WO2022073338A1

WO2022073338A1 - Robotic arm used for automatic puncturing

Info

Publication number: WO2022073338A1
Application number: PCT/CN2021/090370
Authority: WO
Inventors: 王洪奎; 何建行; 李春景
Original assignee: 王洪奎
Priority date: 2020-10-08
Filing date: 2021-04-27
Publication date: 2022-04-14
Also published as: CN112244953B; CN112244953A

Abstract

Provided is a robotic arm used for automatic puncturing (24), comprising: a puncture depth controller (241), a puncture drive device (242), a trocar needle gripper (245), and a trocar needle; the puncture depth controller (241) is capable of driving the puncture drive device (242) in the direction of the puncture depth, thereby controlling the depth of the puncture; the puncture drive device (242) is capable of driving the trocar needle holder (245) a predetermined distance in the direction of the puncture depth, thereby completing a puncture operation; the trocar needle gripper (245) is releasably attached to the trocar needle; the robotic arm (24) also comprises a connecting apparatus, so that the robotic arm (24) can be mounted on the proximal end of a mechanical arm (23), and the direction of the puncture depth is basically at a right angle to the mechanical arm (23).

Description

Robotic hand for automatic puncture

technical field

The invention relates to a robot hand for automatic puncture, in particular to a robot for real-time positioning and accurate puncture in CT examination.

Background technique

CT intervention is a mature and effective percutaneous non-vascular intervention technology, including CT-guided percutaneous biopsy and interventional therapy, which can be used in various parts of the body, including the brain, chest, abdomen and musculoskeletal systems.

CT has high density resolution and spatial resolution, and can clearly display the size, shape, location of lesions and the adjacent relationship between lesions and surrounding tissues and organs. It can accurately locate the lesion, and can clearly understand the situation of the soft tissue inside and around the lesion, so as to avoid the important tissue structure or the necrotic area of the lesion, and can accurately determine the needle insertion point, angle and depth, and can be adjusted at any time under scanning monitoring. Achieving the piercing target. In contrast, ultrasound-guided puncture has limitations. In lung and bone biopsy, due to the high attenuation coefficient of the lung and the presence of acoustic impedance at the gas-soft tissue, gas-liquid level, and bone interface, the ultrasound energy is attenuated, so CT is selected. Better, and for obese, where the lesions are located deep in the skin, CT-guided puncture can better evaluate the targeted area.

Enhanced CT scan can display the blood supply of the lesion and the direction of the blood vessels in the lesion, avoid damage to the blood vessels and the main structures around the lesion, improve the accuracy and reduce complications.

However, at present, the puncture of CT intervention is performed by medical personnel on-site with CT imaging equipment, and the operator is exposed to the risk of radiation. Therefore, there is a need for a medical device that can replace the operator's CT for real-time positioning and precise puncture.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a robot hand that can perform a puncture operation conveniently, quickly and accurately, and a medical robot having the robot hand, so as to improve the operation efficiency and the puncture effect.

The technical solution of the present invention is as follows.

A first aspect of the present invention provides a robot hand for automatic puncturing, comprising: a puncture depth controller, a puncture driver, a trocar holder and a trocar;

The puncture depth controller can drive the puncture driver to move in the direction of the puncture depth, so as to control the puncture depth;

The puncture driver can drive the trocar holder to move a predetermined distance along the puncture depth direction, so as to complete the puncture operation;

the trocar holder is releasably connected to the trocar;

The manipulator further includes a connecting device so that the manipulator can be mounted on the proximal end of a manipulator, and the puncture depth direction is substantially at right angles to the manipulator.

Preferably, the puncture depth controller includes: a second motor, a second lead screw, a second nut, a sliding block, and a linear sliding rail;

The second motor is fixed on the proximal end of the mechanical arm, and the rotating shaft of the second motor is connected with the lead screw.

Preferably, the second nut on the second lead screw is connected with the slider of the linear slide rail, the slider is connected with the puncture driver, and the second motor can drive the puncture driver to move up and down.

Preferably, a U-shaped wing is provided on the surface of the second nut facing the linear slide rail, and the U-shaped wing is connected with the slider and the puncture driver.

Preferably, the puncture driver includes: a third motor, a third lead screw, a third nut, and a pressure plate;

The rotating shaft of the third motor is connected with the third lead screw, and the third nut on the third lead screw is connected with the pressing plate.

Preferably, the pressing plate is in the shape of a "7", and whenever the pressing plate is pressed to the lowermost end, the trocar is disengaged from the robot hand.

Preferably, the trocar holder comprises: a connecting plate, a first strip-shaped plate and a second strip-shaped plate;

The first strip-shaped plate and the second strip-shaped plate are parallel to each other and perpendicular to the mechanical arm, and the upper ends are connected with the connecting plate.

Preferably, triangular grooves are respectively formed on opposite sides between the first strip-shaped plate and the second strip-shaped plate, and the trocar is arranged in the trocar guide hole formed by the two triangular grooves.

A second aspect of the present invention provides an automatic puncturing robot, comprising: a chassis, a mechanical arm, a puncturing angle controller, a system control box, a computer, and the robot hand according to any one of the above technical solutions.

Preferably, the automatic puncturing robot should be placed directly behind the CT machine when in use;

The case includes an upper case and a lower case; the upper case includes a substantially cylindrical robot hole; when the automatic puncturing robot is placed directly behind the CT machine, the center axis of the robot hole is in line with the CT machine hole. The central axes are coincident; the lower case is used to install the system control box;

The distal end of the robotic arm is arranged in the robot hole, parallel to the central axis of the robot hole, and can move in an arc shape above the CT machine hole and close to the outer circle of the hole;

The robotic hand is arranged at the proximal end of the robotic arm and is used to perform a puncturing action;

The puncture angle controller is disposed at the distal end of the robotic arm, and is used to control the angle of the puncturing action of the robotic arm.

Through the above technical solutions, the present invention can achieve the following technical effects.

(1) The manipulator and the manipulator of the real-time positioning and precise puncture robot of the present invention can cooperate with the CT imaging equipment, and the operation plane of the manipulator coincides with the scanning plane of the CT imaging equipment, which can simplify the positioning operation and improve the positioning accuracy.

(2) The robotic arm and the robotic hand of the CT real-time positioning accurate puncture robot of the present invention can automatically perform the puncturing operation according to the set depth and angle, quickly and accurately puncture the target position of the puncture needle, and reduce the labor intensity of the operator.

Description of drawings

1 is a schematic structural diagram of a CT real-time positioning precise puncture system according to the present invention;

Fig. 2 is the robot structure schematic diagram of the CT real-time positioning precise puncture system in Fig. 1;

Fig. 3 is the robot hand structure schematic diagram of the robot in Fig. 2;

Fig. 4 is the schematic diagram of the structure of the trocar holder of the robot in Fig. 2;

Fig. 5 is the structural schematic diagram of the isometric aspirator of the robot in Fig. 1;

FIG. 6 is a schematic diagram of the mask assembly of the isometric aspirator in FIG. 5 .

The meanings of each reference number in the figure are as follows:

10-CT scanning equipment, 20-puncture robot, 30-system control box, 40-isometric aspirator, 50-computer;

21-Large bore bearing, 22-First connecting piece, 23-Robot arm, 24-Robot hand, 25-Puncture angle controller, 26-Box slider, 27-Inner sleeve driver, 28-Second connecting piece, C1-upper case, C2-lower case, T1-jacket, T2-inner case, U-cantilever structure, M1-first motor, L1-first screw, B1-first nut, G1-external gear, G2 - Internal rack;

241-Puncture Depth Controller, 242-Puncture Driver, 243-Depth Control Slider, 244-Pressure Plate, 245-Trough Needle Holder, 246-First Bearing, 247-First Linear Slide, 248-Section Two bearings, 249- the second linear rail, M2- the second motor, L2- the second screw, B2- the second nut, M3- the third motor, L3- the third screw, B3- the third nut;

401-flexible airbag, 402-rigid container, 403-throttle valve, 404-medical oxygen cylinder, 405-inflator pump, 406-first pressure gauge, 407-second pressure gauge, 408-self-calibration bottle, 409-mask Main body, 410-coaxial outer tube, 411-coaxial inner tube, 412-switch driver, 413-small vent tube, 414-big hole, 415-system controller, K1-first valve, K2-second valve, K3-third valve, K4-fourth valve, K5-fifth valve, P1-three-way pipe, P2-four-way pipe.

Detailed ways

The term "CT" used in the present invention means CT (Computed Tomography), namely, electronic computed tomography, which refers to the use of precisely collimated X-ray beams, gamma rays, ultrasonic waves, etc., surrounded by detectors with extremely high sensitivity An image inspection technique in which a certain part of the human body is scanned one by one. According to the different rays used, it can be divided into: X-ray CT (X-CT) and γ-ray CT (γ-CT).

The terms "proximal end" and "distal end" used in the present invention refer to the positional relationship with respect to the CT machine, that is, the end close to the CT machine is the proximal end, and the end far from the CT machine is the distal end.

As shown in FIG. 1 , a CT real-time positioning and precise puncturing system according to the present invention includes: a CT scanning device 10 , a puncturing robot 20 , a control system 30 , an isometric aspirator 40 , and a computer 50 .

As shown in FIG. 2 , the puncture robot 20 of the CT real-time positioning precise puncture system in FIG. 1 includes: a chassis, a robotic arm 23 , a robotic hand 24 , and a puncture angle controller 25 .

The puncturing robot 20 is placed directly behind the CT scanning device 10 when in use. The chassis includes an upper chassis C1 and a lower chassis C2. The system control box is installed on the lower case C2 of the puncture robot 20 .

A substantially cylindrical robot hole is provided in the middle of the upper case C1, and a large-diameter bearing 21 is installed at the proximal end of the robot hole. When the puncturing robot 20 is placed directly behind the CT scanning device 10 , the central axis of the robot hole coincides with the central axis of the scanning hole of the CT scanning device 10 . The large bore bearing 21 includes an outer sleeve T1 and an inner sleeve T2. The outer casing T1 is installed on the upper chassis C1. A first connecting piece 22 is disposed on the inner upper proximal end of the inner sleeve T2 , and a box-type sliding block 26 is fixed at the lower end of the first connecting piece 22 . The mechanical arm 23 is connected to the first connecting member 22 through the box-type slider 26 .

The distal end of the robot arm 23 is disposed in the robot hole, parallel to the central axis of the robot hole, and can be above the hole in the CT scanning device 10 with the rotation of the inner sleeve T2 of the large-aperture bearing 21 . The outer circle close to the robot hole makes a circular arc motion.

The robotic hand 24 is disposed at the proximal end of the robotic arm 23 for performing puncturing.

The puncture angle controller 25 is disposed at the distal end of the robot arm 23 and is used to control the angle of the puncture action of the robot hand 24 .

In a preferred embodiment, a cantilever structure U parallel to the axis of the large bore bearing 22 is mounted on the distal end of the first connecting member 22 . The distal end of the cantilever structural member U is provided with a first motor M1 and a first lead screw L1 parallel to the cantilever structural member. In a preferred embodiment, the cantilever structure U is a U-shaped channel steel. The shaft of the first motor M1 is connected with the first lead screw L1. The first nut B1 on the first lead screw L1 is fixed to the casing of the piercing angle driver 25 . The first motor M1 can drive the first nut B1 to move on the first lead screw L1, thereby driving the puncture angle driver 25, the robotic arm 23 and the robotic hand 24 to move longitudinally in the CT scanning device hole, thereby making all The trocar holder 245 on the robotic hand 24 is positioned within the X-ray scanning plane of the CT scanning device, or removed from the CT scanning device.

In a preferred embodiment, a circular arc-shaped rack G2 is disposed under the inner portion of the inner sleeve T2. The upper case C1 also includes an inner sleeve driver 27, and the inner sleeve driver 27 includes a gear G1 meshing with the arc-shaped rack G2, thereby driving the inner sleeve T2 to rotate. Those skilled in the art can understand that the arc-shaped rack G2 can be an inner rack or an outer rack as required.

In a preferred embodiment, in order to eliminate breathing errors, an isometric aspirator 40 is also installed in the robot. The isometric inspirator 40 is capable of delivering an equal amount of oxygen each time the patient inhales. Before each CT scan, the patient inhales the same amount of oxygen, which can basically eliminate the breathing error, so the patient can breathe freely.

The system control box 30 is connected with the computer 50 through an interface (eg, RS232). As long as the puncture robot 20 receives the puncture point and the target point determined by the doctor, it can automatically aim the puncture trocar accurately at the target point, and can automatically, real-time and accurately puncture the target point set in the patient's body. In a preferred embodiment, the computer 50 is configured on a dedicated operating table, and is placed adjacent to the control device of the CT scanning equipment, so as to facilitate coordinated operation.

As shown in FIG. 3 , the robot hand 24 of the CT real-time positioning precise puncture robot according to the present invention includes: a puncture depth controller 241 , a puncture driver 242 , and a trocar holder 245 . The robotic hand 24 is installed at the proximal end of the robotic arm 23 and is substantially at right angles to the robotic arm 23 .

In a preferred embodiment, the puncture depth controller 241 includes a second motor M2 , a second lead screw L2 , a second nut B2 , a first linear slide rail 247 , and a depth control slider 243 . The second motor M2 is fixed on the proximal end of the mechanical arm 23, the rotating shaft of the second motor M2 is connected with the second lead screw L2, and the second nut B2 on the second lead screw L2 is connected to the first straight screw. The depth control slider 243 of the wire slide rail 247 is connected, the depth control slider 243 is connected with the puncture driver 242 , and the second motor M2 can drive the puncture driver 25 to move up and down. In an optional embodiment, the rotating shaft of the second motor M2 is set in a horizontal direction, the second lead screw L2 is set in a vertical direction, and the rotating shaft of the second motor M2 is connected with the first bevel gear, The upper end of the second lead screw L2 is connected with the second bevel gear, the first bevel gear can be meshed with the second bevel gear and the axes are perpendicular to each other.

In a preferred embodiment, the puncture driver 242 includes a third motor M3 , a third lead screw L3 , a third nut B3 , and a pressing plate 244 . The rotating shaft of the third motor M3 is connected to the third lead screw L3 , and the third nut B3 on the third lead screw L3 is connected to the pressing plate 244 . In a more preferred embodiment, the pressing plate 244 is in the shape of a "7", and when the pressing plate 244 is pressed to the lowermost end, the trocar is disengaged from the robot hand 24 .

As shown in FIG. 4 , the trocar holder 245 of the CT real-time positioning precise puncture robot according to the present invention includes a connecting plate a, a first strip-shaped plate b and a second strip-shaped plate c. The first strip-shaped plate b and the second strip-shaped plate c are parallel to each other and perpendicular to the mechanical arm 6, and the upper end is connected with the connecting plate a. The first strip-shaped plate and the second strip-shaped plate are connected to each other. Triangular grooves are respectively formed on the opposite sides between the two triangular grooves, and the trocar is arranged in the trocar guide hole formed by the two triangular grooves.

In addition, before performing the puncturing action, the trocar holder 245 can also be used to hold the marking device, so as to mark the position to be punctured, so as to confirm whether the set puncturing position is consistent with the actual one. In a preferred embodiment, the marking device may be a marker suitable for use in a medical environment.

In a preferred embodiment, a U-shaped wing is provided on the surface of the second nut B2 facing the first linear slide rail 247, and the U-shaped wing is connected to the depth control slider 243 and the The piercing driver 242 is connected.

As shown in FIG. 5 , the isometric aspirator 40 of the CT real-time positioning and precise puncture robot according to the present invention includes: a flexible airbag 401, a rigid container 402, a throttle valve 403, a medical oxygen cylinder 404, an air pump 405, a valve group, Mask assembly, and system controller 415.

The rigid container 402 has a first opening and a second opening; the flexible airbag 401 is installed in the rigid container 402 and its inlet is installed in the first opening, so that the flexible airbag 401 has a first opening. An open first space, and a second space within the rigid container 402 with a second opening.

The first space is connected with the medical oxygen cylinder and the mask assembly through the first opening, the valve group, and the throttle valve 403 . The second space is connected with the air pump 405 through the second opening and the valve group.

In a preferred embodiment, the valve group includes a first valve K1, a second valve K2, a third valve K3 and a fourth valve K4.

In a preferred embodiment, the first valve K1, the second valve K2, the third valve K3, and the fourth valve K4 are all normally closed solenoid valves.

The first opening is connected to the first end of a three-way pipe P1; the second end of the three-way pipe P1 is connected to the medical oxygen cylinder 404 through the first valve and the throttle valve 403 . The second end of the three-way pipe P1 is connected to the mask assembly through the second valve K2.

In a preferred embodiment, a fifth valve K5 is also provided between the second valve K2 and the mask assembly, so as to close the output of oxygen to the mask assembly in a situation such as a self-calibration process.

The second opening is connected to the first end of a four-way pipe P2; the second end of the four-way pipe P2 is connected to the external environment through the third valve; the third end of the four-way pipe P2 is connected to the external environment through the third valve. The fourth valve is connected with the air pump; the fourth end of the four-way pipe P2 is connected with the first pressure gauge.

In a preferred embodiment, the system controller 415 can control each valve of the valve group so that the valve group is in one of the following states.

The first state: the first valve K1 and the third valve K3 are opened, and the second valve K2 and the fourth valve K4 are closed. At this time, the oxygen in the medical oxygen cylinder 404 is filled into the first space, the air in the second space is discharged, and the external pressure is maintained in both the first space and the second space.

Second state: the first valve K1 and the third valve K3 are closed, the second valve K2 is closed, and the fourth valve K4 is opened. At this time, the air pump inflates the second space, and the pressure in the second space gradually increases.

The third state: the first valve K1 and the third valve K3 are closed, the second valve K2 is opened, and the fourth valve K4 is closed. At this time, the first space outputs oxygen to the outside, and the pressure in the first space and the second space gradually decreases.

In a preferred embodiment, the isometric aspirator 40 further includes a self-calibrator including a rigid self-calibrating bottle 406 and a second pressure gauge 407 . The input port of the self-calibration bottle 406 is connected with the second valve K2, and also has an opening connected with the second pressure gauge.

As shown in FIG. 6 , the mask assembly includes a mask body 409 and a mask synchronization switch.

The mask body 409 has a contour suitable for air-tight fitting with the user's face, and an air inlet.

The mask synchronization switch includes a coaxial outer tube 410 , a coaxial inner tube 411 and a switch driver 412 . The coaxial inner tube 411 and the coaxial outer tube 410 are respectively provided with corresponding large holes 414 . The coaxial outer tube 410 is also provided with a vent tube 413 , and is connected to the second valve K2 through the vent tube 413 .

The outer diameter of the coaxial inner tube 411 is substantially equal to the inner diameter of the coaxial outer tube 410 , one end of the two tubes is an open end, and communicates with the gas inlet of the mask body 409 , and the other ends of the two tubes are installed There is a switch driver 412 and is sealed from the outside world.

The system controller 415 can control the switch driver 412 to drive the coaxial inner tube 411 to rotate relative to the coaxial outer tube 410, so that the mask assembly is in one of the following states.

State 1: The large hole of the coaxial inner tube 411 is aligned with the small ventilation tube 413 of the coaxial outer tube 410; at this time, the oxygen output from the first space can enter the mask body through the second valve K2 409.

State 2: The large hole of the coaxial inner tube 411 is aligned with the large hole of the coaxial outer tube 410; at this time, the outside air can enter the mask body through the coaxial outer tube and the coaxial inner tube.

State 3: The large hole of the coaxial inner tube 411 is aligned with the non-opening tube wall of the coaxial outer tube 410; at this time, the mask body 409 is isolated from the outside world.

The following describes the calibration method of the isometric aspirator according to the above embodiment, and the steps are as follows.

Step 101, control the valve group to be in the first state, use the medical oxygen cylinder to inflate the flexible airbag 401 at a certain rate through the throttle valve 403 at a slow rate, and control the inflation into the flexible airbag by controlling the inflation time. the amount of oxygen in.

Step 102 , controlling the valve group to be in the second state, and using the air pump 405 to inflate the second space to make the pressure in the rigid container 402 higher than atmospheric pressure.

Step 103 , connect the output end of the second valve K2 to the input port of the self-calibration bottle 408 .

Step 104, controlling the valve group to be in the third state; and recording the reading from the second pressure gauge 407 on the calibrator.

Step 105, repeating steps 101 to 104 multiple times, if the difference between the readings of the second pressure gauge 407 is within 8% each time, it is proved that the first space in the flexible airbag can be inflated to the same amount. In a more preferred embodiment, the readings of the second pressure gauge 407 are within 5% each time.

The following introduces a method for assisting CT image acquisition using the isometric aspirator according to one of the above embodiments, and the steps of the method are as follows:

Step 201 , install the mask body on the patient's face, control the mask assembly to be in state 1, state 2, and state 1 in sequence, and accordingly make the patient inhale-exhale-re-inhale.

Step 202, switch the mask assembly to state 3, perform a CT scan, and switch the mask assembly to state 2 after acquiring a picture to allow the patient to breathe freely.

Step 203: Determine points of interest as required.

Step 204, moving the CT couch so that the slice of the point of interest is located in the CT scanning plane.

Step 205 , control the mask assembly to be in state 1, state 2, and state 1 in sequence, and accordingly make the patient inhale-exhale-re-inhale.

Step 206, performing a CT single-slice scan.

Those skilled in the art can understand that when the mask assembly is in state 1, a certain amount of oxygen needs to be output to the mask assembly, and correspondingly, a certain amount of oxygen needs to be filled into the flexible airbag 401 before switching to state 1. The specific control sequence of the valve group in the process of delivering oxygen is the same as that of the calibration method of the isometric aspirator, and will not be repeated here.

The following introduces a method for performing medical image acquisition and puncturing using the CT real-time positioning and precise puncturing robot according to the above embodiments, and the steps are as follows.

Step 301: Install the mask body on the patient's face, control the mask assembly to be in state 1, state 2, and state 1 in sequence, and accordingly make the patient inhale-exhale-re-inhale.

Step 302 , switch the mask assembly to state 3, perform a CT scan, and switch the mask assembly to state 2 after acquiring a picture, so as to allow the patient to breathe freely.

Step 303: Determine the puncture point and the target point on the tomographic image with the largest (or larger) tumor tomographic image area.

Step 304, moving the CT bed so that the slice of the patient's puncture point is located in the CT scanning plane.

Step 305 , control the mask assembly to be in state 1, state 2, and state 1 in sequence, and accordingly make the patient inhale-exhale-re-inhale.

Step 306 , switch the mask assembly to state 3, and perform a single-slice CT scan. At this time, the doctor can see on the CT computer screen that the cannula needle is aligned with the puncture point and the target point, and can complete the precise puncture by issuing a puncture command.

Although the specific embodiments of the present invention have been described and illustrated in detail above, it should be pointed out that various equivalent changes and modifications are made to the above-mentioned embodiments according to the concept of the patent of the present invention, and the resulting functional effects are still within the scope of The spirit covered by the description and the drawings should all fall within the protection scope of the present invention.

Claims

A robot hand for automatic puncture, comprising: a puncture depth controller, a puncture driver, a trocar holder and a trocar;

The puncture depth controller can drive the puncture driver to move in the direction of the puncture depth, so as to control the puncture depth;

The puncture driver can drive the trocar holder to move a predetermined distance along the puncture depth direction, so as to complete the puncture operation;

the trocar holder is releasably connected to the trocar;

The manipulator further includes a connecting device so that the manipulator can be mounted on the proximal end of a manipulator, and the puncture depth direction is substantially at right angles to the manipulator.
The robot hand for automatic puncturing according to claim 1, wherein the puncturing depth controller comprises: a second motor, a second lead screw, a second nut, a sliding block, and a linear sliding rail;

The second motor is fixed on the proximal end of the mechanical arm, and the rotating shaft of the second motor is connected with the lead screw.
The robot hand for automatic puncturing according to claim 2, characterized in that the second nut on the second lead screw is connected to the sliding block of the linear slide rail, and the sliding block is connected to the puncturing driver connected, the second motor can drive the puncture driver to move up and down.
The robot hand for automatic puncturing according to claim 3, wherein a U-shaped wing is provided on the surface of the second nut facing the linear slide rail, and the U-shaped wing is connected to the slide rail. The block is connected to the puncture driver.
The robot hand for automatic puncturing according to claim 1, wherein the puncturing driver comprises: a third motor, a third lead screw, a third nut, and a pressing plate;

The rotating shaft of the third motor is connected with the third lead screw, and the third nut on the third lead screw is connected with the pressing plate.
The robot hand for automatic puncturing according to claim 5, wherein the pressing plate is in the shape of a "7", and whenever the pressing plate is pressed to the lowermost end, the trocar is disengaged from the robot hand .
The robot hand for automatic puncturing according to claim 1, wherein the trocar holder comprises: a connecting plate, a first strip-shaped plate and a second strip-shaped plate;

The first strip-shaped plate and the second strip-shaped plate are parallel to each other and perpendicular to the mechanical arm, and the upper ends are connected with the connecting plate.
The robot hand for automatic puncturing according to claim 7, characterized in that, triangular grooves are respectively formed on the opposite sides between the first strip-shaped plate and the second strip-shaped plate, and the sleeve The trocar is arranged in the trocar guide hole formed by two triangular grooves.
An automatic puncturing robot, comprising: a chassis, a mechanical arm, a puncturing angle controller, a system control box, a computer, and the robot hand according to any one of claims 1-5.
The automatic puncturing robot according to claim 9, wherein the automatic puncturing robot is placed right behind the CT machine when in use;

The case includes an upper case and a lower case; the upper case includes a substantially cylindrical robot hole; when the automatic puncturing robot is placed directly behind the CT machine, the center axis of the robot hole is in line with the CT machine hole. The central axes are coincident; the lower case is used to install the system control box;

The distal end of the robotic arm is arranged in the robot hole, parallel to the central axis of the robot hole, and can move in an arc shape above the CT machine hole and close to the outer circle of the hole;

The robotic hand is arranged at the proximal end of the robotic arm and is used to perform a puncturing action;

The puncture angle controller is disposed at the distal end of the robotic arm, and is used to control the angle of the puncturing action of the robotic arm.