CN112426224B - Millimeter-scale ultra-freedom-degree accurate intelligent minimally invasive equipment and system - Google Patents
Millimeter-scale ultra-freedom-degree accurate intelligent minimally invasive equipment and system Download PDFInfo
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- CN112426224B CN112426224B CN202011127614.8A CN202011127614A CN112426224B CN 112426224 B CN112426224 B CN 112426224B CN 202011127614 A CN202011127614 A CN 202011127614A CN 112426224 B CN112426224 B CN 112426224B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/37—Master-slave robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
Abstract
The embodiment of the invention provides millimeter-scale ultra-freedom precise intelligent minimally invasive equipment and a system, which relate to the field of medical equipment, wherein the minimally invasive equipment comprises: the minimally invasive robot comprises a needle inserting mechanism and a needle inserting control mechanism, the needle inserting mechanism comprises a steel wire, an inner needle, an outer needle and micro visual equipment, and the inner needle is arranged in the outer needle and is in clearance fit with the outer needle; the free end of the inner needle is provided with a bendable bending joint mechanism, and the steel wire is arranged inside the inner needle and connected with the bending joint mechanism; the micro vision device is arranged inside the free end of the inner needle. The micro visual equipment is used for navigation and positioning in vivo, so that the navigation and positioning precision is improved, and the CT radiation is reduced; the needle feeding control mechanism is used for controlling the needle feeding mechanism, so that the navigation and positioning precision is further improved, the operation is more convenient, the operation risk and minimally invasive wound of the traditional minimally invasive operation are greatly reduced, and the cure rate of patients is improved.
Description
Technical Field
The invention relates to the field of medical equipment, in particular to millimeter-scale ultra-freedom-degree accurate intelligent minimally invasive equipment and a millimeter-scale ultra-freedom-degree accurate intelligent minimally invasive system.
Background
Common minimally invasive surgery modes mainly comprise typical modes such as suction, excision, suture and the like, but the minimally invasive surgery of a peripheral nervous system is complicated in variety, high in difficulty and difficult in technical attack, and the typical problems of the minimally invasive surgery mainly comprise low pathological identification accuracy, insufficient accurate minimally invasive positioning, large volume of a minimally invasive instrument, difficult flexible operation of a rigid instrument, lack of intelligent minimally invasive technology and difficulty in realization of a remote surgery technology, so that misdiagnosis, repeated diagnosis and rehabilitation of countless patients are caused, the body is damaged greatly, economic loss is high, and particularly the 'minimally invasive' in the minimally invasive treatment process of the multiple diseases does not meet the basic requirements of the patients.
The main problems of the existing minimally invasive surgery in the implementation process comprise that accurate lesion positioning is difficult, an interactive needle insertion technology is lacked, an adaptive surgery technology of a flexible path is lacked, the existing ISO minimally invasive standard is too large in 5 mm-diameter trauma and less than 3 mm-diameter micro lesions to be diagnosed and treated, acute neurological diseases cannot be treated in a minimally invasive mode in time, CT radiation is too large, internal visual navigation is lacked, and positioning is inaccurate. The typical general problems described above result in a large number of paralysis and even death occurring. Therefore, a minimally invasive surgical device capable of realizing high-precision navigation and positioning of low CT radiation is needed.
Disclosure of Invention
The embodiment of the invention provides millimeter-scale ultra-freedom-degree accurate intelligent minimally invasive equipment and a millimeter-scale ultra-freedom-degree accurate intelligent minimally invasive system, which are used for solving the problems of inconvenience in operation, high radiation and low positioning accuracy of a minimally invasive surgical device in the prior art.
The embodiment of the invention provides millimeter-scale ultra-freedom degree accurate intelligent minimally invasive equipment, which comprises:
the minimally invasive robot comprises a needle inserting mechanism and a needle inserting control mechanism, wherein the needle inserting mechanism comprises a steel wire, an inner needle, an outer needle and micro visual equipment, the inner needle is arranged inside the outer needle and is in clearance fit with the outer needle, a bendable bent joint mechanism is arranged at the free end of the inner needle, the steel wire is arranged inside the inner needle and is connected with the bent joint mechanism, and the micro visual equipment is arranged inside the free end of the inner needle; the needle feeding control mechanism is used for controlling the outer needle to do linear motion, controlling the inner needle to do linear motion, controlling the tension degree of the steel wire and controlling the inner needle to axially rotate;
and the cooperative robot is used for driving the minimally invasive robot to move in a three-dimensional space.
According to the millimeter-scale ultra-freedom precise intelligent minimally invasive device provided by the embodiment of the invention, the needle inserting control mechanism comprises an outer needle linear motion mechanism, an inner needle bending control mechanism and an inner needle rotating control mechanism, the outer needle linear motion mechanism is respectively connected with the inner needle linear motion mechanism and the fixed end of the outer needle, and the outer needle linear motion mechanism is used for driving the outer needle and the inner needle linear motion mechanism to do linear motion; the inner needle linear motion mechanism is respectively connected with the inner needle bending control mechanism, the inner needle rotation control mechanism and the fixed end of the inner needle, and is used for driving the inner needle bending control mechanism, the inner needle rotation control mechanism and the inner needle to do linear motion; the inner needle rotation control mechanism is connected with the inner needle and is used for driving the inner needle to axially rotate; the inner needle bending control mechanism is connected with the steel wire.
According to the millimeter-scale ultra-freedom-degree precise intelligent minimally invasive device provided by the embodiment of the invention, the outer needle linear motion mechanism is a first lead screw module, the inner needle linear motion mechanism is a second lead screw module, a fixed substrate of the first lead screw module is connected with the cooperative robot, a sliding block of the first lead screw module is connected with a fixed substrate of the second lead screw module, and a connecting piece is arranged on the sliding block of the second lead screw module.
According to the millimeter-scale ultra-freedom-degree precise intelligent minimally invasive device provided by the invention, the inner needle bending control mechanism comprises a first motor, a turbine and a worm, the first motor is arranged on the connecting piece, a rotating shaft of the first motor is connected with the turbine, the worm is rotatably arranged on the connecting piece, the worm is meshed with the turbine, and one end, far away from the bending joint mechanism, of the steel wire is wound on the worm.
According to the millimeter-scale ultra-freedom precise intelligent minimally invasive device provided by the embodiment of the invention, the inner needle rotation control mechanism comprises a second motor, a first transmission piece and a second transmission piece, the second motor is arranged on the connecting piece, the first transmission piece is connected with a rotating shaft of the second motor, the second transmission piece is rotatably arranged on the connecting piece, the fixed end of the inner needle is sleeved in a central hole of the second transmission piece, the second transmission piece is in rotating fit with the first transmission piece, and when the first transmission piece drives the second transmission piece to rotate, the second transmission piece drives the inner needle to axially rotate.
According to the millimeter-scale ultra-freedom precise intelligent minimally invasive device provided by the embodiment of the invention, the needle feeding control mechanism further comprises an inner needle guide sleeve and an outer needle guide sleeve, the outer needle guide sleeve is movably sleeved at the fixed end of the outer needle, and the inner needle guide sleeve is movably sleeved at the fixed end of the inner needle.
According to the millimeter-scale ultra-freedom precision intelligent minimally invasive device provided by the embodiment of the invention, the minimally invasive device further comprises an external positioning visual device, and the external positioning visual device is used for providing external navigation positioning for the movement of the cooperative robot and the puncture of the needle inserting mechanism.
According to the millimeter-scale ultra-freedom precision intelligent minimally invasive device provided by the embodiment of the invention, the micro visual device comprises an imaging module, a plurality of light sources and a heat shrink tube, wherein the imaging module and the light sources are arranged in the heat shrink tube, and the light sources are arranged at the periphery of the imaging module.
According to the millimeter-scale ultra-freedom precision intelligent minimally invasive device provided by the embodiment of the invention, the minimally invasive device further comprises an imaging terminal, the imaging terminal comprises an imaging acquisition module, an imaging decoding module and an imaging display, the imaging acquisition module is electrically connected with the imaging module, and the imaging decoding module is respectively electrically connected with the imaging acquisition module and the imaging display.
The embodiment of the invention also provides a millimeter-scale ultra-freedom degree accurate intelligent minimally invasive system, which comprises control equipment and the millimeter-scale ultra-freedom degree accurate intelligent minimally invasive equipment.
The millimeter-scale ultra-freedom-degree accurate intelligent minimally invasive device provided by the embodiment of the invention performs in-vivo navigation and positioning by using the micro visual device, so that the navigation and positioning precision is improved, and the CT radiation is reduced; the needle feeding control mechanism is used for controlling the needle feeding mechanism, so that the navigation and positioning precision is further improved, the operation is more convenient, the operation risk and minimally invasive wound of the traditional minimally invasive operation are greatly reduced, and the cure rate of patients is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a millimeter-scale ultra-degree-of-freedom precise intelligent minimally invasive device provided by an embodiment of the invention;
FIG. 2 is a schematic view of a portion of the enlarged structure at A in FIG. 4;
FIG. 3 is a schematic structural view of an inner needle and an outer needle provided in an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a minimally invasive robot according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a micro vision apparatus according to an embodiment of the present invention.
Reference numerals:
1. a collaborative robot; 2. a minimally invasive robot; 3. an external positioning vision device; 4. a first lead screw module; 5. a second lead screw module; 6. an inner needle rotation control mechanism; 7. an inner needle bending control mechanism; 8. an inner needle guide sleeve; 9. an outer needle guide sleeve; 10. an outer needle; 11. an inner needle; 12. a micro vision device; 13. an imaging module; 14. a light source; 15. heat shrink tubing; 16. an imaging acquisition module; 17. an imaging decoding module; 18. an imaging display; 19. a first motor; 20. a turbine; 21. a worm; 22. a second motor; 23. a driving gear; 24. a driven gear; 25. a steel wire.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The following describes the millimeter-scale ultra-freedom precision intelligent minimally invasive device and system according to the embodiments of the present invention with reference to fig. 1 to 5.
Fig. 1 illustrates a schematic structural diagram of a millimeter-scale ultra-degree-of-freedom precise intelligent minimally invasive device, as shown in fig. 1, the millimeter-scale ultra-degree-of-freedom precise intelligent minimally invasive device comprises: the robot comprises a minimally invasive robot 2 and a cooperative robot 1, wherein the cooperative robot 1 is used for driving the minimally invasive robot 2 to move in a three-dimensional space, the cooperative robot 1 can be a multi-axis mechanical arm or a multi-joint mechanical arm, and in the specific implementation, the determination can be carried out by a person skilled in the art according to actual needs.
Fig. 2 illustrates a partial enlarged structural schematic diagram at a in fig. 4, fig. 3 illustrates a structural schematic diagram of an inner needle and an outer needle provided by an embodiment of the present invention, as shown in fig. 2 and 3, the minimally invasive robot 2 includes a needle feeding mechanism and a needle feeding control mechanism, the needle feeding mechanism includes a steel wire 25, an inner needle 11, an outer needle 10 and a micro vision device 12, the outer needle 10 and the inner needle 11 are both tubular structures, the inner needle 11 is made of a flexible material, the inner needle 11 is disposed inside the outer needle 10, the inner needle 11 is in clearance fit with the outer needle 10, a free end of the inner needle 11 is provided with a bendable bending joint mechanism, a specific form of the bendable bending mechanism may be a multi-joint bending mechanism or a flexible bending mechanism, and in specific implementation, a person skilled in the art can determine according to actual needs. The free end of the inner needle 11 can be bent by arranging the bending joint mechanism, so that the free end can enter an area which is difficult to reach more easily, the operation is more flexible, and the operation efficiency is effectively improved. The steel wire 25 is arranged inside the inner needle 11 and connected with the bending joint mechanism, and the steel wire 25 is used for controlling the bending and straightening of the bending joint mechanism. The micro vision device 12 is arranged inside the free end of the inner needle 11, and the micro vision device 12 can provide real-time and accurate navigation and positioning for the inner needle 11 inside a human body.
It should be noted that the free end in this embodiment refers to the end of the needle body entering the human body, and the fixed end refers to the end remaining outside the human body and connected to the needle insertion control mechanism.
Fig. 5 illustrates a schematic structural diagram of a micro vision device according to an embodiment of the present invention, as shown in fig. 5, the micro vision device 12 is fixed inside the inner needle 11, the micro vision device 12 includes an imaging module 13, a plurality of light sources 14 and a heat shrink tube 15, the imaging module 13 and the plurality of light sources 14 are disposed inside the heat shrink tube 15, and the plurality of light sources 14 are disposed at an outer periphery of the imaging module 13. The end of the heat shrinkable tube 15 is opened to ensure that the lens portion of the imaging module 13 can be exposed, and the heat shrinkable tube 15 encloses the imaging module 13 and the light source 14 for sealing and protecting. Light source 14 adopts the fiber optic source in this embodiment, and the external diameter of fiber optic source is very little, can not occupy great space, and fiber optic source's luminous body (lamp pearl) sets up in vitro simultaneously, and internal fiber optic source need not the power supply, and the working process can not generate heat yet, avoids electric leakage or generates heat and brings the injury for patient's tissue. The imaging module 13 is used for obtaining the image information in vivo, can provide real-time accurate navigation location for the inner needle 11, the size of the imaging module 13 is very small, therefore the size of the inner needle 11 can be very small, the accurate minimally invasive surgery superior to the wound of 2mm is realized, the navigation location precision is greatly improved, the success rate of the minimally invasive surgery of one-time needle insertion is greatly improved, the complication symptoms of the patient surgery are greatly reduced, the cure rate of the patient is improved, and the minimally invasive rehabilitation speed is accelerated.
Further, the minimally invasive device further comprises an imaging terminal, the imaging terminal comprises an imaging acquisition module 16, an imaging decoding module 17 and an imaging display 18, the imaging acquisition module 16 is electrically connected with the imaging module 13, and the imaging decoding module 17 is electrically connected with the imaging acquisition module 16 and the imaging display 18 respectively. The micro vision equipment 12 is embedded in the inner needle 11, so that the performance of real-time imaging and object imaging close to observation is realized, the imaging performance is different from the characteristic that the focal length of a traditional endoscope cannot be ultra-micro distance and wall surface imaging, and the micro vision equipment 12 can better perform real-time near-wall surface imaging navigation positioning along with minimally invasive needle insertion. Compared with the traditional minimally invasive technology which adopts a CT positioning technology, the millimeter-scale ultra-freedom-degree accurate intelligent minimally invasive device provided by the embodiment of the invention performs in-vivo navigation positioning by using the micro vision device 12, so that the navigation positioning precision is improved, and the CT radiation is reduced; the needle feeding control mechanism is used for controlling the needle feeding mechanism, so that the navigation positioning precision is further improved.
Fig. 4 illustrates a schematic structural diagram of a minimally invasive robot provided by an embodiment of the present invention, and as shown in fig. 4, the needle insertion control mechanism includes an outer needle linear motion mechanism, an inner needle bending control mechanism 7, and an inner needle rotation control mechanism 6, the outer needle linear motion mechanism is respectively connected to the inner needle linear motion mechanism and a fixed end of the outer needle 10, and the outer needle linear motion mechanism is used for driving the outer needle 10 and the inner needle linear motion mechanism to perform linear motion; in the embodiment, the outer needle linear motion mechanism is a first lead screw module 4, and a fixed substrate of the first lead screw module 4 is connected with the cooperative robot 1; for the convenience of disassembly and assembly, the fixed base plate of the first lead screw module 4 is bolted to the cooperative robot 1. One end of the fixed substrate of the first lead screw module 4 is provided with a first connecting sheet, a through hole is arranged on the first connecting sheet, the outer needle guide sleeve 9 is embedded into the through hole of the first connecting sheet, the fixed end of the outer needle 10 is movably sleeved on the outer needle guide sleeve 9, and the outer needle 10 can realize high-rigidity accurate movement under the guide of the outer needle guide sleeve 9.
The inner needle linear motion mechanism is used for driving the inner needle bending control mechanism 7, the inner needle rotation control mechanism 6 and the inner needle 11 to do linear motion, the inner needle linear motion mechanism is a second lead screw module 5 in the embodiment, and a fixed substrate of the second lead screw module 5 is connected with a sliding block of the first lead screw module 4. One end of the fixed substrate of the second lead screw module 5 is provided with a second connecting sheet, the second connecting sheet is provided with a through hole, and the through hole of the second connecting sheet and the through hole of the first connecting sheet are positioned on the same straight line. The inner needle guide sleeve 8 is embedded into the through hole of the second connecting sheet, the fixed end of the inner needle 11 is movably sleeved with the inner needle guide sleeve 8, and the inner needle guide sleeve 8 is further connected with the fixed end of the outer needle 10. And a connecting piece is arranged on the sliding block of the second lead screw module 5 and used for installing an inner needle bending control mechanism 7 and an inner needle rotation control mechanism 6. When the motor of the first lead screw module 4 rotates, the first lead screw module 4 drives the outer needle 10 and the second lead screw module 5 to do linear motion along the linear direction of the outer needle 10; when the motor of the second lead screw module 5 rotates, the second lead screw module 5 drives the inner needle bending control mechanism 7, the inner needle rotation control mechanism 6 and the inner needle 11 to do linear motion along the linear direction of the outer needle 10, so that the free end of the inner needle 11 extends out of and retracts into the free end of the outer needle 10. When the needle is tied outside the body, the free end of the inner needle 11 needs to be retracted inside the outer needle 10, and after entering a predetermined position inside the body, the free end of the inner needle 11 extends out of the free end of the outer needle 10. Because the precision of the screw rod module is higher, the inner needle 11 and the outer needle 10 are driven to move by the screw rod module, and the puncture precision can be effectively improved.
The inner needle bending control mechanism 7 comprises a first motor 19, a worm wheel 20 and a worm 21, wherein the first motor 19 is arranged on a connecting piece, a rotating shaft of the first motor 19 is connected with the worm wheel 20, the worm 21 is rotatably arranged on the connecting piece, the axis of the worm 21 is perpendicular to the straight line of the outer needle 10, the worm 21 is meshed with the worm wheel 20, and one end of a steel wire 25, far away from the bending joint mechanism, is wound on the worm 21. When the first motor 19 rotates, the first motor 19 drives the worm 21 to axially rotate, the steel wire 25 is wound on the worm 21, the steel wire 25 is in a tensioning state, and the steel wire 25 drives the bending joint mechanism to bend, so that the free end of the inner needle 11 is bent; when the first motor 19 rotates reversely, the first motor 19 drives the worm 21 to rotate reversely, the steel wire 25 wound on the worm 21 is released, the steel wire 25 is converted into a loose state from a tension state, the bending joint mechanism is straightened, and the free end of the inner needle 11 is straightened.
In addition, when the output torque of the inner needle bending control mechanism 7 is adjusted, the output torque of the inner needle bending control mechanism 7 can be changed by changing the speed reduction ratio of the worm wheel 20 and the worm 21, but the specific form of the inner needle bending control mechanism 7 is not limited thereto, and the bending and straightening of the bending joint mechanism can be controlled by driving the wire 25 to perform linear motion by using a linear motor or a lead screw assembly.
The inner needle rotation control mechanism 6 is used for driving the inner needle 11 to axially rotate, the inner needle rotation control mechanism 6 comprises a second motor 22, a first transmission piece and a second transmission piece, the second motor 22 is arranged on the connecting piece, the first transmission piece is connected with a rotating shaft of the second motor 22, and the rotating shaft of the second motor 22 is parallel to a straight line where the outer needle 10 is located. The second transmission member is rotatably disposed on the connecting member, and the fixed end of the inner needle 11 is sleeved in the central hole of the second transmission member. First transmission piece is driving gear 23 in this embodiment, and the second transmission piece is driven gear 24, and driving gear 23 and driven gear 24 mesh, and when driving gear 23 drove driven gear 24 and rotates, driven gear 24 drove interior needle 11 axial and rotates for the free end of interior needle 11 can be crooked towards arbitrary direction, conveniently adjusts the gesture of interior needle 11, has improved operation efficiency.
According to the embodiment of the invention, the minimally invasive device further comprises an external positioning visual device 3, the external positioning visual device 3 is arranged opposite to the cooperative robot 1, and the external positioning visual device 3 is used for providing in-vitro navigation positioning for the movement of the cooperative robot 1 and the puncture of the needle inserting mechanism.
The invention also provides a millimeter-scale ultra-freedom-degree accurate intelligent minimally invasive system, which comprises control equipment and millimeter-scale ultra-freedom-degree accurate intelligent minimally invasive equipment, wherein the minimally invasive equipment is the minimally invasive equipment in the embodiment. The control equipment is used for performing linkage control on the cooperative robot 1, the external positioning vision equipment 3 and the minimally invasive robot 2, and finally accurate puncture positioning is achieved.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (9)
1. A millimeter-scale ultra-degree-of-freedom precision intelligent minimally invasive device, comprising:
the minimally invasive robot comprises a needle inserting mechanism and a needle inserting control mechanism, wherein the needle inserting mechanism comprises a steel wire, an inner needle, an outer needle and micro visual equipment, and the inner needle is arranged inside the outer needle and is in clearance fit with the outer needle; the free end of the inner needle is provided with a bendable bending joint mechanism, and the steel wire is arranged inside the inner needle and connected with the bending joint mechanism; the micro vision device is arranged inside the free end of the inner needle; the needle feeding control mechanism is used for controlling the outer needle to do linear motion, controlling the inner needle to do linear motion, controlling the tension degree of the steel wire and controlling the inner needle to axially rotate;
the cooperative robot is used for driving the minimally invasive robot to move in a three-dimensional space;
the needle feeding control mechanism further comprises an inner needle guide sleeve and an outer needle guide sleeve, the outer needle guide sleeve is movably sleeved on the fixed end of the outer needle, and the inner needle guide sleeve is movably sleeved on the fixed end of the inner needle.
2. The millimeter-scale ultra-degree-of-freedom precise intelligent minimally invasive device according to claim 1, wherein the needle feeding control mechanism comprises an outer needle linear motion mechanism, an inner needle bending control mechanism and an inner needle rotation control mechanism, the outer needle linear motion mechanism is respectively connected with the inner needle linear motion mechanism and a fixed end of the outer needle, and the outer needle linear motion mechanism is used for driving the outer needle and the inner needle linear motion mechanism to do linear motion; the inner needle linear motion mechanism is respectively connected with the inner needle bending control mechanism, the inner needle rotation control mechanism and the fixed end of the inner needle, and is used for driving the inner needle bending control mechanism, the inner needle rotation control mechanism and the inner needle to do linear motion; the inner needle rotation control mechanism is connected with the inner needle and is used for driving the inner needle to axially rotate; the inner needle bending control mechanism is connected with the steel wire.
3. The millimeter-scale ultra-degree-of-freedom precise intelligent minimally invasive device according to claim 2, wherein the outer needle linear motion mechanism is a first lead screw module, the inner needle linear motion mechanism is a second lead screw module, a fixed substrate of the first lead screw module is connected with the cooperative robot, a sliding block of the first lead screw module is connected with a fixed substrate of the second lead screw module, and a connecting piece is arranged on a sliding block of the second lead screw module.
4. The millimeter-scale ultra-degree-of-freedom precise intelligent minimally invasive device according to claim 3, wherein the inner needle bending control mechanism comprises a first motor, a turbine and a worm, the first motor is arranged on the connecting piece, a rotating shaft of the first motor is connected with the turbine, the worm is rotatably arranged on the connecting piece, the worm is meshed with the turbine, and one end, far away from the bending joint mechanism, of the steel wire is wound on the worm.
5. The millimeter-sized ultra-degree-of-freedom precise intelligent minimally invasive device according to claim 4, wherein the inner needle rotation control mechanism comprises a second motor, a first transmission member and a second transmission member, the second motor is arranged on the connecting member, the first transmission member is connected with a rotating shaft of the second motor, the second transmission member is rotatably arranged on the connecting member, a fixed end of the inner needle is sleeved in a central hole of the second transmission member, the second transmission member is in rotating fit with the first transmission member, and when the first transmission member drives the second transmission member to rotate, the second transmission member drives the inner needle to axially rotate.
6. The millimeter-sized ultra-degree-of-freedom precision intelligent minimally invasive device according to any of claims 1 to 5, further comprising an external positioning vision device for providing external navigation positioning for the motion of the cooperative robot and the puncture by the needle insertion mechanism.
7. The millimeter-scale ultra-degree-of-freedom precise intelligent minimally invasive device according to claim 6, wherein the micro vision device comprises an imaging module, a plurality of light sources and a heat shrink tube, the imaging module and the plurality of light sources are arranged inside the heat shrink tube, and the plurality of light sources are arranged at the periphery of the imaging module.
8. The millimeter-scale ultra-degree-of-freedom precise intelligent minimally invasive device according to claim 7, further comprising an imaging terminal, wherein the imaging terminal comprises an imaging acquisition module, an imaging decoding module and an imaging display, the imaging acquisition module is electrically connected with the imaging module, and the imaging decoding module is electrically connected with the imaging acquisition module and the imaging display respectively.
9. A millimeter-scale ultra-degree-of-freedom precise intelligent minimally invasive system, which comprises a control device and is characterized by further comprising the millimeter-scale ultra-degree-of-freedom precise intelligent minimally invasive device as claimed in any one of claims 1 to 8.
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