CN116869641A - Ablation needle instrument, surgical robot and control method thereof - Google Patents

Abstract

The invention discloses an ablation needle instrument, a surgical robot and a control method thereof. The ablation needle instrument includes: a base; a propulsion platform; a first driving mechanism; and an ablation needle holder, which can be arranged on the propulsion base to rotate around a rotation axis. On the platform, the rotation axis extends along the X-axis, and the ablation needle holder has a fixed groove for accommodating the handle part of the ablation needle; a lock is used to limit the handle part of the ablation needle in the fixed groove; a second driving mechanism for driving the ablation needle holder to rotate; and an ablation needle positioning element; wherein the ablation needle holder is configured to carry the ablation needle to reciprocate along the X-axis relative to the base and to move around the The rotation axis rotates, and the center line of the ablation needle coincides with the rotation axis. The ablation needle instrument can realize automatic advancement and rotation of the ablation needle, improve puncture quality, and the ablation needle can be quickly replaced.

Description

Ablation needle instrument, surgical robot and control method thereof

Technical field

The invention belongs to the technical field of medical equipment, and in particular relates to an ablation needle instrument, a surgical robot and a control method thereof.

Background technique

Ablation needle is a commonly used consumable in ablation surgery. It can generally be used to treat tumors. During the operation, the ablation needle needs to be punctured into the human body. For example, Chinese patent CN209826949U discloses a cryoablation needle puncture device, which includes a driving part, a limiting part, a slideway and a sliding part. Before the operation, the preset depth of the ablation needle is determined, and the stopper is moved to an appropriate position along the length of the slide according to the preset depth, and then the driver drives the slider to slide along the length of the slide. , and drive the ablation needle to move along the length direction of the slideway until the needle body of the ablation needle moves to the stopper. At this time, the insertion depth of the ablation needle is the above-mentioned preset needle insertion depth. This ablation needle has some shortcomings. For example, the ablation needle can only move forward or backward simply, the twisting needle insertion technique cannot be realized, and the puncture quality is low.

Contents of the invention

In response to the above problems, the present invention provides an ablation needle instrument, a surgical robot and a control method thereof. The ablation needle instrument can realize automatic advancement and rotation of the ablation needle, improve puncture quality, and the ablation needle can be quickly replaced.

In order to achieve the above objects, the technical solutions adopted by the present invention are as follows:

An ablation needle device, including:

base;

A propulsion platform, which is disposed on the base movably along the X-axis;

A first driving mechanism used to drive the propulsion platform to move along the X-axis on the base;

The ablation needle holder is rotatably disposed on the propulsion platform around a rotation axis extending along the X-axis. The ablation needle holder has a handle for accommodating the ablation needle. fixed groove;

A lock catch, which is used to restrict the handle portion of the ablation needle in the fixing groove, and the lock catch at least has a detachable end portion that is detachably connected to the ablation needle holder;

a second driving mechanism used to drive the ablation needle holder to rotate; and

an ablation needle positioning element, which is arranged on the advancement platform;

Wherein, the ablation needle holder is configured to be able to carry the ablation needle to reciprocate along the X-axis relative to the base and to be able to rotate around the rotation axis, and the center line of the ablation needle coincides with the rotation axis. .

In a preferred embodiment, the first driving mechanism includes a first motor disposed on the base, a first bevel gear connected to the output shaft of the first motor, and a first bevel gear meshed with the first bevel gear. a second bevel gear, a gear coaxially connected to the second bevel gear, and a rack provided on the propulsion platform, the rack extends along the X-axis, and the gear meshes with the rack .

In a preferred embodiment, the output shaft of the first motor extends along the X-axis, and the first motor and the rack are arranged in parallel.

In a more preferred embodiment, the first driving mechanism further includes a first torque sensor and a first fixed base. The base is provided with an upwardly extending first mounting plate. The output shaft of the first motor or The first bevel gear passes through the first mounting plate, the first torque sensor and the first fixed seat in sequence, and one end of the first torque sensor is fixedly connected to the first mounting plate. , the other end of the first torque sensor is connected to the first fixed base, and the first motor is fixedly installed on the first fixed base.

In a preferred embodiment, the lock also has a hinged end, and the hinged end is hinged with the ablation needle holder;

The lock has a closed state and an open state. In the closed state, both the hinged end and the detachable end are connected to the ablation needle holder, and the lock spans the fixing groove. To limit the ablation needle between the lock and the ablation needle holder; in the open state, the hinged end is connected to the ablation needle holder, and the detachable end is connected to the ablation needle holder. The ablation needle holder is detached to form a gap through which the handle of the ablation needle can enter and exit the fixing groove.

More preferably, the detachment end has a slot, the ablation needle holder has an outwardly extending lug, and when the lock is in the closed state, the lug is inserted into the slot; When the lock is in the open state, the lug is separated from the slot; the disassembly end also has a guide slope that facilitates the lug entering the slot.

In a preferred embodiment, the lock catch further has a limiting surface located between the detachable end and the hinged end, and the limiting surface is an arc that arches outward relative to the fixing groove; The propulsion platform is provided with a guide plate and a second mounting plate at intervals along the X-axis. The guide plate is provided with a guide groove extending along the It has an open top, and the second mounting plate is provided with a through hole extending along the X-axis. One end of the ablation needle holder is accommodated in the guide groove and can rotate in the guide groove, so The other end of the ablation needle holder is inserted into the through hole.

In a preferred embodiment, the fixed groove has a limiting part for preventing the ablation needle from rotating in the fixed groove, and the number of the limiting parts is at least two and they are respectively located on the ablation needle. On opposite sides of the handle, the limiting portion has a planar inner surface; the lock and the limiting portion are spaced apart along the X-axis.

In a preferred embodiment, the second driving mechanism includes a second motor and a synchronous belt transmission mechanism, and the synchronous belt transmission mechanism is disposed between the second motor and the ablation needle holder. The output shaft of the second motor extends along the X-axis.

In a preferred embodiment, the second driving mechanism further includes a second torque sensor and a second fixed base, a third mounting plate is provided on the propulsion platform, and the output shaft of the second motor is sequentially connected from the The third mounting plate, the second torque sensor and the second fixing seat pass through it. One end of the second torque sensor is fixedly connected to the third mounting plate, and the other end of the second torque sensor is connected to the second fixed base.

In a preferred embodiment, the base is provided with at least two position detection sensors spaced apart along the X-axis, and the propulsion platform is fixedly provided with detection contacts that match the position detection sensors; The base is provided with a slide rail extending along the X-axis, and the propulsion platform is slidably engaged with the base through a slide block slidably disposed on the slide rail along the X-axis.

In a more preferred embodiment, the ablation needle instrument further includes a quick-release flange provided on one end of the base for detachable connection with a robotic arm of a surgical robot.

The present invention also adopts the following technical solutions:

A surgical robot includes a robotic arm. The surgical robot further includes the above-mentioned ablation needle instrument, and the ablation needle instrument can be assembled on the robotic arm.

In a preferred embodiment, the surgical robot has an ablation working mode and other working modes. In the ablation working mode, the ablation needle instrument is set on the robotic arm; in the other working modes, the ablation needle instrument is The ablation needle instrument is detached from the robotic arm.

The present invention also adopts the following technical solutions:

An above-mentioned method for controlling an ablation needle instrument, including one or more of an advancing step, a twisting step, and an ablation needle replacement step;

The advancement steps include:

S101. Drive the propulsion platform to move forward and backward along the X-axis through the first driving mechanism;

S102. Detect the first resistance value during the movement of the ablation needle through the first torque sensor of the first driving mechanism;

S103. Detect the current position of the ablation needle through the ablation needle positioning element;

S104. Control the first driving mechanism according to the first resistance value and/or the current position so that the ablation needle advances or retreats in the expected direction and speed;

The twisting steps include:

S201. Drive the ablation needle holder to rotate through the second driving mechanism;

S202. Detect the second resistance value during the rotation of the ablation needle through the second torque sensor of the second driving mechanism;

S203. Detect the current position of the ablation needle through the ablation needle positioning element;

S204. Control the second driving mechanism according to the second resistance value and/or the current position so that the ablation needle rotates in the expected direction and speed;

The ablation needle replacement steps include:

S301. Detach the detachable end of the lock from the ablation needle holder, and take out the ablation needle from the fixing groove;

S302. Insert the handle of the new ablation needle into the fixing groove;

S303. Connect the detachable end of the lock buckle to the ablation needle holder, and limit the handle of the ablation needle in the fixing groove.

The present invention adopts the above solution and has the following advantages compared with the existing technology:

In the ablation needle instrument of the present invention, the first driving mechanism realizes the controllable advancement and retreat of the ablation needle, the second driving mechanism realizes the controllable forward and reverse rotation of the ablation needle, and the movement and rotation of the ablation needle in the X-axis direction. It can be operated separately or simultaneously to imitate the doctor's twisting needle insertion technique during the ablation needle puncture process, which improves puncture quality and reduces surgical risks; after the disassembly end of the lock buckle is detached from the ablation needle holder, it can be quickly Remove and replace the ablation needle.

Description of the drawings

In order to explain the technical solutions of the present invention more clearly, the drawings needed to be used in the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention, and are not useful in this field. Ordinary technicians can also obtain other drawings based on these drawings without exerting creative work.

Figure 1 is a perspective view of an ablation needle instrument according to an embodiment of the present invention;

Figure 2 is a partial enlarged view of point A in Figure 1;

Figure 3 is a front view of an ablation needle instrument according to an embodiment of the present invention;

Figure 4 is a top view of an ablation needle instrument according to an embodiment of the present invention;

Figure 5 is a side view of an ablation needle instrument according to an embodiment of the present invention;

Figure 6 is an exploded view of an ablation needle device according to an embodiment of the present invention;

Figure 7 is a partial schematic diagram of an ablation needle instrument according to an embodiment of the present invention.

in,

100. Ablation needle; 110. Handle part;

1. Base; 11. First mounting plate; 12. Position detection sensor; 13. Slide rail; 131. Slider;

2. Propulsion platform; 21. Detection contact piece;

3. First driving mechanism; 31. First motor; 32. First bevel gear; 33. Second bevel gear; 34. Gear; 35. Rack; 36. First torque sensor; 37. First fixed seat; 38. Fixed block; 39. Bearing; 391. First C-type fastener; 392. Second C-type fastener;

4. Ablation needle holder; 41. Fixing groove; 411. Limiting part; 42. Lugs;

5. Lock; 51. Disassembly end; 511. Card slot; 512. Guide slope; 52. Hinged end; 53. Limiting surface;

6. Second driving mechanism; 61. Second motor; 62. Synchronous belt transmission mechanism; 621. Belt; 622. First pulley; 623. Second pulley; 63. Second torque sensor; 64. Second fixed seat;

8. Guide plate; 81. Guide groove; 9. Second mounting plate; 91. Through hole; 10. Third mounting plate; 101. Quick release flange; 102. Optical ball bracket; 103. Infrared optical ball.

Detailed ways

The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings, so that the advantages and features of the present invention can be more easily understood by those skilled in the art. It should be noted here that the description of these embodiments is used to help understand the present invention, but does not constitute a limitation of the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

This embodiment provides a surgical robot and an ablation needle instrument thereof. The surgical robot includes a robotic arm, and the ablation needle instrument can be assembled on the robotic arm. The surgical robot has an ablation working mode and other working modes. In the ablation working mode, the ablation needle instrument is set on the robotic arm; in other working modes, the ablation needle instrument is detached from the robotic arm. The ablation needle instrument is introduced in detail below.

Referring to Figures 1 to 7, the ablation needle instrument includes: a base 1, a propulsion platform 2, a first driving mechanism 3, an ablation needle holder 4, a lock 5, a second driving mechanism 6, an ablation needle positioning component and a fastener. Remove flange 101. Among them, the propulsion platform 2 is disposed on the base 1 movably along the X-axis; the first driving mechanism 3 is used to drive the propulsion platform 2 to move along the X-axis on the base 1; the ablation needle positioning element is disposed on the propulsion platform 2; quick release The flange 101 is provided on one end of the base 1 for detachable connection with the robotic arm of the surgical robot. The ablation needle instrument can be replaced with a laparoscope, surgical forceps, etc., that is, the robotic arm can carry the ablation needle instrument, laparoscope, and surgery. Clamp etc.

Referring to Figure 6, the base 1 is provided with two position detection sensors 12 spaced apart along the The mutual cooperation of the detection contacts 21 increases the safety of the instrument during use; the base 1 is provided with a slide rail 13 extending along the It slides with the base 1. Specifically, the number of slide blocks 131 is three.

Further, the propulsion platform 2 is provided with a guide plate 8 and a second mounting plate 9 spaced apart along the X-axis. The guide plate 8 is provided with a guide groove 81 penetrating along the Extending to have an open top, the second mounting plate 9 has a through hole 91 extending along the X-axis. One end of the ablation needle holder 4 is accommodated in the guide groove 81 and can rotate in the guide groove 81. The ablation needle The other end of the fixed base 4 is inserted into the through hole 91 .

The propulsion platform 2 is also provided with an optical bracket 102, and the ablation needle positioning element includes a plurality of optical balls 103 arranged on the optical bracket 102. More specifically, the number of optical balls 103 is four, which are respectively arranged on the upper, lower, left and right sides of the optical bracket 102 . The optical bracket 102 moves with the movement of the propulsion platform 2, and can realize remote operation functions in conjunction with the optical positioning device. The optical ball 103 specifically adopts an infrared reflective ball. Using the four-point positioning principle in space, four infrared reflective balls cooperate with the infrared detection mechanism to accurately locate the spatial position of the ablation needle, including the three-axis spatial coordinate positions of X, Y, and Z. The four infrared reflective balls are on different planes in space, and the centers of any two infrared optical balls are not in the same plane.

The ablation needle holder 4 is configured to carry the ablation needle 100 to reciprocate along the X-axis relative to the base 1 and to rotate around the rotation axis. The center line of the ablation needle 100 coincides with the rotation axis. The ablation needle holder 4 is rotatably disposed on the advancement platform 2 around a rotation axis extending along the X-axis. Furthermore, the ablation needle holder 4 has a fixing groove 41 for accommodating the handle portion 110 of the ablation needle 100 , and the lock 5 is used to limit the handle portion of the ablation needle 100 within the fixing groove 41 .

Referring to FIG. 7 , the fixing groove 41 has a limiting portion 411 for preventing the ablation needle 100 from rotating in the fixing groove 41 . The number of the limiting portions 411 is at least two and they are located at two opposite sides of the handle portion 110 of the ablation needle. On the other side, the limiting portion 411 has a planar inner surface. The lock 5 and the limiting portion 411 are spaced apart along the X-axis.

Further, the lock catch 5 has a detachable end 51 , a hinged end 52 and a limiting surface 53 located between the detachable end 51 and the hinged end 52 . Specifically, the detachable end 51 is detachably connected to the ablation needle holder 4, the hinged end 52 is hinged to the ablation needle holder 4, and the limiting surface 53 is an arc shape that arches outward relative to the fixing groove 41.

The lock 5 has a closed state and an open state. In the closed state, the hinged end 52 and the detachable end 51 are both connected to the ablation needle holder 4, and the lock 5 spans the fixing groove 41 to limit the ablation needle 100 to the lock. between the buckle 5 and the ablation needle holder 4; in the open state, the hinged end 52 is connected to the ablation needle holder 4, and the detachable end 51 is separated from the ablation needle holder 4 to form a handle for the ablation needle 110 enters and exits the gap of the fixing groove 41.

When replacing the ablation needle 100, first remove the disassembly end 51 of the lock 5 from the ablation needle holder 4, then remove the ablation needle 100 from the fixing groove 41, and then insert the handle of the new ablation needle into the fixing groove 41. , and finally connect the detachable end 51 to the ablation needle holder 4 to realize quick disassembly and replacement of the ablation needle 100 .

As shown in Figures 1 and 7, the detachable end 51 has a slot 511, the ablation needle holder 4 has an outwardly extending lug 42, and when the lock 5 is in a closed state, the lug 42 is inserted into the slot 511; the lock When the buckle 5 is in the open state, the lug 42 is separated from the slot 511; the disassembly end 51 also has a guide slope 512 that facilitates the lug 42 to enter the slot 511.

The first driving mechanism 3 includes a first motor 31 disposed on the base 1 , a first bevel gear 32 connected to the output shaft of the first motor 31 , a second bevel gear 33 meshing with the first bevel gear 32 , and a second bevel gear 33 meshed with the first bevel gear 32 . The bevel gear 33 is coaxially connected with the gear 34, the rack 35 provided on the propulsion platform 2, the first torque sensor 36, the first fixed seat 37, the fixed block 38 provided between the gear 34 and the second bevel gear 33, The bearing 39, the first C-shaped fastener 391 and the second C-shaped fastener 392, and the rack 35 extend along the X-axis. The gear 34 and the rack 35 mesh, and the structure is relatively compact.

The output shaft of the first motor 31 extends along the X-axis, and the first motor 31 and the rack 35 are arranged in parallel. The base 1 is provided with an upwardly extending first mounting plate 11. The first bevel gear 32 passes through the first mounting plate 11, the first torque sensor 36 and the first fixed seat 37 in sequence. One end of the first torque sensor 36 The first torque sensor 36 is fixedly connected to the first mounting plate 11 , the other end of the first torque sensor 36 is connected to the first fixing base 37 , and the first motor 31 is fixedly mounted on the first fixing base 37 .

The second driving mechanism 6 is used to drive the ablation needle holder 4 to rotate. Specifically, the second driving mechanism 6 includes a second motor 61, a synchronous belt transmission mechanism 62, a second torque sensor 63 and a second fixed seat 64. The synchronous belt transmission mechanism 62 is provided between the second motor 61 and the ablation needle fixed seat 4. The synchronous belt transmission mechanism 62 specifically includes a belt 621 and a first pulley 622 and a second pulley 623 provided in the belt 621 . The output shaft of the second motor 61 extends along the X-axis. The propulsion platform 2 is provided with a third mounting plate 10. The output shaft of the second motor 61 passes through the third mounting plate 10, the second torque sensor 63 and the second fixed seat 64 in sequence. One end of the second torque sensor 63 Fixedly connected to the third mounting plate 10 , the other end of the second torque sensor 63 is connected to the second fixing base 64 .

The ablation needle instrument of this embodiment realizes the functions of advancing, retreating and forward and reverse rotation of the ablation needle 100 through the first driving mechanism 3 and the second driving mechanism 6. The movement and rotation functions of the ablation needle 100 can be operated independently. It can be operated in combination, that is, during the process of advancement and retreat, the ablation needle can also be operated to rotate forward or reverse at the same time. Similarly, during the process of forward rotation or reverse, the ablation needle can also be operated to advance or retreat at the same time.

The movement principle of the ablation needle instrument in this embodiment is as follows: when the ablation needle 100 is moving forward or backward, the first motor 31 drives the first bevel gear 32 and the second bevel gear 33 to mesh, driving the gear 34 to roll on the rack 35. The rack 35 is on the propulsion platform 2. The propulsion platform 2 is slidingly connected to the base 1 through the slider 131 on the slide rail 13. The propulsion platform 2 makes linear reciprocating motion along the X-axis direction. During this process, the first torque sensor 36 can detect Detect and feed back the measured data to adjust the moving speed of the ablation needle 100. The position detection sensor 12 and the detection contact 21 cooperate to stop the ablation needle 100 from moving forward or backward at a designated position; when the ablation needle 100 rotates forward or reverse, The second motor 61 drives the first pulley 622 to rotate, and drives the second pulley 623 to rotate through the belt 621. The ablation needle holder 4 is fixedly connected to the second pulley 623, the ablation needle 100 and the lock 5, thereby realizing the forward and reverse directions of the ablation needle 100. transfer function. During this process, the second torque sensor 63 can detect and feed back the measured data in real time to adjust the rotation speed of the ablation needle 100 .

This embodiment also provides a method for controlling an ablation needle instrument, which includes an advancement step, a twisting step, and an ablation needle replacement step.

Advancement steps include:

S101. Drive the propulsion platform 2 to move forward and backward along the X-axis through the first driving mechanism 3;

S102. Use the first torque sensor 36 of the first driving mechanism 3 to detect the first resistance value during the movement of the ablation needle 100;

S103. Detect the current position of the ablation needle 100 through the ablation needle positioning component;

S104. Control the first driving mechanism 3 according to the first resistance value and/or the current position, so that the ablation needle 100 advances or retreats according to the expected direction and speed;

The twisting steps include:

S201. Drive the ablation needle holder 4 to rotate through the second driving mechanism 6;

S202. Detect the second resistance value during the rotation of the ablation needle 100 through the second torque sensor 63 of the second driving mechanism 6;

S203. Detect the current position of the ablation needle 100 through the ablation needle positioning component;

S204. Control the second driving mechanism 6 according to the second resistance value and/or the current position, so that the ablation needle 100 rotates in the expected direction and speed;

Ablation needle replacement steps include:

S301. Detach the detachable end 51 of the lock 5 from the ablation needle holder 4, and take out the ablation needle 100 from the fixing groove 41;

S302. Insert the handle of the new ablation needle into the fixing groove 41;

S303. Connect the detachable end 51 of the lock 5 to the ablation needle holder 4, and limit the handle portion 101 of the ablation needle in the fixing groove 41.

The ablation needle instrument of this embodiment has at least the following advantages:

(1) The ablation needle 100 can be quickly replaced and is compatible with multiple brands and styles of ablation needles;

(2) The ablation needle 100 can not only move forward or backward, but also rotate forward or reversely, imitating the doctor's twisting needle insertion technique during the ablation needle puncture process, improving puncture quality and reducing surgical risks;

(3) The first torque sensor 36 and the second torque sensor 63 can digitize the propulsion and rotation torque of the ablation needle 100, making it easy to adjust the propulsion or rotation speed of the ablation needle 100;

(4) By arranging the position detection sensor 12 and the detection contact 21, the safety of the ablation needle instrument during use can be increased;

(5) The first driving mechanism 3 and the second driving mechanism 5 are staggered in the front-rear direction of the X-axis. The first bevel gear 32 and the second bevel gear 33 of the first driving structure 3 mesh with each other. The gear 33 is coaxially connected, the gear 34 meshes with the rack 35, and the rack 35 and the first motor 31 are arranged side by side. The overall structure is compact and lightweight, and the size of the instrument in the X-axis direction is reduced.

In the description of the present invention, it should be noted that the terms “upper”, “lower”, “vertical”, “horizontal”, “inner”, “outer”, etc. indicate the orientation or positional relationship based on those shown in the accompanying drawings. The orientation or positional relationship is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention. .

It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that these entities or operations are mutually exclusive. any such actual relationship or sequence exists between them. Furthermore, the terms "comprises," "comprises," or any other variations thereof are intended to cover a non-exclusive inclusion such that a process, method, article, or apparatus that includes a list of elements includes not only those elements, but also those not expressly listed other elements, or elements inherent to the process, method, article or equipment. Without further limitation, an element defined by the statement "comprises a..." does not exclude the presence of additional identical elements in a process, method, article, or apparatus that includes the stated element.

In the description of the present invention, it should be noted that, unless otherwise clearly stated and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense. For example, it can be a fixed connection or a detachable connection. Connection, or integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be an internal connection between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood on a case-by-case basis.

The above embodiment is only for illustrating the technical concept and characteristics of the present invention. It is a preferred embodiment. Its purpose is to enable those familiar with this technology to understand the content of the present invention and implement it accordingly. It does not limit the scope of the present invention. protected range. All equivalent transformations or modifications made based on the spirit and essence of the present invention shall be included in the protection scope of the present invention.

Claims (15)

1. An ablation needle device, characterized in that it includes: base; A propulsion platform, which is disposed on the base movably along the X-axis; A first driving mechanism used to drive the propulsion platform to move along the X-axis on the base; The ablation needle holder is rotatably disposed on the propulsion platform around a rotation axis extending along the X-axis. The ablation needle holder has a handle for accommodating the ablation needle. fixed groove; A lock catch, which is used to restrict the handle portion of the ablation needle in the fixing groove, and the lock catch at least has a detachable end portion that is detachably connected to the ablation needle holder; a second driving mechanism used to drive the ablation needle holder to rotate; and an ablation needle positioning element, which is arranged on the advancement platform; Wherein, the ablation needle holder is configured to be able to carry the ablation needle to reciprocate along the X-axis relative to the base and to be able to rotate around the rotation axis, and the center line of the ablation needle coincides with the rotation axis. . 2. The ablation needle instrument according to claim 1, wherein the first driving mechanism includes a first motor provided on the base, and a first bevel gear connected to the output shaft of the first motor. , a second bevel gear meshing with the first bevel gear, a gear coaxially connected to the second bevel gear, and a rack provided on the propulsion platform, the rack extending along the X-axis, so The gear meshes with the rack. 3. The ablation needle instrument according to claim 2, wherein the output shaft of the first motor extends along the X-axis, and the first motor and the rack are arranged in parallel. 4. The ablation needle instrument according to claim 2, wherein the first driving mechanism further includes a first torque sensor and a first fixed base, and a first mounting plate extending upward is provided on the base, so The output shaft of the first motor or the first bevel gear passes through the first mounting plate, the first torque sensor and the first fixed seat in sequence, and one end of the first torque sensor is fixed Connected to the first mounting plate, the other end of the first torque sensor is connected to the first fixed base, and the first motor is fixedly installed on the first fixed base. 5. The ablation needle instrument according to claim 1, wherein the lock catch further has a hinged end, and the hinged end is hingedly connected to the ablation needle holder; The lock has a closed state and an open state. In the closed state, both the hinged end and the detachable end are connected to the ablation needle holder, and the lock spans the fixing groove. To limit the ablation needle between the lock and the ablation needle holder; in the open state, the hinged end is connected to the ablation needle holder, and the detachable end is connected to the ablation needle holder. The ablation needle holder is detached to form a gap through which the handle of the ablation needle can enter and exit the fixing groove. 6. The ablation needle instrument according to claim 5, wherein the detachable end has a slot, the ablation needle holder has an outwardly extending lug, and the lock is in the closed state. , the lug is inserted into the slot; when the lock is in the open state, the lug is separated from the slot; the disassembly end also has a feature that facilitates the lug entering the slot. The guide slope in the. 7. The ablation needle instrument according to claim 5, wherein the lock further has a limiting surface located between the detachable end and the hinged end, and the limiting surface is positioned relative to the fixed end. The groove is arched outward; the propulsion platform is provided with guide plates and second mounting plates at intervals along the X-axis, and the guide plate is provided with a guide groove that runs through the X-axis. The upper surface of the guide plate extends downward to have an open top. The second mounting plate is provided with a through hole extending along the X-axis. One end of the ablation needle holder is accommodated in the guide groove and can Rotate in the guide groove, and the other end of the ablation needle holder is inserted into the through hole. 8. The ablation needle instrument according to claim 1, wherein the fixed groove has a limiting part for preventing the ablation needle from rotating in the fixed groove, and the number of the limiting parts is at least Two are respectively located on opposite sides of the handle of the ablation needle. The limiting portion has a planar inner surface; the lock and the limiting portion are spaced apart along the X-axis. 9. The ablation needle instrument according to claim 1, wherein the second driving mechanism includes a second motor and a synchronous belt transmission mechanism, and the synchronous belt transmission mechanism is disposed between the second motor and the ablation device. Between the needle holders, the output shaft of the second motor extends along the X-axis. 10. The ablation needle instrument according to claim 1, wherein the second driving mechanism further includes a second torque sensor and a second fixed seat, and a third mounting plate is provided on the propulsion platform. The output shafts of the two motors pass through the third mounting plate, the second torque sensor and the second fixed seat in sequence, and one end of the second torque sensor is fixedly connected to the third mounting plate, The other end of the second torque sensor is connected to the second fixed base. 11. The ablation needle instrument according to claim 1, characterized in that the base is provided with at least two position detection sensors spaced along the X-axis, and the advancement platform is fixedly provided with the position detection sensors. Matching detection contacts; the base is provided with a slide rail extending along the X-axis, and the advancement platform is in sliding fit with the base through a slide block slidably disposed on the slide rail along the X-axis. 12. The ablation needle instrument according to claim 1, wherein the ablation needle instrument further includes a quick release method provided on one end of the base for detachably connecting to a mechanical arm of a surgical robot. orchid. 13. A surgical robot, including a robotic arm, characterized in that the surgical robot further includes the ablation needle instrument according to any one of claims 1 to 12, and the ablation needle instrument can be assembled on the robotic arm. . 14. The surgical robot according to claim 13, wherein the surgical robot has an ablation working mode and other working modes, and in the ablation working mode, the ablation needle instrument is arranged on the robotic arm; In the other working mode, the ablation needle instrument is detached from the robotic arm. 15. A method for controlling the ablation needle instrument according to any one of claims 1 to 12, including one or more of an advancing step, a twisting step and an ablation needle replacement step; The advancement steps include: S101. Drive the propulsion platform to move forward and backward along the X-axis through the first driving mechanism; S102. Detect the first resistance value during the movement of the ablation needle through the first torque sensor of the first driving mechanism; S103. Detect the current position of the ablation needle through the ablation needle positioning element; S104. Control the first driving mechanism according to the first resistance value and/or the current position so that the ablation needle advances or retreats in the expected direction and speed; The twisting steps include: S201. Drive the ablation needle holder to rotate through the second driving mechanism; S202. Detect the second resistance value during the rotation of the ablation needle through the second torque sensor of the second driving mechanism; S203. Detect the current position of the ablation needle through the ablation needle positioning element; S204. Control the second driving mechanism according to the second resistance value and/or the current position so that the ablation needle rotates in the expected direction and speed; The ablation needle replacement steps include: S301. Detach the detachable end of the lock from the ablation needle holder, and take out the ablation needle from the fixing groove; S302. Insert the handle of the new ablation needle into the fixing groove; S303. Connect the detachable end of the lock buckle to the ablation needle holder, and limit the handle of the ablation needle in the fixing groove.