Puncture tip device with surgical robot

Abstract

The application relates to a puncture end device and a surgical robot. The puncture end device comprises a base connected with a mechanical arm, a sliding table group comprising a first sliding table and a second sliding table, the first sliding table being slidingly matched with the base along a first direction, and the second sliding table being slidingly matched with the first sliding table along the first direction; a telescopic module connected with the sliding table group, the telescopic module being used for driving the first sliding table to slide relative to the base and driving the second sliding table to slide relative to the first sliding table; and a clamping release module comprising a first clamping mechanism and a second clamping mechanism which are arranged at intervals along the first direction, the first clamping mechanism being connected with the base, the second clamping mechanism being connected with the second sliding table, and the first clamping mechanism and the second clamping mechanism being respectively used for clamping different regions of a puncture needle along the first direction, the first direction being the length direction of the puncture needle. The puncture end device can have a larger puncture stroke, and the probability of collision when the puncture end device exits a CT device scanning cavity is reduced, so that the device is not prone to damage.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to puncture tip devices and surgical robots. Background Technology

[0002] Aspiration, or biopsy, is a diagnostic and therapeutic technique that involves inserting a needle into a patient's body cavity to extract secretions for testing, injecting gas or contrast agents into the cavity for imaging examinations, or injecting medication into the cavity. Currently, aspiration is often performed under CT image guidance. By observing CT images, the operator can determine the position and orientation of the needle within the patient's body, allowing for timely adjustments to the needle's posture and successful completion of the puncture. However, because CT scans involve radiation, prolonged exposure to this environment can pose significant health risks to doctors. Therefore, when using CT image guidance for aspiration, a robot is typically installed inside the CT room. The needle is attached to the robot's distal joint via a puncture tip device. The doctor remotely controls the robot from outside the CT room via a main control device, guiding the needle into the CT scanner's scanning cavity to complete the puncture. In some related technologies, to increase the puncture stroke, the puncture tip device is made relatively large, which can lead to collisions and damage when it exits the CT scanner's scanning cavity. Summary of the Invention

[0003] Therefore, it is necessary to provide a puncture end device and a surgical robot that can reduce the probability of collision when the puncture end device exits the CT scanner cavity while having a large puncture stroke, so that the device is not easily damaged.

[0004] A puncture tip device, the puncture tip device comprising:

[0005] The base is used to connect to the robotic arm;

[0006] A slide assembly includes a first slide and a second slide, wherein the first slide is slidably engaged with the base along a first direction, and the second slide is slidably engaged with the first slide along the first direction;

[0007] A telescopic module, connected to the slide assembly, is used to drive the first slide to slide relative to the base, and to drive the second slide to slide relative to the first slide; and

[0008] The clamping and releasing module includes a first clamping mechanism and a second clamping mechanism arranged at intervals along the first direction. The first clamping mechanism is connected to the base, and the second clamping mechanism is connected to the second slide. The first clamping mechanism and the second clamping mechanism are respectively used to clamp different regions of the puncture needle along the first direction, wherein the first direction is the length direction of the puncture needle.

[0009] In some embodiments, the telescopic module includes a first driving member and a first transmission mechanism connected between the first driving member and the slide group. The first driving member is used to drive one of the first slide and the second slide to slide along the first direction, and one of the first slide and the second slide can drive the other of the first slide and the second slide to slide along the first direction through the first transmission mechanism.

[0010] In some embodiments, the first transmission mechanism includes a first synchronous flexible component, the first synchronous flexible component including a first wheel and a second wheel arranged at intervals along the first direction, and a first flexible member surrounding the first wheel and the second wheel. The first wheel and the second wheel are both rotatably connected to the first slide, the base and the second slide are both connected to the first flexible member, and two connection positions on the first flexible member for connecting with the base and the second slide are respectively located on both sides of the first wheel along the second direction, the second direction being the thickness direction of the first flexible member, and the first direction being perpendicular to the second direction.

[0011] In some embodiments, one of the first slide and the second slide is connected to the power output end of the first drive member so as to slide along the first direction driven by the first drive member;

[0012] Alternatively, one of the first slide and the second slide is connected to the power output end of the first drive member through at least one set of second synchronous flexible components, and the first drive member drives one of the first slide and the second slide to slide along the first direction through the at least one set of second synchronous flexible components.

[0013] In some embodiments, the clamping-release module includes a second driving member and a second transmission mechanism connected to the base and the slide assembly. The first clamping mechanism and the second clamping mechanism are connected to the second driving member through the second transmission mechanism to clamp or release the puncture needle by being driven by the second driving member. The sliding of the slide assembly is independent of the clamping-release movement of the clamping-release module.

[0014] In some embodiments, the second transmission mechanism includes a plurality of synchronous pulleys and a second flexible member wound around the plurality of synchronous pulleys to enable them to rotate synchronously. Some of the synchronous pulleys are connected to the base, some of the synchronous pulleys are connected to the first slide, and some of the synchronous pulleys are connected to the second slide. Among the plurality of synchronous pulleys, the synchronous pulley connected to the first clamping mechanism is the third pulley, and the synchronous pulley connected to the second clamping mechanism is the fourth pulley. The second driving member can drive the third pulley and the fourth pulley to rotate through the second flexible member so that the first clamping mechanism and the second clamping mechanism clamp or release the puncture needle. When the slide group slides, the third pulley and the fourth pulley are in a non-rotating state.

[0015] In some embodiments, when the slide group slides, a section of the second flexible member located between the third wheel and the synchronous wheel adjacent to either side thereof is in a stationary state.

[0016] When the slide group slides, the section of the second flexible member located between the fourth wheel and the synchronous wheel adjacent to either side thereof is in a stationary state.

[0017] In some embodiments, among the plurality of synchronous wheels, the synchronous wheels other than the third wheel and the fourth wheel are non-stationary synchronous wheels; when the slide group slides, in the second flexible member, the length of the section located between some of the non-stationary synchronous wheels increases, the length of the section located between some of the non-stationary synchronous wheels decreases, and the length of the increased portion and the length of the decreased portion are equal.

[0018] In some embodiments, the second transmission mechanism includes a second synchronous belt assembly, the second synchronous belt assembly includes the plurality of synchronous pulleys, and a second flexible member, the second flexible member being a second synchronous belt, the second synchronous belt being wound around the plurality of synchronous pulleys;

[0019] Alternatively, the second transmission mechanism may include a rope assembly comprising the plurality of synchronized pulleys and a second flexible element, which is a rope wound around the plurality of synchronized pulleys.

[0020] In some embodiments, a manual knob is coaxially connected to both the third wheel and / or the fourth wheel, and the third wheel and the fourth wheel can be driven to rotate by the manual knob.

[0021] In some embodiments, the first clamping mechanism and / or the second clamping mechanism includes a first jaw and a second jaw connected to the third wheel; when the third wheel rotates, the first jaw and the second jaw move closer or further apart relative to each other along the radial direction of the puncture needle.

[0022] In some embodiments, the first clamping mechanism includes a first swing arm connected to the third wheel and a first push-pull rod connected to the first swing arm. The first push-pull rod is restricted to moving only along the length direction of the first clamping mechanism. The first gripper and the second gripper are rotatably connected to the same position on the first push-pull rod, and the first gripper and the second gripper are provided with symmetrical sliding grooves. The first push-pull rod is provided with a boss, which passes through the sliding grooves on the first gripper and the second gripper. When the third wheel rotates, the boss abuts against the groove wall of the sliding groove to push the first gripper and the second gripper to open and close.

[0023] In some embodiments, the first clamping mechanism and / or the second clamping mechanism includes a first jaw and a second jaw connected to the third wheel; when the third wheel rotates, the first jaw and the second jaw move closer or further apart relative to each other along the first direction.

[0024] In some embodiments, the first clamping mechanism includes a second swing arm and a third swing arm, the second swing arm being fixed to the third wheel; wherein the third swing arm forms a lever structure, one end of the third swing arm is connected to the second swing arm, and the other end is connected to the first gripper and the second gripper respectively; the first gripper and the second gripper each form a lever structure, and one end of the first gripper and the second gripper is used to connect to the end of the third swing arm opposite to the second swing arm, and the other end is used to clamp the puncture needle.

[0025] A surgical robot comprising the aforementioned puncture tip device.

[0026] In the aforementioned puncture tip device and surgical robot, the clamping module includes a first clamping mechanism and a second clamping mechanism, each used to clamp the puncture needle in different regions along a first direction, thereby achieving stable clamping of the puncture needle. In the slide assembly, the first slide can be driven by a telescopic module to slide relative to the base, while the second slide can also be driven by the telescopic module to slide relative to the first slide. This allows adjustment of the distance between the first and second clamping mechanisms by sliding the first and second slides, thus adjusting the size of the puncture tip device along the first direction. Specifically, during puncture, the sliding of the first and second slides increases the distance between the first and second clamping mechanisms to allow for a larger puncture stroke; after puncture, the sliding of the first and second slides decreases the distance between the first and second clamping mechanisms to facilitate the removal of the puncture tip device from the CT scanner's scanning cavity. Therefore, by superimposing the sliding strokes of the two slides that are far apart from the base, a larger puncture stroke can be achieved. At the same time, by superimposing the sliding strokes of the two slides that are close to the base, a smaller shrinkage size can be achieved, reducing the probability of the device colliding when it exits the scanning cavity of the CT equipment. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of a surgical robot in one embodiment of this application.

[0028] Figure 2 This is a schematic diagram of the puncture end device with the puncture needle installed (extended to maximum height) in one embodiment of this application.

[0029] Figure 3 This is a schematic diagram of the puncture end device with the puncture needle installed in one embodiment of this application (retracted to minimum height).

[0030] Figure 4 This is a schematic diagram of the internal structure of the puncture end device in one embodiment of this application.

[0031] Figure 5 This is a schematic diagram of the first transmission mechanism and other components in one embodiment of this application.

[0032] Figure 6 for Figure 5 The illustrated embodiment shows a schematic diagram of the slide assembly extended to its maximum height.

[0033] Figure 7 for Figure 5 The illustrated embodiment shows a schematic diagram of the slide assembly retracted to its minimum height.

[0034] Figure 8 This is a schematic diagram of components such as the first transmission mechanism in another embodiment of this application.

[0035] Figure 9 for Figure 8 The illustrated embodiment shows a schematic diagram of the slide assembly extended to its maximum height.

[0036] Figure 10 for Figure 8 The illustrated embodiment shows a schematic diagram of the slide assembly retracted to its minimum height.

[0037] Figure 11 This is a schematic diagram of the second transmission mechanism and other components in one embodiment of this application (when the slide group is extended to its maximum height).

[0038] Figure 12 This is a schematic diagram of the second transmission mechanism and other components in one embodiment of this application (when the slide group is retracted to its minimum height).

[0039] Figure 13 This is a schematic diagram of the first clamping mechanism in one embodiment of this application.

[0040] Figure 14 This is a schematic diagram of the internal structure of the first clamping mechanism in one embodiment of this application (the first and second clamping jaws are closed).

[0041] Figure 15 This is a schematic diagram of the internal structure of the first clamping mechanism in one embodiment of this application (the first and second clamps are opened to half extent).

[0042] Figure 16 This is a schematic diagram of the internal structure of the first clamping mechanism in one embodiment of this application (the first and second grippers are about to fully open).

[0043] Figure 17 This is a schematic diagram of the second transmission mechanism and other components in another embodiment of this application.

[0044] Figure 18 This is a schematic diagram of the second transmission mechanism and other components from another angle in another embodiment of this application.

[0045] Figure 19 This is a schematic diagram of the first clamping mechanism in another embodiment of this application.

[0046] Figure 20 This is a schematic diagram of the internal structure of the first clamping mechanism in another embodiment of this application.

[0047] Figure 21 This is a schematic diagram of a sterile cover in one embodiment of this application.

[0048] Figure label:

[0049] 110. Base; 120. Robotic arm; 130. Trolley; 140. Puncture needle; 141. Needle guide; 150. Sterile hood; 160. Bandage;

[0050] 200. Slide assembly; 210. First slide; 211. Top plate; 212. Vertical rod; 213. Slide rail; 220. Second slide; 221. Slider;

[0051] 300. First driving component;

[0052] 400. First transmission mechanism; 410. First synchronous belt assembly; 411. First pulley; 412. Second pulley; 413. First synchronous belt; 414. First fixing plate; 415. Second fixing plate; 420. Third synchronous belt assembly; 421. Fifth pulley; 422. Sixth pulley; 423. Third synchronous belt; 430. Fourth synchronous belt assembly; 431. Seventh pulley; 432. Eighth pulley; 433. Ninth pulley; 434. Tenth pulley; 435. Eleventh pulley; 436. Twelfth pulley; 437. Thirteenth pulley; 438. Fourth synchronous belt; 440. Fifth synchronous belt assembly; 441. Fourteenth pulley; 442. Fifteenth pulley; 443. Fifth synchronous belt; 450. Sixth synchronous belt assembly; 451. Sixteenth pulley; 452. Seventeenth pulley; 453. Eighteenth pulley; 454. Nineteenth pulley; 455. Sixth synchronous belt;

[0053] 500, First clamping mechanism; 510, First gripper; 511, First arc-shaped groove; 512, First waist-shaped groove; 520, Second gripper; 521, Second arc-shaped groove; 522, Second waist-shaped groove; 530, First swing arm; 531, Swinging part; 540, First push-pull rod; 541, Boss; 542, Ball head; 550, Second push-pull rod; 551, First groove; 552, Second groove; 560, Clamping shell; 561, Connector; 570, Second swing arm; 571, First pin; 580, Third swing arm; 581, Third groove; 582, Second pin; 583, Third pin; 591, First rotating shaft; 592, Second rotating shaft; 593, Third rotating shaft;

[0054] 600. Second clamping mechanism;

[0055] 700. Second drive component;

[0056] 800. Second transmission mechanism; 810. Second synchronous belt assembly; 811. Third pulley; 812. Fourth pulley; 813. Twentieth pulley; 814. Twenty-first pulley; 815. Twenty-second pulley; 816. Twenty-third pulley; 817. Twenty-fourth pulley; 818. Twenty-fifth pulley; 819. Twenty-sixth pulley; 8110. Twenty-seventh pulley; 8111. Twenty-eighth pulley; 8112. Twenty-ninth pulley; 8113. Second synchronous belt; 8114. Manual knob; 820. Seventh synchronous belt assembly; 821. Thirtieth pulley; 822. Thirtieth pulley; 823. Seventh synchronous belt; 830. Rope assembly; 831. Thirty-second wheel; 832. Thirty-third wheel; 833. Thirty-fourth wheel; 834. Thirty-fifth wheel; 835. Thirty-sixth wheel; 836. Thirty-seventh wheel; 837. Rope; 8371. First section; 8372. Second section; 840. Eighth synchronous belt assembly; 841. Thirty-eighth wheel; 842. Thirty-ninth wheel; 843. Eighth synchronous belt; 850. Ninth synchronous belt assembly; 851. Fortieth wheel; 852. Forty-first wheel; 853. Ninth synchronous belt. Detailed Implementation

[0057] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0058] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0059] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0060] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0061] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0062] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0063] Aspiration, or biopsy, is a diagnostic and therapeutic technique that involves inserting a needle into a patient's body cavity to extract secretions for testing, injecting gas or contrast agents into the cavity for imaging examinations, or injecting medication into the cavity. Currently, aspiration is often performed under CT image guidance. By observing CT images, the operator can determine the position and orientation of the needle within the patient's body, allowing for timely adjustments to the needle's posture and successful completion of the puncture. However, because CT scans involve radiation, prolonged exposure to this environment can pose significant health risks to doctors. Therefore, when using CT image guidance for aspiration, a robot is typically installed inside the CT room. The needle is attached to the robot's distal joint via a puncture tip device. The doctor remotely controls the robot from outside the CT room via a main control device, guiding the needle into the CT scanner's scanning cavity to complete the puncture. In some related technologies, to increase the puncture stroke, the puncture tip device is made relatively large, which can lead to collisions and damage when it exits the CT scanner's scanning cavity.

[0064] Based on this, one embodiment of this application provides a puncture end device and a surgical robot to solve the above problems. It can reduce the probability of collision when the puncture end device exits the scanning cavity of the CT equipment while having a large puncture stroke, making the device less prone to damage.

[0065] See Figures 1 to 4 An embodiment of this application provides a puncture end device including a base 110, a slide assembly 200, a telescopic module, and a clamping and releasing module. The base 110 is used to connect to a robotic arm 120. The slide assembly 200 includes a first slide 210 and a second slide 220. The first slide 210 is slidably engaged with the base 110 along a first direction, and the second slide 220 is slidably engaged with the first slide 210 along the first direction. The telescopic module is connected to the slide assembly 200 and is used to drive the first slide 210 to slide relative to the base 110 and to drive the second slide 220 to slide relative to the first slide 210. The clamping and releasing module includes a first clamping mechanism 500 and a second clamping mechanism 600 arranged at intervals along a first direction. The first clamping mechanism 500 is connected to the base 110, and the second clamping mechanism 600 is connected to the second slide 220. The first clamping mechanism 500 and the second clamping mechanism 600 are respectively used to clamp different areas of the puncture needle 140 along the first direction, wherein the first direction is the length direction of the puncture needle 140.

[0066] In the aforementioned puncture end device, the clamping module includes a first clamping mechanism 500 and a second clamping mechanism 600, which are respectively used to clamp different regions of the puncture needle 140 along the first direction, thereby achieving stable clamping of the puncture needle 140. In the slide assembly 200, the first slide 210 can be driven by the telescopic module to slide relative to the base 110, while the second slide 220 can be driven by the telescopic module to slide relative to the first slide 210. Therefore, by sliding the first slide 210 and the second slide 220, the distance between the first clamping mechanism 500 and the second clamping mechanism 600 can be adjusted, thereby adjusting the size of the puncture end device along the first direction. Specifically, during puncture, the distance between the first clamping mechanism 500 and the second clamping mechanism 600 is increased by sliding the first slide 210 and the second slide 220 (e.g., ...). Figure 2 (as shown in the diagram) to have a larger puncture stroke; after puncture, the distance between the first clamping mechanism 500 and the second clamping mechanism 600 is reduced by sliding the first slide 210 and the second slide 220 (as shown in the diagram). Figure 3 (as shown in the diagram) to facilitate the removal of the puncture tip from the CT scanner's scanning cavity. Therefore, by superimposing the sliding strokes of the two slides that are far apart from the base 110, a larger puncture stroke can be achieved. At the same time, by superimposing the sliding strokes of the two slides that are close together from the base 110, a smaller retraction size can be achieved, reducing the probability of the device colliding when it exits the CT scanner's scanning cavity.

[0067] See Figures 1 to 3 In some embodiments, the robotic arm 120 is mounted on the trolley 130, and the base 110 is connected to the end joint of the robotic arm 120, and its position can be adjusted by the robotic arm 120. From the perspective of the accompanying drawings, the first direction is the vertical direction.

[0068] In the embodiment shown in the attached drawings, the sliding stroke of the first slide 210 relative to the base 110 is 62 mm, and the sliding stroke of the second slide 220 relative to the first slide 210 is also 62 mm. Figure 2 In this state, the entire puncture end device has a dimension of 182mm along the first direction, which is comparable to the length of a commonly used 150mm 16G puncture needle 140 with a shank. This allows for maximum utilization of the space in the first direction and increases the puncture stroke. Figure 3 In this state, the entire puncture end device has a size of 120mm along the first direction, which is slightly larger than the size of the end joint of the robotic arm 120. At this time, the robotic arm 120 can be quickly withdrawn from the CT scanning cavity, avoiding collision between the puncture end device and the CT equipment and the patient's body during the withdrawal process.

[0069] See Figures 2 to 3In some embodiments, one of the first slide 210 and the base 110 is provided with a slide rail extending along a first direction, and the other is provided with a slider slidably connected to the slide rail. Alternatively, the sliding engagement between the first slide 210 and the base 110 can be achieved by a guide post and a guide sleeve being slidably connected, or by a linear bearing or the like.

[0070] See Figures 3 to 4 In some embodiments, one of the second slide 220 and the first slide 210 is provided with a slide rail 213 extending along a first direction, and the other is provided with a slider 221 slidably connected to the slide rail 213. Alternatively, the sliding engagement of the second slide 220 and the first slide 210 can be achieved by a guide post and a guide sleeve being slidably connected, or by a linear bearing or the like.

[0071] See Figure 4 , Figure 5 and Figure 8 In some embodiments, the telescopic module includes a first drive member 300 and a first transmission mechanism 400 connected between the first drive member 300 and the slide group 200. The first drive member 300 is used to drive one of the first slide group 210 and the second slide group 220 to slide along a first direction, and one of the first slide group 210 and the second slide group 220 can drive the other of the first slide group 210 and the second slide group 220 to slide along the first direction through the first transmission mechanism 400.

[0072] Specifically, in Figures 5 to 7 In the illustrated embodiment, the first driving member 300 is used to drive the second slide 220 to slide along a first direction, and the second slide 220 drives the first slide 210 to slide along the first direction through the first transmission mechanism 400. Figures 8 to 10 In the embodiment shown, the first driving member 300 is used to drive the first slide 210 to slide along the first direction, and the first slide 210 drives the second slide 220 to slide along the first direction through the first transmission mechanism 400.

[0073] In the above embodiment, only one driving component, the first driving component 300, is needed to simultaneously achieve the sliding of the first slide 210 and the second slide 220. Compared with setting separate driving components for the two, this embodiment has fewer driving components, lower cost, lighter weight, and better consistency of movement.

[0074] See Figure 5 and Figure 8In some embodiments, the first transmission mechanism 400 includes a first synchronous flexible component, which includes a first wheel 411 and a second wheel 412 arranged at intervals along a first direction, and a first flexible member surrounding the first wheel 411 and the second wheel 412. The first wheel 411 and the second wheel 412 are both rotatably connected to the first slide 210, and the base 110 and the second slide 220 are both connected to the first flexible member. Two connection positions on the first flexible member for connecting with the base 110 and the second slide 220 are respectively located on both sides of the first wheel 411 along a second direction. The second direction is the thickness direction of the first flexible member, and the first direction is perpendicular to the second direction.

[0075] Further, in the embodiment shown in the accompanying drawings, the first synchronous flexible component is a first synchronous belt assembly 410, the first flexible element is a first synchronous belt 413, and the first wheel 411 and the second wheel 412 are both pulleys. That is, in some embodiments, the first transmission mechanism 400 includes a first synchronous belt assembly 410, which includes a first wheel 411 and a second wheel 412 arranged at intervals along a first direction, and a first synchronous belt 413 surrounding the first wheel 411 and the second wheel 412. The first wheel 411 and the second wheel 412 are both rotatably connected to the first slide 210, and the base 110 and the second slide 220 are both connected to the first synchronous belt 413. The two connection positions on the first synchronous belt 413 for connecting with the base 110 and the second slide 220 are respectively located on both sides of the first wheel 411 along a second direction, where the second direction is the thickness direction of the first synchronous belt 413, and the first direction is perpendicular to the second direction. In other embodiments, both the first wheel 411 and the second wheel 412 engage with the first synchronous belt 413 via teeth to increase friction. In other embodiments, the first synchronous belt 413 can also be a rope. In other embodiments, the first synchronous belt 413 can also be a chain, and both the first wheel 411 and the second wheel 412 are sprockets. The following description will primarily focus on the embodiments shown in the accompanying drawings.

[0076] Specifically, two rotating shafts can extend from the inner wall of the first slide table 210, for the first wheel 411 and the second wheel 412 to be respectively fitted onto the first slide table 210, so that the first wheel 411 and the second wheel 412 are rotatably connected to the first slide table 210. A first fixing plate 414 and a second fixing plate 415 are fixed on the first synchronous belt 413, and the first fixing plate 414 and the second fixing plate 415 are respectively located on both sides of the first wheel 411 and the second wheel 412 along a second direction. From the perspective of the attached drawings, the first fixing plate 414 is located in front of the first wheel 411 and the second wheel 412, and the second fixing plate 415 is located behind the first wheel 411 and the second wheel 412. The first fixing plate 414 is fixedly connected to the base 110, and the second fixing plate 415 is fixedly connected to the second slide table 220.

[0077] exist Figures 5 to 7In the illustrated embodiment, the first driving member 300 drives the second slide 220 to slide along a first direction. When the second slide 220 slides, the first synchronous belt 413 fixed to it will rotate. Since the position of the base 110 is fixed, the position of the first fixing plate 414 fixed to it will also be fixed. Then, the second slide 220 will pull the first synchronous belt 413 through the second fixing plate 415, thereby causing the first slide 210, and the first wheel 411 and the second wheel 412 rotatably connected to it to slide synchronously (as mentioned above, two rotating shafts can extend from the inner wall of the first slide 210 for the first wheel 411 and the second wheel 412 to be fitted respectively; therefore, the first wheel 411, the second wheel 412, and the first slide 210 slide synchronously), thus ensuring that the position of the first fixing plate 414 remains unchanged during the rotation of the first synchronous belt 413. In this way, the first slide 210 can slide under the drive of the second slide 220. Figure 6 State of motion to Figure 7 During the process, the distance that the second slide 220 slides downward relative to the base 110 is equal to twice the distance that the first slide 210 slides downward relative to the base 110.

[0078] exist Figures 8 to 10 In the illustrated embodiment, the first driving member 300 drives the first slide 210 to slide along a first direction. When the first slide 210 slides, the first wheel 411 and the second wheel 412, rotatably connected to it, slide synchronously. Since the position of the base 110 is fixed, the position of the first fixing plate 414, fixedly connected to it, will also be fixed. Therefore, when the first wheel 411 and the second wheel 412 slide, the first synchronous belt 413 surrounding them will rotate, thus ensuring that the position of the first fixing plate 414 remains unchanged. During the rotation of the first synchronous belt 413, the second slide 220 will be driven to slide synchronously through the second fixing plate 415. In this way, the second slide 220 can slide under the drive of the first slide 210. Figure 9 State of motion to Figure 10 During the process, the distance that the second slide 220 slides downward relative to the base 110 is equal to twice the distance that the first slide 210 slides downward relative to the base 110.

[0079] See Figure 5 and Figure 8 In some embodiments, one of the first slide 210 and the second slide 220 is connected to the power output end of the first drive member 300 through at least one set of second synchronous flexible components, and the first drive member 300 drives one of the first slide 210 and the second slide 220 to slide along a first direction through these at least one set of second synchronous flexible components.

[0080] Further, in the embodiment shown in the accompanying drawings, the aforementioned second synchronous flexible component is a synchronous belt assembly. That is, in some embodiments, one of the first slide 210 and the second slide 220 is connected to the power output end of the first drive member 300 via at least one set of synchronous belt assemblies, and the first drive member 300 drives one of the first slide 210 and the second slide 220 to slide along a first direction via these at least one set of synchronous belt assemblies. In other embodiments, the pulley and the synchronous belt in the synchronous belt assembly can engage with teeth to increase friction. In other embodiments, the synchronous belt in the synchronous belt assembly can be replaced with a chain, and the pulley can be replaced with a sprocket. Alternatively, in other embodiments, the synchronous belt in the synchronous belt assembly can be replaced with a rope. The following description will primarily focus on the embodiments shown in the accompanying drawings. Figures 5 to 7 In the illustrated embodiment, the first transmission mechanism 400 includes a third synchronous belt assembly 420 and a fourth synchronous belt assembly 430. The third synchronous belt assembly 420 is connected to the first driving member 300, and the fourth synchronous belt assembly 430 is connected to the third synchronous belt assembly 420. The second slide 220 is connected to the fourth synchronous belt assembly 430. The first driving member 300 drives the second slide 220 to slide along a first direction sequentially through the third synchronous belt assembly 420 and the fourth synchronous belt assembly 430.

[0081] Specifically, the third synchronous belt assembly 420 includes a fifth pulley 421 and a sixth pulley 422 arranged at intervals, and a third synchronous belt 423 surrounding the fifth pulley 421 and the sixth pulley 422. The first pulley 411 and the second pulley 412 are both rotatably connected to the base 110. The fifth pulley 421 is connected to the power output end of the first drive member 300, which is a motor capable of driving the fifth pulley 421 to rotate. The fourth synchronous belt assembly 430 includes a seventh pulley 431, an eighth pulley 432, a ninth pulley 433, a tenth pulley 434, an eleventh pulley 435, a twelfth pulley 436, and a thirteenth pulley 437. The fourth synchronous belt 438 is sequentially wound around each of the aforementioned pulleys. The seventh pulley 431 and the sixth pulley 422 are coaxially connected, and a second slide 220 is fixed to the fourth synchronous belt 438. For example, in some embodiments, the second slide 220 is fixed to the fourth synchronous belt 438 by a second fixing plate 415. The ninth wheel 433 and the tenth wheel 434 are arranged alternately along the first direction, as are the eighth wheel 432 and the twelfth wheel 436. The seventh wheel 431, the eighth wheel 432, the ninth wheel 433, the twelfth wheel 436, and the thirteenth wheel 437 are all rotatably connected to the base 110, and the tenth wheel 434 and the eleventh wheel 435 are all rotatably connected to the first slide 210. When the first driving member 300 drives the fifth wheel 421 to rotate, the fifth wheel 421 drives the sixth wheel 422 to rotate synchronously via the third synchronous belt 423. The seventh wheel 431 follows the sixth wheel 422 to rotate synchronously, and drives the fourth synchronous belt 438 to rotate, thereby driving the second slide 220 to slide. When the first slide 210 slides under the drive of the second slide 220, the tenth wheel 434 and the eleventh wheel 435 slide synchronously as well.

[0082] It should be noted that at the instant the first drive unit 300 is activated, when the first drive unit 300 drives the fourth synchronous belt 438 to rotate via the third synchronous belt assembly 420, the tenth wheel 434 and the eleventh wheel 435 only rotate relative to the first slide table 210 and do not slide along the first direction, nor does the first slide table 210 slide along the first direction. As the fourth synchronous belt 438 drives the second slide table 220 to slide along the first direction via the second fixed plate 415, the second slide table 220 then drives the first slide table 210, the tenth wheel 434, and the eleventh wheel 435 to slide synchronously via the first synchronous belt assembly 410. At this time, the tenth wheel 434 and the eleventh wheel 435 are still rotating.

[0083] In other embodiments, the third synchronous belt assembly 420 and the fourth synchronous belt assembly 430 can be combined into one, that is, the first drive member 300 drives the second slide 220 to slide along the first direction through a set of synchronous belt assemblies. Alternatively, the number of synchronous belt assemblies can be increased, for example, three or four sets of synchronous belt assemblies can be provided, and the first drive member 300 drives the second slide 220 to slide along the first direction sequentially through these three or four sets of synchronous belt assemblies.

[0084] exist Figures 8 to 10 In the illustrated embodiment, the first transmission mechanism 400 includes a fifth synchronous belt assembly 440 and a sixth synchronous belt assembly 450. The fifth synchronous belt assembly 440 is connected to the first driving member 300, and the sixth synchronous belt assembly 450 is connected to the fifth synchronous belt assembly 440. The second slide 220 is connected to the sixth synchronous belt assembly 450. The first driving member 300 drives the first slide 210 to slide along a first direction sequentially through the fifth synchronous belt assembly 440 and the sixth synchronous belt assembly 450.

[0085] Specifically, the fifth synchronous belt assembly 440 is structurally similar to the third synchronous belt assembly 420, including a fourteenth pulley 441 and a fifteenth pulley 442 arranged at intervals, and a fifth synchronous belt 443 surrounding the fourteenth pulley 441 and the fifteenth pulley 442. Both the fourteenth pulley 441 and the fifteenth pulley 442 are rotatably connected to the base 110. The fourteenth pulley 441 is connected to the power output end of the first drive member 300, which is a motor capable of driving the fourteenth pulley 441 to rotate. The sixth synchronous belt assembly 450 includes a sixteenth pulley 451, a seventeenth pulley 452, an eighteenth pulley 453, and a nineteenth pulley 454. The sixth synchronous belt 455 is sequentially wound around each of the aforementioned pulleys, and all four pulleys are rotatably connected to the base 110. The sixteenth wheel 451 and the fifteenth wheel 442 are coaxially connected, and the first slide 210 is fixed to the sixth synchronous belt 455. For example, the first slide 210 is fixedly connected to the vertical rod 212 via its top plate 211, and the vertical rod 212 is fixed to the sixth synchronous belt 455. The seventeenth wheel 452 and the eighteenth wheel 453 are arranged at intervals along the first direction. When the first driving member 300 drives the fourteenth wheel 441 to rotate, the fourteenth wheel 441 drives the fifteenth wheel 442 to rotate synchronously via the fifth synchronous belt 443. The sixteenth wheel 451 follows the fifteenth wheel 442 to rotate synchronously, and drives the sixth synchronous belt 455 to rotate, thereby causing the first slide 210 to slide.

[0086] In other embodiments, the fifth synchronous belt assembly 440 and the sixth synchronous belt assembly 450 can be combined into one, that is, the first drive member 300 drives the first slide 210 to slide along the first direction through a set of synchronous belt assemblies. Alternatively, the number of synchronous belt assemblies can be increased, for example, three or four sets of synchronous belt assemblies can be provided, and the first drive member 300 drives the first slide 210 to slide along the first direction sequentially through these three or four sets of synchronous belt assemblies.

[0087] In the aforementioned embodiments, the first driving member 300 indirectly drives one of the first slides 210 and the second slide 220 to slide along the first direction via a synchronous belt assembly. In other embodiments, one of the first slides 210 and the second slide 220 is connected to the power output end of the first driving member 300, so that it slides along the first direction driven by the first driving member 300. That is, the first driving member 300 directly drives one of the first slides 210 and the second slide 220 to slide along the first direction. For example, the first driving member 300 may be a cylinder or a linear motor, which can directly output moving power along the first direction, and thus can directly drive one of the first slides 210 and the second slide 220 to slide along the first direction. Alternatively, in other embodiments, the synchronous belt assembly may be replaced by conventional transmission methods such as gear racks, cam linkages, etc.

[0088] See Figure 4 , Figure 11 and Figure 17 In some embodiments, the clamping and releasing module includes a second driving member 700 and a second transmission mechanism 800 connected to the base 110 and the slide assembly 200. The first clamping mechanism 500 and the second clamping mechanism 600 are connected to the second driving member 700 through the second transmission mechanism 800 to clamp or release the puncture needle 140 driven by the second driving member 700. The sliding of the slide assembly 200 is independent of the clamping and releasing movement of the clamping and releasing module.

[0089] By setting a second transmission mechanism 800, the second driving member 700 can synchronously drive the first clamping mechanism 500 and the second clamping mechanism 600 to perform clamping or releasing actions, thereby achieving stable clamping or releasing of the puncture needle 140. This eliminates the need for two separate driving members, reducing the number of driving components, saving costs, and improving the synchronization of clamping and releasing movements. As mentioned earlier, the sliding of the slide group 200 includes the sliding of the first slide group 210 along the base 110 and the sliding of the second slide group 220 along the first slide group 210. The sliding of the slide group 200 is independent of the clamping and releasing movement of the clamping and releasing module, ensuring that the sliding of the first slide group 210 and the second slide group 220 does not affect the clamping or releasing of the puncture needle 140 by the first clamping mechanism 500 and the second clamping mechanism 600, thus achieving clamping and releasing more stably and reliably.

[0090] See Figure 11 and Figure 17In some embodiments, the second transmission mechanism 800 includes a plurality of synchronous wheels and a second flexible member wound around the plurality of synchronous wheels to enable them to rotate synchronously. Some of the synchronous wheels are connected to the base 110, some of the synchronous wheels are connected to the first slide 210, and some of the synchronous wheels are connected to the second slide 220. Among the plurality of synchronous wheels, the synchronous wheel connected to the first clamping mechanism 500 is the third wheel 811, and the synchronous wheel connected to the second clamping mechanism 600 is the fourth wheel 812. The second driving member 700 can drive the third wheel 811 and the fourth wheel 812 to rotate through the second flexible member so that the first clamping mechanism 500 and the second clamping mechanism 600 clamp or release the puncture needle 140. When the slide group 200 slides, the third wheel 811 and the fourth wheel 812 are in a non-rotating state.

[0091] Specifically, among the multiple synchronous pulleys, the third pulley 811 can be directly or indirectly connected to the first clamping mechanism 500, and the fourth pulley 812 can be directly or indirectly connected to the second clamping mechanism 600. It is sufficient to ensure that when the third pulley 811 rotates, the first clamping mechanism 500 can clamp or release the puncture needle 140, and when the fourth pulley 812 rotates, the second clamping mechanism 600 can clamp or release the puncture needle 140.

[0092] Since some of the multiple synchronous pulleys are connected to the base 110, some to the first slide 210, and some to the second slide 220, when the first slide 210 and the second slide 220 slide, the positions of some of the synchronous pulleys in the second transmission mechanism 800 along the first direction will inevitably change. If these changes in the positions of the synchronous pulleys cause the rotation of the second flexible member surrounding them, the third pulley 811 and the fourth pulley 812 will also rotate. This could lead to the first clamping mechanism 500 and the second clamping mechanism 600 clamping or releasing the puncture needle 140 at an inappropriate time, causing damage to the device or injury to the patient. Therefore, in the above embodiment, when the slide group 200 slides, the third pulley 811 and the fourth pulley 812 are restricted to a non-rotating state. This allows the first clamping mechanism 500 and the second clamping mechanism 600 to stably maintain their current state without performing clamping or releasing actions, thus achieving clamping and release more stably and reliably.

[0093] See Figure 11 and Figure 17 In some embodiments, when the slide group 200 slides, a section of the second flexible member located between the third wheel 811 and an adjacent synchronous wheel on either side thereof is stationary. Similarly, when the slide group 200 slides, a section of the second flexible member located between the fourth wheel 812 and an adjacent synchronous wheel on either side thereof is stationary.

[0094] Understandably, since the synchronizing pulley can rotate via the second flexible member, when the section of the second flexible member between the third pulley 811 and its adjacent synchronizing pulley is stationary, the third pulley 811 will necessarily be in a non-rotating state. The first clamping mechanism 500 can then stably maintain its current state without performing clamping or releasing actions, thus achieving clamping and releasing more stably and reliably. Similarly, when the section of the second flexible member between the fourth pulley 812 and its adjacent synchronizing pulley is stationary, the fourth pulley 812 will necessarily be in a non-rotating state. The second clamping mechanism 600 can then stably maintain its current state without performing clamping or releasing actions, thus achieving clamping and releasing more stably and reliably.

[0095] See Figure 11 and Figure 17 Furthermore, in some embodiments, among the multiple synchronous pulleys of the second transmission mechanism 800, the synchronous pulleys other than the third pulley 811 and the fourth pulley 812 are non-stationary synchronous pulleys; when the slide group 200 slides, in the second flexible member, the length of the section located between some of the non-stationary synchronous pulleys increases, the length of the section located between some of the non-stationary synchronous pulleys decreases, and the length of the increased part and the length of the decreased part are equal.

[0096] Understandably, since the total length of the second flexible member is fixed, when the slide group 200 slides along the first direction, as long as the length increase and decrease of the section between the non-stationary synchronous wheels in the second flexible member are equal, it is possible to achieve a stationary state between the third wheel 811 and any adjacent synchronous wheel on its side, and a stationary state between the fourth wheel 812 and any adjacent synchronous wheel on its side. This allows the first clamping mechanism 500 and the second clamping mechanism 600 to stably maintain their current state without performing clamping or releasing actions, thus achieving clamping and releasing more stably and reliably.

[0097] See Figure 11 and Figure 12 In some embodiments, the second transmission mechanism 800 includes a second synchronous belt assembly 810, which includes a plurality of synchronous pulleys and a second flexible member, which is a second synchronous belt 8113, which is wound around the plurality of synchronous pulleys.

[0098] Specifically, the second synchronous belt assembly 810 includes a twentieth wheel 813, a twenty-first wheel 814, a third wheel 811, a twenty-second wheel 815, a twenty-third wheel 816, a twenty-fourth wheel 817, a twenty-fifth wheel 818, a fourth wheel 812, a twenty-sixth wheel 819, a twenty-seventh wheel 8110, a twenty-eighth wheel 8111, and a twenty-ninth wheel 8112 arranged sequentially. The second synchronous belt 8113 is wound around the aforementioned synchronous wheels. Among them, the twentieth wheel 813, the twenty-first wheel 814, the third wheel 811, the twenty-second wheel 815, the twenty-third wheel 816, and the twenty-ninth wheel 8112 are all rotatably connected to the base 110; the twenty-fourth wheel 817, the twenty-seventh wheel 8110, and the twenty-eighth wheel 8111 are all rotatably connected to the first slide table 210; and the twenty-fifth wheel 818, the fourth wheel 812, and the twenty-sixth wheel 819 are all rotatably connected to the second slide table 220. The 22nd wheel 815 and the 23rd wheel 816 are arranged at intervals along the first direction; the 21st wheel 814 and the 28th wheel 8111 are arranged at intervals along the first direction; the 24th wheel 817 and the 27th wheel 8110 are arranged at intervals along the first direction; and the 25th wheel 818 and the 26th wheel 819 are arranged at intervals along the first direction. The second drive member 700 is connected to the 20th wheel 813 and can drive the 20th wheel 813 to rotate. When the 20th wheel 813 rotates, it will drive the other synchronous pulleys in the second synchronous belt assembly 810 to rotate via the second synchronous belt 8113, thereby causing the third wheel 811 and the fourth wheel 812 to rotate, which in turn drives the first clamping mechanism 500 and the second clamping mechanism 600 to perform clamping or releasing actions.

[0099] Furthermore, the second transmission mechanism 800 includes a seventh synchronous belt assembly 820, and the twentieth wheel 813 is connected to the second drive member 700 through the seventh synchronous belt assembly 820. The second drive member 700 drives the twentieth wheel 813 to rotate through the seventh synchronous belt assembly 820.

[0100] Specifically, the seventh synchronous belt assembly 820 includes a thirtieth wheel 821 and a thirty-first wheel 822 arranged at intervals, and a seventh synchronous belt 823 surrounding them. The thirty-first wheel 822 and the twentieth wheel 813 are coaxially connected. The thirty-first wheel 821 is connected to the power output end of the second drive member 700, which is a motor. The second drive member 700 can drive the twentieth wheel 821 to rotate. The twentieth wheel 821 drives the thirty-first wheel 822 to rotate via the seventh synchronous belt 823. The twentieth wheel 813 can rotate synchronously with the thirty-first wheel 822, thereby driving the other synchronous pulleys in the second synchronous belt assembly 810 to rotate via the second synchronous belt 8113.

[0101] In other embodiments, the seventh synchronous belt assembly 820 can be omitted, and the second drive member 700 directly drives the twentieth wheel 813 to rotate. Alternatively, in other embodiments, the twentieth wheel 813 and the twenty-ninth wheel 8112 can be further omitted, and the second drive member 700 directly drives the twenty-first wheel 814 to rotate, with the second synchronous belt 8113 bypassing the twenty-eighth wheel 8111 and then directly wrapping around the twenty-first wheel 814. In other embodiments, the twenty-seventh wheel 8110 and the twenty-eighth wheel 8111 can be combined into one, that is, a synchronous wheel with a larger diameter can be used to replace the twenty-seventh wheel 8110 and the twenty-eighth wheel 8111.

[0102] exist Figure 11 and Figure 12 In this embodiment, when the first slide 210 and the second slide 220 slide along the first direction, from Figure 11 The status shown has switched to Figure 12 In the state shown, in the second synchronous belt 8113, the length between the twenty-eighth wheel 8111 and the twenty-ninth wheel 8112 becomes shorter, and the length between the twenty-sixth wheel 819 and the twenty-seventh wheel 8110 becomes longer, with the lengths of the shortening and lengthening being equal; in addition, in the second synchronous belt 8113, the length between the twenty-fourth wheel 817 and the twenty-fifth wheel 818 becomes shorter, and the length between the twenty-third wheel 816 and the twenty-fourth wheel 817 becomes longer, with the lengths of the shortening and lengthening being equal. The length of the entire second synchronous belt 8113 is fixed. Therefore, the length of the section between the twenty-fifth wheel 818 and the fourth wheel 812, and the length of the section between the fourth wheel 812 and the second sixteenth wheel 819, remain unchanged. This achieves the aforementioned goal that "the section between the fourth wheel 812 and any adjacent synchronous wheel on its side in the second flexible component is in a stationary state." Thus, the fourth wheel 812 can remain stationary when the slide group 200 slides. Similarly, the length of the section between the third wheel 811 and the second eleventh wheel 814, and the length of the section between the third wheel 811 and the second twelfth wheel 815, also remain unchanged. Therefore, the third wheel 811 can also remain stationary when the slide group 200 slides.

[0103] See Figure 17 and Figure 18 In some embodiments, the second transmission mechanism 800 includes a rope assembly 830, which includes a plurality of synchronous pulleys and a second flexible element, which is a rope 837 wound around the plurality of synchronous pulleys.

[0104] Specifically, the rope assembly 830 includes a third wheel 811, a thirty-second wheel 831, a thirty-third wheel 832, a thirty-fourth wheel 833, a thirty-fifth wheel 834, a thirty-sixth wheel 835, a thirty-seventh wheel 836, and a fourth wheel 812, with a rope 837 wound around the aforementioned wheels. The third wheel 811 and the thirty-second wheel 831 are arranged at intervals along a first direction. The thirty-second wheel 831 and the thirty-third wheel 832 are coaxially connected and both fixed to the top of the base 110. The thirty-fourth wheel 833 and the thirty-fifth wheel 834 are coaxially connected and both fixed to the bottom of the first slide 210. The thirty-sixth wheel 835 and the thirty-seventh wheel 836 are coaxially connected and both fixed to the second slide 220. After the rope 837 is wound at least one complete turn around the third reel 811, its two ends extend upwards, forming a first segment 8371 and a second segment 8372. The first segment 8371 successively winds around the thirty-second reel 831, the thirty-fourth reel 833, and the thirty-sixth reel 835 before reaching the fourth reel 812. The second segment 8372 successively winds around the thirty-third reel 832, the thirty-fifth reel 834, and the thirty-seventh reel 836 before reaching the fourth reel 812. The first segment 8371 and the second segment 8372 are knotted together after reaching the fourth reel 812 to secure it. The second drive member 700 is connected to the third reel 811 and can drive the third reel 811 to rotate, thereby driving the first clamping mechanism 500 to perform clamping or releasing actions. When the third reel 811 rotates, it will drive the other reels in the rope assembly 830 to rotate via the rope 837, thereby rotating the fourth reel 812 and driving the second clamping mechanism 600 to perform clamping or releasing actions.

[0105] Furthermore, the second transmission mechanism 800 includes an eighth synchronous belt assembly 840 and a ninth synchronous belt assembly 850. The third wheel 811 is connected to the second drive member 700 through the eighth synchronous belt assembly 840 and the ninth synchronous belt assembly 850. The second drive member 700 drives the twentieth wheel 813 to rotate sequentially through the eighth synchronous belt assembly 840 and the ninth synchronous belt assembly 850.

[0106] Specifically, the eighth synchronous belt assembly 840 includes a thirty-eighth wheel 841 and a thirty-ninth wheel 842 arranged at intervals, and an eighth synchronous belt 843 surrounding them. The ninth synchronous belt assembly 850 includes a fortieth wheel 851 and a forty-first wheel 852 arranged at intervals, and a ninth synchronous belt 853 surrounding them. The thirty-eighth wheel 841 is connected to the power output end of the second drive member 700, which is a motor. The thirty-ninth wheel 842 and the fortieth wheel 851 are coaxially connected, and the forty-first wheel 852 and the third wheel 811 are coaxially connected. The second drive member 700 can drive the thirty-eighth wheel 841 to rotate, and the thirty-eighth wheel 841 drives the thirty-ninth wheel 842 to rotate via the eighth synchronous belt 843. When the thirty-ninth wheel 842 rotates, the fortieth wheel 851 rotates synchronously, and then drives the forty-first wheel 852 to rotate via the ninth synchronous belt 853. The third wheel 811 rotates synchronously with the forty-first wheel 852.

[0107] In other embodiments, the eighth synchronous belt assembly 840 and the ninth synchronous belt assembly 850 may be omitted, and the second drive member 700 directly drives the third wheel 811 to rotate. Alternatively, one of the eighth synchronous belt assembly 840 and the ninth synchronous belt assembly 850 may be omitted. Alternatively, the number of synchronous belt assemblies may be increased; for example, the second drive member 700 may drive the third wheel 811 to rotate sequentially through three or four sets of synchronous belt assemblies.

[0108] exist Figure 17 and Figure 18 In this embodiment, when the first slide 210 and the second slide 220 slide along the first direction to gradually retract to their minimum height, in the first segment 8371, the length between the thirty-fourth wheel 833 and the thirty-sixth wheel 835 shortens, and the length between the thirty-second wheel 831 and the thirty-fourth wheel 833 lengthens, with the shortening and lengthening lengths being equal. In the second segment 8372, the length between the thirty-seventh wheel 836 and the thirty-fifth wheel 834 shortens, and the length between the thirty-fifth wheel 834 and the thirty-third wheel 832 lengthens, with the shortening and lengthening lengths being equal. Since the length of the entire rope 837 is fixed, the length of the segment between the thirty-sixth wheel 835 and the fourth wheel 812 in the first segment 8371, and the length of the segment between the fourth wheel 812 and the thirty-seventh wheel 836 in the second segment 8372, remains unchanged. Therefore, the fourth wheel 812 can remain stationary when the slide assembly 200 slides. The thirty-second wheel 831 and the thirty-third wheel 832 are fixed to the base 110. The length of the rope 837 between the two and the third wheel 811 will not change. The third wheel 811 can naturally remain stationary when the slide group 200 slides.

[0109] See Figure 11 and Figure 17In some embodiments, a manual knob 8114 is coaxially connected to both the third wheel 811 and / or the fourth wheel 812, and the third wheel 811 and the fourth wheel 812 can be driven to rotate by the manual knob 8114.

[0110] Specifically, in the embodiment shown in the attached drawings, a manual knob 8114 is coaxially connected to the third wheel 811. During installation, and when the second drive component 700 malfunctions and cannot drive normally, the operator can manually rotate the manual knob 8114 to drive the third wheel 811 to rotate. This, in turn, drives the other wheels to rotate via the second flexible component, achieving synchronous rotation of the fourth wheel 812. This, in turn, drives the first clamping mechanism 500 and the second clamping mechanism 600 to perform clamping or releasing actions. Alternatively, in other embodiments, a manual knob 8114 can also be coaxially connected to the fourth wheel 812 to achieve a similar effect. Alternatively, a manual knob 8114 can be coaxially connected to both the third wheel 811 and the fourth wheel 812. In the above embodiments, by setting the manual knob 8114, the clamping or releasing actions of the first clamping mechanism 500 and the second clamping mechanism 600 can still be completed under some special circumstances, ensuring the reliability of the device.

[0111] See Figure 11 and Figure 12 In some embodiments, the first clamping mechanism 500 and / or the second clamping mechanism 600 include a first jaw 510 and a second jaw 520 connected to the third wheel 811; when the third wheel 811 rotates, the first jaw 510 and the second jaw 520 move closer or further apart from each other in the radial direction of the puncture needle 140.

[0112] See Figure 11 ,as well as Figure 13 and Figure 16 In some embodiments, the first clamping mechanism 500 includes a first swing rod 530 connected to the third wheel 811 and a first push-pull rod 540 connected to the first swing rod 530. The first push-pull rod 540 is restricted to moving only along the length direction of the first clamping mechanism 500. The first jaw 510 and the second jaw 520 are rotatably connected to the same position on the first push-pull rod 540, and the first jaw 510 and the second jaw 520 are provided with symmetrical sliding grooves. The first push-pull rod 540 is provided with a boss 541, which passes through the sliding grooves on the first jaw 510 and the second jaw 520. When the third wheel 811 rotates, the boss 541 abuts against the groove wall to push the first jaw 510 and the second jaw 520 to open and close.

[0113] Specifically, the first swing arm 530 is an arc-shaped plate that is sleeved on the outer circumference of the third wheel 811 and fixedly connected to it, thus allowing it to rotate synchronously with the third wheel 811. Alternatively, the first swing arm 530 and the third wheel 811 can be indirectly fixed or abutted by other structures, as long as the first swing arm 530 can rotate synchronously with the third wheel 811. The first swing arm 530 and the first push-pull rod 540 are connected by a second push-pull rod 550. Since the first push-pull rod 540 is restricted to moving only along the length of the first clamping mechanism 500, when the first swing arm 530 rotates, it will drive the first push-pull rod 540 to move via the second push-pull rod 550. When the first push-pull rod 540 moves, it will cause the boss 541 on it to abut against the groove wall of the sliding groove on the first gripper 510 and the second gripper 520, realizing the opening and closing of the first gripper 510 and the second gripper 520 radially along the puncture needle 140. In this way, the needle can be clamped or released by gripping or releasing along the outer circumference of the puncture needle 140, resulting in a larger clamping area and higher clamping stability.

[0114] Preferably, in some embodiments, the groove is an arc-shaped groove. When it is set as an arc-shaped groove, the relative sliding process of the boss 541 in the arc-shaped groove can be smoother, and the opening and closing of the gripper is also smoother.

[0115] Furthermore, the first rocker arm 530 is provided with a columnar swing portion 531, and the second push-pull rod 550 is provided with a first groove 551 for accommodating the swing portion 531. The first push-pull rod 540 is provided with a ball head 542, and the second push-pull rod 550 is provided with a second groove 552 for mounting the ball head 542. When the first rocker arm 530 rotates, the swing portion 531 will push the second push-pull rod 550 to move by abutting against the groove wall of the first groove 551, and then abut against the ball head 542 through the groove wall of the second groove 552, pushing the second push-pull rod 550 to move. The first clamping mechanism 500 includes a clamping shell 560, and the first push-pull rod 540 can cooperate with the clamping shell 560 through a slide rail slider to limit the first push-pull rod 540 to only move when pushed by the second push-pull rod 550. The first gripper 510 and the second gripper 520 are respectively located on both sides of the first push-pull rod 540. A first rotating shaft 591 is connected to the clamping housing 560. The first rotating shaft 591 passes through the first gripper 510, the second gripper 520, and the first push-pull rod 540. The first gripper 510 and the second gripper 520 can rotate around the first rotating shaft 591. The first gripper 510 has a first arc-shaped groove 511, and the second gripper 520 has a second arc-shaped groove 521. The first arc-shaped groove 511 and the second arc-shaped groove 521 are symmetrically positioned. A boss 541 on the first push-pull rod 540 passes through the first arc-shaped groove 511 and the second arc-shaped groove 521. When the first push-pull rod 540 moves along the length of the first clamping mechanism 500, the boss 541 will abut against the groove walls of the first arc-shaped groove 511 and the second arc-shaped groove 521, thereby driving the first gripper 510 and the second gripper 520 to rotate in opposite directions around the first rotating shaft 591 to achieve opening and closing. For example, in Figures 14 to 16 From the perspective of the first push-pull rod 540, when it moves to the lower left, the boss 541 will abut against the right side wall of the first arc groove 511 and the left side wall of the second arc groove 521, so as to push the first gripper 510 to rotate clockwise around the first rotation axis 591 and the second gripper 520 to rotate counterclockwise around the first rotation axis 591, so as to realize that the first gripper 510 and the second gripper 520 gradually open.

[0116] See Figures 18 to 20 In some embodiments, the first clamping mechanism 500 and / or the second clamping mechanism 600 include a first gripper 510 and a second gripper 520 connected to the third wheel 811; when the third wheel 811 rotates, the first gripper 510 and the second gripper 520 move closer or further apart relative to each other along a first direction.

[0117] Specifically, the puncture needle 140 is externally fitted with a needle guide 141 and / or an adapter. The first gripper 510 and the second gripper 520 can approach each other along a first direction to clamp the needle guide 141 and / or the adapter at both ends, thereby clamping the puncture needle 140. More specifically, the puncture needle 140 is simultaneously fitted with a needle guide 141 and an adapter, wherein the adapter is located at the first clamping mechanism 500, and the needle guide 141 is located at the second clamping mechanism 600. The first clamping mechanism 500 clamps the adapter to secure the puncture needle 140, while the second clamping mechanism 600 clamps the needle guide 141 to guide and limit the puncture needle 140 (it is not completely clamped; the puncture needle 140 can still slide within the needle guide 141).

[0118] See Figures 18 to 20 In some embodiments, the first clamping mechanism 500 includes a second swing arm 570 and a third swing arm 580, wherein the second swing arm 570 is fixed to the third wheel 811; wherein the third swing arm 580 forms a lever structure, one end of the third swing arm 580 is connected to the second swing arm 570, and the other end is connected to the first gripper 510 and the second gripper 520 respectively; the first gripper 510 and the second gripper 520 each form a lever structure, and one end of the first gripper 510 and the second gripper 520 is used to connect to the end of the third swing arm 580 opposite to the second swing arm 570, and the other end is used to clamp the puncture needle 140.

[0119] Specifically, the second rocker arm 570 is sleeved on the outer circumference of the third wheel 811 and fixedly connected to it, thus enabling it to rotate synchronously with the third wheel 811. One end of the second rocker arm 570 has a protruding first pin 571, and the third rocker arm 580 has a third groove 581 into which the first pin 571 is inserted. A second rotating shaft 592 is connected to the clamping shell 560 of the first clamping mechanism 500, and the third rocker arm 580 is rotatably connected to the second rotating shaft 592, which forms the fulcrum for the rotation of the third rocker arm 580. The third rocker arm 580 also has a second pin 582 and a third pin 583. The first gripper 510 has a first waist-shaped groove 512, and the second gripper 520 has a second waist-shaped groove 522. The second pin 582 is inserted into the first waist-shaped groove 512, and the third pin 583 is inserted into the second waist-shaped groove 522. A third rotating shaft 593 is connected to the clamping housing 560 of the first clamping mechanism 500. The first gripper 510 and the second gripper 520 are both rotatably connected to the third rotating shaft 593, which forms the fulcrum for rotation of the first gripper 510 and the second gripper 520. When the second rocker arm 570 rotates with the third wheel 811, the first pin 571 abuts against the groove wall of the third groove 581, pushing the third rocker arm 580 to rotate around its fulcrum (the second rotating shaft 592). When the third rocker arm 580 rotates, the second pin 582 abuts against the groove wall of the first waist-shaped groove 512, and the third pin 583 abuts against the groove wall of the second waist-shaped groove 522, pushing the first gripper 510 and the second gripper 520 to rotate in opposite directions around the third rotating shaft 593, thus opening and closing the first gripper 510 and the second gripper 520.

[0120] In the above embodiment, the first gripper 510 and the second gripper 520 open and close along the first direction through a three-lever structure, thereby clamping or releasing the puncture needle 140 axially. In other embodiments, the first gripper 510 and the second gripper 520 can also open and close radially along the puncture needle 140 by adjusting the position and orientation of the two grippers and the specific position of the levers, thereby clamping or releasing the puncture needle 140 radially.

[0121] It should be noted that, although Figure 11 In the illustrated embodiment, both the first clamping mechanism 500 and the second clamping mechanism 600 employ... Figures 13 to 16 The radial clamping structure shown; Figure 17 In the illustrated embodiment, both the first clamping mechanism 500 and the second clamping mechanism 600 employ... Figures 19 to 20 The axial clamping structure shown is not limited to this. Figure 11 In the illustrated embodiment, both the first clamping mechanism 500 and the second clamping mechanism 600 may employ... Figures 19 to 20 The axial clamping structure shown; Figure 17 In the illustrated embodiment, both the first clamping mechanism 500 and the second clamping mechanism 600 may employ... Figures 13 to 16 The radial clamping structure shown.

[0122] also, Figure 11 In the illustrated embodiment, either the first clamping mechanism 500 or the second clamping mechanism 600 may be employed. Figures 13 to 16 The radial clamping structure shown, another one uses Figures 19 to 20 The axial clamping structure is shown. Similarly, Figure 17 In the illustrated embodiment, either the first clamping mechanism 500 or the second clamping mechanism 600 may be employed. Figures 13 to 16 The radial clamping structure shown, another one uses Figures 19 to 20 The axial clamping structure shown.

[0123] also, Figure 11 The second transmission mechanism 800 shown can be used with... Figure 5 The first transmission mechanism 400 shown can be used in combination with, or with Figure 8 The first transmission mechanism 400 shown is used in combination. Similarly, Figure 17 The second transmission mechanism 800 shown can be used with... Figure 5 The first transmission mechanism 400 shown can be used in combination with, or with Figure 8 The first transmission mechanism 400 shown is used in combination.

[0124] See Figure 13 and Figure 21 In some embodiments, the puncture end device further includes a sterile shroud 150 capable of stretching and contracting through its own folds. An elastic bandage 160 is attached to the outside of the sterile shroud 150, securing it to the outside of the base 110 and the slide assembly 200 to protect its internal structure. A connector 561 is provided on the clamping housing 560 for connection to the sterile shroud 150.

[0125] See Figures 1 to 3 The surgical robot provided in one embodiment of this application includes the puncture end device in any of the above embodiments.

[0126] By applying the puncture end device of the aforementioned embodiments, the surgical robot in this application embodiment can increase the distance between the first clamping mechanism 500 and the second clamping mechanism 600 during puncture by sliding the first slide 210 and the second slide 220 (e.g., Figure 2 (as shown in the diagram) to have a larger puncture stroke; after puncture, the distance between the first clamping mechanism 500 and the second clamping mechanism 600 is reduced by sliding the first slide 210 and the second slide 220 (as shown in the diagram). Figure 3(as shown in the diagram) to facilitate the removal of the puncture tip from the CT scanner's scanning cavity. Therefore, by superimposing the sliding strokes of the two slides that are far apart from the base 110, a larger puncture stroke can be achieved. At the same time, by superimposing the sliding strokes of the two slides that are close together from the base 110, a smaller retraction size can be achieved, reducing the probability of the device colliding when it exits the CT scanner's scanning cavity.

[0127] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0128] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A puncture tip device, characterized in that, The puncture tip device includes: The base (110) is used to connect to the robotic arm (120); The slide assembly (200) includes a first slide (210) and a second slide (220), wherein the first slide (210) is slidably engaged with the base (110) along a first direction, and the second slide (220) is slidably engaged with the first slide (210) along the first direction; A telescopic module, connected to the slide assembly (200), is used to drive the first slide (210) to slide relative to the base (110), and to drive the second slide (220) to slide relative to the first slide (210); and The clamping and releasing module includes a first clamping mechanism (500) and a second clamping mechanism (600) arranged at intervals along the first direction. The first clamping mechanism (500) is connected to the base (110), and the second clamping mechanism (600) is connected to the second slide (220). The first clamping mechanism (500) and the second clamping mechanism (600) are respectively used to clamp different regions of the puncture needle (140) along the first direction, wherein the first direction is the length direction of the puncture needle (140).

2. The puncture tip device according to claim 1, characterized in that, The telescopic module includes a first driving member (300) and a first transmission mechanism (400) connected between the first driving member (300) and the slide group (200). The first driving member (300) is used to drive one of the first slide (210) and the second slide (220) to slide along the first direction, and one of the first slide (210) and the second slide (220) can drive the other of the first slide (210) and the second slide (220) to slide along the first direction through the first transmission mechanism (400).

3. The puncture tip device according to claim 2, characterized in that, The first transmission mechanism (400) includes a first synchronous flexible component, which includes a first wheel (411) and a second wheel (412) arranged at intervals along the first direction, and a first flexible member surrounding the first wheel (411) and the second wheel (412). The first wheel (411) and the second wheel (412) are both rotatably connected to the first slide (210). The base (110) and the second slide (220) are both connected to the first flexible member. Two connection positions on the first flexible member for connecting with the base (110) and the second slide (220) are respectively located on both sides of the first wheel (411) along the second direction. The second direction is the thickness direction of the first flexible member, and the first direction is perpendicular to the second direction.

4. The puncture tip device according to claim 2 or 3, characterized in that, One of the first slide (210) and the second slide (220) is connected to the power output end of the first drive member (300) so as to slide along the first direction driven by the first drive member (300); Alternatively, one of the first slide (210) and the second slide (220) is connected to the power output end of the first drive member (300) through at least one set of second synchronous flexible components, and the first drive member (300) drives one of the first slide (210) and the second slide (220) to slide along the first direction through the at least one set of second synchronous flexible components.

5. The puncture distal device according to any one of claims 1 to 3, characterized in that, The clamping and releasing module includes a second driving member (700) and a second transmission mechanism (800) connected to the base (110) and the slide assembly (200). The first clamping mechanism (500) and the second clamping mechanism (600) are connected to the second driving member (700) through the second transmission mechanism (800) to clamp or release the puncture needle (140) driven by the second driving member (700). The sliding of the slide assembly (200) is independent of the clamping and releasing movement of the clamping and releasing module.

6. The puncture tip device according to claim 5, characterized in that, The second transmission mechanism (800) includes a plurality of synchronous pulleys and a second flexible member wound around the plurality of synchronous pulleys to enable them to rotate synchronously. Some of the synchronous pulleys are connected to the base (110), some of the synchronous pulleys are connected to the first slide (210), and some of the synchronous pulleys are connected to the second slide (220). Among the plurality of synchronous pulleys, the synchronous pulley connected to the first clamping mechanism (500) is the third pulley (811), and the synchronous pulley connected to the second clamping mechanism (600) is the fourth pulley (812). The second driving member (700) can drive the third pulley (811) and the fourth pulley (812) to rotate through the second flexible member so that the first clamping mechanism (500) and the second clamping mechanism (600) clamp or release the puncture needle (140). When the slide group (200) slides, the third pulley (811) and the fourth pulley (812) are in a non-rotating state.

7. The puncture tip device according to claim 6, characterized in that, When the slide assembly (200) slides, the section of the second flexible member located between the third wheel (811) and the synchronous wheel adjacent to either side thereof is in a stationary state; When the slide assembly (200) slides, the section of the second flexible member located between the fourth wheel (812) and the synchronous wheel adjacent to either side thereof is in a stationary state.

8. The puncture tip device according to claim 7, characterized in that, Of the plurality of synchronous wheels, the other synchronous wheels besides the third wheel (811) and the fourth wheel (812) are non-stationary synchronous wheels; when the slide group (200) slides, in the second flexible member, the length of the section located between some of the non-stationary synchronous wheels increases, the length of the section located between some of the non-stationary synchronous wheels decreases, and the length of the increased part and the length of the decreased part are equal.

9. The puncture distal device according to any one of claims 6 to 8, characterized in that, The second transmission mechanism (800) includes a second synchronous belt assembly (810), the second synchronous belt assembly (810) includes the plurality of synchronous pulleys, and a second flexible member, the second flexible member being a second synchronous belt (8113), the second synchronous belt (8113) being wound around the plurality of synchronous pulleys; Alternatively, the second transmission mechanism (800) may include a rope assembly (830) comprising the plurality of synchronizer pulleys and a second flexible element, which is a rope (837) wound around the plurality of synchronizer pulleys.

10. The puncture tip device according to claim 6, characterized in that, A manual knob (8114) is coaxially connected to both the third wheel (811) and / or the fourth wheel (812), and the third wheel (811) and the fourth wheel (812) can be driven to rotate by the manual knob (8114).

11. The puncture tip device according to claim 6, characterized in that, The first clamping mechanism (500) and / or the second clamping mechanism (600) include a first jaw (510) and a second jaw (520) connected to the third wheel (811); when the third wheel (811) rotates, the first jaw (510) and the second jaw (520) move closer or further apart from each other in the radial direction of the puncture needle (140).

12. The puncture tip device according to claim 11, characterized in that, The first clamping mechanism (500) includes a first swing arm (530) connected to the third wheel (811) and a first push-pull rod (540) connected to the first swing arm (530). The first push-pull rod (540) is restricted to moving only along the length direction of the first clamping mechanism (500). The first jaw (510) and the second jaw (520) are rotatably connected to the same position on the first push-pull rod (540). The first jaw (510) and the second jaw (520) are provided with symmetrical sliding grooves. The first push-pull rod (540) is provided with a boss (541). The boss (541) passes through the sliding grooves on the first jaw (510) and the second jaw (520). When the third wheel (811) rotates, the boss (541) abuts against the groove wall to push the first jaw (510) and the second jaw (520) to open and close.

13. The puncture tip device according to claim 6, characterized in that, The first clamping mechanism (500) and / or the second clamping mechanism (600) include a first jaw (510) and a second jaw (520) connected to the third wheel (811); when the third wheel (811) rotates, the first jaw (510) and the second jaw (520) move closer or further apart relative to each other along the first direction.

14. The puncture tip device according to claim 13, characterized in that, The first clamping mechanism (500) includes a second swing arm (570) and a third swing arm (580), wherein the second swing arm (570) is fixed to the third wheel (811); wherein the third swing arm (580) forms a lever structure, one end of the third swing arm (580) is connected to the second swing arm (570), and the other end is connected to the first gripper (510) and the second gripper (520) respectively; the first gripper (510) and the second gripper (520) each form a lever structure, and one end of the first gripper (510) and the second gripper (520) is used to connect to the end of the third swing arm (580) opposite to the second swing arm (570), and the other end is used to clamp the puncture needle (140).

15. A surgical robot, characterized in that, The surgical robot includes the puncture end device according to any one of claims 1 to 14.

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