A digital information CT positioning puncture angle guide for metal capillary marking

Abstract

The present invention relates to a digital information CT positioning puncture angle guide marked with a metal capillary, comprising a guide body, a guide clamping handle fixedly connected to one side of the guide body, the guide body comprising at least two layers of upper and lower plates correspondingly arranged up and down, the upper and lower plates are respectively evenly provided with puncture needle through holes arranged in rows and columns in a matrix, a central metal hollow capillary is embedded in the puncture needle through hole located at the center of the geometric arrangement, and the guide body is also inlaid with a first identification group, a second identification group, and a third identification group used as a line mark identification, and the central intersection of the first identification group, the second identification group, and the third identification group falls on the central metal hollow capillary. The present invention uses the first identification group, the second identification group, and the third identification group as line mark identifications, and is matched with a guide template of digital line mark information to ensure the accurate execution of radiation particle implantation plans and a variety of minimally invasive puncture diagnosis and treatment technologies, is simple to manufacture, and is suitable for mass market promotion.

Description

Technical Field

[0001] The invention belongs to the technical field of medical devices, and in particular relates to a digital information CT positioning puncture angle guide for metal capillary markings. Background Art

[0002] Puncture angle guidance can be used for various non-vascular interventional minimally invasive diagnostic and therapeutic surgeries. Including: radioactive particle implantation, argon-helium freezing, radiofrequency, microwave, ultrasound, nanoknife ablation, etc. Other minimally invasive treatment methods include: puncture biopsy of small nodules in the liver and lungs, CyberKnife gold label implantation, puncture and drainage of small abscesses in the chest and abdominal cavity, gastrostomy, liver and lung metastases, liver, kidney, pancreas, prostate puncture biopsy and other minimally invasive diagnostic and therapeutic surgeries. During the treatment, the template will be fixed to the patient's body surface by the clamping mechanism, and the doctor will rely on the auxiliary positioning of the template to complete the biopsy or minimally invasive surgery of the tumor tissue. However, there are still some problems in the production and operation of coplanar templates.

[0003] In order to solve the above problems, the present invention provides a digital information CT positioning puncture angle guide for metal capillary tube markers, which uses a first identification group, a second identification group, and a third identification group as industry standard markers, uses three-dimensional spatial positioning technology, and is combined with a guiding template of digital industry standard information to ensure the accurate execution of radiation particle implantation plans and a variety of minimally invasive puncture diagnosis and treatment techniques. It is easy to manufacture and is suitable for mass market promotion. Summary of the invention

[0004] In order to solve the problems existing in the above-mentioned prior art, the present invention provides a digital information CT positioning puncture angle guide for metal capillary tube markers, which uses a first identification group, a second identification group, and a third identification group as industry mark identifications, uses three-dimensional spatial positioning technology, and is combined with a guiding template of digital industry mark information to ensure the accurate execution of radiation particle implantation plans and a variety of minimally invasive puncture diagnosis and treatment techniques. The guide is easy to manufacture and is suitable for mass market promotion.

[0005] The technical solution adopted by the present invention to solve this problem is:

[0006] A digital information CT positioning puncture angle guide for metal capillary marking, comprising a guide body;

[0007] A guide clamping handle is fixedly connected to one side of the guide body, and the guide body includes at least two layers of upper plate body and lower plate body which are arranged correspondingly up and down. The upper plate body and the lower plate body are respectively and evenly provided with puncture needle through holes arranged in rows and columns in a matrix manner. A central metal hollow capillary is embedded in the puncture needle through hole located at the center of the geometric arrangement. The guide body is also embedded with a first identification group, a second identification group, and a third identification group used as industry marks. The central intersection point of the first identification group, the second identification group, and the third identification group falls on the central metal hollow capillary.

[0008] Preferably, the guide body has a square, rectangular, polygonal, circular or elliptical structure.

[0009] Further preferably, the guide body also includes a circle of sealed edges surrounding the outer periphery of the upper plate body and the lower plate body.

[0010] Further preferably, a puncture needle hollow guide column is fixedly connected to one side of the puncture needle through hole located in the guide body, and the puncture needle hollow guide column is integrally formed with the upper plate body / lower plate body, and a gap is left between the two puncture needle hollow guide columns arranged opposite to each other up and down.

[0011] Further preferably, the first identification group is located on the horizontal midline of the guide body (the puncture needle through hole matrix), and includes first metal hollow capillaries respectively embedded in the puncture needle through holes located at both ends; the second identification group is located on the vertical midline of the guide body (the puncture needle through hole matrix), and includes a plurality of second metal hollow capillaries that are arranged at equal intervals on both sides with the central metal hollow capillary as the center and embedded in the puncture needle through holes at corresponding positions; the third identification group is located on one of the diagonals of the guide body (the puncture needle through hole matrix), and includes a plurality of third metal hollow capillaries that are arranged at equal intervals on both sides with the central metal hollow capillary as the center and embedded in the puncture needle through holes at corresponding positions.

[0012] Further preferably, the upper and lower ends of the central metal hollow capillary, the first metal hollow capillary, the second metal hollow capillary and the third metal hollow capillary are flush with the upper end surface of the upper plate body and the lower end surface of the lower plate body respectively.

[0013] Further preferably, the distance between two adjacent third metal hollow capillaries is equal to the distance between two adjacent second metal hollow capillaries. times.

[0014] Further preferably, the number of the second metal hollow capillaries on the second identification group is 6.

[0015] Further preferably, the number of the third metal hollow capillaries on the third identification group is 6.

[0016] Further preferably, a groove is provided on both sides of the guide clamping handle to increase the clamping strength, stability and firmness of the navigator and the robot gripper.

[0017] The advantages and positive effects of the present invention are:

[0018] 1. The present invention uses precision molds and X-ray transparent materials, and is formed by molding, heating, grinding, cutting, etc., and uses the first identification group, the second identification group, and the third identification group as the digital information CT positioning puncture angle guide of the industry mark. It uses three-dimensional space positioning technology and a guiding template with digital industry mark information, and is easy to manufacture and suitable for large-scale market promotion.

[0019] 2. In the present invention, a gap is left between the two hollow guide pillars of the puncture needle arranged opposite to each other up and down. When bleeding occurs in the needle tract during puncture, the blood will flow into the reserved gap in the middle along the puncture needle through hole and the hollow guide pillar of the puncture needle and cannot overflow from the guide body, just like the blood has entered a "blood storage trap", ensuring that the surgical area is dry and pollution-free.

[0020] 3. In the present invention, a geometrically arranged "row mark" mark is formed by a central metal hollow capillary, a first mark group, a second mark group, and a third mark group, forming a geometric arrangement pattern of metal hollow capillary row marks with the head and foot sides based on the X-axis, and the diagonal lines of the first and third quadrants passing through the X and Y intersections of each row. According to such an arrangement rule, it is easy to determine the spatial position of the row and column where the puncture needle through hole of the angle guide is located, ensuring the accurate execution of the radiation particle implantation plan and a variety of minimally invasive puncture diagnosis and treatment techniques.

[0021] 4. In the present invention, the surface of the guide body is smooth and flat, without cracks, edges or burrs, the needle hole is smooth and free of debris, and the needle path has high precision, ensuring that all puncture needles guided by the angle guide remain parallel and equidistant without deflection, and the puncture needle hole has a slight friction feeling on the puncture needle without stagnation or obstruction.

[0022] 5. This angle guide is pulled to the target area according to the principle of rectangular coordinate system, guiding a single needle or multiple puncture needles to move in parallel, accurately puncturing the target area or tumor, ensuring the precise execution of radiation particle implantation plan and various minimally invasive puncture diagnosis and treatment techniques, and then completing various diagnostic and treatment operations.

[0023] 6. In the present invention, a groove is provided on both sides of the guide clamping handle to increase the clamping strength, stability and firmness of the navigator and the robot gripper. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the structure of the present invention;

[0025] Figure 2 yes Figure 1 Schematic diagram of the cross-section structure along the AA plane;

[0026] Figure 3 yes Figure 1 Schematic diagram of the cross-section structure along the BB plane;

[0027] Figure 4It is a schematic diagram of the three-dimensional structure of the guide body.

[0028] In the figure: 1. guide body, 101. upper plate, 102. lower plate, 103. edge sealing, 2. guide clamping handle, 3. puncture needle through hole, 4. central metal hollow capillary, 5. puncture needle hollow guide column, 6. first metal hollow capillary, 7. second metal hollow capillary, 8. third metal hollow capillary, 9. groove. DETAILED DESCRIPTION

[0029] The technical solution of the utility model will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0030] like Figure 1 As shown, a digital information CT positioning puncture angle guide with metal capillary marking includes a guide body 1; a guide clamping handle 2 is fixedly connected to one side of the guide body 1, and the guide body 1 includes at least two layers of upper plate body 101 and lower plate body 102 correspondingly arranged up and down, and the upper plate body 101 and the lower plate body 102 are respectively and evenly provided with puncture needle through holes 3 arranged in rows and columns in a matrix manner, and a central metal hollow capillary 4 is embedded in the puncture needle through hole 3 located at the center of the geometric arrangement, and the guide body 1 is also embedded with a first identification group, a second identification group, and a third identification group used as line markings, and the central intersection point of the first identification group, the second identification group, and the third identification group falls on the central metal hollow capillary 4.

[0031] The present invention uses precision molds and X-ray transparent materials, and is formed by molding, heating, grinding, cutting and the like, and uses a first identification group, a second identification group, and a third identification group (a total of fifteen central metal hollow capillaries 4, a first metal hollow capillary 6, a second metal hollow capillary 7, and a third metal hollow capillary 8) as industry mark identifications to form a digital information CT positioning puncture angle guide (referred to as an angle guide), also known as a digital information plane guide template for minimally invasive tumor ablation treatment, which is a three-dimensional spatial positioning technology and a guide template with digital industry mark information; the angle guide is calibrated through three-dimensional analysis to ensure its concentricity, verticality, and needle roundness. Its components are complex and high in precision, and it cooperates with the TPS treatment planning system software, the positioning navigation bracket, and the dual green laser positioning instrument for precise positioning to ensure the accurate execution of the radiation particle implantation plan and a variety of minimally invasive puncture diagnosis and treatment technologies.

[0032] It should be noted that the manufacture of the introducer body 1 and the puncture needle through hole 3 can be completed by, but not limited to, machining, cutting, grinding, laser perforation, 3D printing, molding and other technologies. It can also be formed by injection molding, blow molding, extrusion, forging and other methods to form a guide template with three-dimensional spatial positioning technology and digital line mark information.

[0033] Furthermore, it can also be considered in the present invention that the guide body 1 is a square, rectangular, polygonal, circular, or elliptical structure.

[0034] Furthermore, in the present invention, it can also be considered that the guide body 1 further includes a circle of sealed edges 103 surrounding the outer periphery of the upper plate body 101 and the lower plate body 102 .

[0035] Furthermore, in the present invention, it can also be considered that a puncture needle hollow guide column 5 is fixedly connected to one side of the puncture needle through hole 3 located in the guide body 1, and the puncture needle hollow guide column 5 is integrally formed with the upper plate body 101 / lower plate body 102, and a gap is left between the two puncture needle hollow guide columns 5 arranged opposite to each other up and down. In the angle guide, a gap is left between the two hollow guide pillars 5 of the puncture needle arranged opposite to each other up and down. Because of the gap in the middle, when bleeding occurs in the needle track during puncture, the blood will flow into the reserved gap in the middle along the puncture needle through hole 3 and the hollow guide pillar 5 of the puncture needle and cannot overflow from the guide body 1, just like the blood entering the "blood storage trap" (the space surrounded by the upper plate body 101, the lower plate body 102, and the sealing edge 103), ensuring that the surgical area is dry and pollution-free, and the guide is disposable; and the hollow guide pillars 5 of the puncture needle arranged opposite to each other up and down help to improve the needle track accuracy during puncture, ensuring that the puncture needles guided by the angle guide remain parallel and equidistant without deflection.

[0036] Furthermore, it can also be considered in the present invention that the first identification group is located on the horizontal midline of the guide body 1 (the matrix of puncture needle holes 3), which includes first metal hollow capillaries 6 respectively embedded in the puncture needle holes 3 located at both ends; the second identification group is located on the vertical midline of the guide body 1 (the matrix of puncture needle holes 3), which includes a plurality of second metal hollow capillaries 7 arranged at equal intervals on both sides with the central metal hollow capillary 4 as the center and embedded in the puncture needle holes 3 at corresponding positions; the third identification group is located on one of the diagonals of the guide body 1 (the matrix of puncture needle holes 3), which includes a plurality of third metal hollow capillaries 8 arranged at equal intervals on both sides with the central metal hollow capillary 4 as the center and embedded in the puncture needle holes 3 at corresponding positions. The central metal hollow capillary 4, the first metal hollow capillary 6, the second metal hollow capillary 7, and the third metal hollow capillary 8 form a geometrically arranged "row mark" logo, forming a metal hollow capillary row mark geometric arrangement pattern with the head and foot sides based on the X-axis, and the first and third quadrant diagonal lines passing through the X and Y intersections of each row. According to such an arrangement pattern, it is easy to determine the row and column spatial position of the puncture needle through hole 3 of the angle guide, ensuring the accurate execution of the radiation particle implantation plan and a variety of minimally invasive puncture diagnosis and treatment techniques.

[0037] Furthermore, it can also be considered in the present invention that the upper and lower ends of the central metal hollow capillary 4, the first metal hollow capillary 6, the second metal hollow capillary 7, and the third metal hollow capillary 8 are flush with the upper end surface of the upper plate 101 and the lower end surface of the lower plate 102, respectively. The central metal hollow capillary 4, the first metal hollow capillary 6, the second metal hollow capillary 7, and the third metal hollow capillary 8 inlaid on the puncture needle through hole 3 of the present invention can be embedded in the 3D printing or inlaid into the preset needle through hole after printing, which is simple to manufacture and suitable for mass market promotion. The surface of the guide body 1 is smooth and flat, without cracks, edges, or burrs, the needle hole is smooth and free of debris, and the needle channel has high precision, ensuring that all puncture needles guided by the angle guide remain parallel and equidistant without deflection, and the puncture needle hole has a slight friction feeling on the puncture needle without stagnation or obstruction.

[0038] Furthermore, it can also be considered in the present invention that the distance between two adjacent third metal hollow capillaries 8 is equal to the distance between two adjacent second metal hollow capillaries 7. times.

[0039] Furthermore, it can also be considered in the present invention that the number of the second metal hollow capillaries 7 on the second identification group is 6.

[0040] Furthermore, it can also be considered in the present invention that the number of the third metal hollow capillaries 8 on the third identification group is 6.

[0041] It should be noted that the outer periphery of the matrix of puncture needle through holes 3 is marked with row or column labels of numbers or letters.

[0042] The working principle of the angle guide is as follows: the guide body 1 is inlaid with 15 metal hollow capillaries arranged in a geometrical pattern of 1+2+6+6. The total number of 15 central metal hollow capillaries 4, first metal hollow capillaries 6, second metal hollow capillaries 7, and third metal hollow capillaries 8 form a geometrical arrangement. The "industry standard" logo means:

[0043] (1) Figure 2 As shown, when the spacing between adjacent puncture needle holes 3 is 5 mm, a central metal hollow capillary 4 is embedded in the puncture needle holes 3 at the center point where the X and Y axes of the puncture needle holes 3 arranged in a matrix manner at equal distances on the square plane of the introducer body 1 intersect, and a first metal hollow capillary 6 (as a first identification group) is embedded in the puncture needle holes 3 at both ends of the X axis respectively;

[0044] (2) Figure 3 As shown, six second metal hollow capillaries 7 (as a second marking group) are embedded with a spacing of one centimeter through the Y axis perpendicular to the center point of the X axis;

[0045] (3) The four quadrants formed by the X and Y axes include the diagonal lines through the first and third quadrants and each row of the intersection of the X and Y axes. (about 1.414 cm), a total of six third metal hollow capillaries 8 (as a third identification group) are embedded to form a group of "row marks" of geometrically arranged row and column marks.

[0046] When the CT machine performs an axial scan at intervals of one centimeter, these 15 metal hollow capillaries will appear in a regular arrangement on each two-dimensional CT scan section.

[0047] Taking the scanning section at the center of the X-axis as the reference line, there will be three metal hollow capillary marks on the CT section, which are respectively located at the center point (the center metal hollow capillary 4) and its left and right ends (the first metal hollow capillary 6).

[0048] One centimeter away from the head side of the baseline, there will be two capillary marks on the CT section, and the horizontal spacing between them and the right side of the Y-axis (i.e. the difference in horizontal distances) is one centimeter, indicating that this section is one centimeter away from the head side of the baseline.

[0049] Two centimeters away from the head side of the baseline, there will be two capillary marks on the CT section, with a horizontal spacing of two centimeters from the right side of the Y-axis, indicating that this section is two centimeters away from the head side of the baseline.

[0050] Three centimeters away from the head side of the baseline, there will also be two capillary marks on the CT section, with a horizontal spacing of three centimeters from the right side of the Y-axis, indicating that this section is three centimeters away from the head side of the baseline.

[0051] Vice versa, one centimeter away from the foot of the baseline, there will be two capillary marks on the CT section, with a horizontal spacing of one centimeter from the left side of the Y-axis, indicating that this section is one centimeter away from the foot of the baseline.

[0052] Two centimeters away from the foot of the baseline, there will be two capillary marks on the CT section, with a horizontal spacing of two centimeters from the left side of the Y-axis, indicating that this section is two centimeters away from the foot of the baseline.

[0053] Three centimeters away from the foot of the baseline, there will be two capillary marks on the CT section, with a horizontal spacing of three centimeters from the left side of the Y-axis, indicating that this section is three centimeters away from the foot of the baseline.

[0054] Fifteen metal hollow capillaries form a geometric arrangement pattern of metal hollow capillary row marks with the X-axis as the reference, with the head and foot sides, and the diagonal lines of the first and third quadrants passing through the X and Y intersections of each row. Based on such an arrangement rule, it is easy to determine the row and column spatial position of the puncture needle through hole 3 of the angle guide. This angle guide is pulled to the target area according to the principle of the rectangular coordinate system, guiding a single needle or multiple puncture needles to move in parallel, accurately piercing the target area or tumor, ensuring the accurate execution of the radiation particle implantation plan and a variety of minimally invasive puncture diagnosis and treatment techniques, and then completing various diagnostic and therapeutic operations.

[0055] It should be noted that the angle guide is designed in large, medium and small sizes.

[0056] Its specifications include: 12cm*11cm*2cm, 10cm*11cm*2cm, 8cm*10cm*2cm, 6cm*8cm*2cm, etc.

[0057] The spacing between the puncture needle holes is: 2.5 mm, 5 mm, 7 mm, and 10 mm.

[0058] The diameters of the puncture needle through holes include: 1.0 mm, 1.3 mm, 1.6 mm, 1.75 mm, 1.8 mm, 2.0 mm, etc.

[0059] The angle guide can be applied to: tumor radioactive particle implantation, argon-helium freezing, radiofrequency, microwave, ultrasound, nano-knife ablation, etc. Other minimally invasive treatment methods include: liver and lung micro-nodule puncture biopsy, CyberKnife gold label implantation, chest and abdominal small abscess puncture drainage, gastrostomy, liver and lung metastasis, liver, kidney, pancreas, prostate puncture biopsy and other puncture needles, biopsy guns, bone puncture needles and other puncture instruments of different brands and models for minimally invasive diagnosis and treatment.

[0060] Furthermore, the present invention can also consider that a groove 9 is provided on both sides of the guide clamping handle 2 to increase the gripping strength, stability and firmness of the navigator and robot gripper. The guide clamping handle 2 can be fixed to the clamping end of the navigation locator, the manual machine tandem manipulator or the gripper of the minimally invasive surgical robot, and pulled to the target area according to the principle of the rectangular coordinate system, the X and Y axes are adjusted, the puncture angle is determined, and a single needle or multiple puncture needles are guided to move in parallel, accurately puncture the target area or tumor, and complete various diagnostic and therapeutic operations.

[0061] In the present invention, the guide clamping handle 2 may also be inlaid with a disposable electromagnetic induction device (commercially available product), which can trigger and control the connection and disconnection of the dual-axis digital display inclinometer matching circuit on the navigation locator. When the dual-axis digital display inclinometer of the navigation locator is in close proximity, the dual-axis digital display inclinometer matching circuit on the navigation locator is connected, and the X-axis and Y-axis digital inclination angles are displayed on the display screen. The circuit is disconnected when the operation is completed and the angle guide is removed.

[0062] It should be noted that the materials used to make the CT positioning puncture angle guide can be, but are not limited to, transparent plastic, acrylic, resin, UV curing resin, nylon, flexible nylon, paper board, wood board, carbon fiber board and various composite materials that are transparent to X-rays. It is a 3D printing coplanar template that can withstand 80 degrees Celsius low-temperature gas disinfection without deformation. A two-dimensional identification code can also be set on the angle guide. Scanning the two-dimensional code can display all information about the angle guide manufacturer and the production process to ensure product traceability.

[0063] In summary, the present invention provides a digital information CT positioning puncture angle guide for metal capillary tube markers that uses a first identification group, a second identification group, and a third identification group as industry standard markers, uses three-dimensional spatial positioning technology, and is combined with a guiding template of digital industry standard information to ensure the accurate execution of radiation particle implantation plans and a variety of minimally invasive puncture diagnosis and treatment techniques. It is easy to manufacture and is suitable for mass market promotion.

[0064] The above embodiments describe the present invention in detail, but the contents are only preferred embodiments of the present invention and cannot be considered to limit the scope of the present invention. All equivalent changes and improvements made within the scope of the present invention should still fall within the scope of the present invention.

Claims

1. A digital information CT positioning puncture angle guide for metal capillary marking, comprising a guide body, characterized in that: A guide clamping handle is fixedly connected to one side of the guide body, and the guide body includes at least two layers of upper plate body and lower plate body correspondingly arranged up and down, and the upper plate body and the lower plate body are respectively evenly provided with puncture needle through holes arranged in rows and columns in a matrix, and a central metal hollow capillary is embedded in the puncture needle through hole located at the center of the geometric arrangement, and the guide body is also embedded with a first identification group, a second identification group, and a third identification group used as a line mark, and the central intersection point of the first identification group, the second identification group, and the third identification group falls on the central metal hollow capillary; the first identification group is located on the horizontal center line of the puncture needle through hole matrix, and it includes The first metal hollow capillaries are respectively embedded in the puncture needle through holes at both ends; the second identification group is located on the vertical midline of the puncture needle through hole matrix, which includes a plurality of second metal hollow capillaries that are arranged at equal intervals on both sides with the central metal hollow capillary as the center and embedded in the puncture needle through holes at corresponding positions; the third identification group is located on one of the diagonals of the puncture needle through hole matrix, which includes a plurality of third metal hollow capillaries that are arranged at equal intervals on both sides with the central metal hollow capillary as the center and embedded in the puncture needle through holes at corresponding positions; the outer periphery of the puncture needle through hole matrix is ​​marked with row or column marks of numbers or letters; The guide clamping handle may also be inlaid with a disposable electromagnetic induction device.

2. According to claim 1, a digital information CT positioning puncture angle guide for metal capillary markings, characterized in that: The guide body is in a square, rectangular, polygonal, circular or elliptical structure.

3. According to claim 2, a digital information CT positioning puncture angle guide for metal capillary markings, characterized in that: The guide body also includes a circle of sealing edges arranged around the outer periphery of the upper plate body and the lower plate body.

4. According to claim 3, a digital information CT positioning puncture angle guide for metal capillary markings, characterized in that: The puncture needle through hole is located in the guide body. One side is fixedly connected with a puncture needle hollow guide column. The puncture needle hollow guide column is integrally formed with the upper plate body / lower plate body, and a gap is left between the two puncture needle hollow guide columns arranged opposite to each other up and down.

5. According to claim 1, a digital information CT positioning puncture angle guide for metal capillary marking, characterized in that: The upper and lower ends of the central metal hollow capillary, the first metal hollow capillary, the second metal hollow capillary and the third metal hollow capillary are flush with the upper end surface of the upper plate body and the lower end surface of the lower plate body respectively.

6. The digital information CT positioning puncture angle guide for metal capillary marking according to claim 5, characterized in that: The distance between two adjacent third metal hollow capillaries is equal to the distance between two adjacent second metal hollow capillaries. times.

7. The digital information CT positioning puncture angle guide for metal capillary marking according to claim 6, characterized in that: The number of the second metal hollow capillaries on the second identification group is 6.

8. The digital information CT positioning puncture angle guide for metal capillary marking according to claim 7, characterized in that: The number of the third metal hollow capillaries on the third identification group is 6.

9. A digital information CT positioning puncture angle guide for metal capillary marking according to any one of claims 1 to 8, characterized in that: A groove is respectively provided on both sides of the guide clamping handle to increase the clamping strength, stability and firmness of the navigator and the robot gripper.

Images