CN116725696B - Main operation device of puncture robot, puncture robot and operation method thereof - Google Patents

Abstract

The invention provides a main operation device of a puncture robot, the puncture robot and an operation method thereof, and relates to the technical field of medical equipment.

Description

Main operation device of puncture robot, puncture robot and operation method thereof

Technical Field

The invention relates to the technical field of medical instruments, in particular to a main operation device of a puncture robot, the puncture robot and an operation method of the puncture robot.

Background

Because of the popularization of health physical examination, people receiving chest CT are more and more, percutaneous puncture operation under CT guidance is an operation with more clinical application, namely an operation of inserting a puncture needle into a focus of a human body and acquiring pathological tissues under the guidance of CT images, and determining the treatment scheme most suitable for patients through pathological detection. However, the working principle of the CT device is that an image is formed by X-ray scanning, the X-ray has stronger radiation, and the doctor can be exposed to the radiation environment for a long time after the puncture operation is completed beside the CT device, so that the health of the doctor is seriously affected.

The master-slave teleoperation mode is an operation mode which aims at the application scene and is raised, a doctor can perform puncture operation on the premise of not being radiated by CT, in the operation mode, the master end operation device is used for controlling the slave end device to perform puncture or stop puncture action, most of the master end operation devices in the prior art comprise a direction adjustment component, a depth adjustment component and a trigger mechanism for enabling a robot to enter the master-slave mapping mode, but the components are large in size, the assembly relationship among the components is complex and complicated, the practical operation process is greatly limited, for example, the devices such as the direction adjustment component comprise a direction rotation mechanism, a motor and the like, and the occupied space is large; for example, in the prior art, the triggering mechanism adopts the photoelectric sensor connected by the optical fiber to transmit signals, so that the space occupied by the receiving part and the transmitting part of the photoelectric sensor is large, the receiving part and the transmitting part are connected by the cable, and the cable can be touched when other parts in the same space are used, so that the photoelectric sensor is invalid.

CN202110135533.0 discloses a puncture robot and master hand controller, puncture actuating mechanism sends the puncture signal to the robot host computer of puncture robot during the puncture, puncture terminal is ready to be carried out and is advanced needle operation, afterwards, puncture actuating mechanism can export linear motion and control puncture terminal and advance the needle, in the puncture process, puncture terminal advance needle resistance can feedback to force feedback mechanism, exert the moment of torsion on puncture actuating mechanism through force feedback mechanism, can feel the needle resistance of puncture needle when making medical personnel operate puncture actuating mechanism, moreover, puncture structure can also rotate for the gesture subassembly is transferred to the robot host computer through the handle casing, adjust the gesture of puncture needle, make the puncture needle can aim at the target puncture target. The clinical puncture working condition can be truly simulated through the cooperation of the puncture actuating mechanism and the force feedback mechanism, the problem that a doctor cannot be simulated in the process of holding a needle in the prior art is effectively solved, medical staff feel resistance when the needle is inserted into the needle, the whole puncture process is safer and more efficient, the operation precision is improved, and the puncture success rate is further improved. However, in the comparison document, a normally closed circuit switch is adopted, and the circuit connection and disconnection are realized by using the rotation of the puncture trigger switch, but one end of the puncture trigger switch is connected to the enabling key, and the other end of the puncture trigger switch is contacted with or separated from the contact wire, so that the puncture trigger switch always has the stress effect, and the position of the stress bearing point becomes fragile along with the extension of the service time, therefore, a new structure of the enabling key is needed to solve the problem.

CN202022444204.8 discloses a combination switch comprising: the device comprises a swingable handle, a base which is arranged at intervals with the bottom surface of the handle and is opposite to the bottom surface of the handle, an elastic component and a sensor, wherein the elastic component is arranged between the bottom surface of the handle and the base; the bottom surface and the base of handle all are connected with elastic component, and elastic component is used for supplying the handle swing and is used for reset handle, and the sensor is used for responding to and feeding back the swing angle and the displacement of handle. By adopting the combined switch provided by the utility model, the switch control is realized through the cooperation of the elastic component and the sensor, and no pause is caused in the whole operation process. However, in this reference, the pressure surface for sensing pressure is disposed on an integral pressure sensor, and the pressure surfaces are sequentially connected in sequence along the center of the bottom surface 110 surrounding the handle 100, so that the middle of the sensor forms a notch 320, that is, based on the structure that the pressure surfaces are disposed on a horizontal plane and the pressure surfaces are plane, the notch 320 is indispensable, and a space for deformation of the pressure surfaces is necessary, otherwise, the pressure surfaces are only stressed and not deformed, and cannot accurately sense pressure; the structure that the pressure surfaces are connected with each other and the pressure surfaces and the connecting rod are coplanar is unfavorable for long-term use, and the structure is easy to break due to stress effect, so that pressure sensors with different structures are needed, and the conditions of inaccurate pressure measurement and concentrated structural stress and easy breakage of the pressure sensors in the prior art are improved.

Disclosure of Invention

The invention aims to provide a main operation device of a puncture robot, the puncture robot and an operation method thereof, so as to solve the technical problems that the main end operation device in the prior art occupies a large volume and a touch cable is easy to influence the normal use of a sensor.

In a first aspect, the present invention provides a main operation device for a puncture robot, including a fixed base, and further including: the device comprises an attitude adjusting assembly, a depth adjusting assembly and a main control unit;

the gesture adjusting assembly comprises a rotating base, a gesture adjuster, an elastic piece and a sensor component, wherein the rotating base and the fixed base are assembled through the gesture adjuster, so that the rotating base can swing around the fixed base along a first direction and a second direction, the elastic piece is extruded when the rotating base swings, and the sensor component is used for sensing swing angle information of the rotating base and transmitting the information to the main control unit;

the depth adjusting assembly comprises an enabling key, the enabling key comprises a pressing block, a conducting strip, a switching mechanism and a constraint mechanism, when the pressing block is pressed, the pressing force enables the switching mechanism to move inwards or has a trend of moving inwards, the constraint force of the constraint mechanism can prevent the switching mechanism from moving inwards or moving inwards, and the pressing force overcomes the constraint force to enable the switching mechanism to touch the conducting strip, so that a closed loop with electric communication is formed.

In an alternative embodiment of the present invention,

the switch mechanism is arranged as an elastic sheet, and the constraint mechanism is arranged to be abutted against the bulge;

the inner side of the pressing block is abutted with the elastic sheet;

when the pressing block is pressed, the elastic sheet is abutted with the abutting bulge, and the two end parts of the elastic sheet move in the direction away from each other under the stress action of the abutting point, so that the two end parts of the elastic sheet are abutted with the two conductive strips;

when the elastic sheet is abutted with the conducting strips, a closed passage is formed between the main control unit and the two conducting strips, and the main control unit is opened.

In an alternative embodiment of the present invention,

the sliding ring and the sliding rod of the depth adjusting assembly are correspondingly provided with notches, the pressing block is arranged in the notches, and the abutting bulge is connected with the sliding ring;

the elastic sheet is of a U-shaped structure;

two grooves are symmetrically formed in the inner side of the sliding rod, a current-isolating block is arranged in each groove, a conducting strip is arranged on each current-isolating block, and the conducting strip is electrically connected with the main control unit;

in an alternative embodiment of the present invention,

the switch mechanism is arranged as a movable contact piece, the inner side of the pressing block is abutted with the movable contact piece, and the constraint mechanism comprises a spring and an abutting block;

one end of the spring is connected with the abutting block, and the other end of the spring is connected with the movable contact piece;

when the pressing block is pressed, the spring is in a compressed state, the movable contact piece moves towards the inner side, and two end parts of the movable contact piece are abutted with the conducting strip;

When the movable contact piece is abutted with the conducting strips, a closed passage is formed between the main control unit and the two conducting strips, and the main control unit is opened.

In an alternative embodiment of the present invention,

the abutting block is connected with the sliding ring of the depth adjusting assembly, the sliding ring and the sliding rod of the depth adjusting assembly are correspondingly provided with notches, and the pressing block is arranged in the notches;

the movable contact piece is of a U-shaped structure;

two grooves are symmetrically arranged on the inner side of the sliding rod, and a conductive strip of a conductive block is arranged in the grooves and is arranged on the conductive block, and the conductive strip is electrically connected with the main control unit.

In an alternative embodiment of the present invention,

the depth adjusting assembly comprises a sliding rod, a sliding ring and a depth detecting member;

the sliding rod is fixed on the rotating base, the sliding ring is connected to the sliding rod in a sliding manner, the axis of the sliding rod is in a third direction, and the depth detection component is used for detecting the displacement of the sliding ring in the third direction and transmitting the displacement information to the main control unit;

the first direction, the second direction and the third direction are perpendicular to each other;

when the conducting bars form a closed loop which is electrically communicated, the main control unit correspondingly controls the slave-end mechanical arms to do the same action along the same direction according to the detected swing angle information along the first direction and the second direction and the displacement information along the third direction.

In an alternative embodiment of the present invention,

the depth detection component further comprises a depth adjusting motor, a motor encoder, a synchronous wheel and a synchronous belt;

the two synchronous wheels are arranged in the slide bar one by one, the synchronous belt is wound on the two synchronous wheels, and the synchronous belt is fixed on the slip ring through the pressure plate so that the synchronous belt can move together with the slip ring and the synchronous wheels synchronously rotate;

the depth adjusting motor is assembled with one of the synchronous wheels in a transmission way, so that the driving end of the depth adjusting motor and the synchronous wheel synchronously rotate, and the motor encoder is connected with the depth adjusting motor and used for reading the angle change of the driving end of the depth adjusting motor;

the main control unit is used for detecting the resistance received by the slave-end mechanical arm and correspondingly controlling the depth adjusting motor according to the resistance information so as to generate feedback resistance.

In an alternative embodiment of the present invention,

the depth adjusting assembly further comprises a depth adjusting motor, a motor encoder, a transmission member, a rotating screw rod and a screw rod nut;

the rotating screw rod is arranged in the sliding rod, the screw rod nut is in threaded connection with the rotating screw rod, and the screw rod nut is connected with the sliding ring so that the sliding ring can move along the rotating screw rod;

the depth adjusting motor is assembled with the rotating screw rod in a transmission way through a transmission component so that the driving end of the depth adjusting motor and the rotating screw rod synchronously rotate, and the motor encoder is connected with the depth adjusting motor and used for reading the angle change of the driving end of the depth adjusting motor;

The main control unit is used for detecting the resistance received by the slave-end mechanical arm and correspondingly controlling the depth adjusting motor according to the resistance information so as to generate feedback resistance.

In an alternative embodiment of the present invention,

the gesture adjusting assembly further comprises a gland and a guide post;

the end part of the gesture regulator is provided with a spherical hinge structure, and the gland is used for fixing the spherical hinge structure in the fixed base;

the guide posts are provided with a plurality of, and a plurality of guide posts are the array and arrange on fixed base, and the guide posts all overlap outward and are equipped with the elastic component, and the elastic component sets up between fixed base and rotation base, and a plurality of elastic components are used for making rotation base can reset to the position parallel with fixed base.

In an alternative embodiment of the present invention,

the sensor member includes a sensor substrate and a pressure sensor;

the pressure sensors are arranged in a cross manner by taking the middle of the sensor substrate as the center, so that the pressure sensors are symmetrically arranged on two sides of the sensor substrate in the first direction, and the pressure sensors are symmetrically arranged on two sides of the sensor substrate in the second direction;

the bottom lower surface of the rotating base is provided with a plurality of convex points, the pressure sensor corresponds to the convex points, when the rotating base swings, the convex points are contacted with the pressure sensor to form pressure, and the pressure sensor is used for detecting the pressure so as to correspondingly judge the state of the rotating base through pressure information.

In an alternative embodiment of the present invention,

the main operation device of the puncture robot also comprises a prompt lamp;

the warning light sets up in the top of slide bar, and the warning light includes a plurality of pilot lamp pearls, and a plurality of pilot lamp pearls all are connected with the main control unit electricity, and the main control unit is according to swing angle information and displacement information correspondence control pilot lamp pearl and is lighted.

In a second aspect, the invention provides a puncture robot, comprising a slave mechanical arm and a puncture robot main operation device;

the slave mechanical arm performs the same motion according to the swing angle information and the displacement information read by the main control unit;

the slave mechanical arm is provided with a six-dimensional force sensor, the six-dimensional force sensor is used for detecting resistance received by the slave mechanical arm and transmitting resistance information to the main control unit, and the main control unit correspondingly applies feedback resistance according to the resistance information.

In a third aspect, the present invention provides a method for operating a puncture robot, comprising the steps of:

pressing the pressing block, wherein the pressing force drives the switch mechanism to move or has a trend of inward movement, and the restraint force of the restraint mechanism prevents the switch mechanism from moving inwards or has a trend of inward movement, so that the switch mechanism touches the conductive strip, the main control unit is started, and a master-slave mapping mode is entered;

The sliding rod is rotated so that the rotating base rotates relative to the fixed base, the main control unit reads the swing angle information of the rotating base along the first direction and the second direction detected by the sensor component, and correspondingly controls the slave-end mechanical arm to swing in the same direction along the first direction and the second direction;

the sliding ring is driven to move along the sliding rod, the main control unit reads displacement information of the sliding ring in a third direction, detected by the depth detection component, and correspondingly controls the slave-end mechanical arm to do the same movement along the third direction.

In an alternative embodiment of the present invention,

the method also comprises the following steps:

calculating a safe angle range of the slave-end mechanical arm driving the actual puncture needle to swing, and disconnecting the signal transmission with the slave-end mechanical arm by the main control unit when the swing angle change of the rotating base in the first direction and the second direction read by the main control unit exceeds the safe angle range;

and calculating a safe depth range of the slave mechanical arm driving the actual puncture needle to enter the needle, and when the displacement change of the slip ring read by the main control unit in the third direction exceeds the safe depth range, controlling the depth adjusting motor to stop the slip of the slip ring by the main control unit.

According to the main operation device of the puncture robot, when a medical staff operates the main operation device outside the CT room, the rotating base swings around the fixed base along the first direction and the second direction, the swinging angle of the rotating base is sensed through the sensor component, and the swinging angle information is transmitted to the main control unit; and, through pressing the briquetting, the briquetting drives the inwards removal of switch mechanism or has the trend of inwards removing, and restraint mechanism supports switch mechanism, and switch structure can touch the conducting strip, forms the closed circuit of electric intercommunication, and then enters into master-slave mapping mode, and whole device volume is littleer, and uses this scheme to need not additionally to arrange the cable in the slide bar, utilizes the conducting strip can realize the intercommunication, has not only alleviateed the main end operating means occupation volume that exists among the prior art big, has also solved the technical problem that the cable influences the normal use of sensor that touches easily moreover.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic view of the overall structure of a main operation device of a puncture robot according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of an explosion structure of an attitude adjusting assembly in a main operation device of a piercing robot according to an embodiment of the present invention;

FIG. 3 is a schematic view of an installation structure of a posture adjusting assembly and a rotating base in a main operation device of a puncture robot according to an embodiment of the present invention;

FIG. 4 is a schematic structural view of a first embodiment of a depth adjustment assembly in a main operation device of a lancing robot according to an embodiment of the present invention;

FIG. 5 is a schematic view of an internal structure of a first embodiment of a depth adjustment assembly in a main operation device of a lancing robot according to an embodiment of the present invention;

FIG. 6 is a schematic view of an internal structure of a second embodiment of a depth adjustment assembly in a main operation device of a lancing robot according to an embodiment of the present invention;

FIG. 7 is a schematic view of an installation structure of a first embodiment of an enabling key in a main operation device of a lancing robot according to an embodiment of the present invention;

FIG. 8 is a cross-sectional view of a first embodiment of an enabling key in a main operation device of a lancing robot according to an embodiment of the present invention;

FIG. 9 is a schematic view of an installation structure of a second embodiment of an enabling key in a main operation device of a puncture robot according to an embodiment of the present invention;

FIG. 10 is a cross-sectional view illustrating a structure of a second embodiment of an enabling key of a main operation device of a lancing robot according to an embodiment of the present invention;

FIG. 11 is a diagram showing the correspondence between a warning light and a sensor member in a main operation device of a lancing robot according to an embodiment of the present invention;

FIG. 12 is a view of a scene of use of the angle adjustment of the main operating device of the lancing robot according to an embodiment of the present invention;

fig. 13 is a depth adjustment usage scenario diagram of a main operation device of a puncture robot according to an embodiment of the present invention.

Icon: 10-an attitude adjustment assembly; 11-a fixed base; 12-attitude modifier; 13-capping; 14-a guide post; 15-an elastic member; 16-a sensor substrate; 161-pressure sensor; 20-a depth adjustment assembly; 21-rotating the base; 211-bump; 221-depth adjustment motor; 222-motor encoder; 231-motor bevel gear; 232-a lead screw bevel gear; 233-turning the screw; 234-lead screw nut; 23-slide bar; 24-slip rings; 241-abutment projection; 242-abutment blocks; 25-enabling a key; 251-briquetting; 252-elastic sheet; 253-conductive strips; 254-spacer blocks; 255-spring; 256-moving contact; 26-indicator lights; 261-indicator light beads; 27-synchronizing wheel; 28-synchronous belt; 29-a pressing plate; 30-a main control unit; 40-slave end mechanical arm; 50-actual puncture needle; 60-six-dimensional force sensor.

Detailed Description

The technical solutions of the present invention will be clearly and completely described in connection with the embodiments, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

Percutaneous puncture operation under CT guidance is a kind of operation which is clinically applied more, but the working principle of CT equipment is that images are formed through X-ray scanning, X-rays have stronger radiation, and the completion of puncture operation beside CT equipment can lead doctors to be exposed in radiation environment for a long time, thus seriously affecting the health of the doctors.

In view of this, in the first embodiment, as shown in fig. 1, the puncture robot main operation device provided in the present embodiment includes a fixed base 11, and further includes: a posture adjustment assembly 10, a depth adjustment assembly 20, and a main control unit 30; the attitude adjusting assembly 10 includes a rotation base 21, an attitude adjuster 12, an elastic member 15, and a sensor member, the fixed base 11 being of a plate-like structure, the rotation base 21 and the fixed base 11 being assembled by the attitude adjuster 12 so that the rotation base 21 can swing around the fixed base 11 in a first direction and a second direction, the elastic member 15 being pressed when the rotation base 21 swings, the sensor member being for sensing swing angle information of the rotation base 21 and delivering the information to the main control unit 30, one end of the attitude adjuster 12 being hinged to the fixed base 11 so that the attitude adjuster 12 can freely rotate with respect to the fixed base 11, the sensor member being provided on the fixed base 11.

The depth adjusting assembly 20 includes a slide bar 23, an end of the slide bar 23 is fixed on the top surface of the rotation base 21, the slide bar 24 is slidably connected to the slide bar 23 such that the slide bar 24 can move along the slide bar 23, and an axis of the slide bar 23 is a third direction, that is, the slide bar 24 can move in the third direction, and a depth detecting member for detecting a displacement of the slide bar 24 in the third direction.

Wherein, the rotating base 21 is connected with the other end of the gesture adjuster 12 away from the fixed base 11, so that the rotating base 21 can swing along a first direction and a second direction relative to the fixed base 11 through the gesture adjuster 12, the first direction, the second direction and the third direction are mutually perpendicular, and the sensor member detects the swinging angle of the rotating base 21 along the first direction and the second direction.

In summary, since the slide bar 23 is fixed on the rotating base 21, the slide bar 23 can rotate along with the rotating base 21 relative to the fixed base 11, that is, the slide bar 23 can swing along the first direction and the second direction, the medical staff holds and pushes the slide bar 23, the slide bar 23 rotates along the first direction and the second direction along with the rotating base 21, the sensor member detects the rotation angle of the rotating base 21 along the first direction and the second direction, and transmits the angle information to the main control unit 30, and the main control unit 30 correspondingly controls the slave mechanical arm 40 to do the same swinging motion along the first direction and the second direction according to the detected swinging angle information along the first direction and the second direction, so as to control the swinging of the actual puncture needle 50.

Since the slip ring 24 can slide along the slide bar 23 in the third direction, the depth detection member is used to detect the sliding displacement of the slip ring 24 and transmit the displacement information to the main control unit 30, and the main control unit 30 correspondingly controls the slave mechanical arm 40 to perform the same displacement motion along the third direction according to the detected displacement information of the slip ring 24 in the third direction, so as to control the movement of the actual puncture needle 50 in the depth direction.

In an alternative embodiment, as shown in fig. 2 and 3, the posture adjustment assembly 10 further includes a pressing cover 13, a guide post 14, and an elastic member 15; the end part of the gesture regulator 12 is provided with a spherical hinge structure, the gland 13 fixes the spherical hinge structure in the fixed base 11, and the gesture regulator 12 is hinged with the fixed base 11 through the spherical hinge structure of the end part.

The guide posts 14 are provided with a plurality of guide posts, and can be specifically arranged into four guide posts 14 which are arranged on the fixed base 11 in an array manner, elastic pieces 15 are sleeved outside the guide posts 14, the elastic pieces 15 are arranged between the fixed base 11 and the rotating base 21, one ends of the elastic pieces 15 are connected with the fixed base 11, the other ends of the elastic pieces 15 are connected with the rotating base 21, the elastic pieces 15 are specifically arranged into compression springs 255, the rotating base 21 can be reset to a position parallel to the fixed base 11 by the plurality of elastic pieces 15, namely, when the sliding rod 23 removes pushing force, the sliding rod 23 can be reset to a position perpendicular to the fixed base 11.

It should be noted that, a certain gap is provided between the end of the guiding post 14 away from the fixed base 11 and the rotating base 21, so as to prevent the rotating base 21 from being propped against the guiding post 14 and affecting the rotation of the rotating base 21.

In addition, a guiding protrusion is optionally provided at the bottom of the rotation base 21, and the guiding protrusion extends into the elastic member 15 to play a role in guiding the elastic member 15, so that a certain gap is provided between the guiding protrusion and the guiding column 14.

In an alternative embodiment, the sensor means comprises a sensor substrate 16 and a pressure sensor 161; the plurality of pressure sensors 161 are arranged in a cross shape with the middle part of the sensor substrate 16 as the center, so that the pressure sensors 161 are symmetrically arranged on two sides of the sensor substrate 16 in the first direction, and the pressure sensors 161 are symmetrically arranged on two sides of the sensor substrate 16 in the second direction; preferably, the pressure sensors 161 are provided in four, wherein two pressure sensors 161 are symmetrically disposed on both sides of the sensor substrate 16 in the first direction along the first direction, and the other two pressure sensors 161 are symmetrically disposed on both sides of the sensor substrate 16 in the second direction along the second direction.

Specifically, as shown in fig. 11, four pressure sensors 161 are arranged in a cross shape on the sensor substrate 16, two pressure sensors 161 symmetrically arranged along the first direction are denoted as a+ sensor and a-sensor, two pressure sensors 161 symmetrically arranged along the second direction are denoted as b+ sensor and B-sensor, a-, a+, B-and b+ represent four directions, a plurality of bumps 211 are provided on the bottom lower surface of the rotating base 21, the pressure sensors 161 correspond to the bumps 211, the bumps 211 are in contact with the pressure sensors 161 to form pressure when the rotating base 21 swings, and the pressure sensors 161 are used for detecting the pressure to correspondingly judge the state of the rotating base 21 through pressure information; preferably, four protruding points 211 are provided, the four protruding points 211 are abutted against the four pressure sensors 161 in a one-to-one correspondence, when the slide bar 23 is pushed, the rotating base 21 rotates relative to the fixed base 11, the protruding points 211 on the lower surface of the rotating base 21 press down the pressure sensors 161 at corresponding positions, the pressure sensors 161 detect the pressure of the protruding points 211, and the swinging angle of the rotating base 21 is correspondingly judged through pressure information.

In particular, the pressure sensors 161 and the bumps 211 may be in one-to-one correspondence, or may not be in one-to-one correspondence, that is, the number of the pressure sensors 161 may be the same as the number of the bumps 211, or the number of the pressure sensors 161 may be different from the number of the bumps 211, and preferably, the number of the pressure sensors 161 is greater than the number of the bumps 211.

In an alternative embodiment, as shown in fig. 4 and 5, the depth detection member has two embodiments, and the first embodiment depth detection member further includes a depth adjustment motor 221, a motor encoder 222, a synchronizing wheel 27, and a timing belt 28; the two synchronous wheels 27 are arranged in the slide bar 23 one by one, the synchronous belt 28 is wound on the two synchronous wheels 27, the synchronous belt 28 is fixed on the sliding ring 24 through the pressing plate 29, and when the sliding ring 24 moves along the slide bar 23, the synchronous belt 28 is driven to move up and down together, so that the synchronous belt 28 drives the synchronous wheels 27 to synchronously rotate; the depth adjusting motor 221 is assembled with one of the synchronous wheels 27 in a transmission way, when the synchronous wheel 27 rotates, the driving end of the depth adjusting motor 221 rotates synchronously with the synchronous wheel 27, the motor encoder 222 is connected with the depth adjusting motor 221, and the motor encoder 222 reads the angle change of the driving end of the depth adjusting motor 221, so that the translation distance of the slip ring 24 can be calculated; the motor encoder 222 is electrically connected to the main control unit 30, and the main control unit 30 knows the translation distance of the slip ring 24 and controls the slave mechanical arm 40 in the CT chamber to move the actual puncture needle 50 in the same direction and the same depth in real time.

The six-dimensional force sensor 60 is arranged at the tail end of the slave end mechanical arm 40, the six-dimensional force sensor 60 can collect the resistance of the actual puncture needle 50 in the puncture process, after the resistance of the actual puncture needle 50 in the puncture process is read, the resistance is transmitted to the synchronous wheel 27 through the depth adjusting motor 221, the rotation of the synchronous wheel 27 is prevented, and the medical staff can sense the resistance in the actual needle insertion process through the slip ring 24.

As shown in fig. 6, which is a second embodiment of the depth detection member, the depth adjustment assembly 20 further includes a depth adjustment motor 221, a motor encoder 222, a transmission member, a rotation screw 233, and a screw nut 234; the rotating screw rod 233 is arranged in the slide bar 23, the screw nut 234 is in threaded connection with the rotating screw rod 233, and the screw nut 234 is connected with the slip ring 24, so that the slip ring 24 moves along the rotating screw rod 233 through the screw nut 234; the depth adjusting motor 221 is assembled with the rotating screw 233 in a transmission manner through a transmission member, the transmission member comprises a motor bevel gear 231 and a screw bevel gear 232, the motor bevel gear 231 is fixedly arranged at the driving end of the depth adjusting motor 221, the screw bevel gear 232 is arranged at the end part of the rotating screw 233, the motor bevel gear 231 and the screw bevel gear 232 are connected in a meshed manner, the driving end of the depth adjusting motor 221 and the rotating screw 233 can synchronously rotate, the motor encoder 222 is connected with the depth adjusting motor 221 and is used for reading the angle change of the driving end of the depth adjusting motor 221 and transmitting the angle change information to the main control unit 30, and the translation distance of the slip ring 24 is calculated.

Based on the above embodiment, in an alternative embodiment, in order to prevent the operator from misoperation the slide bar 23, resulting in unexpected movement of the slave-end mechanical arm 40, the slip ring 24 is provided with an enable key 25, the enable key 25 is in signal connection with the master control unit 30, the enable key 25 is used for controlling the operation of the master control unit 30, when the enable key 25 is in a triggered state, the master control unit 30 and the slave-end mechanical arm 40 perform signal transmission, and only when the enable key 25 is in the triggered state, the master-slave mapping mode is entered, that is, the slave-end mechanical arm 40 is controlled to perform the same movement.

The enabling key 25 includes a pressing block 251, a conductive strip 253, a switching mechanism, and a constraint mechanism, when the pressing block 251 is pressed, the pressing force enables the switching mechanism to move inwards or has a trend of moving inwards, the constraint force of the constraint mechanism can prevent the inwards movement or the trend of moving inwards of the switching mechanism, and the pressing force overcomes the constraint force to enable the switching mechanism to touch the conductive strip 253, so that a closed circuit in electrical communication is formed.

As shown in fig. 7 and 8, as a first embodiment of the enabling key 25, a switching mechanism is provided as an elastic piece 252, a restraining mechanism is provided as an abutment projection 241, and in this embodiment, the enabling key 25 includes a pressing piece 251, an elastic piece 252, a conductive strip 253, an abutment projection 241, and a spacer 254; the slip ring 24 and the slide bar 23 are correspondingly provided with notches, the pressing block 251 is arranged in the notches, the inner side of the pressing block 251 is abutted with the elastic piece 252, and the elastic piece 252 is of a U-shaped structure; two grooves are symmetrically formed in the inner side of the sliding rod 23, a current-isolating block 254 is arranged in each groove, a conducting strip 253 is arranged on each current-isolating block 254, the conducting strips 253 are arranged in a through length mode, the conducting strips 253 are electrically connected with the main control unit 30, and the two conducting strips 253 are electrically connected with the positive electrode and the negative electrode of the main control unit 30 respectively; the abutting protrusion 241 is provided as a part of the enabling button 25 on a connecting side extending horizontally from the inner wall of the slip ring 24, and when the pressing block 251 is pressed, the elastic piece 252 abuts against the abutting protrusion 241, and both end portions of the elastic piece 252 move away from each other due to the stress of the abutting point, so that both end portions of the elastic piece 252 abut against the two conductive strips 253; when the elastic sheet 252 abuts against the conductive strips 253, a closed path is formed between the main control unit 30 and the two conductive strips 253, and the main control unit 30 is opened.

Specifically, the sliding ring 24 is held by two fingers of an operator, the pressing block 251 is pressed by two fingers of the operator, the pressing force is transmitted to the elastic sheet 252, the elastic sheet 252 moves forward, when the elastic sheet 252 contacts the abutting protrusion 241, the abutting protrusion 241 prevents the elastic sheet 252 from continuing to move forward, two wings of the elastic sheet 252 are outwards opened around the protrusion 241, the two conductive strips 253 are contacted, the two conductive strips 253 are conducted to form a closed loop, and then a master-slave mapping mode is entered, namely, a signal triggered by the enabling key 25 is transmitted to the main control unit 30, and at the moment, the operator can simultaneously adjust the direction and the depth of the puncture needle through the sliding ring 24.

As shown in fig. 9 and 10, as a second embodiment of the enabling key 25, a switching mechanism is provided as a movable contact piece 256, and a restraint mechanism includes a spring 255 and an abutment piece 242, and in this embodiment, the enabling key 25 includes a pressing block 251, a conductive bar 253, a spacer 254, a spring 255, the movable contact piece 256, and the abutment piece 242; the slip ring 24 and the slide bar 23 are correspondingly provided with notches, the pressing block 251 is arranged in the notches, the inner side of the pressing block 251 is abutted with the movable contact 256, and the movable contact 256 is of a U-shaped structure; two grooves are symmetrically formed in the inner side of the sliding rod 23, a current-isolating block 254 is arranged in each groove, a conducting strip 253 is arranged on the current-isolating block 254, the conducting strip 253 is usually arranged, and the conducting strip 253 is electrically connected with the main control unit 30; the abutting block 242 is provided in the slip ring 24 as a part of the enabling button 25, one end of the spring 255 is connected to the abutting block 242, and the other end of the spring 255 is connected to the movable contact piece 256; when the pressing block 251 is pressed, the spring 255 is compressed, the movable contact 256 moves inward, and both ends of the movable contact 256 contact the conductive strip 253.

Specifically, the operator holds the slip ring 24 with two fingers, presses the pressing block 251 with the thumb, compresses the spring 255, moves the movable contact 256 forward, and makes the ends of the movable contact 256 contact the conductive strips 253, so that the two conductive strips 253 are conducted to form a closed loop, and then enters a master-slave mapping mode.

Based on the above embodiment, in an alternative embodiment, the puncturing robot main operation device further comprises a prompting light 26; the warning light 26 is arranged at the top of the slide bar 23, the warning light 26 comprises a plurality of indicator light beads 261, the indicator light beads 261 are electrically connected with the main control unit 30, and the main control unit 30 correspondingly controls the indicator light beads 261 to light according to swing angle information and displacement information.

Specifically, the number of the indicator light beads 261 can be five, and four indicator light beads 261 are arranged in a cross shape on the light board, the four indicator light beads 261 are respectively in one-to-one correspondence with the four pressure sensors 161, for example, when the pressure of the A+ pressure sensor 161 is increased, the indicator light 26 corresponding to the A+ is lightened, a puncture needle in the CT chamber is prompted to slowly move along the A+ direction, in the whole adjustment process, eyes look at a real-time CT image, when a specified angle is reached, force is not applied to the A+ direction any more, the pressure of the pressure sensor 161 is reduced, the indicator light 26 corresponding to the A+ pressure sensor 161 is extinguished, and the puncture needle in the CT chamber stops direction adjustment; and, set up another warning light 26 pearl in the central point of lamp plate, when sliding ring 24 slides, adjusts actual pjncture needle 50 depth direction, the warning light 26 pearl that is located central point lights up, when operating personnel loosen enable button 25, the warning light 26 pearl in the middle goes out, exits master-slave mapping mode.

According to the puncture robot main operating device provided by the embodiment, when a medical staff main operating device outside a CT room swings around the fixed base 11 along the first direction and the second direction, the swing angle of the rotating base 21 is sensed through the sensor component, and information of the swing angle is transmitted to the main control unit 30, and the pressing block 251 is pressed, the pressing block 251 drives the switch mechanism to move inwards or has a trend of moving inwards, the switch mechanism is propped against the switch mechanism, the switch mechanism can touch the conducting strip 253 to form a closed loop in electric communication, and then the main-slave mapping mode is entered, the whole device is smaller in size, a cable is not needed, and the technical problem that the main-end operating device in the prior art occupies a large size and the sensor is influenced by touching the cable easily is solved.

In the second embodiment, the puncture robot provided in the present embodiment includes a slave manipulator 40 and a puncture robot main operation device; the slave mechanical arm 40 performs the same motion according to the swing angle information and the displacement information read by the main control unit 30; the slave mechanical arm 40 is provided with a six-dimensional force sensor 60, the six-dimensional force sensor 60 is used for detecting the resistance born by the slave mechanical arm 40 and transmitting resistance information to the main control unit 30, the main control unit 30 correspondingly controls the depth adjusting motor 221 to rotate according to the resistance information, and feedback resistance is applied, so that medical staff can sense the puncture force of the slave end in the puncture process, the force feedback can reduce the risk and uncertainty of the operation, the process of remote control operation puncture is more visual and accurate, and the operation is safer.

As shown in fig. 12 and 13, in a third embodiment, the operation method of the puncture robot according to the present embodiment includes the following steps: pressing the pressing block 251, wherein the pressing force drives the switch mechanism to move or has a trend of inward movement, and the restraint force of the restraint mechanism prevents the switch mechanism from moving inwards or has a trend of inward movement, so that the switch mechanism touches the conductive strip 253, the main control unit 30 is started, and a master-slave mapping mode is entered; the sliding rod 23 is rotated so that the rotating base 21 and the sliding rod 23 rotate together relative to the fixed base 11, and the main control unit 30 reads the swinging angle information of the rotating base 21 in the first direction and the second direction detected by the sensor member and correspondingly controls the slave-end mechanical arm 40 to swing in the same direction in the first direction and the second direction, namely, adjusts the swinging angle of the actual puncture needle 50; the sliding ring 24 is driven to move along the sliding rod 23, and the main control unit 30 reads displacement information of the sliding ring 24 in the third direction, which is detected by the depth detection member, and correspondingly controls the slave end mechanical arm 40 to do the same movement in the third direction, namely, adjusts the depth penetration of the actual puncture needle 50.

In addition, a safe adjustment range can be set, in the CT chamber, after the slave mechanical arm 40 and the patient sweep CT together, the navigation positioning software reconstructs the CT image, the relative position of the slave mechanical arm 40 and the focus can be known after the image reconstruction, and then the angles Δa and Δb of the slave mechanical arm 40 required to be adjusted with the actual puncture needle 50 and the depths Δz of the needle insertion can be calculated, Δa, Δb and Δz are the safe adjustment ranges, when the adjustment of the posture of the master mechanical arm is in the safe range, the master mechanical arm 40 can be normally controlled by the master mechanical arm, when the adjustment of the master mechanical arm is about to exceed the safe range, the master mechanical arm 30 can automatically disconnect the master-slave mapping relation, the posture adjustment action of the master manipulator cannot be mapped to the slave mechanical arm 40, when the adjustment of the depth of the master mechanical arm is in the safe range, the master mechanical arm 40 can be normally controlled by the master mechanical arm, when the adjustment of the master mechanical arm is about to exceed the safe range, the depth of the master mechanical arm 40 can exert a great resistance on the slip ring 24, and prevent the operator from continuing to insert the needle.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.

Claims (14)

1. A method of operating a penetration robot comprising a slave end robotic arm (40) and a penetration robot master operating device;

the slave mechanical arm (40) performs the same motion according to the swing direction information and the puncture depth information read by the main control unit (30) of the puncture robot main operation device;

the slave mechanical arm (40) is provided with a six-dimensional force sensor (60), the six-dimensional force sensor (60) is used for detecting resistance born by the slave mechanical arm (40) and transmitting resistance information to the main control unit (30), and the main control unit (30) correspondingly applies feedback resistance according to the resistance information;

The main operating device comprises a fixed base (11), a gesture adjusting assembly (10), a depth adjusting assembly (20) and a main control unit (30);

the attitude adjusting assembly (10) comprises a rotating base (21), an attitude adjuster (12), an elastic piece (15) and a sensor component, wherein the rotating base (21) and the fixed base (11) are assembled through the attitude adjuster (12) so that the rotating base (21) can swing around the fixed base (11) along a first direction and a second direction, the elastic piece (15) is pressed down when the rotating base (21) swings, the elastic piece (15) recovers deformation along the gravity direction when no downward pressure is applied, and each pressure sensor of the sensor component is in a three-dimensional block shape which is not connected with each other and is independent, and the pressure sensor is used for sensing swing information of the rotating base (21) and transmitting the swing information to the main control unit (30);

the depth adjusting assembly (20) comprises an enabling key (25), wherein the enabling key (25) comprises a pressing block (251), a conducting strip (253), a power isolation block (254), an elastic sheet (252) and an abutting protrusion (241);

The elastic piece (252) is of a U-shaped structure, and the inner side of the pressing block (251) is abutted against the elastic piece (252);

the sliding ring (24) and the sliding rod (23) of the depth adjusting assembly (20) are correspondingly provided with notches, the pressing block (251) is arranged in the notches, and the abutting protrusions (241) are arranged on connecting edges horizontally extending on the inner wall of the sliding ring (24);

two grooves are symmetrically formed in the inner side of the sliding rod (23), a current-isolating block (254) is arranged in each groove, the conducting strip (253) is arranged on the current-isolating block (254), and the conducting strip (253) is arranged in a through length mode and is electrically connected with the main control unit (30);

the depth adjusting assembly (20) comprises a sliding rod (23), a sliding ring (24) and a depth detecting member;

the sliding rod (23) is fixed on the rotating base (21), the sliding ring (24) is connected to the sliding rod (23) in a sliding manner, the axis of the sliding rod (23) is in a third direction, and the depth detection component is used for detecting the displacement of the sliding ring (24) in the third direction and transmitting the displacement information to the main control unit (30);

the first direction, the second direction and the third direction are perpendicular to each other;

The method is characterized by comprising the following steps of:

(1) The slip ring (24) is held by two fingers of an operator, the pressing block (251) is pressed by a thumb, and the pressing force is transmitted to the elastic sheet (252);

(2) The elastic sheet receives the pressing force, and the elastic sheet (252) moves to the side far away from the pressing block (251);

(3) When the elastic sheet (252) moves to the state that the middle part of the elastic sheet is in contact with the abutting protrusion (241), the abutting protrusion (241) prevents the elastic sheet (252) from continuing to move to the side far away from the pressing block (251) and enables the elastic sheet to deform;

(4) Two wings of the elastic sheet (252) are outwards opened around the contact position of the elastic sheet and the abutting bulge (241), and the two wings respectively contact the two conductive strips (253);

(5) The two conducting strips (253) are conducted so that a closed loop which is electrically communicated is formed among the elastic sheet, the conducting strips, the main control unit and the indicating lamp beads, then a signal triggered by the enabling key (25) is transmitted to the main control unit (30), and the puncture robot enters a master-slave mapping mode;

(6) The sliding rod (23) is rotated so that the rotating base (21) rotates relative to the fixed base (11), and the main control unit (30) reads swinging signals of the rotating base (21) in a first direction and a second direction detected by the sensor component and correspondingly controls the slave-end mechanical arm (40) to swing in the corresponding first direction and second direction;

(7) The sliding ring (24) is driven to move along the sliding rod (23), the main control unit (30) reads displacement information of the sliding ring (24) in a third direction, detected by the depth detection component, and the slave end mechanical arm (40) is correspondingly controlled to move in the same direction.

2. The method of operating a lancing robot of claim 1, further comprising the steps of:

calculating a safe angle range in which the slave-end mechanical arm (40) drives the actual puncture needle (50) to swing, and when the swing angle change of the rotating base (21) in the first direction and the second direction read by the main control unit (30) exceeds the safe angle range, disconnecting the signal transmission with the slave-end mechanical arm (40) by the main control unit (30);

and calculating a safe depth range of the slave mechanical arm (40) driving the actual puncture needle (50) to enter the needle, and when the displacement change of the slip ring (24) in the third direction read by the main control unit (30) exceeds the safe depth range, controlling the depth adjusting motor (221) to stop rotating by the main control unit (30) so as to prevent the slip of the slip ring (24).

3. The operation method of a puncture robot according to claim 1, characterized in that the puncture robot main operation device is a contact-closed type electric conduction operation principle, and the depth detection means further comprises a depth adjustment motor (221), a motor encoder (222), a synchronizing wheel (27) and a synchronous belt (28);

the two synchronous wheels (27) are arranged in the sliding rod (23) one by one, the synchronous belt (28) is wound on the two synchronous wheels (27), and the synchronous belt (28) is fixed on the sliding ring (24) through a pressing plate (29) so that the synchronous belt (28) can move together with the sliding ring (24), and the synchronous wheels (27) synchronously rotate;

the depth adjusting motor (221) is assembled with one of the synchronous wheels (27) in a transmission way so that the driving end of the depth adjusting motor (221) and the synchronous wheel (27) synchronously rotate, and the motor encoder (222) is connected with the depth adjusting motor (221) and used for reading the angle change of the driving end of the depth adjusting motor (221);

the main control unit (30) is used for detecting the resistance born by the slave mechanical arm (40) and correspondingly controlling the depth adjusting motor (221) according to the resistance information so as to generate feedback resistance.

4. The method of operation of a penetration robot of claim 1, wherein the depth adjustment assembly (20) further comprises a depth adjustment motor (221), a motor encoder (222), a transmission member, a rotating screw (233), and a screw nut (234);

the rotating screw rod (233) is arranged in the sliding rod (23), the screw rod nut (234) is in threaded connection with the rotating screw rod (233), and the screw rod nut (234) is connected with the sliding ring (24) so that the sliding ring (24) can move along the rotating screw rod (233);

the depth adjusting motor (221) is assembled with the rotating screw (233) in a transmission way through the transmission component so that the driving end of the depth adjusting motor (221) and the rotating screw (233) synchronously rotate, and the motor encoder (222) is connected with the depth adjusting motor (221) and used for reading the angle change of the driving end of the depth adjusting motor (221);

the main control unit (30) is used for detecting the resistance born by the slave mechanical arm (40) and correspondingly controlling the depth adjusting motor (221) according to the resistance information so as to generate feedback resistance.

5. The method of operating a piercing robot of claim 1, wherein the attitude adjustment assembly (10) further comprises a gland (13) and a guide post (14);

the end part of the gesture regulator (12) is provided with a spherical hinge structure, and the gland (13) is used for fixing the spherical hinge structure in the fixed base (11);

the guide posts (14) are arranged in a plurality, the guide posts (14) are arranged on the fixed base (11) in an array mode, elastic pieces (15) are sleeved outside the guide posts (14), the elastic pieces (15) are arranged between the fixed base (11) and the rotating base (21), and the elastic pieces (15) are used for enabling the rotating base (21) to reset to a position parallel to the fixed base (11).

6. The method of operating a lancing robot according to claim 5, wherein the sensor member comprises a sensor substrate (16) and a pressure sensor (161);

the pressure sensors (161) are arranged in a plurality, the pressure sensors (161) are distributed in a cross shape by taking the middle part of the sensor substrate (16) as the center, so that the pressure sensors (161) are symmetrically arranged on two sides of the sensor substrate (16) in the first direction, and the pressure sensors (161) are symmetrically arranged on two sides of the sensor substrate (16) in the second direction;

The bottom lower surface of the rotating base (21) is provided with a plurality of protruding points (211), the pressure sensor (161) corresponds to the protruding points (211), when the rotating base (21) swings, the protruding points (211) are contacted with the pressure sensor (161) to form pressure, and the pressure sensor (161) is used for detecting the pressure so as to correspondingly judge the state of the rotating base (21) through the pressure information.

7. The method of operating a lancing robot according to claim 1, wherein said lancing robot main operating device further comprises a warning light (26);

the warning light (26) set up in the top of slide bar (23), warning light (26) include a plurality of pilot lamp pearls (261), a plurality of pilot lamp pearls (261) all with main control unit (30) electricity is connected, main control unit (30) are according to swing angle information and displacement information correspondence control pilot lamp pearl (261) are lighted.

8. A method of operating a penetration robot comprising a slave end robotic arm (40) and a penetration robot master operating device;

the slave mechanical arm (40) performs the same motion according to the swing direction information and the puncture depth information read by the main control unit (30) of the puncture robot main operation device;

The slave mechanical arm (40) is provided with a six-dimensional force sensor (60), the six-dimensional force sensor (60) is used for detecting resistance born by the slave mechanical arm (40) and transmitting resistance information to the main control unit (30), and the main control unit (30) correspondingly applies feedback resistance according to the resistance information;

the main operating device comprises a fixed base (11), a gesture adjusting assembly (10), a depth adjusting assembly (20) and a main control unit (30);

the attitude adjusting assembly (10) comprises a rotating base (21), an attitude adjuster (12), an elastic piece (15) and a sensor component, wherein the rotating base (21) and the fixed base (11) are assembled through the attitude adjuster (12) so that the rotating base (21) can swing around the fixed base (11) along a first direction and a second direction, the elastic piece (15) is pressed down when the rotating base (21) swings, the elastic piece (15) recovers deformation along the gravity direction when no downward pressure is applied, and each pressure sensor of the sensor component is in a three-dimensional block shape which is not connected with each other and is independent, and the pressure sensor is used for sensing swing information of the rotating base (21) and transmitting the swing information to the main control unit (30);

The depth adjusting assembly (20) comprises an enabling key (25), wherein the enabling key (25) comprises a pressing block (251), a conducting strip (253), a power isolation block (254), a movable contact piece (256), a spring (255) and an abutting block (242);

the movable contact piece (256) is of a U-shaped structure, the inner side of the pressing block (251) is in abutting connection with the movable contact piece (256), one end of the spring (255) is connected with the abutting block (242), and the other end of the spring (255) is connected with the movable contact piece (256);

the sliding ring (24) and the sliding rod (23) of the depth adjusting assembly (20) are correspondingly provided with notches, the pressing block (251) is arranged in the notches, and the abutting block (242) is arranged in the sliding ring (24) of the depth adjusting assembly (20);

two grooves are symmetrically formed in the inner side of the sliding rod (23), a current-isolating block (254) is arranged in each groove, the conducting strip (253) is arranged on the current-isolating block (254), and the conducting strip (253) is arranged in a through length mode and is electrically connected with the main control unit (30);

the depth adjusting assembly (20) comprises a sliding rod (23), a sliding ring (24) and a depth detecting member;

The sliding rod (23) is fixed on the rotating base (21), the sliding ring (24) is connected to the sliding rod (23) in a sliding manner, the axis of the sliding rod (23) is in a third direction, and the depth detection component is used for detecting the displacement of the sliding ring (24) in the third direction and transmitting the displacement information to the main control unit (30);

the first direction, the second direction and the third direction are perpendicular to each other;

the method is characterized by comprising the following steps of:

(1) The sliding ring (24) is held by two fingers of an operator, the pressing block (251) is pressed by a thumb, and the pressing force is transmitted to the spring (255);

(2) The spring (255) receives the pressing force, the spring (255) is compressed, and the movable contact piece (256) moves to the side far away from the pressing block (251);

(3) The movable contact piece (256) moves to the state that two ends of the movable contact piece (256) contact the conductive strip (253);

(4) The two conducting strips (253) are conducted so that a closed loop which is electrically communicated is formed among the movable contact piece (256), the conducting strips, the main control unit and the indication lamp beads, then a signal triggered by the enabling key (25) is transmitted to the main control unit (30), and the puncture robot enters a master-slave mapping mode;

(5) The sliding rod (23) is rotated so that the rotating base (21) rotates relative to the fixed base (11), and the main control unit (30) reads swinging signals of the rotating base (21) in a first direction and a second direction detected by the sensor component and correspondingly controls the slave-end mechanical arm (40) to swing in the corresponding first direction and second direction;

(6) The sliding ring (24) is driven to move along the sliding rod (23), the main control unit (30) reads displacement information of the sliding ring (24) in a third direction, detected by the depth detection component, and the slave end mechanical arm (40) is correspondingly controlled to move in the same direction.

9. The method of operating a lancing robot of claim 8, further comprising the steps of:

calculating a safe angle range in which the slave-end mechanical arm (40) drives the actual puncture needle (50) to swing, and when the swing angle change of the rotating base (21) in the first direction and the second direction read by the main control unit (30) exceeds the safe angle range, disconnecting the signal transmission with the slave-end mechanical arm (40) by the main control unit (30);

and calculating a safe depth range of the slave mechanical arm (40) driving the actual puncture needle (50) to enter the needle, and when the displacement change of the slip ring (24) in the third direction read by the main control unit (30) exceeds the safe depth range, controlling the depth adjusting motor (221) to stop rotating by the main control unit (30) so as to prevent the slip of the slip ring (24).

10. The operation method of a puncture robot according to claim 9, characterized in that the puncture robot main operation device is a contact-closed type electric conduction operation principle, and the depth detection means further comprises a depth adjustment motor (221), a motor encoder (222), a synchronizing wheel (27) and a synchronous belt (28);

the two synchronous wheels (27) are arranged in the sliding rod (23) one by one, the synchronous belt (28) is wound on the two synchronous wheels (27), and the synchronous belt (28) is fixed on the sliding ring (24) through a pressing plate (29) so that the synchronous belt (28) can move together with the sliding ring (24), and the synchronous wheels (27) synchronously rotate;

the depth adjusting motor (221) is assembled with one of the synchronous wheels (27) in a transmission way so that the driving end of the depth adjusting motor (221) and the synchronous wheel (27) synchronously rotate, and the motor encoder (222) is connected with the depth adjusting motor (221) and used for reading the angle change of the driving end of the depth adjusting motor (221);

the main control unit (30) is used for detecting the resistance born by the slave mechanical arm (40) and correspondingly controlling the depth adjusting motor (221) according to the resistance information so as to generate feedback resistance.

11. The method of operating a lancing robot according to claim 9, wherein,

the depth adjustment assembly (20) further comprises a depth adjustment motor (221), a motor encoder (222), a transmission member, a rotating screw (233) and a screw nut (234);

the rotating screw rod (233) is arranged in the sliding rod (23), the screw rod nut (234) is in threaded connection with the rotating screw rod (233), and the screw rod nut (234) is connected with the sliding ring (24) so that the sliding ring (24) can move along the rotating screw rod (233);

the depth adjusting motor (221) is assembled with the rotating screw (233) in a transmission way through the transmission component so that the driving end of the depth adjusting motor (221) and the rotating screw (233) synchronously rotate, and the motor encoder (222) is connected with the depth adjusting motor (221) and used for reading the angle change of the driving end of the depth adjusting motor (221);

the main control unit (30) is used for detecting the resistance born by the slave mechanical arm (40) and correspondingly controlling the depth adjusting motor (221) according to the resistance information so as to generate feedback resistance.

12. The method of operating a lancing robot according to claim 9, wherein,

the gesture adjusting assembly (10) further comprises a gland (13) and a guide post (14);

the end part of the gesture regulator (12) is provided with a spherical hinge structure, and the gland (13) is used for fixing the spherical hinge structure in the fixed base (11);

the guide posts (14) are arranged in a plurality, the guide posts (14) are arranged on the fixed base (11) in an array mode, elastic pieces (15) are sleeved outside the guide posts (14), the elastic pieces (15) are arranged between the fixed base (11) and the rotating base (21), and the elastic pieces (15) are used for enabling the rotating base (21) to reset to a position parallel to the fixed base (11).

13. The method of operating a lancing robot according to claim 12, wherein,

the sensor member includes a sensor substrate (16) and a pressure sensor (161);

the pressure sensors (161) are arranged in a plurality, the pressure sensors (161) are distributed in a cross shape by taking the middle part of the sensor substrate (16) as the center, so that the pressure sensors (161) are symmetrically arranged on two sides of the sensor substrate (16) in the first direction, and the pressure sensors (161) are symmetrically arranged on two sides of the sensor substrate (16) in the second direction;

The bottom lower surface of the rotating base (21) is provided with a plurality of protruding points (211), the pressure sensor (161) corresponds to the protruding points (211), when the rotating base (21) swings, the protruding points (211) are contacted with the pressure sensor (161) to form pressure, and the pressure sensor (161) is used for detecting the pressure so as to correspondingly judge the state of the rotating base (21) through the pressure information.

14. The method of operating a lancing robot according to claim 9, wherein,

the puncture robot main operation device also comprises a prompt lamp (26);

the warning light (26) set up in the top of slide bar (23), warning light (26) include a plurality of pilot lamp pearls (261), a plurality of pilot lamp pearls (261) all with main control unit (30) electricity is connected, main control unit (30) are according to swing angle information and displacement information correspondence control pilot lamp pearl (261) are lighted.