Double-arm puncture positioning mechanism and puncture robot

Abstract

The invention provides a double-arm puncture positioning mechanism and a puncture robot. The double-arm puncture positioning mechanism comprises two linear motion units arranged in parallel in a spaced mode, two motion swing arms, a probe angle adjusting unit, a probe, a puncture angle adjusting unit and a puncture execution unit. Wherein the linear motion unit is used for adjusting the position of the motion swing arm in the first direction; one moving swing arm is used for adjusting the position of the probe angle adjusting unit in the second direction and the third direction; the other moving swing arm is used for adjusting the positions of the puncture angle adjusting unit in the second direction and the third direction; the probe angle adjusting unit is connected with the probe and used for adjusting the deflection angle of the probe; the puncture angle adjusting unit is used for adjusting the pitching angle and the deflection angle of the puncture execution unit. By the adoption of the technical scheme, the adjustment accuracy and the flexibility degree of the puncture robot are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of puncture robots, and more particularly to a double-arm puncture positioning mechanism and a puncture robot. Background Art

[0002] In the medical field, the application of puncture robots has brought new changes to minimally invasive surgery. However, current puncture robots still have many limitations in positioning accuracy and operational flexibility. Most existing puncture robots use a single-arm structure or a simple multi-joint robotic arm, which makes it difficult to achieve all-round, high-precision puncture positioning in the complex human anatomical structure. Specifically, the traditional multi-joint single-arm structure has significant technical bottlenecks: either the lack of ultrasound probe guidance function, resulting in intraoperative target positioning relying on preoperative images and unable to adapt to real-time tissue displacement; or the ultrasound probe is rigidly bound to the puncture actuator, so that the scanning angle and the puncture path are mutually restricted. When the probe needs to adjust the angle to obtain a clear image, the puncture actuator will synchronously displace, and vice versa. This "binding" design severely limits the flexibility of scanning positioning. Summary of the Invention

[0003] The purpose of the present invention is to provide a double-arm puncture positioning mechanism and a puncture robot to solve the technical problems of poor positioning accuracy and weak operational flexibility of the puncture robot in the prior art.

[0004] To achieve the above object, the technical solution adopted by the present invention is:

[0005] In a first aspect, a double-arm puncture positioning mechanism is provided, comprising:

[0006] Two parallel and spaced linear motion units, two motion swing arms, a probe angle adjustment unit, a probe, a puncture angle adjustment unit, and a puncture execution unit;

[0007] Wherein, the linear motion unit is connected to the motion swing arm in a one-to-one correspondence and is used to adjust the position of the motion swing arm in the first direction;

[0008] One of the movable swing arms is connected to the probe angle adjustment unit and is used to adjust the position of the probe angle adjustment unit in the second direction and the third direction; the other movable swing arm is connected to the puncture angle adjustment unit and is used to adjust the position of the puncture angle adjustment unit in the second direction and the third direction;

[0009] The probe angle adjustment unit is connected to the probe and is used to adjust the deflection angle of the probe;

[0010] The puncture angle adjustment unit is connected to the puncture execution unit and is used to adjust the pitch angle and the yaw angle of the puncture execution unit.

[0011] By adopting the above technical solution, the adjustment accuracy and flexibility of the puncture robot are improved.

[0012] In one embodiment, the linear motion unit includes a first linear slide rail and a first linear drive structure, the first linear slide rail defines the first direction, the moving swing arm is slidingly connected to the first linear slide rail, and the first linear drive structure is used to drive the moving swing arm to move along the first direction on the first linear slide rail.

[0013] In one embodiment, the first linear drive structure includes a synchronous belt motor and a synchronous belt. The synchronous belt motor is arranged on the linear slide rail and is used to drive the synchronous belt to move. The synchronous belt is wound around the power output shaft of the synchronous belt motor and extends along the linear slide rail. The synchronous belt is connected to the moving swing arm.

[0014] In one embodiment, the motion swing arm includes a swing arm support seat connected to the linear motion unit, a swing arm pitch adjustment structure provided on the swing arm support seat, a swing arm connected to the swing arm pitch adjustment structure, a base connected to the swing arm, and a horizontal position adjustment structure provided on the base, and the probe angle adjustment unit and the puncture angle adjustment unit are provided on the corresponding horizontal position adjustment structure.

[0015] In one embodiment, the puncture execution unit includes a needle fixing seat arranged on the puncture pitch angle adjustment frame of the puncture angle adjustment unit, a puncture motor arranged on the needle fixing seat, a needle and a feeding unit, and the puncture motor is used to drive the needle to move along the feeding unit.

[0016] In one embodiment, the feeding unit includes a screw rod, a nut and a guide light rod, the screw rod and the guide light rod are arranged in parallel and spaced apart on the needle fixing seat, the nut is transmission connected to the screw rod, the nut is slidingly connected to the guide light rod, and the nut is fixedly connected to the needle.

[0017] In one embodiment, the probe angle adjustment unit includes a probe deflection angle adjustment structure connected to the swing arm, and the probe deflection angle adjustment structure is used to adjust the deflection angle of the probe pitch angle adjustment structure.

[0018] In one embodiment, the double-arm puncture positioning mechanism further includes a base plate, and the two linear motion units are arranged in parallel and spaced apart on the base plate.

[0019] In one embodiment, the double-arm puncture positioning mechanism also includes an image acquisition unit, which includes a bracket provided on the base plate, a disc seat provided on the bracket, a camera provided on the disc seat, a light source fixing seat, and a near-infrared light source provided on the light source fixing seat.

[0020] In a second aspect, a puncture robot is provided, comprising a moving mechanism and the above-mentioned double-arm puncture positioning mechanism, wherein the moving mechanism is connected to the double-arm puncture positioning mechanism.

[0021] By adopting the above technical solution, the efficiency of adjusting the puncture position and angle of the puncture robot is improved and the adjustment error is reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0023] Figure 1 It is a three-dimensional structural diagram of the double-arm puncture positioning mechanism provided by an embodiment of the present invention.

[0024] Figure 2 It is a three-dimensional structural diagram of a linear motion unit provided by an embodiment of the present invention.

[0025] Figure 3 It is a three-dimensional structural diagram from one perspective of the motion swing arm provided by an embodiment of the present invention.

[0026] Figure 4 This is a three-dimensional structural diagram of the swing arm provided by an embodiment of the present invention from another perspective.

[0027] Figure 5 It is a three-dimensional structural diagram from another perspective of the horizontal position adjustment structure provided by an embodiment of the present invention.

[0028] Figure 6 It is a three-dimensional structural diagram of the puncture angle adjustment unit and the puncture execution unit provided in an embodiment of the present invention.

[0029] Figure 7 It is a three-dimensional structural diagram of the probe angle adjustment unit provided in an embodiment of the present invention.

[0030] Figure 8 It is a three-dimensional structural diagram of the image acquisition unit provided by an embodiment of the present invention.

[0031] The reference numerals in the figures are:

[0032] 100. Double-arm puncture positioning mechanism;

[0033] 1. Linear motion unit; 2. Motion swing arm; 3. Probe angle adjustment unit; 4. Probe; 5. Puncture angle adjustment unit; 6. Puncture execution unit; X, first direction; Y, second direction; Z, third direction; 7. Base plate; 8. Image acquisition unit;

[0034] 11. First linear guide rail; 12. First linear drive structure; 21. Swing arm support seat; 22. Swing arm pitch adjustment structure; 23. Swing arm; 24. Base; 25. Horizontal position adjustment structure; 31. Probe deflection angle adjustment structure; 51. Puncture deflection angle adjustment structure; 52. Puncture pitch adjustment structure; 61. Needle holder; 62. Puncture motor; 63. Needle; 64. Feed unit; 81. Bracket; 82. Disc seat; 83. Camera; 84. Light source holder; 85. Near-infrared light source;

[0035] 121. Synchronous belt motor; 122. Synchronous belt; 211. First rotating shaft; 212. Second rotating shaft; 213. Third rotating shaft; 214. Fourth rotating shaft; 231. First swing arm portion; 232. Second swing arm portion; 233. Cross roller bearing; 251. Second linear drive structure; 252. Second linear slide rail; 311. Probe deflection angle adjustment motor; 312. Probe deflection angle adjustment frame; 511. Puncture deflection angle adjustment motor; 512. Puncture deflection angle adjustment frame; 521. Puncture pitch angle adjustment motor; 522. Puncture pitch angle adjustment frame; 2511. Screw motor; 2512. Ball screw. DETAILED DESCRIPTION

[0036] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0037] It should be noted that when an element is referred to as being “fixed to” or “disposed on” another element, it may be directly located on the other element or indirectly located on the other element. When an element is referred to as being “connected to” another element, it may be directly connected to the other element or indirectly connected to the other element.

[0038] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention, and do not indicate that the device or element must have a specific orientation, be constructed and operate in a specific orientation. Therefore, it should not be understood as a limitation on the present invention.

[0039] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating relative importance or the number of technical features. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined. The following is a more detailed description of the specific implementation of the present invention in conjunction with specific embodiments:

[0040] like Figure 1 and Figure 2 As shown, an embodiment of the present invention provides a double-arm puncture positioning mechanism 100, comprising:

[0041] Two parallel and spaced linear motion units 1, two motion swing arms 2, a probe angle adjustment unit 3, a probe 4, a puncture angle adjustment unit 5, and a puncture execution unit 6;

[0042] The linear motion unit 1 is connected to the motion swing arm 2 in a one-to-one correspondence and is used to adjust the position of the motion swing arm 2 in the first direction X;

[0043] One of the movable swing arms 2 is connected to the probe angle adjustment unit 3 and is used to adjust the position of the probe angle adjustment unit 3 in the second direction Y and the third direction Z; the other movable swing arm 2 is connected to the puncture angle adjustment unit 5 and is used to adjust the position of the puncture angle adjustment unit 5 in the second direction Y and the third direction Z;

[0044] The probe angle adjustment unit 3 is connected to the probe 4 and is used to adjust the deflection angle of the probe 4;

[0045] The puncture angle adjustment unit 5 is connected to the puncture actuator unit 6 and is used to adjust the pitch angle and the yaw angle of the puncture actuator unit 6 .

[0046] Specifically, there are two linear motion units 1 and they are arranged in parallel and spaced apart. Their main function is to provide a position adjustment function in the first direction X for the motion swing arm 2 connected thereto, and to perform translational motion along the linear track to change the position of the motion swing arm 2, thereby providing a basis for subsequent precise positioning.

[0047] There are also two swing arms 2, each connected to a different unit. One swing arm 2 is connected to the probe angle adjustment unit 3, and the other is connected to the puncture angle adjustment unit 5. Driven by the linear motion unit 1, the swing arm 2 can adjust the position of the connected unit in the second direction Y and the third direction Z. This means that the swing arm 2 can swing and adjust its position at multiple angles in space.

[0048] The probe angle adjustment unit 3 is connected to one of the moving swing arms 2 and is connected to the probe 4. Its function is to finely adjust the deflection angle of the probe 4 so that the probe 4 can be accurately aligned with the part that needs to be detected or observed, obtain clear and accurate images or data, and provide precise guidance for puncture.

[0049] The probe 4 serves as a detection component and can flexibly adjust its angle under the control of the probe angle adjustment unit 3. It is usually used to obtain image information of the human body, such as the ultrasound probe 4, which provides real-time image guidance for the puncture process and helps doctors accurately determine the puncture position and path.

[0050] The puncture angle adjustment unit 5 is connected to another moving swing arm 2 and is also connected to the puncture execution unit 6. It is mainly responsible for adjusting the pitch angle and deflection angle of the puncture execution unit 6 to ensure that the needle can enter the human body at an accurate angle and direction, thereby improving the accuracy of the puncture and reducing damage to surrounding tissues.

[0051] The puncture execution unit 6 is the component that ultimately performs the puncture action. Under the action of the puncture angle adjustment unit 5, its angle is precisely adjusted, and then the puncture operation is performed to accurately insert the needle into the predetermined position, such as for drug injection, tissue sampling and other operations.

[0052] The working principle of the double-arm puncture positioning mechanism 100 provided in this embodiment is as follows:

[0053] The linear motion unit 1 first adjusts the position of the swing arm 2 in the first direction X, providing a basic position adjustment for overall positioning. The swing arm 2 then drives the probe angle adjustment unit 3 and the puncture angle adjustment unit 5 to move in the second direction Y and the third direction Z, respectively, achieving more flexible spatial positioning. Next, the probe angle adjustment unit 3 and the puncture angle adjustment unit 5 fine-tune the angles of the probe 4 and the puncture execution unit 6, respectively, allowing the probe 4 to accurately capture image information and the puncture execution unit 6 to perform punctures at an accurate angle. These various units work together to ultimately achieve precise dual-arm puncture positioning.

[0054] In addition, the double-arm puncture positioning mechanism 100 can install the probe 4 and the puncture execution unit 6 on the same moving swing arm 2 according to the actual needs of the operation, so that the probe 4 moves with the puncture execution unit 6 and can be used synchronously, thereby improving the flexibility of the use of the double-arm puncture positioning mechanism 100.

[0055] By adopting the above technical solution, through the cooperation of two parallel and spaced linear motion units 1 and two moving swing arms 2, full-dimensional dynamic adjustment of the puncture path in three-dimensional space is achieved, solving the problem of fixed positioning range of traditional mechanisms; the electric drive method avoids the jitter error of manual operation and ensures the consistency and repeatability of the puncture path. The dual independent angle adjustment units can independently control the deflection angle of the probe 4 and the pitch and deflection angles of the puncture execution unit 6, and improve the real-time performance of angle control through closed-loop feedback control, solving the defects of traditional mechanisms with fixed angles and inability to dynamically avoid anatomical risks. The dual-arm collaborative mechanism can realize the parallel operation of "image guidance-puncture execution" and improve surgical efficiency. In addition, the automated process shortens the operation time, and precise positioning and angle control reduce the risk of complications, promoting the development of puncture surgery towards standardization and precision.

[0056] Furthermore, by employing a dual-arm design, the scanning function of the ultrasound probe 4 and the puncture execution function are assigned to separate robotic arms, achieving a revolutionary breakthrough in medical operational flexibility. On the one hand, the robotic arm carrying the ultrasound probe 4 can freely adjust its angle and position in three-dimensional space according to scanning requirements, acquiring multi-dimensional, high-precision imaging data in real time, providing clear and comprehensive visual guidance for subsequent puncture operations. On the other hand, the robotic arm performing the puncture is freed from the operational constraints of traditional single-arm devices that must simultaneously perform both scanning and puncture. It can accurately locate the target area within complex anatomical structures, avoiding path deviations caused by limited operating space. This dual-arm collaborative working mode not only significantly improves overall operational flexibility, but also effectively shortens surgical preparation and operation time through a collaborative division of labor mechanism, reducing the risk of tissue damage caused by prolonged operation, and providing a solid technical foundation for the precise and efficient implementation of minimally invasive interventional procedures. Furthermore, this structural design reduces hand fatigue and human error among medical staff during operation, enhancing the stability and safety of the surgical process.

[0057] In one embodiment, the linear motion unit 1 includes a first linear slide rail 11 and a first linear drive structure 12. The first linear slide rail 11 defines a first direction X. The moving swing arm 2 is slidingly connected to the first linear slide rail 11. The first linear drive structure 12 is used to drive the moving swing arm 2 to move along the first direction X on the first linear slide rail 11.

[0058] Specifically, the linear motion unit 1 includes a first linear slide 11 and a first linear drive structure 12. The first linear slide 11 defines the movement direction of the moving swing arm 2 as the first direction X. It provides a sliding track for the moving swing arm 2, limits the moving swing arm 2 to move only in this linear direction, and plays a guiding and restraining role. The moving swing arm 2 is slidably connected to the first linear slide 11, which enables the moving swing arm 2 to move smoothly in a straight line along the first linear slide 11. The first linear drive structure 12 is the power providing part, which can drive the moving swing arm 2 to move along the first direction X on the first linear slide 11 according to the set requirements. For example, it can be driven by a motor, a screw nut mechanism, etc., and the rotational motion of the motor is converted into the linear motion of the moving swing arm 2, thereby accurately controlling the position of the moving swing arm 2 in the first direction X to meet the adjustment requirements of the double-arm puncture positioning mechanism 100 in different directions and realize precise control of the puncture position and angle.

[0059] In one embodiment, the first linear drive structure 12 includes a synchronous belt motor 121 and a synchronous belt 122. The synchronous belt motor 121 is arranged on a linear slide rail and is used to drive the synchronous belt 122 to move. The synchronous belt 122 is wound around the power output shaft of the synchronous belt motor 121 and extends along the linear slide rail. The synchronous belt 122 is connected to the moving swing arm 2.

[0060] Specifically, the synchronous belt motor 121 is installed on the linear slide as a power source. It can generate rotational power to provide driving force for the entire first linear drive structure 12, and drive the synchronous belt 122 to move through the rotation of its power output shaft.

[0061] The synchronous belt 122 is wound around the power output shaft of the synchronous belt motor 121. When the power output shaft of the synchronous belt motor 121 rotates, it drives the synchronous belt 122 to move. The synchronous belt 122 extends along the linear slide, transmitting power and converting the rotational motion of the synchronous belt motor 121 into linear motion along the linear slide.

[0062] The synchronous belt 122 is connected to the swing arm 2. The linear motion of the synchronous belt 122 drives the swing arm 2 along the linear rail in the first direction X, thereby achieving precise control of the position of the swing arm 2, meeting the adjustment requirements of the dual-arm puncture positioning mechanism 100 in different directions, and ultimately achieving precise control of the puncture position and angle. This drive method has the advantages of high transmission efficiency, high precision, smooth movement, and low noise.

[0063] Please also refer to Figure 3 and Figure 4In one embodiment, the motion swing arm 2 includes a swing arm support base 21 connected to the linear motion unit 1, a swing arm pitch adjustment structure 22 provided on the swing arm support base 21, a swing arm 23 connected to the swing arm pitch adjustment structure 22, a base 24 connected to the swing arm 23, and a horizontal position adjustment structure 25 provided on the base 24, and the probe angle adjustment unit 3 and the puncture angle adjustment unit 5 are provided on the corresponding horizontal position adjustment structure 25.

[0064] Specifically, the swing arm support seat 21 is the part that connects the motion swing arm 2 and the linear motion unit 1, which plays a supporting and connecting role, firmly connecting the motion swing arm 2 and the linear motion unit 1, so that the motion swing arm 2 can move with the movement of the linear motion unit 1, and at the same time provide an installation basis for the swing arm 23 and the pitch adjustment structure 22 of the swing arm 23.

[0065] The swing arm pitch adjustment structure 22 is mounted on the swing arm support 21 and is used to adjust the pitch angle of the swing arm 23. This structure allows the swing arm 23 to be adjusted in the vertical plane, thereby changing the pitch angle of the probe angle adjustment unit 3 and the puncture angle adjustment unit 5 to meet different puncture requirements, such as adjusting the depth and direction of the puncture.

[0066] The swing arm 23 is connected to the swing arm pitch adjustment structure 22 and is a key component of the entire motion swing arm 2. It performs pitch motion under the influence of the swing arm pitch adjustment structure 22 and simultaneously serves as a support for the base 24, connecting the base 24, the horizontal position adjustment structure 25 mounted thereon, the probe angle adjustment unit 3, and the puncture angle adjustment unit 5, thereby transmitting motion and force.

[0067] The base 24 is connected to the swing arm 23 and provides a mounting location for the horizontal position adjustment structure 25. It fixes and supports the horizontal position adjustment structure 25 and transmits the movement of the swing arm 23 to the horizontal position adjustment structure 25, thereby affecting the horizontal position of the probe angle adjustment unit 3 and the puncture angle adjustment unit 5.

[0068] The horizontal position adjustment structure 25 is provided on the base 24 and is used to adjust the horizontal position of the probe angle adjustment unit 3 and the puncture angle adjustment unit 5. Through this structure, the position of the probe 4 and the puncture execution unit 6 can be adjusted in the horizontal direction to achieve more precise positioning, such as adjusting the puncture position on the same horizontal plane so that it can accurately reach the target point. The probe angle adjustment unit 3 and the puncture angle adjustment unit 5 are provided on the corresponding horizontal position adjustment structure 25, so that their horizontal position can be precisely controlled by the horizontal position adjustment structure 25. At the same time, combined with the adjustment of the pitch angle of the swing arm 23 by the swing arm pitch adjustment structure 22, the precise position and angle control of the probe 4 and the puncture execution unit 6 in space can be achieved to meet the diverse clinical puncture needs under different individual differences and complex anatomical structures of different patients.

[0069] In one embodiment, one of the swing arms 23 extends from the first side toward the second side of the double-arm puncture positioning mechanism 100, and the other swing arm 23 extends from the second side toward the first side of the double-arm puncture positioning mechanism 100, and the two swing arms 23 are cross-arranged.

[0070] Specifically, the dual-arm puncture positioning mechanism 100 has a first side and a second side facing each other. One swing arm 23 extends from the first side toward the second side, and the other swing arm 23 extends from the second side toward the first side. Thus, the two swing arms 23 intersect in the middle of the mechanism. This intersecting arrangement changes the traditional parallel or co-directional arrangement of the swing arms 23, making the layout of the swing arms 23 more compact and enabling more flexible movement and positioning within a limited space.

[0071] The cross-arranged swing arms 23 can increase the movement flexibility and accessible space of the mechanism. Compared with the parallel-arranged swing arms 23, the cross-arranged swing arms 23 can adjust and position the puncture position from different directions, helping to avoid obstacles on the patient's body and reach the target puncture site more accurately. It is especially suitable for complex anatomical structures and different puncture requirements. At the same time, this setting method may also improve the stability and load-bearing capacity of the mechanism, reduce shaking and jitter during the puncture process, and improve the accuracy and safety of the puncture. In addition, the cross-arranged swing arms 23 can also realize the coordinated operation of the two arms. For example, one swing arm 23 is used to position the ultrasound probe 4 for image guidance, and the other swing arm 23 is used to control the needle for puncture operations. The cross-arrangement can make these two operations better coordinated in space, thereby improving surgical efficiency.

[0072] In one embodiment, the swing arm support base 21 defines a third direction Z, and a first rotating shaft 211 and a second rotating shaft 212 are provided on the swing arm support base 21 in parallel and spaced apart, and a third rotating shaft 213 and a fourth rotating shaft 214 are provided on the base 24 in parallel and spaced apart, and the swing arm 23 includes a first swing arm portion 231 and a second swing arm portion 232, and the two ends of the first swing arm portion 231 are respectively rotatably connected to the first rotating shaft 211 and the third rotating shaft 213, and the two ends of the second swing arm portion 232 are respectively rotatably connected to the second rotating shaft 212 and the fourth rotating shaft 214, and the swing arm support base 21, the base 24, the first swing arm portion 231 and the second swing arm portion 232 form a parallelogram connecting rod structure.

[0073] Specifically, the swing arm support base 21 defines a third direction Z, which provides a reference direction for the movement of the entire structure. The first rotating shaft 211 and the second rotating shaft 212 arranged in parallel and spaced apart on the swing arm support base 21, as well as the third rotating shaft 213 and the fourth rotating shaft 214 arranged in parallel and spaced apart on the base 24, are key components that connect the swing arm 23 components and enable them to rotate. The two ends of the first swing arm portion 231 are respectively rotatably connected to the first rotating shaft 211 and the third rotating shaft 213, and the two ends of the second swing arm portion 232 are respectively rotatably connected to the second rotating shaft 212 and the fourth rotating shaft 214. This connection method allows the swing arm support base 21, the base 24, the first swing arm portion 231 and the second swing arm portion 232 to together form a parallelogram connecting rod structure.

[0074] The parallelogram linkage structure has a unique motion characteristic, namely, the opposing sides always remain parallel. In this structure, when the swing arm support 21 is fixed or undergoing some kind of movement, the rotation of the first swing arm portion 231 and the second swing arm portion 232 can cause the base 24 to translate relative to the swing arm support 21, while maintaining the relative angle between the base 24 and the swing arm support 21. This means that components such as the probe angle adjustment unit 3 and the puncture angle adjustment unit 5 mounted on the base 24 can maintain their posture or adjust their posture according to a specific pattern as they move with the base 24, facilitating precise positioning and angle control during the puncture process.

[0075] This parallelogram linkage structure can increase the stability and flexibility of the movement of the swing arm 23. Compared with other structures, it can reduce the shaking and vibration during the movement to a certain extent, thereby improving the accuracy of the puncture. At the same time, the parallelogram linkage structure can also make the movement of the swing arm 23 in different directions more coordinated, and can better adapt to complex spatial movement requirements. For example, when adjusting the puncture position and angle, different movement combinations of the swing arm 23 can be used to achieve more precise and flexible operations to meet the diverse needs of different patients' anatomical structures and puncture surgeries. In addition, this structure also helps to improve the overall performance and reliability of the dual-arm puncture positioning mechanism 100, providing strong support for the realization of automated and precise puncture surgeries.

[0076] In one embodiment, a cross roller bearing is connected between the first swing arm portion 231 and the first rotating shaft 211 .

[0077] Specifically, a crossed roller bearing is a special type of rolling bearing whose internal rollers (cylindrical or tapered rollers) are arranged perpendicular to each other, capable of simultaneously bearing radial loads, axial loads, and overturning moments. Compared to conventional bearings, the cross-arrangement of the rollers gives the bearing greater rigidity in all directions, reducing elastic deformation during the movement of the swing arm 23. This allows for submicron rotational accuracy, ensuring precise control of the puncture angle. This cross-roller arrangement allows for multi-directional load bearing within a relatively small space, making it suitable for miniaturization of medical devices.

[0078] In this embodiment, a crossed roller bearing connects the first swing arm portion 231 and the first rotating shaft 211, enhancing the rotational accuracy of the swing arm 23. Puncture procedures require extremely high angle control. The high precision of the crossed roller bearing minimizes the angular error of the swing arm 23 during pitch or yaw motion, avoiding deviations in the puncture path due to bearing clearance or elastic deformation. During the puncture process, the swing arm 23 may be subjected to complex loads such as tissue resistance and the weight of the instrument. The high rigidity of the crossed roller bearing effectively resists vibration or deflection caused by these external forces, ensuring the stability of the puncture operation. Traditional designs may require a combination of multiple bearings to withstand multi-directional loads, but the crossed roller bearing can achieve this through a single component, reducing the number of parts, assembly complexity, and the risk of failure.

[0079] Please also refer to Figure 5 In one embodiment, the horizontal position adjustment structure 25 includes a second linear drive structure 251 and a second linear slide 252. The second linear drive structure 251 is arranged on the base 24. The second linear slide 252 defines a second direction Y. The probe angle adjustment unit 3 and the puncture angle adjustment unit 5 are slidingly connected to the corresponding second linear slide 252. The second linear drive structure 251 is used to drive the probe angle adjustment unit 3 and the puncture angle adjustment unit 5 to move along the second linear slide 252.

[0080] Specifically, the horizontal position adjustment structure 25 includes a second linear drive structure 251 and a second linear slide 252. The second linear drive structure 251 is mounted on the base 24 and provides the power, generating the driving force. The second linear slide 252 defines the second direction Y, guiding the movement of the probe angle adjustment unit 3 and the puncture angle adjustment unit 5, ensuring that they can only slide along the direction defined by the second linear slide 252.

[0081] The probe angle adjustment unit 3 and the puncture angle adjustment unit 5 are respectively slidably connected to the corresponding second linear slide rail 252. This connection mode enables the two units to move smoothly along the second linear slide rail 252 under the action of the second linear drive structure 251, thereby achieving horizontal position adjustment.

[0082] When the second linear drive structure 251 is in operation, it generates a driving force along the second linear rail 252. This driving force is transmitted to the probe angle adjustment unit 3 and the puncture angle adjustment unit 5, which are slidably connected to the second linear rail 252, driving them to move on the second linear rail 252. By controlling the movement of the second linear drive structure 251, the horizontal position of the probe angle adjustment unit 3 and the puncture angle adjustment unit 5 can be precisely controlled to meet different puncture requirements, such as performing puncture operations at different positions or adjusting the angle of the probe 4 for a better observation angle.

[0083] This horizontal position adjustment structure 25 utilizes a combination of a linear drive structure and a linear slide rail, and has the advantages of simple structure, high motion precision, and good stability. It can provide a reliable position adjustment function for puncture surgery, and helps to improve the accuracy and success rate of puncture.

[0084] In one embodiment, the second linear drive structure 251 includes a screw motor 2511 and a ball screw 2512. The screw motor 2511 is arranged on the base 24 and is used to drive the ball screw 2512 to operate. The ball screw 2512 is arranged parallel to and spaced apart from the second linear slide rail 252. The ball screw 2512 is transmission-connected to the probe angle adjustment unit 3 and the puncture angle adjustment unit 5.

[0085] Specifically, the second linear drive structure 251 includes a screw motor 2511 and a ball screw 2512. The screw motor 2511 is mounted on the base 24 and provides the power source for the entire drive structure. The ball screw 2512 is arranged parallel to and spaced apart from the second linear guide rail 252. This layout helps ensure the stability and accuracy of the probe angle adjustment unit 3 and the puncture angle adjustment unit 5 during movement, enabling them to move precisely along the predetermined direction (i.e., the direction defined by the second linear guide rail 252).

[0086] When the screw motor 2511 is working, it will generate rotational motion. Its output shaft is connected to the ball screw 2512, thereby driving the ball screw 2512 to rotate. According to the working principle of the ball screw 2512, when the ball screw 2512 rotates as the active body, the nut matched with it will be converted into linear motion according to the lead of the corresponding specification as the rotation angle of the screw. In this solution, the probe angle adjustment unit 3 and the puncture angle adjustment unit 5 are connected to the nut of the ball screw 2512 (which can be indirectly connected through components such as a nut seat). In this way, the rotational motion of the ball screw 2512 is converted into linear motion of the probe angle adjustment unit 3 and the puncture angle adjustment unit 5 along the direction of the second linear slide 252, thereby realizing the position adjustment of the two units in the horizontal direction.

[0087] The use of a combination of a screw motor 2511 and a ball screw 2512 as the second linear drive structure 251 has many advantages: First, the ball screw 2512 has the characteristics of high precision and can accurately convert rotational motion into linear motion, ensuring the position adjustment accuracy of the probe angle adjustment unit 3 and the puncture angle adjustment unit 5, which is crucial for medical operations that require precise control of the puncture position and angle. Secondly, the ball screw 2512 has low friction resistance and high transmission efficiency, and can achieve large load movement under the action of a small driving force, while also reducing energy loss. In addition, the screw motor 2511 can achieve different movement speeds and position positioning through precise control. When combined with the ball screw 2512, it can meet the diverse needs of adjusting the position of the probe 4 and the needle in different surgical scenarios.

[0088] Please also refer to Figure 6 In one embodiment, the puncture angle adjustment unit 5 includes a puncture deflection angle adjustment structure 51 connected to the swing arm 23 and a puncture pitch angle adjustment structure 52 connected to the puncture deflection angle adjustment structure 51. The puncture deflection angle adjustment structure 51 is used to adjust the deflection angle of the puncture pitch angle adjustment structure 52. The puncture pitch angle adjustment structure 52 is connected to the puncture execution unit 6 and is used to adjust the pitch angle of the puncture execution unit 6.

[0089] Specifically, the puncture angle adjustment unit 5 includes a puncture deflection angle adjustment structure 51 and a puncture pitch angle adjustment structure 52. One end of the puncture deflection angle adjustment structure 51 is connected to the swing arm 23, and the other end of the puncture deflection angle adjustment structure 51 is connected to the puncture pitch angle adjustment structure 52, which is in turn connected to the puncture execution unit 6, forming a sequentially connected structural system.

[0090] The puncture deflection angle adjustment structure 51 adjusts the deflection angle of the puncture pitch angle adjustment structure 52. This allows the puncture pitch angle adjustment structure 52 to rotate horizontally by a certain angle, changing its direction. The puncture pitch angle adjustment structure 52 adjusts the pitch angle of the puncture actuator 6, enabling it to adjust the angle within the vertical plane, such as tilting the needle upward or downward, to achieve a suitable puncture angle.

[0091] The coordinated operation of these two adjustment structures enables precise adjustment of the angle of the puncture actuator 6. The puncture deflection angle adjustment structure 51 first determines the approximate orientation of the puncture pitch angle adjustment structure 52, which then finely adjusts the pitch angle of the puncture actuator 6, thereby meeting the precise angle requirements of different puncture scenarios. For example, during medical punctures, the needle angle can be flexibly adjusted based on the patient's specific condition and the puncture site, improving puncture accuracy and safety.

[0092] In one embodiment, the puncture deflection angle adjustment structure 51 includes a puncture deflection angle adjustment motor 511 provided on the swing arm 23 and a puncture deflection angle adjustment frame 512 connected to the puncture deflection angle adjustment motor 511. The puncture deflection angle adjustment motor 511 is used to drive the puncture deflection angle adjustment frame 512 to rotate around the axis, and the puncture deflection angle adjustment frame 512 is connected to the puncture execution unit 6.

[0093] Specifically, the swing arm 23 serves as the base support component for mounting the puncture deflection angle adjustment motor 511, serving as the carrier of the entire adjustment structure. It may be part of the puncture device's mechanical arm or transmission mechanism, responsible for providing a motion reference. The puncture deflection angle adjustment motor 511, mounted on the swing arm 23, serves as the power source. The motor's rotational output drives subsequent components. The puncture deflection angle adjustment frame 512 is directly connected to the adjustment motor, receiving its power. It is also connected to the puncture execution unit 6 (e.g., a needle, surgical instrument, etc.), serving as an intermediate component for transmitting motion.

[0094] In one embodiment, the puncture pitch angle adjustment structure 52 includes a puncture pitch angle adjustment motor 521 provided on the puncture deflection angle adjustment frame 512 and a puncture pitch angle adjustment frame 522 connected to the puncture pitch angle adjustment motor 521. The puncture pitch angle adjustment motor 521 is used to drive the puncture pitch angle adjustment frame 522 to rotate around the axis, and the puncture pitch angle adjustment frame 522 is connected to the puncture execution unit 6.

[0095] Specifically, the puncture pitch angle adjustment structure 52 includes a puncture pitch angle adjustment motor 521 and a puncture pitch angle adjustment frame 522. The puncture pitch angle adjustment motor 521 is disposed on the puncture deflection angle adjustment frame 512, and the puncture pitch angle adjustment frame 522 is connected to the puncture pitch angle adjustment motor 521 and is also connected to the puncture execution unit 6.

[0096] The puncture pitch angle adjustment motor 521 serves as a power source. When activated, it drives the puncture pitch angle adjustment frame 522 to rotate about a specific axis. Because the puncture pitch angle adjustment frame 522 is connected to the puncture execution unit 6, the rotation of the puncture pitch angle adjustment frame 522 drives the puncture execution unit 6 to move together, thereby adjusting the pitch angle of the puncture execution unit 6 to meet different puncture requirements. For example, in a medical puncture scenario, this structure can accurately adjust the pitch angle of the needle according to the patient's specific condition and puncture site, improving the accuracy and success rate of the puncture.

[0097] In one embodiment, the puncture execution unit 6 includes a needle fixing seat 61 provided on the puncture pitch angle adjustment frame 522, a puncture motor 62 provided on the needle fixing seat 61, a needle 63 and a feeding unit 64, and the puncture motor 62 is used to drive the needle 63 to move along the feeding unit 64.

[0098] Specifically, the puncture pitch angle adjustment frame 522 is the basic supporting structure of the entire puncture execution unit 6. Its main function is to adjust the pitch angle of the puncture (such as the inclination angle of the needle 63 with respect to the horizontal plane) to meet different puncture requirements (such as the puncture angle requirements for different parts of the human body). It is usually an angle adjustment module of the puncture device, and the angle adjustment may be achieved through mechanical structure (such as gears, slides) or motor drive.

[0099] The needle holder 61 is mounted on the puncture pitch angle adjustment frame 522 and is used to secure the puncture motor 62, needle 63, and feed unit 64. It serves as an intermediate carrier connecting the base frame and the core actuator components. It must possess sufficient mechanical strength and stability to ensure that the components are fixed in place during the puncture process and prevent shaking that affects accuracy.

[0100] The puncture motor 62, mounted on the needle holder 61, is the power source for the puncture actuator 6. It drives the needle 63 along the feed unit 64, achieving the puncture action (e.g., linear feed or reciprocating motion). The motor may be a stepper motor, a servo motor, or other suitable motors, and must meet the puncture accuracy and speed requirements.

[0101] The needle 63 is an end effector that directly performs a puncture operation and is used to penetrate a target object (such as human tissue, experimental samples, etc.).

[0102] The feed unit 64 provides guidance and support for the movement of the needle 63, ensuring that the needle 63 moves precisely in a specific direction. Common forms include mechanical structures such as slide rails, screws, and guide rails, which work with the puncture motor 62 to achieve feed control of the needle 63 (such as precise adjustment of feed distance and speed).

[0103] In one embodiment, the feeding unit 64 includes a screw rod, a nut and a guide light rod. The screw rod and the guide light rod are arranged in parallel and spaced apart on the needle fixing seat 61. The nut is transmission-connected to the screw rod, the nut is slidingly connected to the guide light rod, and the nut is fixedly connected to the needle 63.

[0104] Specifically, the feed unit 64 includes a screw, a nut, and a guide light rod. The screw and the guide light rod are arranged parallel and spaced apart on the needle holder 61. This parallel and spaced arrangement provides a stable structural foundation for subsequent movement, ensuring the linearity and accuracy of the movement of related components.

[0105] The transmission connection between a nut and a lead screw is typically achieved through a threaded fit. As the lead screw rotates, the nut engages the threads of the lead screw, causing the nut to move linearly along the lead screw's axis. This is a common method for converting rotational motion into linear motion, enabling precise control of the nut's travel distance and speed, thereby achieving precise positional control of the components connected to the nut.

[0106] The nut is connected to a sliding guide rod. The guide rod guides the nut's movement, limiting it to a direction parallel to the lead screw. This enhances the smoothness and accuracy of the movement and prevents the nut from shaking or shifting during movement. This sliding connection also reduces friction during movement, making the nut's movement smoother.

[0107] The nut is fixedly connected to the needle 63. When the lead screw drives the nut to move linearly under the guidance of the guide light rod, the nut will drive the needle 63 to move together, thereby realizing the feeding movement of the needle 63 in a specific direction to meet the requirements of relevant equipment or processes for precise control of the position of the needle 63. For example, in some operations that require precise injection, dispensing or other operations related to the position of the needle 63, the position and movement of the needle 63 can be accurately controlled through this feeding unit 64, thereby improving the accuracy and quality of the work.

[0108] In one embodiment, the probe angle adjustment unit 3 includes a probe deflection angle adjustment structure 31 connected to the swing arm 23 and a probe pitch angle adjustment structure 32 connected to the probe deflection angle adjustment structure 31. The probe deflection angle adjustment structure 31 is used to adjust the deflection angle of the probe pitch angle adjustment structure 32. The probe pitch angle adjustment structure 32 is connected to the probe 4 and is used to adjust the pitch angle of the probe 4.

[0109] Specifically, the probe angle adjustment unit 3 includes a probe deflection angle adjustment structure 31 and a probe pitch angle adjustment structure 32. One end of the probe deflection angle adjustment structure 31 is connected to the swing arm 23, while the other end is connected to the probe pitch angle adjustment structure 32, which in turn is connected to the probe 4. This connection forms a hierarchical structure, with the swing arm 23 indirectly controlling the angle of the probe 4 through the probe deflection angle adjustment structure 31 and the probe pitch angle adjustment structure 32.

[0110] The probe deflection angle adjustment structure 31 adjusts the deflection angle of the probe pitch angle adjustment structure 32. Specifically, it enables the probe pitch angle adjustment structure 32 to rotate about a specific axis or direction, thereby changing its orientation in space. The probe pitch angle adjustment structure 32 directly acts on the probe 4, adjusting its pitch angle, allowing it to rotate up and down within a vertical plane to achieve different detection angles.

[0111] Please also refer to Figure 7 In one embodiment, the probe deflection angle adjustment structure 31 includes a probe deflection angle adjustment motor 311 provided on the swing arm 23 and a probe deflection angle adjustment frame 312 connected to the probe deflection angle adjustment motor 311. The probe deflection angle adjustment motor 311 is used to drive the probe deflection angle adjustment frame 312 to rotate around the axis, and the probe deflection angle adjustment frame 312 is connected to the probe 4.

[0112] Specifically, the probe deflection angle adjustment structure 31 includes a probe deflection angle adjustment motor 311 and a probe deflection angle adjustment frame 312. The probe deflection angle adjustment frame 312 is connected to the probe deflection angle adjustment motor 311 and is also connected to the probe 4.

[0113] The probe deflection angle adjustment motor 311 serves as a power source. When activated, it generates a driving torque. This torque is transmitted to the probe deflection angle adjustment frame 312, causing it to rotate about a specific axis. Because the probe deflection angle adjustment frame 312 is connected to the probe 4, the rotation of the probe deflection angle adjustment frame 312 drives the probe 4 to rotate together, thereby adjusting the deflection angle of the probe 4.

[0114] This structural design allows for precise control of the deflection angle of the probe 4. By controlling the rotation angle, speed, and direction of the probe deflection angle adjustment motor 311, the probe 4's posture can be accurately adjusted, allowing it to better align with the puncture target, improving puncture accuracy and success rate. Furthermore, placing the probe deflection angle adjustment motor 311 on the swing arm 23 facilitates a rational layout, facilitating installation and maintenance, and making the entire puncture robot more compact and stable.

[0115] Specifically, the probe deflection angle adjustment frame 312 is the basic frame of the entire probe pitch angle adjustment structure 32, used to support the probe pitch angle adjustment motor 321 and the probe pitch angle adjustment frame 322, and may be connected to other structures to provide an installation reference.

[0116] Please refer again Figure 1 and Figure 8 In one embodiment, the double-arm puncture positioning mechanism 100 further includes a base plate 7 , and the two linear motion units 1 are arranged on the base plate 7 in parallel and at intervals.

[0117] Specifically, the base plate 7 serves as the basic support component of the dual-arm puncture positioning mechanism 100. It is typically a flat plate structure used to secure and install other components (such as the linear motion unit 1). It provides a stable mounting base, ensuring the relative positioning accuracy of each component, and may also bear the overall load of the mechanism (such as the pressure during puncture).

[0118] There are two linear motion units 1, which constitute the motion basis of the "double arms" (each linear motion unit 1 corresponds to a motion swing arm 2).

[0119] The two linear motion units 1 move in the same direction (e.g., horizontally or vertically) and are arranged parallel to each other to ensure that their motion paths do not interfere with each other. The two linear motion units 1 are spaced apart on the base plate 7 to provide space for the swing arm 2 or other components, while also meeting the layout requirements for the coordinated operation of the two arms (e.g., to prevent collisions during movement).

[0120] In one embodiment, the double-arm puncture positioning mechanism 100 also includes an image acquisition unit 8, which includes a bracket 81 arranged on the base plate 7, a disc seat 82 arranged on the bracket 81, a camera 83 arranged on the disc seat 82, a light source fixing seat 84, and a near-infrared light source 85 arranged on the light source fixing seat 84.

[0121] Specifically, the image acquisition unit 8 plays an auxiliary role in puncture positioning, such as providing visual information to the operator to help determine the position and angle of puncture.

[0122] The bracket 81 is installed on the base plate 7, which is the basic component of the double-arm puncture positioning mechanism 100. The bracket 81 is used to support other components of the image acquisition unit 8 to maintain them at a specific position and height.

[0123] A disc seat 82 is provided on the bracket 81 , and the shape of the disc seat 82 may be conducive to achieving certain functions, such as facilitating angle adjustment of the camera 83 or other components, or providing better stability.

[0124] The camera 83 is mounted on the disc seat 82 and is used to collect image information. It may be used to capture a real-time image of the puncture site so that the operator can observe the relative position of the needle 63 and the target site, thereby improving the accuracy of the puncture.

[0125] The light source holder 84 is used to fix the near-infrared light source 85 and keep it in a relatively stable position. The near-infrared light source 85 may be used to illuminate the puncture site. Due to the characteristics of near-infrared light, it helps to more clearly show the puncture path or target area, or for other related purposes such as disinfection.

[0126] This solution provides visualization and auxiliary lighting functions for the puncture process by setting an image acquisition unit 8 in the double-arm puncture positioning mechanism 100 and using components such as a camera 83 and a near-infrared light source 85, which helps to improve the accuracy and safety of the puncture.

[0127] In a second aspect, a puncture robot is provided, comprising a moving mechanism and the above-mentioned double-arm puncture positioning mechanism 100 , wherein the moving mechanism is connected to the double-arm puncture positioning mechanism 100 .

[0128] By adopting the above technical solution, a "mobile + precise operation" puncture robot system is constructed through the physical connection and functional coordination of the mobile mechanism and the double-arm puncture positioning mechanism 100. The core of the system lies in achieving the combination of "large-scale mobility" and "high-precision positioning capability" through a composite mechanical structure, solving the shortcomings of traditional fixed puncture equipment in flexibility or operating range, and is suitable for clinical scenarios that require dynamic position adjustment, such as intraoperative target offset correction, multi-site puncture, etc.

[0129] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A double-arm puncture positioning mechanism, characterized in that: include: Two parallel and spaced linear motion units, two motion swing arms, a probe angle adjustment unit, a probe, a puncture angle adjustment unit, and a puncture execution unit; Wherein, the linear motion unit is connected to the motion swing arm in a one-to-one correspondence and is used to adjust the position of the motion swing arm in the first direction; One of the movable swing arms is connected to the probe angle adjustment unit and is used to adjust the position of the probe angle adjustment unit in the second direction and the third direction; the other movable swing arm is connected to the puncture angle adjustment unit and is used to adjust the position of the puncture angle adjustment unit in the second direction and the third direction; The probe angle adjustment unit is connected to the probe and is used to adjust the deflection angle of the probe; The puncture angle adjustment unit is connected to the puncture execution unit and is used to adjust the pitch angle and the yaw angle of the puncture execution unit.

2. The double-arm puncture positioning mechanism according to claim 1, characterized in that: The linear motion unit includes a first linear slide rail and a first linear drive structure, the first linear slide rail defines the first direction, the moving swing arm is slidingly connected to the first linear slide rail, and the first linear drive structure is used to drive the moving swing arm to move along the first direction on the first linear slide rail.

3. The double-arm puncture positioning mechanism according to claim 2, characterized in that: The first linear drive structure includes a synchronous belt motor and a synchronous belt. The synchronous belt motor is arranged on the linear slide rail and is used to drive the synchronous belt to move. The synchronous belt is wound around the power output shaft of the synchronous belt motor and extends along the linear slide rail. The synchronous belt is connected to the moving swing arm.

4. The double-arm puncture positioning mechanism according to claim 1, characterized in that: The motion swing arm includes a swing arm support seat connected to the linear motion unit, a swing arm pitch adjustment structure provided on the swing arm support seat, a swing arm connected to the swing arm pitch adjustment structure, a base connected to the swing arm, and a horizontal position adjustment structure provided on the base. The probe angle adjustment unit and the puncture angle adjustment unit are provided on the corresponding horizontal position adjustment structures.

5. The double-arm puncture positioning mechanism according to claim 1, characterized in that: The puncture execution unit includes a needle fixing seat arranged on the puncture pitch angle adjustment frame of the puncture angle adjustment unit, a puncture motor arranged on the needle fixing seat, a needle and a feeding unit, and the puncture motor is used to drive the needle to move along the feeding unit.

6. The double-arm puncture positioning mechanism according to claim 5, characterized in that: The feeding unit includes a screw rod, a nut and a guide light rod. The screw rod and the guide light rod are arranged in parallel and spaced apart on the needle fixing seat. The nut is transmission connected to the screw rod, the nut is slidingly connected to the guide light rod, and the nut is fixedly connected to the needle.

7. The double-arm puncture positioning mechanism according to any one of claims 1 to 6, characterized in that: The probe angle adjustment unit includes a probe deflection angle adjustment structure connected to the swing arm, and the probe deflection angle adjustment structure is used to adjust the deflection angle of the probe pitch angle adjustment structure.

8. The double-arm puncture positioning mechanism according to any one of claims 1 to 6, characterized in that: The double-arm puncture positioning mechanism further comprises a base plate, and the two linear motion units are arranged in parallel and at intervals on the base plate.

9. The double-arm puncture positioning mechanism according to claim 8, characterized in that: The double-arm puncture positioning mechanism also includes an image acquisition unit, which includes a bracket arranged on the base plate, a disc seat arranged on the bracket, a camera arranged on the disc seat, a light source fixing seat, and a near-infrared light source arranged on the light source fixing seat.

10. A puncture robot, characterized in that: It comprises a moving mechanism and the double-arm puncture positioning mechanism according to any one of claims 1 to 9, wherein the moving mechanism is connected to the double-arm puncture positioning mechanism.

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