[0032] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
[0033] like Figure 1-7 As shown, the present invention provides the following embodiments in order to achieve the above object: a puncture surgical robot, comprising: a support outer frame 1, the support outer frame 1 is used to cover the upper side of the patient, and supports the outer frame 1 has a top surface and two side surfaces. The patient lies flat on the bed of the CT machine, and then the support frame 1 is covered on the patient. The forward part of the outstretched arm 4 of the robot and the patient's part are sent into the CT machine for plain scanning together;
[0034] In the inner lift drive assembly 5 supporting the outer frame 1, the extension horizontal drive assembly 7 is installed on the lift drive assembly 5, and is driven by the lift drive assembly 5 to lift; the traverse drive assembly 6 is installed on the extension horizontal drive assembly 7, It can be seen that the horizontal drive assembly 7 and the traverse drive assembly 6 can be driven to lift as a whole through the lift drive assembly 5, and the lift of the lift drive assembly 5 does not affect the respective actions of the horizontal drive assembly 7 and the traverse drive assembly 6. ;
[0035] As the main part of this patent, the extension arm 4 is arranged on the lower side of the traverse drive assembly 6. wherein, one end of the extending arm 4 protrudes from one end of the supporting frame 1 and a rotating head 42 is installed on the extending end, and the operating part 2 is installed on the rotating head 42. The puncture needle 24 that lifts and slides along the operation part 2 is detachably installed on the part 2, and the extension arm 4 is installed with a first motor 44 for driving the rotating head 42 to rotate, for driving the operation part 2 relative to the puncture needle 24. The second motor 43 for swinging the rotating head 42 and the third motor 45 for driving the puncture needle 24 to slide, the extending horizontal drive assembly 7, the traverse drive assembly 6 and the lift drive assembly 5 can drive the operating part 2 to accurately The positioning moves to the designated position, and then the accurate needle insertion direction and the needle insertion distance are adjusted through the operation of the first motor 44, the second motor 43 and the third motor 45, thereby realizing the six-degree-of-freedom three-axis displacement of the puncture needle 24 And three-way rotary drive to meet the needs of needle insertion in various positions on the patient.
[0036] In this embodiment, as figure 1 As shown, the top surface and the side surface of the supporting frame 1 are provided with light-transmitting parts 11, and the area of the light-transmitting part 11 occupies most of the area on the top surface and the side surface of the supporting outer frame 1, so that the CT scanning can be performed. The puncture surgical robot can be guided precisely through the support frame 1 without hindrance.
[0037] In this embodiment, as figure 2As shown, the lift drive assembly 5 includes a guide column 13 installed in the side of the support outer frame 1, and a lift beam 53 is connected between the guide columns 13 on the same side for lifting and lowering along the guide column 13. The connecting beam 14 is connected between the two ends of the lifting beam 53. Both ends of the lifting beam 53 are vertically arranged with a lifting screw 52. The lower end of the lifting screw 52 is installed on the supporting frame. 1. The lifting motors 51 on the inner side of the side are connected, and the synchronous movement of the four lifting motors 51 can drive the lifting screw 52 to rotate synchronously, so that the lifting frame composed of the lifting beam 53 and the connecting beam 14 can be stably lifted. For synchronization, a synchronous pulley 55 can be installed on the top of the lifting screw 52, and the timing pulleys 55 at both ends of the lifting beam 53 are connected by a synchronous transmission belt 54 to ensure that the lifting screw 52 can rotate synchronously.
[0038] In this example, as figure 2 As shown, the extending horizontal drive assembly 7 includes a horizontal sliding rail 71 installed on the inner side of the lifting beam 53 and at least one translation beam 72 sliding between the horizontal sliding rails 71 provided on both sides. The arm 4 is installed on the lower side of the translation beam 72, wherein the translation beam 72 can be one, or two or more, and can be increased or decreased as needed. The translation beam 72 is connected to the tail of the extension arm 4, and the other is connected to the middle of the extension arm 4. An extension drive screw 74 is erected between the upper sides of the connection beam 14, and the translation beam 72 is It is connected with the extension drive screw 74, the relative distance between the two translation beams 72 is fixed, and the extension drive motor 73 is installed on the extension drive screw 74, which drives the translation beam 72 and the extension arm 4. Synchronous translation, one of the translation beams 72 can be connected with the extension drive screw 74 by the extension drive motor 73, the extension drive screw 74 passes through the extension drive motor 73, and the extension drive screw 74 itself does not Rotation, through the work of the extension drive motor 73, the extension drive motor 73 itself can move along the extension drive screw 74, thereby realizing the translation of the translation beam 72, so the structure is relatively compact, and the extension drive screw 74 does not Rotation will be safer.
[0039] In this embodiment, the extension drive motor 73 can also be used to drive the extension drive screw 74 to rotate, and the translation beam 72 and the extension drive screw 74 are connected by a screw nut. The rotation of 74 drives the translation beam 72 to move.
[0040] In this embodiment, as figure 2 As shown, the traverse drive assembly 6 includes a guide slider 63 mounted on the translation beam 72 to slide, and the extension arm 4 passes through the guide slider 63, and one of the guide blocks on the translation beam 72 A traverse motor 61 is installed on the slider 63, and the traverse motor 61 is provided with a traverse screw 62 whose two ends are connected with the two ends of the translation beam 72. 61 slides together with the guide slider 63 to drive the entire extension arm 4 to translate, that is, to move left and right relative to the patient.
[0041] In this embodiment, as image 3 As shown, the first motor 44 is installed at the rear end of the extension arm 4 , and is connected to the rotating head 42 through a rotating rod 47 inside the extension arm 4 , and the rotating rod 47 is connected to the outer shell 41 of the extension arm 4 . There is a space between them, the casing 41 of the extension arm 4 is made of light-transmitting material, and the installation of the first motor 44 at the tail end is beneficial to avoid blocking the CT scan, and the structure is more reasonable.
[0042] In this embodiment, as Figure 4-5 As shown, a puncture slide rail 27 is installed vertically in the operating part 2, and a puncture slide rail 27 is slidably provided with a puncture slide block 28. The puncture slide block 28 is connected to the puncture slide on the front side of the operating part 2 The needle clamping device 21 is connected, and the operating part 2 is provided with a belt drive assembly 29 that drives the puncture slider 28 to slide. The top drive wheel 210 at the top of the operation part 2, the input drive wheel 212 arranged at the lower part of the operation part 2 and several guide drive wheels 211 make the drive belt between the top drive wheel 210 and the guide drive wheel 211 in a vertical state. The transmission belt in the straight state is connected with the puncture slider 28 and can drive the puncture slider 28 to slide.
[0043] In this embodiment, as Figure 3-6 As shown in the figure, the second motor 43 and the third motor 45 are respectively arranged on both sides of the tail end of the extension arm 4, so as to avoid blocking the CT scan as much as possible. The rotating connecting piece 214 and the second rotating connecting piece 26 are connected with the rotating head 42. In order to make the operation part 2 rotate stably, the first rotating connecting piece 214 and the second rotating connecting piece 26 are arranged concentrically, wherein the second rotating connecting piece 26 is connected with the rotating head 42. The belt drive assembly 29 inside the operating unit 2 is connected, specifically, the second rotating connecting piece 26 is connected with the input drive wheel 212 in the belt drive assembly 29, and the second rotating connecting piece 26 rotates to drive the puncture slider 28 to slide, so The second motor 43 and the third motor 45 are respectively connected with the first rotating connecting member 214 and the second rotating connecting member 26 through the axial drive belt assembly 48 extending inside the arm 4, so that the second motor 43 and the third motor are connected to each other. The transmission between 45 and the first rotating connecting piece 214 and the second rotating connecting piece 26 is kept in a straight line, and a transitional transmission wheel 213 can be provided in the axial transmission belt assembly 48, and the transitional transmission wheel 213 is two transmission wheels arranged side by side, The transmission wheel located on the inner side is connected to the second motor 43 or the third motor 45 respectively through the transmission belt, and the transmission wheel located on the outer side is respectively connected to the first rotating connection member 214 and the second rotating connection member 26 .
[0044] In this embodiment, as Figure 4 As shown, a first clamping screw 23 is installed on the puncture needle clamping device 21, and the puncture needle 24 is embedded in the clamping device 21 and clamped by the first clamping screw 23 to facilitate the puncture needle 24 A horizontal bar is also installed on the clamping device 21, calibration balls 22 are installed at both ends of the horizontal bar, and a scale line is provided on the front side of the operating section 2. The rod is convenient and quick to align the scale line, and the calibration ball 22 is convenient for the detection and positioning of the three-dimensional coordinate system.
[0045] In this embodiment, as Figure 6-7 As shown, a detachable puncture guide sleeve 25 is installed at the lower end of the operating part 2, the puncture needle 24 passes through the puncture guide sleeve 25, and the front end of the operating part 2 is installed with a puncture guide sleeve 25 clamps the fixed second clamping screw 213, the movement of the puncture needle 24 can be guided by the puncture guide sleeve 25, which can not only protect the puncture needle 24, but also improve the accuracy of puncture. Different puncture guide sleeves 25 can be replaced, and the second clamping screw 213 can make the puncture guide sleeve 25 can be quickly replaced.
[0046] In this embodiment, as figure 1 As shown in the figure, a vision module 12 is installed on the upper side of the support frame 1 near the operating department 2. The device is driven by a motor controlled by a closed-loop incremental encoder, and can obtain the three-dimensional space coordinates of the point where the needle tip is located in real time. According to the coordinate transformation in the preoperative CT image, the navigation and positioning to the target point is carried out. Each motor is connected to the upper computer for data transmission and driving. At the same time, the vision module 12 feeds back the depth information and the breathing fluctuation cycle information of the patient's body surface. The upper computer calculates and fits to obtain the breathing cycle curve, which guides the doctor to drive the puncture operation within the appropriate interval.
[0047] It should be noted that all directional indications (such as up, down, left, right, front, back...) in the embodiments of the present invention are only used to explain the The relative positional relationship between the components, the movement situation, etc., if the specific posture changes, the directional indication also changes accordingly.
[0048] In addition, descriptions such as "first", "second", etc. in the present invention are only for descriptive purposes, and should not be construed as indicating or implying their relative importance or implicitly indicating the number of indicated technical features. Thus, a feature delimited with "first", "second" may expressly or implicitly include at least one of that feature. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless expressly and specifically defined otherwise.
[0049] In the present invention, unless otherwise expressly specified and limited, the terms "connected", "fixed" and the like should be understood in a broad sense, for example, "fixed" may be a fixed connection, a detachable connection, or an integrated; It can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be an internal communication between two elements or an interaction relationship between the two elements, unless otherwise explicitly defined. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.
[0050] In addition, the technical solutions between the various embodiments of the present invention can be combined with each other, but must be based on the realization by those of ordinary skill in the art. When the combination of technical solutions is contradictory or cannot be realized, it should be considered that the combination of technical solutions does not exist and is not within the scope of protection claimed by the present invention.
