An automatic puncture system

Abstract

The present invention provides a precise automatic puncture system, comprising: a puncture execution mechanism, a puncture needle is mounted on the puncture execution mechanism, and the puncture execution mechanism is used to drive the puncture needle to puncture a target position; a robotic arm, the puncture execution mechanism is mounted on the robotic arm and is used to drive the puncture execution mechanism to achieve multi-degree-of-freedom movement; a scanning device, which is used to obtain a scanned image of the target area to be punctured, so as to locate the puncture target point; a controller, which is connected to the puncture execution mechanism, the robotic arm, and the scanning device; the controller controls the robotic arm to drive the puncture execution mechanism to move to align the puncture needle with the puncture target point according to the puncture target point obtained by the scanning device, and then the controller controls the puncture execution mechanism to drive the puncture needle to perform puncture.

Description

Technical Field

[0001] The present invention relates to the technical field of medical device design, and particularly to an automatic puncture system. Background Art

[0002] Minimally invasive surgery, as the name implies, is a surgery with minimal trauma. It refers to a surgery performed using modern medical devices and related equipment. The advantages of minimally invasive surgery are minimal trauma, mild pain, and quick recovery, which is the dream of every patient in need of surgery. Minimally invasive surgery has made this dream a reality. Early minimally invasive surgery refers to a new technology of performing surgery in the human body through endoscopes such as laparoscopes and thoracoscopes. Minimally invasive surgery has the advantages of minimal trauma, mild pain, and quick recovery. The emergence and wide application of minimally invasive surgery in the medical field have only occurred in the past ten years or so. In 1987, French doctor Mouret accidentally completed the first LC without realizing that it marked the birth of a new medical milestone. The formation of the minimally invasive concept is due to the progress of the entire medical model and is generated under the drive of the "holistic" treatment concept. Minimally invasive surgery pays more attention to the improvement and rehabilitation of the patient's psychology, society, physiology (pain), mental outlook, and quality of life, and shows the greatest consideration for the patient and reduces the patient's pain to the greatest extent.

[0003] Minimally invasive puncture surgery technology means avoiding large incisions under certain medical risks, using small incisions or puncture channels, applying special instruments and devices, and under the monitoring of imaging instruments or the guidance of navigation technology, reaching the lesion from the normal anatomical structure, and using various miniature manual or electric instruments and equipment to complete the entire surgical process under visible conditions, aiming to achieve smaller incision size, less tissue trauma, less bleeding, higher operation accuracy, definite effect, and quicker postoperative functional recovery compared with traditional or standard spinal surgery.

[0004] The existing puncture scheme at present is to perform manual puncture with a puncture needle held by a doctor with the aid of a medical imaging system and navigation technology. This scheme has greatly improved the accuracy of puncture, but due to the manual puncture by the doctor, errors are inevitable due to different puncture experiences of each doctor, resulting in multiple repeated punctures. Summary of the Invention

[0005] In view of the problems in the background art, the present invention provides an automatic puncture system, including:

[0006] A puncture execution mechanism, on which a puncture needle is installed, and the puncture execution mechanism is used to drive the puncture needle to puncture a target position;

[0007] A robotic arm, on which the puncture execution mechanism is installed, and is used to drive the puncture execution mechanism to achieve multi-degree-of-freedom movement;

[0008] A scanning device for obtaining a scanned image of a target area to be punctured, so as to locate a puncture target point;

[0009] A controller, connected to the puncture actuator, the robotic arm, and the scanning device; according to the puncture target point obtained by the scanning device, the controller controls the robotic arm to drive the puncture actuator to move to align the puncture needle with the puncture target point, and then the controller controls the puncture actuator to drive the puncture needle to perform a puncture.

[0010] Preferably, the puncture actuator includes:

[0011] A housing, installed on the execution end of the robotic arm;

[0012] A puncture needle lock, movably installed on the housing;

[0013] A puncture needle guide, installed on the housing; one end of the puncture needle is installed on the puncture needle lock, and the other end movably passes through the puncture needle guide;

[0014] A first driving device, installed on the housing, for driving the puncture needle lock to move relative to the housing, so as to drive the puncture needle to move relative to the puncture needle guide and the housing.

[0015] Preferably, the first driving device includes a first driving motor and a first driving lead screw, the axial direction of the first driving lead screw is parallel to the moving direction of the puncture needle, the puncture needle lock is installed on the first driving lead screw, and the first driving motor is connected to the first driving lead screw for driving the first driving lead screw to rotate, so as to drive the puncture needle lock to move along the first driving lead screw.

[0016] Preferably, the puncture actuator includes a limit assembly for limiting the moving distance of the puncture needle lock.

[0017] Preferably, the limit assembly includes:

[0018] A guide rod, installed on the housing, and its axial direction is parallel to the moving direction of the puncture needle; the puncture needle lock is sleeved on the guide rod, and the puncture needle lock can move axially along the guide rod;

[0019] A limit slider, installed on the guide rod, and the limit slider can move axially along the guide rod;

[0020] A second driving device, connected to the limit slider, is configured to drive the limit slider to move along the guiding rod; before the puncture needle moves, the second driving device drives the limit slider to move along the guiding rod to a target position, and then the first driving device drives the puncture needle lock to move along the guiding rod. When it comes into contact with the limit slider, the puncture needle lock stops moving.

[0021] Preferably, the second driving device includes a second driving motor and a second driving lead screw. The axial direction of the second driving lead screw is parallel to the moving direction of the puncture needle. The limit slider is mounted on the second driving lead screw, and the second driving motor is connected to the second driving lead screw to drive the second driving lead screw to rotate, thereby driving the limit slider to move along the second driving lead screw.

[0022] Preferably, the puncture needle lock includes a first housing, on which there are two opposite first locking pieces and a first driving assembly for driving the two first locking pieces to open or close;

[0023] The puncture needle guide includes a second housing, on which there are two opposite second locking pieces and a second driving assembly of a driving assembly for driving the two second locking pieces to open or close;

[0024] One end of the puncture needle is clamped between the two first locking pieces, and a guiding sleeve is sleeved on the other end of the puncture needle, and the guiding sleeve is clamped between the two second locking pieces.

[0025] Preferably, the first driving assembly / second driving assembly includes:

[0026] A driving plate, on which there is an arc-shaped tooth part and two inclined slots, and the two inclined slots are distributed on both sides of the arc-shaped tooth part; the two locking pieces are movably mounted on the first housing / second housing, and on the side of the locking piece facing the driving plate, there are convex parts. The convex parts on the two locking pieces respectively extend into the two inclined slots and can move along the inclined slots;

[0027] A first transmission gear, which meshes with the arc-shaped tooth part;

[0028] A third driving device is configured to drive the first transmission gear to rotate, drive the driving plate to move through the arc-shaped tooth part. During the movement of the driving plate, the convex part moves along the inclined slot, thereby driving the two locking pieces to move relatively along the housing to achieve clamping or move away from each other to achieve opening.

[0029] Preferably, the puncture needle lock and the puncture needle guide share one third driving device, and the third driving device includes:

[0030] A driving connecting rod, on which the first transmission gear and the second transmission gear are axially movably sleeved, and the driving connecting rod rotates to drive the first transmission gear and the second transmission gear to rotate synchronously;

[0031] A third driving motor for driving the driving connecting rod, the first transmission gear or the second transmission gear to rotate.

[0032] Preferably, the robotic arm is a six-degree-of-freedom robotic arm.

[0033] Preferably, the scanning device is a CT scanner.

[0034] Preferably, it further includes an optical tracker connected to the controller, and the optical tracker is used to track the puncture needle.

[0035] Preferably, it further includes a display connected to the controller for displaying the data acquired by the controller.

[0036] Due to the adoption of the above technical solutions, the present invention has the following advantages and positive effects compared with the prior art:

[0037] The precise automatic puncture system provided by the present invention realizes the coordinated work among the puncture execution mechanism, the robotic arm, and the scanning device through the controller 6, thereby achieving the function of automatic precise puncture, getting rid of the intervention of manual puncture. The entire puncture process has the advantages of high efficiency, high speed, and high precision compared with the traditional manual puncture. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Combined with the drawings, through the following detailed description, the above and other features and advantages of the present invention can be more clearly understood, wherein:

[0039] Figure 1 is a schematic structural diagram of the precise automatic puncture system provided by the present invention;

[0040] Figure 2 is a schematic structural diagram of the puncture execution mechanism in the present invention;

[0041] Figure 3 is a schematic internal structure diagram of the puncture execution mechanism in the present invention;

[0042] Figure 4 is a schematic internal structure one of the puncture needle locking device and the puncture needle guide in the present invention;

[0043] Figure 5 is a schematic internal structure two of the puncture needle locking device and the puncture needle guide in the present invention;

[0044] Figure 6 is a schematic structural diagram of the driving plate in the present invention;

[0045] Figure 7 This is a schematic structural diagram of the locking piece in the present invention. Specific embodiments

[0046] Referring to the accompanying drawings showing embodiments of the present invention, the present invention will be described in more detail below. However, the present invention can be implemented in many different forms and should not be construed as limited by the embodiments presented herein. On the contrary, these embodiments are provided to achieve a full and complete disclosure and to enable those skilled in the art to fully understand the scope of the present invention. In these drawings, for clarity, the dimensions and relative dimensions of layers and regions may be enlarged.

[0047] It should be noted that all directional indications (such as up, down, left, right, front, back...) in the embodiments of the present invention are only used to explain the relative positional relationship and movement conditions between components in a specific posture (as shown in the accompanying drawings). If this specific posture changes, then the directional indications will also change accordingly.

[0048] Referring to Figure 1-7 , the present invention provides a precise automatic puncture system, including a puncture execution mechanism 4, a robotic arm 3, a scanning device 2, and a controller 6; a puncture needle 5 is installed on the puncture execution mechanism 4, and the puncture execution mechanism 4 is used to drive the puncture needle 5 to puncture a target position; the puncture execution mechanism 4 is installed on the robotic arm 3 and is used to drive the puncture execution mechanism 4 to achieve multi-degree-of-freedom movement; the scanning device 2 is used to obtain a scanned image of the target area to be punctured to locate the puncture target point; the controller 6 is connected to the puncture execution mechanism 4, the robotic arm 3, and the scanning device 2 in a wired or wireless manner; the controller 6 controls the robotic arm 3 to drive the puncture execution mechanism 4 to move the puncture needle 5 to align with the puncture target point according to the puncture target point obtained by the scanning device 2, and then the controller 6 controls the puncture execution mechanism 4 to drive the puncture needle 5 to perform a puncture.

[0049] The precise automatic puncture system provided by the present invention realizes the function of automatic precise puncture by controlling the coordinated work among the puncture execution mechanism 4, the robotic arm 3, and the scanning device 2 through the controller 6, getting rid of the intervention of manual puncture. The entire puncture process has the advantages of high efficiency, high speed, and high precision compared with traditional manual puncture.

[0050] In this embodiment, in combination with Figure 2-7, the puncture execution mechanism includes a housing 401, and the housing 401 is installed on the execution end of the robotic arm 3 through structures such as a mounting plate 8; a puncture needle lock 402, a puncture needle guide 403 and a first driving device are also provided on the housing 401. The puncture needle lock 402 is movably installed on the housing 401; the puncture needle guide 403 is fixedly installed on the housing 401; one end of the puncture needle 5 is installed on the puncture needle lock 402, and the other end is movably inserted into the puncture needle guide 403; the housing 401 is also installed with a first driving device for driving the puncture needle lock 402 to move relative to the housing 401, thereby driving the puncture needle 5 to move relative to the puncture needle guide 402 and the housing 401. In this embodiment, the puncture needle lock 402 holds the puncture needle 5 to prevent it from falling, and at the same time, the puncture function of the puncture needle 5 is realized through the first driving device; in this embodiment, the puncture needle guide 403 realizes the stability of the movement process of the puncture needle 5 to ensure the accuracy of the puncture.

[0051] Furthermore, the first driving device includes a first driving motor 410 and a first driving lead screw 407. The axial direction of the first driving lead screw 407 is parallel to the moving direction of the puncture needle 5. The puncture needle lock 402 is threadedly connected to the first driving lead screw 407. The first driving motor 410 is connected to the first driving lead screw 407. The first driving motor 410 drives the first driving lead screw 407 to rotate, and the first driving lead screw 407 rotates to drive the puncture needle lock 402 to move along the first driving lead screw 407, and the puncture needle lock 402 finally drives the puncture needle to move. Of course, in other embodiments, the implementation scheme of the first driving device is not limited to the above, and can be adjusted according to specific situations.

[0052] In this embodiment, the puncture execution mechanism 4 further includes a limiting component for limiting the moving distance of the puncture needle lock 402. Specifically, the limiting component includes a guide rod 409, a limiting slider 408, and a second driving device; the guide rod 409 is installed on the housing 401, and its axial direction is parallel to the moving direction of the puncture needle 5; the puncture needle lock 403 is sleeved on the guide rod 409, and the puncture needle lock 402 can move axially along the guide rod 409; the limiting slider 408 is installed on the guide rod 409, and the limiting slider 408 can move axially along the guide rod 409; the second driving device is connected to the limiting slider 408 and is used to drive the limiting slider 408 to move along the guide rod 409. Before the first driving device drives the puncture needle 5 to move, the second driving device is first started to drive the limiting slider 408 to move along the guide rod 409 to the target position (specifically, the target position of the movement of the limiting slider 408 is adjusted according to the depth that the puncture needle needs to puncture), and then the first driving device drives the puncture needle lock 402 to move along the guide rod. When it just touches the limiting slider 408, the puncture needle lock 402 stops moving, that is, the puncture process stops after reaching the predetermined depth, thus ensuring the accuracy of the puncture depth; at the same time, if a program disorder occurs during the puncture process, the limiting slider 408 will also effectively prevent it from continuing to puncture, and the limiting slider 408 acts as a safety insurance.

[0053] Further, the second driving device includes a second driving motor 411 and a second driving lead screw 406. The axial direction of the second driving lead screw 406 is parallel to the moving direction of the puncture needle 5. The limiting slider 408 is installed on the second driving lead screw 406. The second driving motor 411 is connected to one end of the second driving lead screw 406 and is used to drive the second driving lead screw 406 to rotate, thereby driving the limiting slider 408 to move along the second driving lead screw 406. Of course, in other embodiments, the implementation solution of the second driving device is not limited to the above, and can be adjusted according to specific situations.

[0054] In this embodiment, the puncture needle lock 402 includes a first housing 4021. Two relatively arranged first locking pieces 4023 and first locking piece 0244 are arranged on the first housing 4021, and a first driving component for driving the first locking pieces 4023 and 4024 to open or close.

[0055] Further, the first driving component includes a driving plate 4022 and a first transmission gear 414. An arc-shaped tooth portion 40221, a chute 40222, and a chute 40223 are provided on the driving plate 4022. The chutes 40222 and 40223 are arranged on both sides of the arc-shaped tooth portion 40221, and the lengths of the chutes 40222 and 40223 are the same. The first locking pieces 4023 and 4024 are movably installed on the first housing 4021. Convex portions 40241 are provided on the sides of the first locking pieces 4023 and 4024 facing the driving plate 4022. The convex portions on the first locking pieces 4023 and 4024 respectively extend into the chutes 40222 and 40223 and can move along the chutes 40222 and 40223. The first transmission gear 414 meshes with the arc-shaped tooth portion 40221. The third driving device is used to drive the first transmission gear 414 to rotate, drive the driving plate 4022 to move through the arc-shaped tooth portion 40221. During the movement of the driving plate, the convex portion moves along the chute, thereby driving the first locking pieces 4023 and 4024 to move relative to each other along the first housing 4021 to achieve clamping or move away from each other to achieve opening.

[0056] Among them, the moving connection methods between the first locking pieces 4023, 4024 and the first housing 4021 are the same. Taking the first locking piece 4024 as an example, a chute structure 40243 is provided on one side of the first locking piece 4024, and a slide rail structure is correspondingly provided on the first housing 4021. The chute structure 40243 and the slide rail structure cooperate to achieve movable installation. Of course, in other embodiments, sliding connection may not be achieved through the chute and chute structure, and it can be adjusted according to specific situations, which is not limited here.

[0057] In this embodiment, the puncture needle guide 403 is similar to the puncture needle lock 402. The puncture needle guide 403 includes a second housing 4031, including two relatively arranged second locking pieces 4033 and 4034, and a second driving component of the driving component used to drive the two second locking pieces 4033 and 4034 to open or close.

[0058] Further, the second driving component includes a driving plate 4032 and a second transmission gear 415. The driving plate 4032 also has an arc-shaped tooth part and two inclined slots. The two inclined slots are distributed on both sides of the arc-shaped tooth part, and the lengths of the two inclined slots are the same. The second locking pieces 4033 and 4034 are movably installed on the second housing 4031. Convex parts are provided on the sides of the second locking pieces 4033 and 4034 facing the driving plate 4022. The convex parts on the second locking pieces 4033 and 4034 respectively extend into the two inclined slots 4 and can move along the inclined slots. The second transmission gear 415 meshes with the arc-shaped tooth part. The third driving device is used to drive the second transmission gear 415 to rotate, drive the driving plate 4032 to move through the arc-shaped tooth part. During the movement of the driving plate, the convex parts move along the inclined slots, thereby driving the second locking pieces 4033 and 4034 to move relative to each other along the second housing 4031 to achieve clamping or move away from each other to achieve opening.

[0059] Wherein, the moving connection manners between the second locking pieces 4033, 4034 and the second housing 4031 are the same. Specifically, a chute structure is provided on one side of the second locking pieces 4033, 4034, and a matching slide rail structure is provided on the second housing 4031. The chute structure and the slide rail structure cooperate to achieve movable installation. Of course, in other embodiments, it is not necessary to perform sliding connection through the chute and slide rail structures, and it can be adjusted according to specific situations, which is not limited here.

[0060] In this embodiment, one end of the puncture needle 5 is clamped between the first locking pieces 4023 and 4024. Further, a guiding sleeve 413 is fixedly sleeved on one end of the puncture needle. The first locking pieces 4023 and 4024 are clamped on the guiding sleeve 413 to achieve fixed clamping of one end of the puncture needle 5. The other end of the puncture needle is clamped between the second locking pieces 4033 and 4034. Further, another guiding sleeve 404 is sleeved on the other end of the puncture needle 5, and it is ensured that the puncture needle 5 can move relative to the guiding sleeve 404. The second locking pieces 4033 and 4034 are clamped on the guiding sleeve 404 to achieve radial limit and axial movement clamping of the other end of the puncture needle. Of course, in other embodiments, the setting of the guiding sleeve 413 can also be omitted, which is not limited here and can be adjusted according to specific situations.

[0061] In this embodiment, the puncture needle lock 402 and the puncture needle guide 403 share a third driving device to synchronously open or close the two lock pieces on the puncture needle lock 402 and the puncture needle guide 403; specifically, the third driving device includes a driving link 412, a third driving motor 405, and a first transmission gear 415 and a second transmission gear 414 are axially movably sleeved on the driving link 412, and at the same time, the first transmission gear 415 and the second transmission gear 414 rotate circumferentially relative to the driving link 412 (specifically, it can be achieved by setting a slot on the driving link 412 and setting a clamping member extending into the slot on the inner wall of the mounting holes of the first transmission gear 415 and the second transmission gear 414), and the rotation of the driving link 412 drives the first transmission gear 415 and the second transmission gear 414 to rotate synchronously; the third driving motor 405 is used to drive the driving link 412 or the first transmission gear 415 or the second transmission gear 414 to rotate.

[0062] Further, in this embodiment, the third driving motor 405 realizes the transmission connection with the driving link 412 through a transmission assembly; the transmission assembly includes a small gear 417 meshing with the tooth portion on the output end of the third driving motor 405, and a large gear 416 coaxially fixed on the driving link 412, and the large gear 416 meshes with the small gear 417 to achieve transmission. Of course, in other embodiments, the setting of the transmission assembly can also be omitted, and the third driving motor 405 is in transmission connection with the driving link 412, which is not limited here and can be adjusted according to specific needs.

[0063] In this embodiment, the robotic arm 3 preferably adopts a six-degree-of-freedom robotic arm, which is composed of six degrees of freedom: X movement, Y movement, Z movement, X rotation, Y rotation, and Z rotation. Of course, in other embodiments, the robotic arm is divided into multi-joint robotic arms, Cartesian coordinate robotic arms, spherical coordinate robotic arms, polar coordinate robotic arms, cylindrical coordinate robotic arms, etc. according to different structural forms, and can be selected according to specific needs, which is not limited here.

[0064] In this embodiment, the scanning device 2 can directly adopt a CT scanner; of course, in other embodiments, other scanning devices can also be selected, which is not limited here.

[0065] In this embodiment, the precise automatic puncture system further includes an optical tracker 7, which is connected to the controller, and the optical tracker 7 is used to track the puncture needle. Specifically, the optical tracker 7 is used to track the marker ball installed on the puncture execution mechanism. Since the marker ball and the puncture needle are fixed on the puncture execution mechanism together, the relative positions of the marker ball and the puncture needle are determined. When the optical tracker tracks the spatial coordinates of the marker ball, the spatial coordinates of the puncture needle can be obtained accordingly.

[0066] In this embodiment, the precise automatic puncture system further includes a display 6, which is connected to the controller 1 and is used to display the data acquired by the 1 controller.

[0067] The following further describes the entire working principle of the precise automatic puncture system provided by the present invention:

[0068] 1. Before the puncture operation, the controller 1 scans the target area through the scanning device to determine the puncture center. At the same time, based on this, the controller plans the movement path of the robotic arm. Then the robotic arm starts to transport the puncture actuator to the designated area.

[0069] 2. The puncture lock and the puncture guide are opened simultaneously. After inserting the puncture needle, the puncture lock and the puncture guide are closed simultaneously, clamping the end of the puncture needle and the guide sleeve at the front end of the puncture respectively.

[0070] 3. Start the puncture needle to perform puncture according to the preset puncture depth. After the puncture depth is completed, the motor stops, and at the same time, the puncture lock and the puncture guide are released. The puncture needle is separated from the puncture actuator, and the robotic arm moves the puncture actuator away, ending the entire puncture process.

[0071] 4. Then scan the target with the puncture needle through the scanning device to confirm whether the specific position of the puncture needle penetrates into the designated target point.

[0072] Those skilled in the art of this technology should understand that the present invention can be implemented in many other specific forms without departing from its spirit or scope. Although the embodiments of the present invention have been described, it should be understood that the present invention should not be limited to these embodiments. Those skilled in the art of this technology can make changes and modifications within the spirit and scope of the present invention as defined by the appended claims.

Claims

1. An automatic puncture system, characterized in that, Comprising: A puncture execution mechanism, a puncture needle is installed on the puncture execution mechanism, and the puncture execution mechanism is used to drive the puncture needle to puncture a target position; A robotic arm, the puncture execution mechanism is installed on the robotic arm and is used to drive the puncture execution mechanism to achieve multi-degree-of-freedom movement; A scanning device, which is used to obtain a scanned image of the target area to be punctured, so as to locate the puncture target. The scanning device uses a CT scanner; A controller, which is connected to the puncture execution mechanism, the robotic arm, and the scanning device; the controller controls the robotic arm to drive the puncture execution mechanism to move to align the puncture needle with the puncture target according to the puncture target obtained by the scanning device, and then the controller controls the puncture execution mechanism to drive the puncture needle to perform a puncture; The puncture execution mechanism includes: a housing and a puncture needle lock, the housing is installed on the execution end of the robotic arm; the puncture needle lock is movably installed on the housing; The puncture needle lock includes a first outer shell, and two opposite first locking pieces are provided on the first outer shell, and a first driving component for driving the two first locking pieces to open or close; The first driving component includes: A driving plate, on which an arc-shaped tooth part and two inclined grooves are provided, and the two inclined grooves are distributed on both sides of the arc-shaped tooth part; the two first locking pieces are movably installed on the first outer shell, and a convex part is provided on the side of the first locking piece facing the driving plate, and the convex parts on the two first locking pieces respectively extend into the two inclined grooves and can move along the inclined grooves; A first transmission gear, which meshes with the arc-shaped tooth part; A third driving device, which is used to drive the first transmission gear to rotate, drive the driving plate to move through the arc-shaped tooth part, and during the movement of the driving plate, the convex part moves along the inclined groove, so as to drive the two first locking pieces to move relative to each other along the housing to achieve clamping or move away from each other to achieve opening.

2. The automatic puncture system according to claim 1, characterized in that, The puncture execution mechanism further includes: A puncture needle guide, which is installed on the housing; one end of the puncture needle is installed on the puncture needle lock, and the other end is movably inserted into the puncture needle guide; A first driving device, which is installed on the housing and is used to drive the puncture needle lock to move relative to the housing, so as to drive the puncture needle to move relative to the puncture needle guide and the housing.

3. The automatic puncture system according to claim 2, wherein The first driving device includes a first driving motor and a first driving lead screw, the axial direction of the first driving lead screw is parallel to the moving direction of the puncture needle, the puncture needle lock is installed on the first driving lead screw, and the first driving motor is connected to the first driving lead screw and is used to drive the first driving lead screw to rotate, so as to drive the puncture needle lock to move along the first driving lead screw.

4. The automatic puncture system according to claim 2 or 3, characterized in that, The puncture execution mechanism includes a limit component for limiting the moving distance of the puncture needle lock.

5. The automatic puncture system according to claim 4, characterized in that, The limit component includes: A guide rod, which is installed on the housing and its axial direction is parallel to the moving direction of the puncture needle; the puncture needle lock is sleeved on the guide rod, and the puncture needle lock can move axially along the guide rod; A limit slider is installed on the guiding rod, and the limit slider can axially move along the guiding rod; A second driving device is connected to the limit slider and is used to drive the limit slider to move along the guiding rod; before the puncture needle moves, the second driving device drives the limit slider to move along the guiding rod to a target position, and then the first driving device drives the puncture needle lock to move along the guiding rod. When the puncture needle lock contacts the limit slider, the puncture needle lock stops moving.

6. The automatic puncture system according to claim 5, characterized in that, The second driving device includes a second driving motor and a second driving lead screw. The axial direction of the second driving lead screw is parallel to the moving direction of the puncture needle. The limit slider is installed on the second driving lead screw, and the second driving motor is connected to the second driving lead screw and is used to drive the second driving lead screw to rotate, thereby driving the limit slider to move along the second driving lead screw.

7. The automatic puncture system according to claim 2, wherein The puncture needle guide includes a second housing, and two opposite second locking pieces and a second driving component of a driving component for driving the two second locking pieces to open or close are provided on the second housing; One end of the puncture needle is clamped between the two first locking pieces, and a guiding sleeve is sleeved on the other end of the puncture needle, and the guiding sleeve is clamped between the two second locking pieces.

8. The automatic puncture system according to claim 7, wherein The second driving component includes: A driving plate, on which an arc-shaped tooth part and two inclined slots are provided, and the two inclined slots are distributed on both sides of the arc-shaped tooth part; the two second locking pieces are movably installed on the second housing, and convex parts are provided on the sides of the two second locking pieces facing the driving plate. The convex parts on the two second locking pieces respectively extend into the two inclined slots and can move along the inclined slots; A first transmission gear meshes with the arc-shaped tooth part; A third driving device is used to drive the first transmission gear to rotate, drive the driving plate to move through the arc-shaped tooth part. During the movement of the driving plate, the convex part moves along the inclined slot, thereby driving the two second locking pieces to move relatively along the housing to achieve clamping or move away from each other to achieve opening.

9. The automatic puncture system according to claim 8, wherein The puncture needle lock and the puncture needle guide share one third driving device. The third driving device includes: A driving connecting rod, the first transmission gear and the second transmission gear are axially movably sleeved on the driving connecting rod, and the rotation of the driving connecting rod drives the first transmission gear and the second transmission gear to rotate synchronously; A third driving motor drives the driving connecting rod or the first transmission gear or the second transmission gear to rotate.

10. The automatic puncture system according to claim 1, wherein, The robotic arm adopts a six-degree-of-freedom robotic arm.

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