CN117796910A - Puncture robot and electronic device - Google Patents

Abstract

The disclosure provides a puncture robot and electronic equipment, and relates to the technical field of medical instruments. The puncture robot includes: a needle holder for holding the puncture needle, the material of the needle holder comprising a non-metallic non-magnetic material; the mechanical arm is configured to be arranged on a scanning bed of the electronic computer tomography examination, is connected with the first end of the needle holding device and is used for moving the needle holding device to a target needle inserting path; and the electromagnetic positioning device is used for positioning the needle holding device, the puncture needle and the target object. In the scanning process, the puncture needle is always clamped and fixed by the needle holding device, so that an additional needle stabilizing device is not required to be arranged, and the cost is reduced; meanwhile, the needle holding device is made of non-metal non-magnetic materials, so that interference to the precision of the electromagnetic positioning device is avoided, the accuracy of the puncture position is ensured, in addition, artifact interference to CT imaging is avoided, the clear CT imaging is ensured, and the focus is visible.

Description

Puncture robot and electronic device

Technical Field

The disclosure relates to the technical field of medical instruments, in particular to a puncture robot and electronic equipment.

Background

The puncture operation is a diagnosis and treatment technology for puncturing a puncture needle into a body cavity to extract secretion for testing, injecting gas or contrast agent into the body cavity for contrast examination, or injecting medicine into the body cavity; the puncture operation aims at blood sampling and assaying, blood transfusion, and catheter implantation for angiography. Therefore, after the doctor has placed the needle into the patient, it is necessary to check using an electronic computer tomography (Computed Tomography, CT) to determine if the needle has properly penetrated the patient to the location of the lesion tissue.

In the puncture operation process, a doctor inserts a needle along a needle insertion path appointed by a mechanical arm of the robot outside the scanning tunnel, after the needle insertion is completed, the puncture needle needs to be separated from the mechanical arm, and then the puncture needle and a patient move along with a CT scanning bed to enter the scanning tunnel for scanning. After the puncture needle is separated from the mechanical arm, the puncture needle is supported by human tissue, so that the puncture needle can deviate from the original position under the influence of factors such as gravity lodging, human respiration and the like, and the CT examination result is inaccurate.

Disclosure of Invention

In view of the above, the embodiments of the present disclosure provide a puncture robot and an electronic device.

In a first aspect, an embodiment of the present disclosure provides a penetration robot, comprising: a needle holder for holding the puncture needle, the material of the needle holder comprising a non-metallic non-magnetic material; the mechanical arm is configured to be arranged on a scanning bed of the electronic computer tomography examination, is connected with the first end of the needle holding device and is used for moving the needle holding device to a target needle inserting path; and the electromagnetic positioning device is used for positioning the needle holding device, the puncture needle and the target object.

With reference to the first aspect, in certain implementations of the first aspect, the needle holder includes: a holder for holding the puncture needle; and the first end of the extension arm is connected with the mechanical arm, and the second end of the extension arm is rotationally connected with the clamp holder so as to adjust the clamp holder to a target angle.

With reference to the first aspect, in certain implementations of the first aspect, the gripper includes: a first gripper jaw and a second gripper jaw; a control mechanism for controlling the clamping and unclamping of the first clamping jaw and the second clamping jaw; the guide sleeve is clamped by the first clamping claw and the second clamping claw and comprises a guide channel penetrating through the upper surface and the lower surface, and the diameter of the guide channel is matched with that of the puncture needle so as to guide the puncture needle.

With reference to the first aspect, in certain implementations of the first aspect, the control mechanism includes: the clamping button is sequentially connected with the first connecting rod and the triangular block, and the first connecting rod comprises a groove; the release button is connected with the second connecting rod, the second connecting rod comprises a flange and a spring limiting mechanism, the first connecting rod and the second connecting rod are vertically arranged, and the size of the flange is matched with the groove of the first connecting rod; the first spring is sleeved on the second connecting rod and is abutted with the spring limiting mechanism; the first end of the first swing arm and the first end of the second swing arm are respectively arranged on two sides of the triangular block, the second end of the first swing arm and the second swing arm are respectively connected with the first clamping claw and the second clamping claw, and the first swing arm and the second swing arm are respectively fixed on the shell of the clamp holder through the fixed shaft so that the first swing arm and the second swing arm respectively rotate by taking the fixed shaft as a rotation center; and two ends of the second spring are respectively abutted with the first clamping claw and the second clamping claw.

With reference to the first aspect, in certain implementations of the first aspect, the needle holder further includes an angle adjuster disposed between the holder and the extension arm; wherein, the angle adjuster includes: the extension arm connecting piece is fixedly connected with the extension arm; the clamp holder connecting piece is fixedly connected with the clamp holder and is rotationally connected with the extension arm connecting piece; the locking screw is arranged at the joint of the extension arm connecting piece and used for limiting the relative rotation of the extension arm connecting piece and the extension arm connecting piece.

With reference to the first aspect, in certain implementations of the first aspect, electromagnetic positioning sensors are respectively disposed on the second end of the needle holder, the tip of the puncture needle, and the body surface of the target object, so that the electromagnetic positioning devices position the needle holder, the puncture needle, and the target object, respectively.

With reference to the first aspect, in certain implementations of the first aspect, the penetration robot further includes a frame structure disposed on the scanning bed; wherein, the frame construction includes: the mechanical arm is fixedly connected to the first surface of the supporting surface; and the supporting structure is arranged between the second surface of the supporting surface and the scanning bed and is used for lifting the supporting surface so as to form a space for accommodating the legs of the target object.

With reference to the first aspect, in certain implementations of the first aspect, the material of the needle-holding device comprises a resin.

In a second aspect, an embodiment of the present disclosure provides an electronic device, including: a processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to perform a method of positioning a penetration robot via execution of executable instructions, the method of positioning comprising: determining a position of the needle holder by using an electromagnetic positioning device so as to move the needle holder to a target puncture path by using a mechanical arm, wherein a material of the needle holder comprises a nonmetallic nonmagnetic material; during the mounting of the lancet to the needle holder along the target puncture path, the position of the tip of the lancet and the target object is determined using the electromagnetic positioning device to determine the target position at which the tip of the lancet is moved within the target object.

With reference to the second aspect, in certain implementations of the second aspect, the positioning method further includes: under the condition that the tip end of the puncture needle is determined to move to the target position in the target object, the scanning bed is controlled to move into the scanning tunnel of the electronic computer tomography examination so that the scanning bed drives the needle holding device and the target object to enter the scanning tunnel; performing an electronic computed tomography examination of the target object to verify whether the target location is a focal location within the body of the target object; wherein, in the verification process, the puncture needle is clamped and fixed by the needle holding device.

The puncture robot provided by the disclosure is fixed on a CT scanning bed, and meanwhile, the needle holding device is made of a non-metal non-magnetic material, so that the needle holding device can follow a target object (such as a patient) to enter a CT scanning tunnel together; the puncture needle is not required to be separated from the needle holding device, is always clamped by the needle holding device and is kept stable, and an additional needle stabilizing device is not required to be arranged; in addition, the needle holding device can not cause artifact interference on CT imaging, so that clear CT imaging and visible focus are ensured. In addition, in the puncturing process, the needle holding device can not interfere with the precision of the electromagnetic positioning device, and the accuracy of the puncturing position is ensured.

Drawings

The above and other objects, features and advantages of the present disclosure will become more apparent by describing in more detail embodiments thereof with reference to the attached drawings. The accompanying drawings are included to provide a further understanding of embodiments of the disclosure, and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure, without limitation to the disclosure. In the drawings, like reference numerals generally refer to like parts or steps.

Fig. 1 is a schematic view illustrating a structure of a penetration robot according to an exemplary embodiment of the present disclosure.

Fig. 2 is a schematic view illustrating a structure of a needle holder according to an exemplary embodiment of the present disclosure.

Fig. 3 is a schematic view of an application scenario of a puncture robot in a positioning stage according to an exemplary embodiment of the present disclosure.

Fig. 4 is a schematic structural view of a control mechanism according to an exemplary embodiment of the present disclosure.

Fig. 5 is a schematic view illustrating a structure of an angle adjuster according to an exemplary embodiment of the present disclosure.

Fig. 6 is a flowchart illustrating a positioning method of a puncture robot according to an exemplary embodiment of the present disclosure.

Fig. 7 is a flowchart illustrating a positioning method of a puncture robot according to another exemplary embodiment of the present disclosure.

Fig. 8 is a schematic view of an application scenario of the puncture robot in the verification stage according to an exemplary embodiment of the present disclosure.

Fig. 9 is a schematic structural diagram of an electronic device according to an embodiment of the disclosure.

Reference numerals:

110-a mechanical arm; 120-needle holder; 121-a holder; 1211-a first gripper jaw; 1212-a second gripper jaw; 1213-a control mechanism; 1214-guide sleeve; 122-extension arms; 130-electromagnetic positioning means; 141-a support surface; 142-a support structure; 410-a clamping button; 411-first link; 4111-groove; 412-triangular blocks; 420-release button; 421-second link; 4211-flanges; 4212-a spring limit mechanism; 430-a first spring; 441-a first swing arm; 442-a second swing arm; 450-a second spring; 510-an extension arm connection; 520-gripper connection; 530-locking screw.

Detailed Description

The following description of the technical solutions in the embodiments of the present disclosure will be made clearly and completely with reference to the accompanying drawings in the embodiments of the present disclosure, and it is apparent that the described embodiments are only some embodiments of the present disclosure, not all embodiments. Based on the embodiments in this disclosure, all other embodiments that a person of ordinary skill in the art would obtain without making any inventive effort are within the scope of protection of this disclosure.

In the related art, most of the puncture robots are separated from the CT scanning bed and cannot move into the scanning tunnel along with the scanning bed, meanwhile, the mechanical arms of the puncture robots can generate metal artifacts in CT images, and the CT imaging is unclear due to the metal artifacts, so that the focus position is difficult to position. Therefore, during CT examination, the puncture needle often needs to be separated from the mechanical arm and independently enters the scanning tunnel along with the patient. After the puncture needle is separated from the mechanical arm, the puncture needle is supported by human tissue, so that the puncture needle can deviate from the original position under the influence of factors such as gravity lodging, human respiration and the like, and the CT examination result is inaccurate.

To overcome this problem, there is provided a needle stabilizing device in which a needle stabilizing portion is fixed to a human body through an adhesive layer to maintain the stability of a puncture needle. However, the proposal is seriously affected by skin slippage, and the needle stabilizing device is additionally added, thereby reducing the operation efficiency and failing to fully exert the advantages of high efficiency and stability of the puncture robot.

In the related art, there is also provided a puncture robot system in which a mechanical arm of a puncture robot is inserted into a scan tunnel and then needle insertion is performed, and a CT examination is directly performed to verify the position of a puncture needle without moving a patient after needle insertion, thereby preventing the puncture needle from being deviated. However, this solution has the following drawbacks: 1) The magnetic field interference in the scanning tunnel is serious, and an electromagnetic positioning system cannot be used, so that the scheme is only applicable to an optical positioning system; the optical positioning system has certain requirements on the environment, and the light path cannot be shielded, otherwise, the positioning precision is affected; meanwhile, the optical positioning is not suitable for positioning the patient, a doctor cannot monitor the position of the puncture needle in real time, the puncture needle needs to be positioned by matching with CT for a plurality of times in the puncture process, the operation time is prolonged, and the operation cost is increased; 2) Because the puncture process of this scheme is carried out in the scanning tunnel, its positioner mainly faces the scanning tunnel inside, consequently the doctor need carry out the operation of broken skin to the patient in narrow scanning tunnel, increases doctor's operation degree of difficulty, does not accord with traditional puncture operation custom simultaneously.

In view of the above technical problems, the present disclosure provides a penetration robot, including: a needle holder for holding the puncture needle, the material of the needle holder comprising a non-metallic non-magnetic material; the mechanical arm is configured to be arranged on a scanning bed of the electronic computer tomography examination, is connected with the first end of the needle holding device and is used for moving the needle holding device to a target needle inserting path; and the electromagnetic positioning device is used for positioning the needle holding device, the puncture needle and the target object.

The penetration robot of the present disclosure is fixed on a CT scan couch while the needle holder is made of a non-metallic non-magnetic material so that it can follow a target object (e.g., a patient) into the CT scan tunnel together; the puncture needle is not required to be separated from the needle holding device, is always clamped by the needle holding device and is kept stable, and an additional needle stabilizing device is not required to be arranged; in addition, the needle holding device can not cause artifact interference on CT imaging, so that clear CT imaging and visible focus are ensured. In addition, in the puncturing process, the needle holding device can not interfere with the precision of the electromagnetic positioning device, and the accuracy of the puncturing position is ensured.

The penetration robot provided by the present disclosure will be described in detail with reference to the accompanying drawings and examples.

Fig. 1 is a schematic view illustrating a structure of a penetration robot according to an exemplary embodiment of the present disclosure. As shown in fig. 1, a puncture robot provided in an embodiment of the present disclosure includes: a mechanical arm 110, a needle holder 120, and an electromagnetic positioning device 130. In the puncture operation, the mechanical arm 110 and the needle holder 120 cooperate to guide and hold the puncture needle. The electromagnetic positioning device is capable of positioning and tracking the needle holder 120, the puncture needle, and the target object in real time.

The puncture robot further includes a control carriage communicatively connected to the robot arm 110 and the electromagnetic positioning device 130, respectively.

In the positioning stage, a doctor can plan a proper needle insertion path at a workstation in the control trolley, and the workstation calculates a target posture of the mechanical arm 110 through inverse kinematics of the mechanical arm according to an electromagnetic positioning signal determined by the electromagnetic positioning device 130 and plans a motion path of the mechanical arm 110 according to the target posture to control the movement of the mechanical arm 110. When the robot arm 110 moves to the target posture, the front end of the needle holder 120 connected to the robot arm 110 is located in the target needle insertion path, and at this time, when the doctor inserts the needle in the direction of the guide hole of the front end of the needle holder 120, the puncture needle pierces the target object along the target needle insertion path. During the needle insertion process, the doctor can monitor the position of the puncture needle in real time through the electromagnetic positioning device 130 until the tip of the puncture needle moves to the target position in the target object, and the needle insertion operation is completed.

After the doctor finishes the needle insertion operation, the CT can be used for verifying whether the puncture needle reaches the focus tissue in the target object. During this process, the needle does not need to be disengaged from the needle holder 120, and the robotic arm 110, the needle holder 120, and the needle remain relatively stationary with respect to the target object. Along with the movement of the scanning bed, the needle holding device 120 and the puncture needle enter the scanning tunnel along with the target object, and the mechanical arm 110 is outside the scanning tunnel, so that collision between the mechanical arm and the scanning tunnel and artifact interference on CT imaging can be avoided. Meanwhile, in the verification stage, the puncture needle is always clamped by the needle holding device, so that the puncture needle can be kept at the original position, and the needle stabilizing purpose is achieved.

In some embodiments, the material of the needle-holding device comprises a resin. The resin material has better durability and applicability, can customize different lengths and interfaces according to the needs, and is suitable for various engineering requirements. Meanwhile, the needle holding device of the resin is light in weight, is not easy to bend and is suitable for the current application scene. Meanwhile, the resin material cannot cause artifact interference to CT imaging and influence electromagnetic positioning signals, so that CT imaging definition can be ensured, and the accuracy of a puncture position can be ensured.

The specific structure of the piercing robot will be further described with reference to fig. 1 to 5.

One end of the mechanical arm 110 is fixed on the CT scanning bed, and the other end is connected with a first end of the needle holder 120. In the puncturing process, for different needle insertion paths, the workstation can automatically plan the motion track of the joint space of the mechanical arm 110, so that the target gesture is formed in a cascading way.

In some embodiments, the robotic arm 110 is secured to the back half of the scan bed (i.e., the portion remote from the scan tunnel). Specifically, the robotic arm 110 may be mounted on the scanning bed by a frame structure that includes a support surface 141 and a support structure 142. The robot arm 110 is fixedly coupled to a first surface of the support surface 141. A support structure 142 is provided between the second surface of the support surface 141 and the scanning bed for elevating the support surface 141 and fixing it to the scanning bed so that a space for accommodating the leg of the target object can be formed below the support surface 141.

In the related art, the mechanical arm is usually arranged at one side of the scanning bed, so that the affected part at the opposite side of the mechanical arm is difficult to puncture; to solve this problem, the mechanical arm 110 in the embodiment of the present disclosure may be fixed to the middle position of the supporting surface 141, so that the distances between the mechanical arm 110 and the left and right sides of the scanning bed are equal, which may increase the penetration range of the mechanical arm and increase the flexibility thereof.

Needle holder 120 is made of a non-metallic, non-magnetic material, and needle holder 120 is coupled to robotic arm 110 at a first end and is configured to hold a needle. In addition, the needle holder 120 has a function of guiding the puncture needle during the puncture. When the needle holder 120 moves into the target needle insertion path under the driving of the mechanical arm, the puncture needle pierces the target object along the target needle insertion path based on the guiding function thereof when the doctor inserts the needle.

Fig. 2 is a schematic view illustrating a structure of a needle holder according to an exemplary embodiment of the present disclosure. As shown in fig. 2, the needle holder provided in the embodiment of the present disclosure includes: a holder 121, an extension arm 122.

The first end of the extension arm 122 is connected to the robot arm and the second end is rotatably connected to the gripper 121. When the needle holder moves into the target needle insertion path under the drive of the mechanical arm, the holder 121 can be made to be at a target angle, more specifically, the guide direction of the guide hole provided on the holder 121 can be made to be at a target angle by extending the angle between the arm 122 and the holder 121. The clamp holder plays a role in guiding and clamping the puncture needle.

Fig. 3 is a schematic view of an application scenario of a puncture robot in a positioning stage according to an exemplary embodiment of the present disclosure. As shown in fig. 3, in the positioning stage, the part of the extension arm 122 of the needle holding device, the puncture needle, and the target position in the target object are all located in the magnetic field positioning area (frame selection portion) of the electromagnetic positioning device, and the mechanical arm is completely located outside the magnetic field positioning area, so that the mechanical arm made of metal material does not affect the electromagnetic positioning, and the extension arm made of non-metal non-magnetic material also does not affect the electromagnetic positioning. Therefore, in order to ensure that the mechanical arm is located outside the magnetic field positioning area, and also in order to ensure that the mechanical arm is located outside the scanning tunnel during the verification stage, the length of the extension arm should be set long enough. Illustratively, the length of the extension arm should be greater than 400 millimeters, e.g., the length of the extension arm may be 400 millimeters, 450 millimeters, 500 millimeters, etc.

The specific structure of the holder is further described below. With continued reference to fig. 2, a holder provided by an embodiment of the present disclosure includes: the first and second clamping jaws 1211, 1212, the control mechanism 1213, the guide sleeve 1214.

The control mechanism 1213 is disposed within the housing of the holder. The first clamp claw 1211 and the second clamp claw 1212 protrude from the inside to the outside of the clamp housing. Inside the housing, the first clamp jaw 1211 and the second clamp jaw 1212 are connected to a control mechanism 1213, respectively, the control mechanism 1213 being capable of controlling the clamping and unclamping of the first clamp jaw 1211 and the second clamp jaw 1212.

When the first clamp jaw 1211 and the second clamp jaw 1212 are in a clamped state, the guide sleeve 1214 is clamped by the two clamp jaws; when the first and second clamping jaws 1211, 1212 are in the undamped condition, the guide sleeve 1214 can be removed from the holder, and thus, in embodiments of the present disclosure, the guide and clamping of different lancets can be achieved by changing the guide sleeve for different types.

Specifically, the guide sleeve 1214 is barrel-shaped. The side walls of the guide sleeve 1214 abut the inner sides of the first 1211 and second 1212 jaws. Guide sleeve 1214 includes guide channels extending through the upper and lower surfaces. The diameters of the guide channels of the guide sleeves of different types are different, so that the guide sleeves can be matched with puncture needles of different sizes.

During penetration, the needle is penetrated by the upper surface of the guide sleeve 1214 and extends from the lower surface of the guide sleeve 1214. The inclination angle of the puncture needle is determined by the target angle of the holder through the guiding action of the guiding channel. Meanwhile, the guide channel can overcome the influence of tremble of hands, and the puncture needle is kept stable in the puncture process.

The specific structure of the control mechanism is further described below in conjunction with fig. 4. Fig. 4 is a schematic structural view of a control mechanism according to an exemplary embodiment of the present disclosure. As shown in fig. 4, a control mechanism provided by an embodiment of the present disclosure includes: the clamping button 410, the unclamping button 420, the first spring 430, the first swing arm 441 and the second swing arm 442, the second spring 450.

The clamp button 410 is disposed outside the clamp housing, a first link 411 and a triangle block 412 are sequentially connected below the clamp button 410, and the first link 411 and the triangle block 412 are located inside the clamp housing. The first link 411 is provided with a groove 4111.

The release button 420 is provided outside the holder housing, and at the same time, the release button 420 is connected with the second link 421. The second link 421 is disposed perpendicular to the first link 411. The second link 421 is provided with a flange 4211, the size of the flange 4211 being adapted to the recess 4111. The second link 421 is further provided with a spring limiter 4212. Meanwhile, the second connecting rod 421 is sleeved with a first spring 430, and the first spring 430 is abutted against the spring limiting mechanism 4212.

The first swing arm 441 and the second swing arm 442 are fixed to the housing of the holder by fixed shafts, respectively, and at the same time, the first swing arm 441 and the second swing arm 442 can rotate about the fixed shafts, respectively, as rotation centers. The first swing arm 441 and the second swing arm 442 are respectively disposed at first ends of the triangle block 412, and second ends thereof are respectively connected with the first clamp claw 1211 and the second clamp claw 1212. A second spring 450 is provided between the first clamp jaw 1211 and the second clamp jaw 1212, and both ends of the second spring 450 abut against the inner sides of the first clamp jaw 1211 and the second clamp jaw 1212, respectively.

When the clamping button 410 is pressed downward, the clamping button 410 drives the groove 4111 to move downward to the position of the flange 4211, so that the flange 4211 is clamped with the groove 4111. At this time, the flange 4211 is clamped with the groove 4111 by the first spring 430 and the spring stopper 4212, and the position of the clamp button 410 is locked so that the clamp is in a clamped state.

Meanwhile, as the triangular block 412 moves downward during the pressing of the clamp button 410, both sides of the triangular block 412 abut against the first ends of the first swing arm 441 and the second swing arm 442, respectively. The first ends of the first swing arm 441 and the second swing arm 442 are opened to both sides, and simultaneously, the first swing arm 441 and the second swing arm 442 rotate with the fixed shaft as a rotation center, so that the second ends of the first swing arm 441 and the second swing arm 442 are symmetrically closed; the first clamping jaw 1211 and the second clamping jaw 1212 are brought together by the first swing arm 441 and the second swing arm 442 to clamp the guide sleeve.

When the release button 420 is pressed downward, the flange 4211 is moved away from the groove 4111 by the second link 421. Under the action of the second spring 450, the first clamping claw 1211 and the second clamping claw 1212 translate to the maximum limit positions to drive the first swing arm 441 and the second swing arm 442 to rotate; at this time, the clamp button 410 is sprung upward, so that the clamp is in a released state.

The control mechanism in the embodiment of the disclosure can control the opening and closing of the clamping claw based on simple operation: pressing the clamping button automatically clamps and locks, pressing the releasing button automatically separates, and the operation is simple and convenient. The groove is matched with the design to ensure firm and reliable clamping and self-locking, and the spring reset design can ensure simple and convenient operation in the loosening process.

The specific structure of the needle holder is further described below in conjunction with fig. 5. In an embodiment of the present disclosure, the needle holder further comprises an angle adjuster. The angle adjuster is arranged between the clamp holder and the extension arm and is used for adjusting the angle formed by the clamp holder.

Fig. 5 is a schematic view illustrating a structure of an angle adjuster according to an exemplary embodiment of the present disclosure. As shown in fig. 5, the angle adjuster includes: an extension arm connector 510, a holder connector 520, and a locking screw 530.

The extension arm link 510 and the holder link 520 are rotatably coupled by a pin. Meanwhile, the extension arm connecting member 510 is fixedly connected with the extension arm, and the holder connecting member 520 is fixedly connected with the holder. The extension arm and the clamp can rotate relatively under the action of the angle regulator.

Meanwhile, a locking screw 530 is further provided at the junction of the extension arm coupling 510 and the holder coupling 520. When the angle between the extension arm and the holder is adjusted, i.e., the holder is adjusted to the target angle, the locking screw 530 is tightened to limit the relative rotation between the extension arm and the holder so that the holder maintains the target angle.

In the embodiment of the disclosure, the angle of the holder can be adjusted through the angle adjuster, and after adjustment is completed, the holder is kept fixed, so that the needle holding device can adapt to different needle insertion angles, and the angle of the holder is not required to be controlled through the mechanical arm. Therefore, the needle holding device can be ensured to be close to the body surface of the target object sufficiently, and collision between the needle holding device and the scanning tunnel is avoided. Meanwhile, the angle regulator can ensure that the extension arm is always kept horizontal, and collision between the extension arm and a target object or a scanning tunnel is avoided.

The following further describes embodiments of electromagnetic positioning. With continued reference to fig. 2, the electromagnetic positioning device may be disposed on a scanning bed; in particular, it may be arranged below a target location within the target object in order to determine the height of the needle holder, the puncture needle and the target object body surface.

Simultaneously, electromagnetic positioning sensors are respectively arranged at the second end of the needle holding device, the tip end of the puncture needle and the body surface of the target object.

In the positioning stage, firstly, the relation between the electromagnetic positioning sensor 1 and the coordinate of the puncture robot is obtained by calibrating the electromagnetic positioning sensor 1 at the second end of the needle holding device and the mechanical arm through the hand and eye. After calibration is finished, the pose of the mechanical arm can be calculated by positioning electromagnetic positioning signals of the electromagnetic positioning sensor 1, so that the control trolley can control the mechanical arm to move to the target pose.

At the same time, an electromagnetic positioning sensor 2 is stuck on the body surface of the target object. After registering the electromagnetic positioning sensor 2 with the pre-acquired CT image, the focus position of the target object can be tracked.

The tip of the puncture needle is provided with an electromagnetic positioning sensor 3, in particular, the electromagnetic positioning sensor 3 may be provided inside the tip of the puncture needle to avoid contact of the sensor with the tissue of the target object. During the lancing process, the electromagnetic positioning sensor 3 tracks the tip position in real time.

The electromagnetic positioning sensor 2 and the electromagnetic positioning sensor 3 cooperate so that during the puncturing process, the doctor can monitor the position of the puncture needle in real time in order to control the puncturing process.

The puncture robot provided in the above embodiment has the following advantages:

1) The needle holding device made of the nonmetal nonmagnetic material can isolate the electromagnetic field of the mechanical arm and the magnetic field positioning area in the positioning stage, and electromagnetic positioning interference of the metal of the mechanical arm is avoided. Meanwhile, in the verification stage, the nonmetallic needle holding device can prevent the mechanical arm from entering the scanning tunnel, so that the generation of CT metal artifacts is avoided.

2) In the verification stage, the needle holding device does not need to be separated from the puncture needle; the position of the puncture needle is always kept stable under the clamping action of the needle holding device; the needle holding device has the functions of guiding and stabilizing the needle, so that an additional needle stabilizing device is not required to be arranged, the operation cost is reduced, and the operation flow is simplified.

3) In the positioning stage, the target object is outside the scanning tunnel, so that the operation space of a doctor is wide and the visual field is good. Meanwhile, the operation flow of the puncture robot system does not change the traditional puncture operation habit, the puncture operation in the scanning tunnel is not needed, the additional mechanical arm separation operation is not needed, and the use difficulty is reduced.

The puncture robot embodiment of the present disclosure is described in detail above with reference to fig. 2 to 5, and the positioning method embodiment of the puncture robot of the present disclosure is described in detail below with reference to fig. 6 to 8. It is to be understood that the description of the embodiment of the piercing robot corresponds to the description of the embodiment of the positioning method thereof, and that parts not described in detail can therefore be seen from the previous piercing robot embodiment.

Fig. 6 is a flowchart illustrating a positioning method of a puncture robot according to an exemplary embodiment of the present disclosure. As shown in fig. 6, the positioning method of the puncture robot provided by the embodiment of the present disclosure includes the following steps. The following steps may be performed by a workstation in the control trolley.

S610, determining the position of the needle holding device by using the electromagnetic positioning device so as to move the needle holding device to the target puncture path by using the mechanical arm.

The target puncture path can be selected by a doctor or can be automatically generated based on an algorithm. In addition, the holder can be adjusted to the target angle by an angle adjuster.

After the needle holder is moved to the target penetration path, the physician may also perform a sterilization and skin-breaking operation on the target object based on the target penetration path and manually follow the guide Kong Jinzhen on the needle holder such that the needle penetrates the target object along the target penetration path.

S620, during the process of installing the puncture needle to the needle holding device along the target puncture path, determining the position of the tip of the puncture needle and the target object by using the electromagnetic positioning device so as to determine that the tip of the puncture needle moves to the target position in the target object.

In the puncturing process, the workstation monitors electromagnetic positioning signals of the tip of the puncture needle in real time according to the electromagnetic positioning device, and calculates the actual puncturing position of the puncture needle in real time. The puncture process is monitored in real time by registering the position of the puncture needle with the electromagnetic positioning signal of the target object's body surface in order to determine the movement of the tip of the puncture needle to the target position within the target object. The target position is the end point of the target puncture path and is also the estimated focus position in the target object.

In the process, part of the needle holding device is positioned in the magnetic field positioning area of the electromagnetic positioning device, and the mechanical arm is completely positioned outside the magnetic field positioning area, so that the mechanical arm made of the metal material cannot influence the electromagnetic positioning, and meanwhile, the extension arm made of the non-metal nonmagnetic material cannot influence the electromagnetic positioning, so that the accuracy of the puncture position is ensured.

After the tip of the puncture needle is moved to a target position in the target object, it is necessary to determine whether the tip of the puncture needle reaches an actual focal position by CT examination.

Specifically, as shown in fig. 7, the positioning method of the puncture robot provided in the embodiment of the present disclosure further includes the following steps.

S710, under the condition that the tip of the puncture needle is determined to move to the target position in the target object, the scanning bed is controlled to move into the scanning tunnel of the electronic computer tomography examination, so that the scanning bed drives the needle holding device and the target object to enter the scanning tunnel.

Fig. 8 is a schematic view of an application scenario of the puncture robot in the verification stage according to an exemplary embodiment of the present disclosure. As shown in fig. 8, in the verification stage, the puncture needle does not need to be separated from the needle holding device, and is always clamped and fixed by the needle holding device, so that an additional needle stabilizing device is not needed.

Simultaneously, part of the needle holding device moves along with the scanning bed and stretches into the scanning tunnel; the needle holder is made of a non-metallic, non-magnetic material and thus does not interfere with CT imaging. Meanwhile, the mechanical arm is completely positioned outside the scanning tunnel, so that artifact interference on CT imaging is avoided, clear CT imaging is ensured, and a focus is visible.

At S720, an electronic computer tomography examination is performed on the target object to verify whether the target location is a lesion location within the body of the target object.

When it is determined that the tip of the needle is moved to the focal position, the surgical procedure is completed. When it is determined that the tip of the needle has not moved to the lesion position, the physician can purposefully adjust the target penetration path and verify again.

Next, an electronic device according to an embodiment of the present disclosure is described with reference to fig. 9. Fig. 9 is a schematic structural diagram of an electronic device according to an exemplary embodiment of the present disclosure.

The electronic device may be, for example, a console vehicle as mentioned in the above-mentioned embodiment of the puncture robot or embodiment of the positioning method, and a client may be further provided in the console vehicle, which may be a workstation as mentioned in the above-mentioned embodiment. The electronic device is in communication connection with the penetration robot.

As shown in fig. 9, the electronic device 900 includes one or more processors 910 and memory 920.

The processor 910 may be a Central Processing Unit (CPU) or other form of processing unit having data processing and/or instruction execution capabilities, and may control other components in the electronic device 900 to perform the desired functions.

Memory 920 may include one or more computer program products that may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory. The volatile memory may include, for example, random Access Memory (RAM) and/or cache memory (cache), and the like. The non-volatile memory may include, for example, read Only Memory (ROM), hard disk, flash memory, and the like. One or more computer program instructions may be stored on the computer readable storage medium that can be executed by the processor 910 to implement the positioning methods of the penetration robots of the various embodiments of the present disclosure described above and/or other desired functions.

In some embodiments, the electronic device 900 may further include: an input device 930, and an output device 940, which are interconnected by a bus system and/or other forms of connection mechanisms (not shown).

The input device 930 may include, for example, a keyboard, a mouse, a touch screen, and the like. The physician may determine the target needle insertion path via input device 930.

The output device 940 may output various information to the outside, such as a needle insertion path, a needle holding device determined by an electromagnetic positioning device, a real-time position of the puncture needle and the target object, and the like. The output device 940 may include, for example, a display, speakers, and a communication network and remote output devices connected thereto, among others.

Of course, only some of the components of the electronic device 900 that are relevant to the present disclosure are shown in fig. 9 for simplicity, components such as buses, input/output interfaces, etc. are omitted. In addition, the electronic device 900 may include any other suitable components depending on the particular application.

In addition to the methods and apparatus described above, embodiments of the present disclosure may also be a computer program product comprising computer program instructions which, when executed by a processor, cause the processor to perform the steps in the method of positioning a penetration robot according to the various embodiments of the present disclosure described above in the present specification.

The computer program product may write program code for performing the operations of embodiments of the present disclosure in any combination of one or more programming languages, including an object oriented programming language such as Java, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server.

The basic principles of the present disclosure have been described above in connection with specific embodiments, however, it should be noted that the advantages, benefits, effects, etc. mentioned in the present disclosure are merely examples and not limiting, and these advantages, benefits, effects, etc. are not to be considered as necessarily possessed by the various embodiments of the present disclosure. Furthermore, the specific details disclosed herein are for purposes of illustration and understanding only, and are not intended to be limiting, since the disclosure is not necessarily limited to practice with the specific details described.

The block diagrams of the devices, apparatuses, devices, systems referred to in this disclosure are merely illustrative examples and are not intended to require or imply that the connections, arrangements, configurations must be made in the manner shown in the block diagrams. As will be appreciated by one of skill in the art, the devices, apparatuses, devices, systems may be connected, arranged, configured in any manner. Words such as "including," "comprising," "having," and the like are words of openness and mean "including but not limited to," and are used interchangeably therewith. The terms "or" and "as used herein refer to and are used interchangeably with the term" and/or "unless the context clearly indicates otherwise. The term "such as" as used herein refers to, and is used interchangeably with, the phrase "such as, but not limited to.

It is also noted that in the apparatus, devices and methods of the present disclosure, components or steps may be disassembled and/or assembled. Such decomposition and/or recombination should be considered equivalent to the present disclosure.

The previous description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present disclosure. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other aspects without departing from the scope of the disclosure. Thus, the present disclosure is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

The foregoing description has been presented for purposes of illustration and description. Furthermore, this description is not intended to limit the embodiments of the disclosure to the form disclosed herein. Although a number of example aspects and embodiments have been discussed above, a person of ordinary skill in the art will recognize certain variations, modifications, alterations, additions, and subcombinations thereof.

Claims (10)

1. A lancing robot, comprising:

a needle holder for holding a needle, the needle holder comprising a non-metallic non-magnetic material;

a robotic arm configured to be disposed on a scanning bed of an electronic computer tomography examination, the robotic arm being connected to a first end of the needle holder for moving the needle holder to a target needle insertion path;

and the electromagnetic positioning device is used for positioning the needle holding device, the puncture needle and the target object.

2. The penetration robot of claim 1, wherein the needle holder comprises:

a holder for holding the puncture needle;

and the first end of the extension arm is connected with the mechanical arm, and the second end of the extension arm is rotatably connected with the clamp holder so as to adjust the clamp holder to a target angle.

3. The penetration robot of claim 2, wherein the gripper comprises:

a first gripper jaw and a second gripper jaw;

a control mechanism for controlling the clamping and unclamping of the first and second clamping jaws;

the guide sleeve is clamped by the first clamping claw and the second clamping claw and comprises a guide channel penetrating through the upper surface and the lower surface, and the diameter of the guide channel is matched with that of the puncture needle so as to guide the puncture needle.

4. The lancing robot of claim 3, wherein the control mechanism comprises:

the clamping button is sequentially connected with the first connecting rod and the triangular block, and the first connecting rod comprises a groove;

the release button is connected with a second connecting rod, the second connecting rod comprises a flange and a spring limiting mechanism, the first connecting rod is arranged perpendicular to the second connecting rod, and the size of the flange is matched with the groove of the first connecting rod;

the first spring is sleeved on the second connecting rod and is abutted with the spring limiting mechanism;

the first ends of the first swing arm and the second swing arm are respectively arranged at two sides of the triangular block, the second ends of the first swing arm and the second swing arm are respectively connected with the first clamping claw and the second clamping claw, and the first swing arm and the second swing arm are respectively fixed on the shell of the clamp holder through a fixed shaft so that the first swing arm and the second swing arm respectively rotate by taking the fixed shaft as a rotation center;

and two ends of the second spring are respectively abutted against the first clamping claw and the second clamping claw.

5. The penetration robot of claim 2, wherein the needle holder further comprises an angle adjuster disposed between the gripper and the extension arm;

wherein the angle adjuster includes:

the extension arm connecting piece is fixedly connected with the extension arm;

the clamp holder connecting piece is fixedly connected with the clamp holder and is rotationally connected with the extension arm connecting piece;

the locking screw is arranged at the joint of the extension arm connecting piece and used for limiting the relative rotation of the extension arm connecting piece and the extension arm connecting piece.

6. The puncture robot according to claim 1, wherein electromagnetic positioning sensors are provided on the second end of the needle holder, the tip of the puncture needle, and the body surface of the target object, respectively, so that the electromagnetic positioning devices position the needle holder, the puncture needle, and the target object, respectively.

7. The penetration robot of claim 1, further comprising a frame structure disposed on the scanning bed;

wherein, the frame construction includes:

the mechanical arm is fixedly connected to the first surface of the supporting surface;

and the supporting structure is arranged between the second surface of the supporting surface and the scanning bed and is used for lifting the supporting surface so as to form a space for accommodating the legs of the target object.

8. The penetration robot of claim 1, wherein the material of the needle holder comprises a resin.

9. An electronic device, comprising:

a processor; and

a memory for storing executable instructions of the processor;

wherein the processor is configured to perform a positioning method of a penetration robot via execution of the executable instructions, the positioning method comprising:

determining a position of the needle holder using an electromagnetic positioning device to move the needle holder to a target penetration path using the robotic arm, wherein a material of the needle holder comprises a non-metallic non-magnetic material;

the electromagnetic positioning device is used to determine the position of the tip of the needle and the target object during the mounting of the needle to the needle holder along the target penetration path, so as to determine the movement of the tip of the needle to a target position within the target object.

10. The electronic device of claim 9, wherein the positioning method further comprises:

under the condition that the tip end of the puncture needle is determined to move to a target position in the target object, controlling a scanning bed to move into a scanning tunnel of the electronic computer tomography examination so that the scanning bed drives the needle holding device and the target object to enter the scanning tunnel;

performing an electronic computed tomography examination on the target object to verify whether the target location is a focal location within the target object;

wherein, in the verification process, the puncture needle is clamped and fixed by the needle holding device.