A puncture needle clamping device, a mechanical arm and a working method

Abstract

The disclosure provides a puncture needle clamping device, a mechanical arm and a working method, which relate to the field of puncture equipment, including a base, a clamp and an adjustment mechanism, the clamp includes a pair of clamping blocks arranged oppositely for clamping the puncture needle, and the adjustment mechanism includes Lead screw, first slider, second slider and handle, the first slider is rotatably connected with the lead screw and connected with a clamp block, the second slider is rotatably connected with the lead screw and connected with another clamp block, the first slider 1. The second sliding block forms a sliding connection with the preset chute on the base respectively, and the handle is connected to the lead screw, which is used to drive the screw to rotate around the axis and drive the two clamping blocks to adjust their distance; when puncturing, it can be fixed on the On the mechanical arm, it is installed on the mechanical sensor of the mechanical arm as a whole. For the collection of mechanical parameters during the puncture process, the loss of mechanical values ​​is small, which is conducive to the realization of the control method of path planning according to the mechanical parameters during the puncture process.

Description

technical field [0001] The present disclosure relates to the field of puncture equipment, in particular to a puncture needle clamping device, a mechanical arm and a working method. Background technique [0002] The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art. [0003] With the development of today's medical technology, puncture technology has become a relatively common and convenient diagnosis and treatment technology, and more and more robotic arm punctures are also used in hospitals. For manual puncture, although real-time CT images can be used to guide puncture, there are still great limitations, while puncture with a robotic arm can prevent the puncture doctor from being affected by human factors, resulting in inaccurate puncture and needle insertion, or even It will lead to the problem of multiple needle insertions. At the same time, the robotic arm can continuously adju...

AI Technical Summary

Problems solved by technology

[0004] When the mechanical arm is used for puncture, the device for fixing the puncture needle in the prior art is not easy to replace the needle fixing assembly, which makes it inconvenient to use in puncture diagnosis and treatment

[0005] The inventors found that although some current devices for fixing puncture needles solve the problem of difficulty in replacing the needle fixing assembly, it leads to the problem of inconvenient use in puncture diagnosis and treatment.

However, the device is suitable for fewer types of puncture needles, and the mechanical arm needs to receive the detection feedback of the puncture force at all times during puncture for safety monitoring. This device increases the force loss suffered by the mechanical sensor to collect the puncture needle during the puncture process;

[0006] For some solutions that reduce the radial volume of the puncture needle connector, make the radial volume of the puncture needle connection smaller, and the disassembly and assembly are relatively simple, the two claws used have low durability and a narrow scope of application. Puncture needles for specific models and sizes have certain limitations, and it is difficult to meet the requirements of low force detection loss, easy disassembly and assembly, and large bearing capacity.

Images