Tail end puncture execution device of medical surgical robot

Abstract

The invention discloses a tail end puncture execution device of a medical surgical robot, which integrates multiple sensors and realizes accurate measurement of puncture distance and accurate control of needle threading moment by means of laser ranging, force feedback and the like. Meanwhile, data collected by the device can assist existing navigation guiding equipment in being matched with medical imaging equipment to improve the overall puncture precision in an operation. The device can be used for diagnosing and locally treating a lesion area in a human body, the effects of fixedly installing a rigid needle type medical instrument and accurately positioning a target position are achieved, and a laser distance measuring sensor and a pressing and pulling force sensor on the tail end puncture execution device are used for accurately controlling the body surface distance, the puncture depth and the puncture barrier reaction of a puncture needle, so that the precision of targeted puncture is improved. In addition, a puncture needle clamping module is provided, disposable medical instruments can be rapidly and conveniently replaced, and the postoperative cleaning work and preparation time are greatly shortened.

Description

technical field [0001] The invention relates to the field of medical puncture devices, in particular to a terminal puncture implementing device of a medical operation robot. Background technique [0002] Interventional surgery is a minimally invasive diagnosis and treatment of patients with the help of modern high-tech means, that is, under the guidance of medical imaging equipment, precision medical devices such as special catheters or guide wires are introduced into the human body to In vivo pathology for diagnosis and topical treatment. Among them, tumor biopsy is very common in interventional surgery (see Huang Jianfeng, Huang Changjie, Zhan Yongzi, Wang Xiangping, Li Dongyun, Clinical application of CT-guided percutaneous lung biopsy [J], Chinese Journal of Lung Cancer, 2002 (01): 5 8-60), usually rely on CT, DSA or ultrasound images for navigation, and through the application of surgical robots, the accuracy and stability of puncture can be improved, which can reduce ...

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Problems solved by technology

[0003] Patent CN102670297A discloses a device at the end of a medical mechanical arm, which can only guide the puncture needle, but cannot puncture automatically, and is not intelligent enough

[0004] Arnolli M M, Buijze M, Franken M, et al. System for CT-guided needleplacement in the thorax and abdomen: a design for clinical acceptability, applicability and usability [J]. The International Journal of Medical Robotics and Computer Assisted Surgery, 2018, 14 (1): e1877 proposed a compact puncture guiding robot, which can enter the scanning area of ​​the CT machine together with the patient and the hospital bed, but it can only achieve positioning guidance, and cannot realize automatic puncture of the machine; in addition, it can extend into the scanning area of ​​the CT machine The robot will bring too much psychological pressure to the patient, which is not conducive to the operation

[0005] Patent CN111887991A discloses a surgical robot puncture device, which can realize the automatic control of the puncture components and accurately penetrate into the patient's lesion, but the guidance and positioning of the puncture only depends on the external navigation equipment, in terms of puncture accuracy, accuracy and intelligent adjustment of the puncture process There is still room for improvement

[0006] None of the above three citations considered the participation of physicians during the operation. The reality is that the surgical process cannot be completely compulsorily completed by robots, and the intervention and participation of physicians is still required to deal with emergencies or follow-up operations

In addition, the preoperative preparation and postoperative cleaning of each operation become particularly important. The existing medical robot or mechanical arm puncture structure does not take into account the pollution of the mechanical arm during the operation, and often requires a lot of time and manpower To complete the preoperative and postoperative cleaning work, which increases the time cost

[0007] In view of the above described scenarios, it is urgent to design a terminal puncture actuator for medical surgical robots to solve the problem that the current external independent positioning and navigation system is not accurate; proceeding and other issues

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