a flexible needle automatic insertion mechanism for use, and can automatically or manually complete minimally invasive surgeries such as biopsy, implantation of marked seeds or drug capsules, insertion of ablation electrodes and the like.

Drawings

FIG. 1 is a schematic structural diagram of a minimally invasive surgical robot compatible with MRI and CT environments in an embodiment of the present invention;

FIG. 2 is an exploded view of a minimally invasive surgical robot compatible with MRI and CT environments in an embodiment of the present invention;

FIG. 3 is a schematic structural diagram of an arch module in an embodiment of the invention;

FIG. 4 is a schematic structural view of an arched door slider mechanism in an embodiment of the present invention;

FIG. 5 is a schematic structural view of an arched door module fixedly mounted on an MRI or CT couch in an embodiment of the present invention;

FIG. 6 is a schematic structural view of an arched door module capable of autonomous movement along a direction parallel to Z direction on an MRI or CT bed according to another embodiment of the present invention;

FIG. 7 is a schematic view of a minimally invasive surgical robot with an arch slide mechanism moved to a position in an embodiment of the invention;

FIG. 8 is a schematic structural view of an arch module in another embodiment of the invention;

FIG. 9 is a schematic structural diagram of a minimally invasive surgical robot employing the arch module of FIG. 8 in another embodiment of the invention;

fig. 10 is a schematic structural view of a needle positioning module in an embodiment of the invention;

FIG. 11 is an exploded view of the needle positioning module in an embodiment of the present invention;

fig. 12 is a schematic structural view of an R-translation mechanism in an embodiment of the present invention;

fig. 13 is a schematic structural view of a Z-rotation mechanism in an embodiment of the present invention;

fig. 14 is an exploded view of the Z-rotation mechanism in an embodiment of the invention;

fig. 15 is a schematic structural view of an X-rotation mechanism in an embodiment of the present invention;

fig. 16 is an exploded view of the X-rotation mechanism in an embodiment of the present invention;

FIG. 17 is a schematic structural diagram of an interface module in an embodiment of the invention;

fig. 18 is a schematic view of the structure of a Z2 translation mechanism in another embodiment of the present invention;

FIG. 19 is a schematic structural diagram of a minimally invasive surgical robot employing air cylinders as a Z2 translation mechanism in an embodiment of the present invention;

FIGS. 20 (A) -20 (C) are schematic structural illustrations of three different pose states of a minimally invasive surgical robot in an embodiment of the invention; namely three postures that the inserting angle of the puncture needle is respectively larger than 0, equal to 0 and smaller than 0;

FIG. 21 illustrates a minimally invasive surgical robot in which the puncture needle insertion module is a rigid needle automatic insertion mechanism, according to an embodiment of the present invention;

FIG. 22 is a minimally invasive surgical robot in which the puncture needle insertion module is a flexible needle automatic insertion mechanism according to an embodiment of the present invention;

FIG. 23 is a minimally invasive surgical robot with a rigid needle manual insertion mechanism as a puncture needle insertion module in an embodiment of the present invention;

FIG. 24 is a schematic structural diagram of a minimally invasive surgical robot compatible with MRI and CT environments according to embodiment 2 of the present invention;

fig. 25 is a schematic structural diagram of a minimally invasive surgical robot compatible with MRI and CT environments in embodiment 3 of the present invention.

Description of the reference numerals:

1-an arch module; 10-an arch body; 11-arch slide block mechanism; 100 — an incomplete internal gear; 101-lateral support; 102-arc guide rail; 103-Z1 translation mechanism; 110-a mounting frame; 111-an external gear; 112-a roller; 113-arched door slider driving motor; 130-non-integral external gear; 132-inner circular arc guide track;

2, a puncture needle positioning module; 20-R translation mechanism; 200-R mounting base; 201-R screw; 202-R nut; 203-R motor;

21-Z rotation mechanism; 210-Z mount; 211-Z axis of rotation; 212-Z turbine; 213-Z worm; 214-Z motor;

22-X rotation mechanism; 220-X mount; 221-Z2 translation mechanism; 222-an interface component; 223-X support; 224-X screw; 225-X nut; 226 — X motor; 227-X translation output rod; 228-a cylinder;

2220-interface board; 2221-interface fixed connection seat; 2222-interface movable connecting seat; 2223 — interface guide bar; 2224 — interface guide hole;

3-puncture needle insertion module; 31-a puncture needle;

4-MRI or CT scanning devices; 40-scanning the bed.

Detailed Description

The present invention is further described in detail below with reference to examples so that those skilled in the art can practice the invention with reference to the description.

It will be understood that terms such as "having," "including," and "comprising," as used herein, do not preclude the presence or addition of one or more other elements or groups thereof.

Example 1

Referring to fig. 1-2, a minimally invasive surgical robot of the present embodiment, compatible with MRI and CT environments, includes:

an arch module 1 including an arch body 10 having an arc-shaped guide rail 102 and an arch slider mechanism 11 (see fig. 3) which is autonomously movable on the arc-shaped guide rail along an arc trajectory parallel to the XY plane; the arch module 1 is used for installing and supporting the puncture needle positioning module 2 and the puncture needle inserting module 3 and realizing that the two modules integrally reciprocate (R1) above an MRI or CT bed along an arc track;

and a puncture needle positioning module 2 connected to the arch slide mechanism 11, wherein the puncture needle positioning module 2 (see fig. 10) includes an R translation mechanism 20 (V2) for providing a linear motion in a radial direction along the circular arc-shaped guide rail 102, a Z rotation mechanism 21 for providing a rotational motion (R2) about a Z axis, and an X rotation mechanism 22 for providing a rotational motion at least about an X axis. The R translation mechanism 20, the Z rotation mechanism 21 and the X rotation mechanism 22 can be connected in series according to different sequences, the base end and the output end of the puncture needle positioning module 2 are formed at the two ends, and the base end of the puncture needle positioning module 2 is connected to the arch door sliding block mechanism 11; the puncture needle positioning module 2 is used for accurately determining the pose of the puncture needle 31 of the puncture needle insertion module 3 so as to ensure that the puncture needle 31 keeps consistent with a planned path at a human skin insertion point and allow the puncture needle 31 to rotate around the insertion point (or pivot point);

and a puncture needle inserting module 3 which is detachably connected with the output end of the puncture needle positioning module 2, wherein the puncture needle inserting module 3 is used for providing inserting and retracting movements (V5) of the puncture needle 31 along the puncture direction, and controlling the puncture needle 31 to puncture percutaneously to reach the operation target position through an inserting point and along a planned path.

Referring to fig. 3-4, in a preferred embodiment, archway body 10 includes an incomplete internal gear 100 (i.e., a portion of an internal gear) and two lateral supports 101 attached to opposite ends of incomplete internal gear 100, the outer contoured surface of incomplete internal gear 100 defining arcuate guide tracks 102 and the inner contoured surface of incomplete internal gear 100 defining an internal gear portion.

The arched door slider mechanism 11 comprises a mounting frame 110 movably sleeved on the incomplete internal gear 100, an external gear 111 rotatably arranged on the mounting frame 110 and meshed with the internal gear part, at least one roller 112 rotatably arranged on the mounting frame 110 and contacted with the smooth outer contour surface of the incomplete internal gear 100, and an arched door slider driving motor 113 arranged on the mounting frame 110 and used for driving the external gear 111 to rotate. When the outer gear 111 is driven to rotate by the arch slide driving motor 113, the entire arch slide mechanism 11 moves on the incomplete inner gear 100 along the circular arc-shaped guide rail 102 by the meshing of the outer gear 111 and the inner gear, and the roller 112 rolls with respect to the outer contour surface of the incomplete inner gear 100.

Referring to fig. 5, in one embodiment, the arch module 1 is fixedly mounted to the couch 40 of the MRI or CT scanner 4 by two lateral supports 101.

Referring to fig. 6, in another embodiment, the arch module 1 can move autonomously (V1) along a direction parallel to the length direction (i.e., Z-axis direction) of the scanning bed 40 of the MRI or CT scanning device 4, in this embodiment, the arch body 10 further includes two Z1 translation mechanisms 103 capable of providing a Z-directional linear motion, and the two lateral supports 101 are respectively mounted on the two Z1 translation mechanisms 103, so that the arch module 1 is driven by the two Z1 translation mechanisms 103 to perform a linear motion in the Z-direction. The Z1 translation mechanism 103 is a screw transmission mechanism or other linear driving mechanism (such as a cylinder, an electric push rod, etc.) to ensure that the arch door module 1 performs autonomous linear motion along the Z-axis direction. In an alternative embodiment, the structure principle of the Z1 translation mechanism 103 is the same as that of the R translation mechanism 20, and the R translation mechanism 20 will be described in detail below, so the structure of the Z1 translation mechanism 103 will not be described in detail here.

Referring to fig. 7, a schematic view of the state of the minimally invasive surgery robot when the arch slide mechanism 11 moves to a certain position is shown, wherein the upper part and the lower part of the figure are schematic views of two different viewing angles.

Referring to fig. 8 and 9, a schematic structural diagram of an arch door module 1 in another embodiment is shown, in which an external incomplete gear 130 is used in the arch door body 10 instead of the original internal incomplete gear 100, and the inner contour surface of the external incomplete gear 130 forms an inner arc-shaped guide track 132, and the outer contour surface has an outer gear portion; the installation direction of the arched door slider mechanism 11 is changed so that the external gear 111 in the arched door slider mechanism 11 engages with the external gear portion of the non-complete external gear 130, and the entire arched door slider mechanism 11 moves on the non-complete external gear 130 along the guide rail 132 in the shape of an inner circular arc track (a part of a circle), and at this time, the roller 112 rolls with respect to the inner contour surface of the non-complete external gear 130.

Referring to fig. 10-11, the puncture needle positioning module 2 is shown in an overall schematic view and an exploded schematic view.

In a preferred embodiment, the R translation mechanism 20 is a screw drive or other linear drive mechanism, and the following description will be given by way of example of the screw drive: referring to fig. 12, the R translation mechanism 20 includes an R mounting base 200, an R screw 201 rotatably disposed on the R mounting base 200, an R nut 202 fitted on the R screw 201 in a threaded manner, and an R motor 203 for driving the R screw 201 to rotate; the R motor 203 drives the R nut 202 via the R screw 201 to perform reciprocating linear motion in the R direction (radial direction of the circular arc guide rail 102).

In a preferred embodiment, the Z-rotation mechanism 21 is a worm gear mechanism or other rotation mechanism, and the following description will be made by taking the worm gear mechanism as an example: referring to fig. 13 to 14, the Z-rotation mechanism 21 includes a Z mounting base 210, a Z rotation shaft 211 rotatably disposed on the Z mounting base 210 about a Z axis, a Z worm gear 212 drivingly coupled to the Z rotation shaft 211, a Z worm 213 rotatably disposed on the Z mounting base 210 and engaged with the worm gear 212, and a Z motor 214 disposed on the Z mounting base 210 for driving the Z worm 213 to rotate. The Z motor 214 drives the Z worm gear 212 to rotate through the Z worm 213, and then drives the Z rotation shaft 211 to rotate around the Z axis.

Referring to fig. 15-17, in a preferred embodiment, the X rotation mechanism 22 includes an X mounting base 220, and two Z2 translation mechanisms 221 arranged in parallel on the X mounting base 220 and spaced in the Y direction to provide Z-direction linear motion, and an interface assembly 222 connected to the two Z2 translation mechanisms 221, where the two Z2 translation mechanisms 221 have output portions capable of performing reciprocating linear motion in the Z direction, the two output portions are rotatably connected to upper and lower ends of the interface assembly 222, respectively, and one of the two connection ends can slide back and forth along the length direction of the interface assembly 222 to ensure that rotational adjustment of the interface assembly 222 can be achieved (described in detail later); the upper and lower Z2 translation mechanisms 221 realize two sets of linear motions (V3, V4) in the Z direction;

when the output portions of the two Z2 translation mechanisms 221 move in the same direction at the same speed, the interface assembly 222 performs linear motion in the Z direction; at this time, the position adjustment in the Z direction can be realized within a certain range by the X rotation mechanism 22; therefore, in some embodiments, the two Z1 translation mechanisms 103 provided for moving along the length direction of the MRI or CT bed in the arch module 1 can be omitted by the Z-direction position adjustment function of the X-rotation mechanism 22; or the two are matched with each other: the arch door module 1, the puncture needle positioning module 2 and the puncture needle inserting module 3 are integrally adjusted along the Z direction within a large range through the two Z1 translation mechanisms 103, and then the accurate adjustment of the puncture needle inserting module 3 along the Z direction is realized through the Z direction position adjusting power of the X rotation mechanism 22;

when the outputs of the two Z2 translation mechanisms 221 move in different directions or in the same direction but at different speeds, the interface assembly 222 may: (1) Only rotational motion about the X-axis (e.g., if one of the Z2 translation mechanisms 221 does not move and the other Z2 translation mechanism 221 moves, then the interface assembly 222 only performs rotational motion about the X-axis); or (2) both linearly along the Z direction and rotationally around the X axis (in this case, both Z2 translation mechanisms 221 move). So that the posture or insertion angle of the puncture needle 31 of the puncture needle module 3 connected to the output terminal of the puncture needle positioning module 2 can be controlled through the interface module 222.

Wherein, the Z2 translation mechanism 221 is a screw transmission mechanism or other linear driving mechanism, with continued reference to fig. 15-17, in an embodiment, the Z2 translation mechanism 221 is a screw transmission mechanism, and includes an X bracket 223 disposed on the X mount 220, an X screw 224 rotatably disposed on the X bracket 223, an X nut 225 fitted on the X screw 224 in a threaded manner, an X motor 226 for driving the X screw 224 to rotate, and two X translation output rods 227 connected to the X nut 225, the two X translation output rods 227 form an output portion of the Z2 translation mechanism, and the two X translation output rods 227 are rotatably connected to the interface assembly 222; the X motor 226 drives the X nut 225 to perform reciprocating linear motion in the Z direction by the X screw 224.

Referring to fig. 17 again, in a preferred embodiment, the interface assembly 222 includes an interface board 2220, two interface fixed connection seats 2221 and at least one interface movable connection seat 2222 that are disposed at intervals along a length direction of the interface board 2220 at the back of the interface board 2220, two interface guide rods 2223 that are disposed along the length direction are disposed between the two interface fixed connection seats 2221, an interface guide hole 2224 through which the interface guide rod 2223 is fitted is formed in the interface movable connection seat 2222, and the interface movable connection seat 2222 is disposed between the two interface fixed connection seats 2221 and can reciprocate on the interface guide rod 2223; the output part of one Z2 translation mechanism is rotatably connected with one interface movable connection seat 2222, and the output part of the other Z2 translation mechanism is rotatably connected with one interface fixed connection seat 2221.

Specifically, in this embodiment, the output rod 227 of one upper Z2 translation mechanism is rotatably connected to one upper interface movable connection seat 2222, and the output rod 227 of the other lower Z2 translation mechanism is rotatably connected to one lower interface fixed connection seat 2221. During the process of the interface assembly generating the rotation movement around the X axis, the output rod 227 pushes the interface movable connecting seat 2222 to translate along the Z direction, and at the same time, the interface movable connecting seat 2222 slides relative to the interface guide rod 2223, so that the interface plate 2220 can perform the rotation movement around the X axis without being locked.

Referring to fig. 18, in another embodiment, the Z2 translation mechanism 221 is a cylinder 228, an output rod of the cylinder 228 forms an output portion of the Z2 translation mechanism 221, and an output rod of the cylinder 228 is rotatably connected to the interface assembly 222. Correspondingly, fig. 19 is a schematic structural diagram of a minimally invasive surgical robot using a cylinder 228 as a Z2 translation mechanism 221, wherein the upper and lower diagrams are schematic diagrams with different viewing angles.

It should be understood that, in addition to the above-mentioned structures, the mechanism for providing the linear movement function, such as the Z1 translation mechanism, the R translation mechanism, the Z2 translation mechanism, etc., in the present invention, other conventional driving mechanisms that can provide the translation function may also be used.

The minimally invasive surgery robot compatible with MRI and CT environments follows the modularization and reconfigurable characteristics, wherein the R translation mechanism 20, the Z rotation mechanism 21 and the X rotation mechanism 22 can be combined and reconfigured according to different surgical parts and organs and actual surgical space conditions and are connected in series according to different sequences so as to meet the actual surgical requirements, so that the minimally invasive surgery robot has the characteristics of higher flexibility, convenience in maintenance, replacement, assembly, expansion and the like.

Fig. 20 (a) -20 (C) show perspective views of three different pose states of the minimally invasive surgical robot. Fig. 20 (a), 20 (B), and 20 (C) show postures in which the insertion angle β of the puncture needle 31 is greater than 0, equal to 0, and less than 0, respectively; wherein, the upper and lower two figures are schematic diagrams with different visual angles.

Referring to fig. 1-2 and 10-11, the R translation mechanism 20 is connected to the arch slide mechanism 11, and the Z rotation mechanism 21 and the X rotation mechanism 22 are sequentially connected to the R translation mechanism 20. Specifically, the R mount 200 of the R translation mechanism 20 is connected to the mount 110 of the arch slide mechanism 11, the Z mount 210 of the Z rotation mechanism 21 is connected to the R nut 202 of the R translation mechanism 20, the X mount 220 of the X rotation mechanism 22 is connected to the Z rotation axis 211 of the Z rotation mechanism 21, and the puncture needle insertion module 3 is connected to the interface assembly 222 of the X rotation mechanism 22. The arch door slide block mechanism 11 drives the puncture needle positioning module 2 and the puncture needle inserting module 3 to integrally move along an arc track, the R translation mechanism 20 drives the Z rotating mechanism 21, the X rotating mechanism 22 and the puncture needle inserting module 3 at the rear end to perform radial R linear movement, the Z rotating mechanism 21 drives the X rotating mechanism 22 and the puncture needle inserting module 3 at the rear end to perform rotary movement around a Z axis, the X rotating mechanism 22 realizes the rotary movement of the puncture needle inserting module 3 around the X axis so as to adjust the pose of the puncture needle, and the X rotating mechanism 22 can also realize the linear movement of the puncture needle inserting module 3 in the Z axis direction within a certain range.

The power device (each motor) adopts a motor which is magnetically compatible, and other electrical components and mechanical parts also adopt materials which are magnetically compatible, so that the real-time synchronous operation of MRI or CT image scanning and robot motion is ensured.

It is to be understood that the key point of the present invention is that through the structural design and cooperation of the arch module 1 and the puncture needle positioning module 2, the puncture needle 31 on the puncture needle insertion module 3 can be moved to a desired puncture position and adjusted to a desired angle according to a planned path; the puncture needle inserting module 3 is mainly used for the puncture operation of the puncture needle 31, and the puncture needle inserting module 3 may be a conventional rigid needle automatic inserting mechanism, a rigid needle manual inserting mechanism, a flexible needle automatic inserting mechanism, or the like, and therefore, the specific configuration of the puncture needle inserting module 3 is not limited in the present invention and will not be described.

Referring to fig. 21, a minimally invasive surgical robot in which the puncture needle insertion module 3 is a rigid needle automatic insertion mechanism is illustrated.

Referring to fig. 22, a minimally invasive surgical robot in which the puncture needle insertion module 3 is a flexible needle automatic insertion mechanism is illustrated; wherein, the automatic insertion mechanism of the flexible needle is a flexible needle puncture device disclosed in Chinese patent CN 216417288U.

Referring to fig. 23, a minimally invasive surgical robot in which the puncture needle insertion module 3 is a rigid needle manual insertion mechanism is illustrated.

Example 2

Referring to fig. 24, as a further improvement of embodiment 1, in this embodiment, a Z-rotation mechanism 21 is connected to the arch slider mechanism 11, and an R-translation mechanism 20 and an X-rotation mechanism 22 are sequentially connected to the Z-rotation mechanism 21. The specific connection mode and the working principle between the modules are basically the same as those of embodiment 1, and are not described herein again.

Example 3

Referring to fig. 25, as a further improvement of embodiment 1, in this embodiment, an R translation mechanism 20 is connected to the arch slide mechanism 11, and an X rotation mechanism 22 and a Z rotation mechanism 21 are sequentially connected to the R translation mechanism 20. The specific connection mode and the working principle between the modules are basically the same as those of embodiment 1, and are not described herein again.

While embodiments of the invention have been disclosed above, it is not limited to the applications listed in the description and the embodiments, which are fully applicable in all kinds of fields of application of the invention, and further modifications may readily be effected by those skilled in the art, so that the invention is not limited to the specific details without departing from the general concept defined by the claims and the scope of equivalents.

Claims

1. A minimally invasive surgical robot compatible with MRI and CT environments, comprising:

the arch module comprises an arch body with an arc-shaped guide track and an arch slide block mechanism which can autonomously move on the arc-shaped guide track along an arc track parallel to the XY plane;

the puncture needle positioning module is connected to the arch door slider mechanism and comprises an R translation mechanism, a Z rotation mechanism and an X rotation mechanism, wherein the R translation mechanism is used for providing linear motion in an XY plane along the radius R direction of the arc-shaped guide track, the Z rotation mechanism is used for providing rotary motion around a Z axis, and the X rotation mechanism is at least used for providing rotary motion around an X axis; the R translation mechanism, the Z rotation mechanism and the X rotation mechanism can be connected in series according to different sequences, the base end and the output end of the puncture needle positioning module are formed at the two ends of the R translation mechanism, the Z rotation mechanism and the X rotation mechanism, and the base end of the puncture needle positioning module is connected to the arch door sliding block mechanism;

and the puncture needle inserting module is detachably connected to the output end of the puncture needle positioning module and is used for puncturing the puncture needle.

2. The MRI and CT environment compatible minimally invasive surgical robot according to claim 1, wherein the archway body comprises an incomplete internal gear and two lateral supports connected at both ends of the incomplete internal gear, an outer contour surface of the incomplete internal gear forms the circular arc shaped guide track, and an inner contour surface of the incomplete internal gear has an inner gear portion;

3. The MRI and CT environment compatible minimally invasive surgical robot of claim 2, wherein the arch body further comprises two Z1 translation mechanisms capable of providing Z-directional linear motion, and the two lateral supports are respectively mounted on the two Z1 translation mechanisms so as to drive the arch module to perform linear motion in the Z direction through the two Z1 translation mechanisms.

4. The minimally invasive surgical robot compatible with MRI and CT environments according to claim 1, wherein the R translation mechanism comprises an R mounting seat, an R screw rod rotatably arranged on the R mounting seat, an R nut sleeved on the R screw rod in a matching threaded manner, and an R motor for driving the R screw rod to rotate.

5. The MRI and CT environment compatible minimally invasive surgical robot according to claim 1, wherein the Z rotation mechanism comprises a Z mounting seat, a Z rotating shaft rotatably arranged on the Z mounting seat around a Z axis, a Z worm gear in driving connection with the Z rotating shaft, a Z worm rotatably arranged on the Z mounting seat and meshed with the Z worm gear, and a Z motor arranged on the Z mounting seat and used for driving the Z worm to rotate.

6. The minimally invasive surgical robot compatible with MRI and CT environments according to claim 1, wherein the X-rotating mechanism comprises an X-mounting seat, two Z2 translation mechanisms and an interface assembly, wherein the two Z2 translation mechanisms are arranged on the X-mounting seat in parallel and have intervals along the Y direction and can provide Z-direction linear motion, the interface assembly is connected with the two Z2 translation mechanisms, each of the two Z2 translation mechanisms is provided with an output part capable of performing reciprocating linear motion along the Z direction, and the two output parts are rotatably connected with the interface assembly;

when the output parts of the two Z2 translation mechanisms move along different directions or move along the same direction but at different speeds, the interface component realizes that: rotational motion about the X axis only, or both linear motion in the Z direction and rotational motion about the X axis.

7. The minimally invasive surgical robot compatible with MRI and CT environments according to claim 6, wherein the Z2 translational mechanism comprises an X support arranged on the X mounting seat, an X screw rod rotatably arranged on the X support, an X nut sleeved on the X screw rod in a matching threaded manner, an X motor used for driving the X screw rod to rotate, and two X translational output rods connected to the X nut, wherein the two X translational output rods form an output part of the Z2 translational mechanism.

8. A minimally invasive surgical robot compatible with MRI and CT environments according to any of the claims 1-7, characterized in that said R translation mechanism is connected to said arch slider mechanism, said Z rotation mechanism and said X rotation mechanism being in turn connected to said R translation mechanism.

9. A minimally invasive surgical robot compatible with MRI and CT environments according to any of the claims 1-7, characterized in that said Z rotation mechanism is connected to said arch slider mechanism, said R translation mechanism and X rotation mechanism being in turn connected to said Z rotation mechanism.

10. A minimally invasive surgical robot compatible with MRI and CT environments according to any of the claims 1-7, characterized in that said R translation mechanism is connected to said arch slider mechanism, said X rotation mechanism and Z rotation mechanism being in turn connected to said R translation mechanism.