Puncture execution device for a puncture surgical robot

Abstract

The application discloses a puncture execution device for a puncture surgical robot, which is fixedly installed at the end of a mechanical arm of the puncture surgical robot and is used for driving a puncture needle to complete a needle insertion action, and comprises a structured light 3D camera, a disposable puncture needle needle insertion device, a servo motor, an electric push cylinder, a first driving device and a second driving device; transmission devices for synchronously driving the disposable puncture needle needle insertion device to perform a puncture action are arranged in the first driving device and the second driving device; the disposable puncture needle needle insertion device can be quickly assembled with and disassembled from the first driving device and the second driving device and is in transmission connection with the transmission devices; the second driving device can drive the disposable puncture needle needle insertion device to separate while moving in parallel relative to the first driving device, so that the puncture needle in the disposable puncture needle needle insertion device is released.

Description

Technical Field

[0001] This invention relates to the field of puncture robots, and more specifically, to a puncture execution device for a puncture surgical robot. Background Technology

[0002] A biopsy is a minimally invasive procedure that uses modern high-tech methods to diagnose and treat lesions. Guided by medical imaging equipment and aided by the diagnostic and treatment functions of a biopsy robot, the location of the lesion, the target puncture point, the needle insertion point on the body surface, and the puncture path are determined. After receiving system data and instructions, the puncture execution device installed at the end of the robotic arm of the biopsy robot carries the puncture needle to the designated position, that is, from the needle insertion point on the body surface to the target puncture point at the location of the lesion.

[0003] Chinese Patent No. CN202111400774X discloses "an end-effector puncture device for a medical surgical robot". This device integrates multiple sensors and uses laser ranging, force feedback and other methods to accurately measure the puncture distance and precisely control the torque of the puncture needle.

[0004] Chinese Patent No. CN202105266105 discloses a "puncture device and surgical robot". The puncture execution device includes a fixed frame, a first clamping component and a second clamping component, both connected to the fixed frame. The first clamping component and the second clamping component jointly clamp and position the puncture needle, thereby driving the first clamping component and the second clamping component to synchronously drive the puncture needle to complete the puncture.

[0005] The puncture execution device in the aforementioned patent not only needs to hold the puncture needle but also position and perform the puncture. Since the puncture needle needs to enter the human body, there are special requirements for the equipment used to hold it. It must meet medical safety and hygiene requirements and be adaptable to puncture needles of different diameters, as different surgeries require different needle diameters. However, to meet medical safety and hygiene requirements, the best approach is to make the part that holds the puncture needle a disposable product to prevent safety issues caused by incomplete sterilization.

[0006] However, the components of the puncture device in the above-mentioned patents used to hold the puncture needle are not disposable products. They need to be disinfected after each use, which poses certain safety hazards. In addition, there are many problems such as complex structure.

[0007] To this end, the inventors of this invention have designed a disposable puncture needle insertion device. Further design is needed for a puncture device that works in conjunction with the disposable puncture needle insertion device and can complete the puncture and insertion action. Summary of the Invention

[0008] The purpose of this invention is to provide a puncture execution device for a puncture surgery robot, which is directly fixedly installed at the end of the robotic arm. When used in conjunction with a disposable puncture needle insertion device, it can not only realize the clamping, positioning and puncture of the puncture needle, but also design the component for clamping the puncture needle as a disposable component. After each puncture surgery is completed, the component for clamping the puncture needle is replaced together with the puncture needle, which can eliminate the safety hazards caused by incomplete sterilization.

[0009] In this invention, the puncture execution device for the puncture surgery robot is fixedly installed at the end of the robotic arm of the puncture surgery robot and is used to drive the puncture needle to complete the needle insertion action. It includes a structured light 3D camera, a disposable puncture needle insertion device, a servo motor and an electric push cylinder. The puncture execution device further includes a first drive device and a second drive device.

[0010] The structured light 3D camera and the first driving device are fixed as a whole and directly fixedly installed at the end of the robotic arm of the puncture surgery robot.

[0011] The second drive device can be mounted and connected to the first drive device in a relatively movable manner;

[0012] Both the first driving device and the second driving device are equipped with a transmission device for synchronously driving the disposable puncture needle insertion device to perform puncture action;

[0013] The disposable puncture needle insertion device can be quickly assembled and disassembled with the first drive device and the second drive device, and is connected to the transmission device for transmission.

[0014] The servo motor and the electric push cylinder are fixedly installed on the side opposite to the installation position of the disposable puncture needle insertion device;

[0015] While the second driving device moves parallel to and separates from the first driving device, it can also drive the disposable puncture needle insertion device to separate, thereby releasing the puncture needle in the disposable puncture needle insertion device.

[0016] Preferably, the first driving device is an irregularly shaped part integrally formed from metal material, including a first section, a second section, a third section and a fourth section; the first section is used to connect to the end of the robotic arm of the puncture surgery robot, the fourth section is used to install the transmission device, and the disposable puncture needle insertion device and the servo motor are respectively installed on both sides of the first driving device.

[0017] Preferably, the body of the electric push cylinder is fixedly installed in the third section, and one end of the electric push rod of the electric push cylinder extending out of the body is fixedly connected to the second drive device.

[0018] Preferably, the second driving device is an irregularly shaped part integrally formed from metal material, which corresponds to and cooperates with the third and fourth sections of the first driving device. The second driving device is integrally formed with a guide rod that can be inserted into the guide hole in the third section and can slide freely in and out of the guide hole.

[0019] Preferably, the first drive device has a through hole in the middle of the fourth section for the transmission device to pass through and be assembled, and a wire groove is integrally formed on the back of the fourth section.

[0020] Preferably, the second driving device is provided with a square frame hole at a position symmetrical to the through hole, and a square slider is provided corresponding to the square frame hole. The square slider is connected to the second driving device for fine adjustment through a countersunk hole and an elastic element.

[0021] Preferably, the first driving device has two mounting holes integrally formed at the bottom of the fourth section for mounting the laser device.

[0022] Preferably, a puncture needle safety device is installed at the bottom of the second drive device.

[0023] Preferably, the transmission device includes a first bevel gear fixedly connected to the output shaft of the servo motor, and two drive shafts rotatably connected to the first drive device and the second drive device respectively. One end of the drive shaft in the first drive device is connected to a second bevel gear that meshes with the first bevel gear, and the other end is provided with gear teeth that can be inserted and removed from the disposable puncture needle insertion device and mesh with it. The two drive shafts are driven by a pair of meshing spur gears.

[0024] Preferably, the first driving device and the second driving device are symmetrically provided with a set of positioning holes and a set of limiting hooks corresponding to the disposable puncture needle insertion device.

[0025] The puncture device in this invention, by means of a combination of a first driving device and a second driving device, can not only drive the disposable puncture needle insertion device to complete the puncture action, but also can quickly separate the disposable puncture needle insertion device after the puncture is completed, releasing the puncture needle and preventing the puncture needle from causing harm to the patient due to the limitation of the disposable puncture needle insertion device after entering the patient's body.

[0026] With the help of the combination of the first drive device and the second drive device, it can be used in conjunction with the disposable puncture needle insertion device, which can reduce the need to disinfect the puncture device after each use. It also has a simple structure and small size, making it suitable for performing robotic surgery in the limited space of a CT room. Attached Figure Description

[0027] Figure 1This is a three-dimensional structural diagram of the puncture execution device in this invention.

[0028] Figure 2 This is a three-dimensional structural diagram of the puncture execution device in another direction in this invention.

[0029] Figure 3 This is a three-dimensional structural diagram of the puncture device and the disposable puncture needle insertion device when separated in this invention.

[0030] Figure 4 This is a three-dimensional structural diagram of the puncture device in this invention.

[0031] Figure 5 This is a three-dimensional structural diagram of the puncture device in this invention from another direction.

[0032] Figure 6 yes Figure 5 A three-dimensional structural diagram of the puncture device after the servo motor has been removed.

[0033] Figure 7 yes Figure 5 A three-dimensional structural diagram of the puncture device after the second driving device is removed.

[0034] Figure 8 This is a three-dimensional structural diagram of the first driving device in this invention.

[0035] Figure 9 This is a three-dimensional structural diagram of the second driving device in this invention.

[0036] Figure 10 This is a three-dimensional structural diagram of the second driving device and the transmission device assembled in this invention.

[0037] Figure 11 This is a three-dimensional structural diagram of the driving shaft in this invention.

[0038] Figure 12 This is a three-dimensional structural diagram of the electric push cylinder fixing frame in this invention.

[0039] Figure 13 This is a three-dimensional structural diagram of the groove sealing plate in this invention.

[0040] Figure 14 This is a three-dimensional structural diagram of the disposable puncture needle insertion device of the present invention.

[0041] Figure 15 This is a three-dimensional structural diagram of the disposable puncture needle insertion device in this invention from another direction. Implementation

[0042] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to specific embodiments and accompanying drawings. The directional terms such as "upper," "lower," "front," and "rear" used in this application are only for the convenience and clarity of explaining the technical solutions and are not intended to limit the specific scope of protection. The relational terms such as "first" and "second" used in this application do not have a substantial sequential relationship and are merely used to distinguish different components.

[0043] In this invention, the puncture execution device for the puncture surgery robot is directly fixedly installed at the end of the robotic arm of the puncture surgery robot, and is used to drive the puncture needle 1 to complete the needle insertion action.

[0044] like Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, the puncture execution device of this invention includes a structured light 3D camera 3, a first driving device 2, a second driving device 4, a disposable puncture needle insertion device 5, a servo motor 10, an electric push cylinder 11, and a transmission device 12. The first driving device 2, the second driving device 4, the transmission device 12, the servo motor 10, and the electric push cylinder 11 are rationally arranged and assembled to form a puncture device capable of quickly assembling and disassembling the disposable puncture needle insertion device 5. Simultaneously, it can drive the disposable puncture needle insertion device 5 to clamp the puncture needle 1, perform puncture, and quickly release the puncture needle 1. Wherein:

[0045] The structured light 3D camera 3 and the first drive device 2 are fixed as a whole by the main mounting plate 6 and then directly fixed to the end of the robotic arm of the puncture surgical robot via the flange 7. The structured light 3D camera 3 is a commercially available mature product. It only needs to be fixed to the puncture device and move synchronously with the puncture device to ensure that the structured light 3D camera 3 can capture images of an area within 1m in height and 1m in diameter below the puncture device. Its working principle and specific structure will not be described in detail. The main mounting plate 6 is designed according to the installation orientation of the structured light 3D camera 3, and its structure will not be described in detail.

[0046] The disposable puncture needle insertion device 5 can be quickly assembled on the front side of the first drive device 2 and the second drive device 4, and can also be quickly disassembled. The servo motor 10 and the electric push cylinder 11 are fixedly mounted on the back side of the first drive device 2 and / or the second drive device 4, and installed close to the structured light 3D camera 3, such as... Figure 1 and Figure 3 As shown.

[0047] like Figure 14 and Figure 15As shown, the disposable puncture needle insertion device 5 in this invention adopts an existing disposable needle insertion device. This invention only improves the mounting bracket 50 of the existing needle insertion device to facilitate quick assembly and disassembly with the puncture device in this invention. Therefore, this invention only describes the structure of the improved part in detail, and will not describe the internal structure and working principle of the needle insertion device in detail.

[0048] like Figure 4 , Figure 5 and Figure 6 As shown, the puncture device includes a second driving device 4 and a first driving device 2. The second driving device 4 and the first driving device 2 are arranged in parallel as a whole and can move in parallel opening and closing relative to the first driving device 2.

[0049] Preferably: such as Figure 8 As shown, the first driving device 2 is an irregularly shaped component integrally formed from metal material, including a first section 20, a second section 21, a third section 22, and a fourth section 23. The first section 20 is used to connect to the end effector of the puncture surgical robot arm; the third section 22 is used to fix and mount the electric push cylinder 11; the second section 21 is used to connect the first section 20 and the third section 22; and the fourth section 23 is used to mount the transmission device 12. Figure 6 As shown, the electric push cylinder 11 is fixedly mounted on the rear side of the third section 22 via a fixing bracket 18. The fixing bracket 18 is integrally formed of metal material, cooperates with the electric push cylinder 11, and is locked by bolts or other connecting parts. Figure 12 As shown.

[0050] The electric push cylinder 11 can also be fixedly installed on the second drive device 4. In this embodiment, the electric push cylinder 11 is fixedly installed on the first drive device 2 as an example.

[0051] The first drive unit 2 has a guide hole 24 integrally formed in the fourth section 23 for assembly with the second drive unit 4. Simultaneously, a mounting hole 25 for mounting a laser device (not shown) is integrally formed at the bottom of the fourth section 23. The fourth section 23 also has an integrally formed through hole 26 for the transmission device 12 to pass through and be assembled with, and a cable tray 27 integrally formed on the back of the fourth section 23 for routing the power and control lines of the laser device, the puncture needle safety device 55, and other components, which is detachably encapsulated by a cable tray cover plate 270. Figure 13 As shown, this can effectively improve the overall appearance of the puncture device and avoid exposing the wires.

[0052] Preferably, in order to facilitate accurate alignment with the second drive device 4, a positioning post 28 is integrally formed on the same side of the fourth section 23 and the guide hole 24.

[0053] like Figure 4 , Figure 6 , Figure 7 and Figure 9 As shown, the second drive device 4 is an irregularly shaped part integrally formed from metal material. It is assembled with the third section 22 and the fourth section 23 of the first drive device 2 to form a whole, and can move parallel to the first drive device 2.

[0054] Preferably, the second driving device 4 is integrally formed with a guide rod 41 that can be inserted into the guide hole 24 of the first driving device 2 and can slide freely in and out relative to the guide hole 24, thereby limiting the movement position and direction of the second driving device 4 relative to the first driving device 2. A mounting groove 40 for accommodating the electric push cylinder 11 is integrally formed parallel to the guide rod 41, and a fixing member 42 for fixing the end of the electric push rod 13 of the electric push cylinder 11 is integrally formed at one end of the mounting groove 40. A positioning hole 43 is integrally formed on the second driving device 4, corresponding to the positioning post 28 in the first driving device 2.

[0055] like Figure 7 and Figure 10 As shown, in order to facilitate the assembly and adjustment of the transmission device 12, the second drive device 4 is provided with a square frame hole 44 at a position symmetrical to the through hole 26 of the first drive device 2, and a square slider 46 is provided in conjunction with the square frame hole 44. The square slider 46 is connected to the second drive device 4 through a countersunk hole 45 and an elastic element 47, so that the square slider 46 and the second drive device 4 can be finely adjusted, and can be better connected with the disposable puncture needle insertion device 5 for transmission.

[0056] like Figure 4 , Figure 5 , Figure 7 and Figure 10 As shown, the transmission device 12 includes a first bevel gear 14 fixedly connected to the output shaft of the servo motor 10, two drive shafts 8 respectively rotatably connected to the first drive device 2 and the second drive device 4, a second bevel gear 15 meshing with the first bevel gear 14, and spur gears 9 respectively fixed at the middle position of the two drive shafts 8 and meshing and transmitting with each other.

[0057] A drive shaft 8 passes directly through the through hole 26 of the first drive device 2 and is rotatably connected via a bearing 17, allowing it to rotate freely. One end of the drive shaft 8 extends out from the rear of the first drive device 2 and is fixedly connected to a second bevel gear 15; the other end extends out from the front of the first drive device 2 and is fixedly mounted with a straight gear 9, with a tooth 80 directly formed at the end of this end that can be inserted and engaged with the disposable puncture needle insertion device 5, such as... Figure 11 As shown.

[0058] Another drive shaft 8 passes through the shaped slider 46, and can be finely adjusted along with the shaped slider 46 while rotating freely, so as to better assemble and cooperate with the disposable puncture needle insertion device 5.

[0059] like Figure 14 and Figure 15 As shown, the disposable puncture needle insertion device 5 includes two symmetrical mounting brackets 50 that can close or separate from each other, both integrally formed from disposable medical material. Each mounting bracket 50 is equipped with a set of belt drive devices 56 for synchronously driving the puncture needle 1 to perform the insertion action, and a needle hole 57 for the puncture needle 1 to puncture is formed between the two sets of belt drive devices. The belt drive device includes two parallel internal gears 51 that can mesh with the gear teeth 80 in the drive shaft 8. By means of the meshing of the internal gears 51 with the drive shaft 8, when the two drive shafts 8 rotate relative to each other, they can drive the two symmetrically arranged belts in the mounting bracket 50 to move relative to each other, thereby driving the puncture needle 1 passing between the two belts to perform the insertion action. The structure and principle of the belts and internal gears 51 will not be described in detail, as they are easily implemented by those skilled in the art.

[0060] To facilitate the assembly and disassembly of the disposable puncture needle insertion device 5 and the puncture device, two symmetrical barbs 52 are integrally formed on the top of the mounting bracket 50, and symmetrical positioning posts 53 are integrally formed on the side of the mounting bracket 50 near the puncture device. Figure 4 As shown, corresponding to the positioning post 53, a pair of positioning holes 29 are provided on the front surface of the first driving device 2 and the second driving device 4, and an integrally formed limiting hook 30 is provided on the top of the front surface of the first driving device 2 and the second driving device 4 located in the fourth section 23, which is engaged and fixed by a barb 52. This allows the two mounting brackets 50 to be respectively installed on the first driving device 2 and the second driving device 4, and to move with the movement of the first driving device 2 and the second driving device 4.

[0061] like Figure 1 and Figure 5 As shown, the puncture needle 1 and the disposable puncture needle insertion device 5 are assembled together with the puncture device. Using the positioning post 53 and barbs 52, they can be securely fixed onto the puncture device. After assembly, the puncture surgical robot system can start the servo motor 10 when all conditions are met. The output shaft of the servo motor 10 drives the belt drive device 56 inside the disposable puncture needle insertion device 5 through the transmission device 12, driving the puncture needle 1 to perform the insertion action. After the puncture action is completed, the electric push cylinder 11 is activated, causing the electric push rod 13 of the electric push cylinder 11 to move outward. Due to the restriction of the guide rod 41, the second drive device 4 can only move outward in parallel, and also moves one of the mounting brackets 50 in the disposable puncture needle insertion device 5 outward together, releasing the restriction of the puncture needle 1 on the mounting bracket 50, leaving the puncture needle 1 inside the patient's body.

[0062] At this time, the puncture surgery robot system drives the robotic arm to remove the puncture execution device from the patient. The disposable puncture needle insertion device 5 can be removed, and then the electric push cylinder 11 can be activated to retract the electric push rod 13 inward, driving the second drive device 4 to retract inward in parallel, so that it can fit together with the first drive device 2 in parallel.

[0063] like Figure 1 and Figure 15 As shown, a puncture needle safety device 55 is installed at the bottom of the second drive device 4. The puncture needle safety device 55 can extend to the bottom of the disposable puncture needle insertion device 5 to limit and position the tip of the puncture needle 1. That is, when the puncture needle safety device 55 is not opened, the puncture needle 1 cannot complete the puncture. Only after the puncture needle safety device 55 is opened can the puncture device drive the disposable puncture needle insertion device 5 to complete the puncture action.

Claims

1. A puncture execution device for a puncture surgical robot, fixedly installed at the end of a mechanical arm of the puncture surgical robot, for driving a puncture needle to complete a needle insertion action, comprising a structured light 3D camera, a disposable puncture needle needle insertion device, a servo motor and an electric push cylinder, characterized in that, The puncture execution device further includes a first drive device and a second drive device; The structured light 3D camera and the first driving device are fixed as a whole and directly fixedly installed at the end of the robotic arm of the puncture surgery robot. The second drive device can be mounted and connected to the first drive device in a relatively movable manner; Both the first driving device and the second driving device are equipped with a transmission device for synchronously driving the disposable puncture needle insertion device to perform puncture action; The disposable puncture needle insertion device can be quickly assembled and disassembled with the first drive device and the second drive device, and is connected to the transmission device for transmission. The servo motor and the electric push cylinder are fixedly installed on the side opposite to the installation position of the disposable puncture needle insertion device; While the second driving device moves parallel to and separates from the first driving device, it can also drive the disposable puncture needle insertion device to separate, thereby releasing the puncture needle in the disposable puncture needle insertion device. The first driving device is an irregularly shaped part integrally formed from metal material, including a first section, a second section, a third section and a fourth section; the first driving device has a through hole in the middle of the fourth section for the transmission device to pass through and be assembled, and a groove is integrally formed on the back of the fourth section. The second driving device is an irregularly shaped part integrally formed from metal material. The second driving device corresponds to and cooperates with the third and fourth sections of the first driving device. A square frame hole is provided at a position symmetrical to the through hole, and a square slider is provided corresponding to the square frame hole. The square slider is connected to the second driving device for fine adjustment through a countersunk hole and an elastic element.

2. The puncture execution device for a puncture surgical robot according to claim 1, characterized in that, The first section is used to connect to the end of the robotic arm of the puncture surgery robot, the fourth section is used to install the transmission device, and the disposable puncture needle insertion device and the servo motor are respectively installed on both sides of the first drive device.

3. The puncture execution device for a puncture surgical robot according to claim 2, characterized in that, The body of the electric push cylinder is fixedly installed in the third section, and the electric push rod of the electric push cylinder extends out of the body and is fixedly connected to the second drive device.

4. The puncture execution device for a puncture surgical robot according to claim 3, characterized in that, The second drive device is integrally formed with a guide rod that can be inserted into the guide hole in the third section and can slide freely in and out of the guide hole.

5. The puncture execution device for a puncture surgical robot according to claim 1, characterized in that, The first drive unit has two mounting holes integrally formed at the bottom of the fourth section for mounting the laser device.

6. The puncture execution device for a puncture surgical robot according to any one of claims 1 to 5, characterized in that, The bottom of the second drive device is equipped with a puncture needle safety device.

7. The puncture execution device for a puncture surgical robot according to any one of claims 1 to 5, characterized in that, The transmission device includes a first bevel gear fixedly connected to the output shaft of the servo motor, and two drive shafts rotatably connected to the first drive device and the second drive device respectively. One end of the drive shaft in the first drive device is connected to a second bevel gear that meshes with the first bevel gear, and the other end is provided with gear teeth that can be inserted and removed from the disposable puncture needle insertion device and mesh with it. The two drive shafts are driven by a pair of meshing spur gears.

8. The puncture execution device for a puncture surgical robot according to any one of claims 1 to 5, characterized in that, The first driving device and the second driving device are symmetrically provided with a set of positioning holes and a set of limiting hooks corresponding to the disposable puncture needle insertion device.

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