A pitch fine-tuning mechanism for a puncture device and a puncture device

Abstract

The present application discloses a pitch fine-tuning mechanism for a puncture device, which includes an adjustment seat fixedly installed on a positioning puncture mechanism and at least one guide rail fixedly installed on a frame for supporting the positioning puncture mechanism. The axial direction of the guide rail is consistent with the pitch side of the puncture device. The adjustment seat is slidably arranged on the guide rail, and an adjustment unit is arranged on the frame for adjusting the relative position between the adjustment seat and the guide rail. Springs for maintaining the balance of the adjustment seat are sleeved on at least one end of any one of the guide rails. The pitch fine-tuning mechanism provided by the present invention can eliminate the initial origin zero adjustment of the puncture mechanism after installation, eliminate installation errors, make the initial positioning origin direction of the puncture device coincide with the vertical direction, ensure that no installation error is introduced into any needle track during the positioning puncture process of the puncture device, and improve the positioning puncture accuracy.

Description

Technical Field

[0001] This application relates to the technical field of mechanical equipment, particularly to the technical field of medical devices, especially surgical instrument devices for puncture diagnosis and treatment, and specifically relates to a pitch fine-tuning mechanism for a puncture device and a puncture device. Background Art

[0002] Percutaneous biopsy is the main method for obtaining tissue pathological diagnosis of bone and soft tissue tumors. Bone and soft tissue tumors are diseases that seriously endanger human health and life. In recent years, the incidence rate has been gradually increasing, and the onset age has been gradually decreasing. Early detection, correct diagnosis, and timely treatment have an important impact on the prognosis. With the continuous improvement of examination means and methods, the diagnostic accuracy rate has gradually increased. However, there is still a large proportion of tumors that do not have typical imaging characteristics, making diagnosis difficult. Correct diagnosis requires the combination of clinical, imaging, and pathology. Among them, pathological diagnosis plays a key role in the selection of treatment plans. Percutaneous biopsy is the main way to obtain pathological diagnosis. However, before biopsy, it should be highly emphasized and carefully planned just like formulating a surgical plan. Because this is the beginning of tumor treatment and is a crucial first step. Incorrect biopsy will bring catastrophic consequences to patients. Therefore, the key to the biopsy technique lies in the accuracy of puncture. In the existing technology, the most common method is to obtain the image of the patient's affected part through means such as CT, PET-CT, and MRI, and then determine the puncture site and direction through the image to obtain the target tissue. Since the accuracy of puncture plays a crucial role in percutaneous biopsy, the puncture point and puncture angle of the puncture are the most important. For special parts, such as areas densely populated with bone, blood vessels, and organs, the difficulty of puncture is extremely high, which poses a great challenge to accurate puncture.

[0003] Various minimally invasive treatments can also be performed through puncture, such as microwave ablation, radiofrequency ablation, particle implantation, etc. Puncture treatment has the characteristics of small trauma, fast recovery, and good curative effect, and has been widely carried out by more and more medical institutions in recent years. However, all kinds of minimally invasive treatments require the operator to accurately puncture the treatment action source to a specific tumor location, with relatively high accuracy requirements. Inaccurate puncture may lead to incomplete ablation of the tumor target area, seriously affecting the curative effect, and may also lead to accidental puncture of blood vessels and other critical organs by the puncture needle, resulting in intraoperative risks.

[0004] Therefore, in order to improve the accuracy of biopsy and minimally invasive treatment puncture, a device that can reduce or even eliminate puncture deviation is needed to avoid or even prevent multiple punctures and accidents caused by puncture deviation. Improving puncture accuracy is the direction that R & D engineers in this field have been working hard and pursuing.

[0005] This application is an improved design based on the applicant's patent number 202111576616X. The main problem is that the puncture device is tilted on the pitch side during installation, which makes it impossible to position the puncture device in an absolute vertical direction during initialization, thereby affecting the precise positioning of the needle track. Summary of the Invention

[0006] In order to solve the problem of inaccurate positioning caused by the tilt of the pitch side during installation of the puncture device, the present application provides a pitch fine-tuning mechanism and a puncture device for the puncture device, which are used to eliminate the installation error on the pitch side, thereby ensuring the accuracy of positioning puncture.

[0007] In order to achieve the above objectives, the technical solutions adopted in this application are:

[0008] A pitch fine-adjustment mechanism for a puncture device comprises an adjustment seat fixedly mounted on the positioning puncture mechanism and at least one guide rail fixedly mounted on a frame for supporting the positioning puncture mechanism, wherein the axial direction of the guide rail is consistent with the pitch side of the puncture device, the adjustment seat is slidably arranged on the guide rail, and an adjustment unit is arranged on the frame for adjusting the relative position of the adjustment seat and the guide rail, and a spring is provided on at least one end of any guide rail for maintaining the balance of the adjustment seat.

[0009] In order to elaborate on the technical problems solved by this application and the exquisiteness of its structure, before explaining its working principle, the working principle and application scenarios of the existing puncture device are first explained, so that its principle can be explained in detail and in a targeted manner later. The entire puncture device is fixed on the ground through a frame. After the installation is completed, due to the ground level or other installation reasons, the frame may have a certain tilt or deflection. Although this possible installation error will be reduced or lowered after debugging as much as possible, it still exists, especially after the embedded parts of the fixed frame are set on the ground, the frame is fixed on the embedded parts and the adjustment by adding or reducing gaskets cannot solve the problem of linear error. In view of this, it is necessary to accurately adjust the position state of the puncture device after installation. The best goal after adjustment is that when the puncture device is in the initial state or initial position, the positioning or puncture direction is vertical.

[0010] In actual situations, the deviation direction may occur in any direction and at any angle. To achieve zeroing at the initial position and make the positioning direction at the initial position absolutely vertical, two mutually perpendicular adjustable directions are required. Since the puncture device itself can achieve left - right sliding to realize angular deviation in order to perform punctures at any angle, in the left - right tilt direction, the puncture device can use any point within the stroke range as the initial origin through system initialization. However, the fine - tuning in the pitch direction cannot be achieved in the above - mentioned way, so the special structure of this application was invented. After understanding the above application background, it is not difficult to know that the relatively sliding guide rail and the adjusting seat can be linearly adjusted within the adjustable stroke range under the action of the adjusting unit, so as to eliminate the installation and leveling errors introduced during the process of fixedly installing the frame on the ground, so that the puncture device can make the initial origin direction of positioning coincide with the vertical direction, achieving the purpose of precise positioning.

[0011] As one of the structural designs that simultaneously accommodate accuracy and adjustment convenience, preferably, the adjusting unit includes a spherical seat fixedly installed on the frame, an adjusting screw rod hinged to the spherical seat. The free end of the adjusting screw rod penetrates through the adjusting seat and extends outward to be threadedly connected with a second adjusting nut. A first adjusting nut is also provided on the adjusting screw rod between the adjusting seat and the spherical seat. Structurally speaking, the cooperation of a single first adjusting nut or a second adjusting nut with a spring can achieve force balance and keep the adjusting seat in a controlled state. However, since the spring will deform after being subjected to changing external forces, in order to avoid re - introduction of errors due to other external forces after reaching the preset zeroing accuracy, it is necessary to set both the first adjusting nut and the second adjusting nut. In this way, after fixing the adjusting seat bidirectionally, the relative position between the adjusting seat and the frame is limited and no relative movement will occur, thus solving the problem that errors may be re - introduced.

[0012] In order to eliminate the internal stress between the adjusting seat and the guide rail, improve the smoothness of the adjusting seat, and reduce the adjustment resistance, preferably, there are two guide rails, which are distributed at both ends of the adjusting seat. The guide rails and the adjusting seat adopt a transition fit, and the guide rails are arc - shaped guide rails. The purpose of the transition fit between the guide rails and the adjusting seat is to ensure relative free sliding between two relatively moving components while restricting the position of the adjusting seat so that no shaking occurs in directions other than those restricted by the guide rails.

[0013] As another preferred solution that can be adopted, there are two guide rails, which are distributed at both ends of the adjustment seat. A clearance fit is adopted between the upper and lower surfaces of the guide rails and the adjustment seat, and a transition fit is adopted between the left and right surfaces of the guide rails and the adjustment seat. The guide rails are linear guide rails. The purpose of setting the gap between the upper and lower surfaces of the guide rails and the adjustment seat is to accommodate the deviation of the arc trajectory in the vertical direction when the adjustment seat drives the puncture mechanism to move on the pitch side, so that the sliding adjustment of the adjustment seat is not restricted. The purpose of adopting a transition fit between the left and right surfaces of the guide rails and the adjustment seat is to ensure that the adjustment seat does not have unnecessary offset and shaking in the left and right directions and introduce new errors; at this point, as an ordinary technician in this field, it is clear that in order to achieve the above-mentioned structural functions, the cross-sectional shape of the guide rail can have a variety of settings, such as square, rectangular, circular, etc. All structural fits that can limit left and right movement and allow up and down movement should be included in the scope of interpretation of this technical solution and are not listed here one by one.

[0014] A puncture device, comprising the above-mentioned pitch fine-adjustment mechanism for a puncture device; comprising a frame fixedly mounted on the ground, an arc-shaped arm hinged on the frame, an arc-shaped guide rail mounted on the arc-shaped arm, and the positioning puncture mechanism slidably mounted on the arc-shaped guide rail;

[0015] The positioning and puncturing mechanism includes a driving mechanism slidably arranged on an arcuate guide rail, a first linear motion mechanism, a second linear motion mechanism, and a first mounting plate. The first mounting plate is provided with a plurality of pulleys for clamping the arcuate guide rail. The arcuate guide rail is fixedly connected to an arcuate rack. The driving mechanism includes a driving gear meshing with the arcuate rack.

[0016] A first linear motion mechanism is also installed on the first mounting plate, and the first linear motion mechanism includes a first slide that moves back and forth. A second linear motion mechanism that is arranged perpendicular to the first linear motion mechanism is also fixedly installed on the first slide, and the second linear motion mechanism includes a second slide that moves back and forth and is used to install a needle holder.

[0017] Furthermore, the first linear motion mechanism includes at least one first linear guide rail and a first motor fixedly mounted on the first mounting plate, the first motor drivingly connected to a first screw rod, the first screw rod drivingly connected to the first slide, and the first slide being slidably set on the first linear guide rail; the second linear motion mechanism includes at least one second linear guide rail fixedly connected to the first slide, a second motor fixedly mounted at one end of the second linear guide rail, a second screw rod drivingly connected to the second motor, and a second slide drivingly connected to the second screw rod and slidably set on the second linear guide rail for mounting a needle holder.

[0018] Further preferably, a gear backlash elimination mechanism is further included. The gear backlash elimination mechanism includes a backlash elimination mechanism installed on the first mounting plate. The backlash elimination mechanism includes at least one elastic member for eliminating the meshing jump clearance between the driving gear and the arc-shaped rack. A second mounting plate for fixedly installing the driving mechanism is hinged on the first mounting plate. At least one through hole is further provided on the second mounting plate. A fastener fixedly installed on the first mounting plate and passing through the through hole is used to limit the swing amplitude of the second mounting plate. There is an annular gap between the fastener and the through hole. The elastic member is a spring. One end of the spring is connected to the second mounting plate, and the other end of the spring is connected to the first mounting plate.

[0019] As one of the preferred settings of the gear backlash elimination mechanism, the second mounting plate extends radially outward to form a convex portion for installing the first mounting seat. The first mounting plate is provided with a second mounting seat. A guide rod for installing the spring is provided on the second mounting seat. A regulator that can reciprocate along the guide rod is installed on the guide rod. The spring sleeved on the guide rod is provided between the regulator and the first mounting seat.

[0020] As another parallel setting scheme, the hinge point of the second mounting plate and the first mounting plate is located below the second mounting plate, and the first mounting seat is located on the left side of the hinge point, and the spring is always in a compressed state; or, the hinge point of the second mounting plate and the first mounting plate is located above the second mounting plate, and the first mounting seat is located on the left side of the hinge point, and the spring is always in a stretched state.

[0021] Beneficial effects:

[0022] The pitch fine-tuning mechanism provided by the present invention can eliminate the initial origin zero adjustment of the puncture mechanism after installation, eliminate the installation error, make the initial positioning origin direction of the puncture device coincide with the vertical direction, ensure that no installation error is introduced into any needle track during the positioning puncture process of the puncture device, and improve the positioning puncture accuracy.

[0023] The present invention also provides a gear backlash elimination mechanism that can always maintain the meshing state between the gear and the arc-shaped rack, and overcome the problem of reduced transmission accuracy caused by abnormal meshing or tooth skipping caused by abnormal arc shape of the arc-shaped rack due to processing or installation errors. Description of the drawings

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present application. For those skilled in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0025] Figure 1 It is an axonometric view of the structure of the puncture device of this application.

[0026] Figure 2 It is Figure 1 Another axonometric view of the visual structure.

[0027] Figure 3 It is Figure 1 Another axonometric view of the visual structure.

[0028] Figure 4 It is Figure 3 An enlarged view of the structure in area A in

[0029] Figure 5 It is Figure 4 An enlarged view of the structure in area B in

[0030] Figure 6 It is an axonometric view of the structure of the second linear moving mechanism.

[0031] Figure 7 It is a rear view of the assembled state of the arc-shaped guide rail and the positioning puncture mechanism.

[0032] Figure 8 It is Figure 7 The front view of

[0033] Figure 9 It is Figure 8 An enlarged view of the structure in area C in

[0034] Figure 10 It is Figure 8 The sectional view along the cutting symbol E-E in

[0035] Figure 11 It is Figure 10 An enlarged view of the structure in area D in

[0036] Figure 12 It is a schematic diagram of the installation structure of the pitch fine-tuning mechanism on the puncture device.

[0037] Figure 13 It is Figure 12 An enlarged view of the structure in area F in

[0038] Figure 14 It is an axonometric view of the structure of the pitch fine-tuning mechanism.

[0039] Figure 15 It is Figure 14 The top view of

[0040] Figure 16 It is a schematic diagram of the possible left-right skew angle r and pitch skew angle a of the puncture device.

[0041] In the figure: 1 - base; 2 - frame; 3 - arc arm; 4 - arc guide rail; 41 - arc rack; 5 - positioning and puncturing mechanism; 51 - driving mechanism; 511 - third motor; 512 - driving gear; 513 - pulley; 52 - first linear moving mechanism; 521 - first motor; 522 - first lead screw; 523 - first linear guide rail; 524 - first sliding seat; 53 - second linear moving mechanism; 531 - second motor; 532 - second lead screw; 533 - second linear guide rail; 534 - second sliding seat; 54 - first mounting plate; 6 - backlash elimination mechanism; 61 - second mounting plate; 62 - first mounting seat; 63 - spring; 64 - adjuster; 65 - guide rod; 66 - second mounting seat; 67 - sleeve; 68 - fastener; 69 - annular gap; 7 - pitch fine adjustment mechanism; 71 - guide rail; 72 - spring; 73 - adjustment seat; 74 - adjustment lead screw; 75 - spherical seat; 76 - first adjusting nut; 77 - second adjusting nut. Detailed implementation manners

[0042] To make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Apparently, the described embodiments are some but not all of the embodiments of the present application. The components of the embodiments of the present application usually described and illustrated in the accompanying drawings here can be arranged and designed in various different configurations.

[0043] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application claimed, but merely represents the selected embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts shall fall within the scope of protection of the present application.

[0044] It should be noted that like reference numerals and letters denote like items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0045] In the description of the present application, it should be noted that if terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are used to indicate the orientation or positional relationship, it is based on the orientation or positional relationship shown in the accompanying drawings or the orientation or positional relationship in which the product of this application is usually placed during use. This is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the present application. In addition, in the description of the present application, if terms such as "first", "second", etc. are used only for distinguishing descriptions, they cannot be understood as indicating or implying relative importance.

[0046] Furthermore, the use of terms such as "horizontal" and "vertical" in the description of this application does not necessarily imply that a component must be absolutely horizontal or suspended, but rather that it can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical" and does not mean that the structure must be completely horizontal, but rather that it can be slightly tilted.

[0047] It should also be noted that, in the description of this application, unless otherwise expressly specified or limited, the terms "disposed," "installed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.

[0048] Embodiment 1:

[0049] In conjunction with the instructions Figures 12 - 16 As shown, this embodiment provides a pitch fine-tuning mechanism for a puncture device, including an adjustment seat 73 fixedly mounted on the positioning puncture mechanism 5 and at least one guide rail 71 fixedly mounted on the frame 2 for supporting the positioning puncture mechanism 5, wherein the axial direction of the guide rail 71 is consistent with the pitch side of the puncture device, the adjustment seat 73 is slidably arranged on the guide rail 71, and an adjustment unit is arranged on the frame 2 for adjusting the relative position of the adjustment seat 73 and the guide rail 71, and a spring 72 for maintaining the balance of the adjustment seat 73 is provided on at least one end of any guide rail 71.

[0050] In order to fully explain the technical problems solved by this application and the exquisiteness of its structure, before explaining its working principle, the working principle and application scenarios of the existing puncture device are first explained, so that its principle can be explained in detail and in a targeted manner later. The entire puncture device is fixed on the ground through the frame 2. After the installation is completed, due to the ground level or other installation reasons, the frame 2 may have a certain tilt or deflection. Although this possible installation error will be reduced or lowered after debugging as much as possible, or a base 1 is added to the bottom of the frame 2, it still exists. In particular, after the embedded parts for fixing the frame are set on the ground, the frame 2 is fixed on the embedded parts and the adjustment by adding or reducing gaskets cannot solve the problem of linear error. In view of this, it is necessary to accurately adjust the position state of the puncture device after installation. The best goal after adjustment is that when the puncture device is in the initial state or initial position, the positioning or puncture direction is vertical.

[0051] In actual situations, the deviation direction may occur in any direction and at any angle. To achieve zeroing at the initial position and make the positioning direction at the initial position absolutely vertical, two mutually perpendicular adjustable directions are required to achieve this. For specific details, please refer to the appendix Figure 16 The deflection around the y-axis in the x-z plane shown, that is, the left-right skew angle r; and the deflection around the x-axis in the y-z plane, that is, the pitch skew angle a. Only after adjusting the left-right skew angle r and the pitch skew angle a to 0 can the preset highest precision be achieved and the installation error be eliminated. Since the puncture device itself can achieve angle deviation by sliding left and right to achieve any angle of puncture, in the left-right tilt direction, the puncture device can use any point within the stroke range as the initial origin through system initialization; however, the fine adjustment on the pitch side cannot be achieved in the above manner, so the specific structure of this application was invented. After understanding the above application background, it is not difficult to know that the relatively sliding guide rail 71 and the adjusting seat 73 can be linearly adjusted within the adjustable stroke range through the action of the adjusting unit, so as to eliminate the installation and leveling errors introduced during the process of fixedly installing the frame 2 on the ground, so that the puncture device can make the initial origin direction of positioning coincide with the vertical direction, achieving the purpose of precise positioning.

[0052] As one of the structural designs that simultaneously takes into account accuracy and adjustment convenience, preferably, the adjusting unit includes a spherical seat 75 fixedly installed on the frame 2, an adjusting screw rod 74 hinged to the spherical seat 75, the free end of the adjusting screw rod 74 passes through the adjusting seat 73 and extends outward to be threadedly connected to a second adjusting nut 77, and a first adjusting nut 76 is also provided on the adjusting screw rod 74 between the adjusting seat 73 and the spherical seat 75. Structurally speaking, the cooperation of a single first adjusting nut 76 or the second adjusting nut 77 with the spring 72 can achieve force balance and keep the adjusting seat 73 in a controlled state. However, since the spring 72 will deform after being subjected to changing external forces, in order to avoid re-introduction of errors due to other external forces after reaching the preset zeroing accuracy, it is necessary to set both the first adjusting nut 76 and the second adjusting nut 77. In this way, after fixing the adjusting seat 73 bidirectionally, the relative position between the adjusting seat 73 and the frame 2 is limited and no relative movement will occur, thus solving the problem that errors may be re-introduced. Combining with the appendix Figure 15As shown, as an alternative, the spring 72 is installed and the adjusting seat 73 is located on one side of the first adjusting nut 76, and the spring 72 is in a compressed state. When it is necessary to adjust the adjusting seat 73 downward in the direction shown in the drawing, first loosen the first adjusting nut 76, and then slowly adjust the second adjusting nut 77 until the preset ideal position is reached. Due to the elastic force of the spring 72, the position of the adjusting seat 73 will not be changed. At this time, adjust the first adjusting nut 76 upward until the adjusting seat 73 is fixed. When both the first adjusting nut 76 and the second adjusting nut 77 are in a tightened state, the position of the adjusting seat 73 is fixed. The advantage of using a double-nut adjustment is that it can prevent loosening in the later stage. If it is necessary to adjust the adjusting seat 73 upward, only operate in the above-mentioned direction, that is, first adjust the second adjusting nut 77, and then tighten the first adjusting nut 76 after reaching the preset ideal position.

[0053] As the preferred structural setting of the pitch fine-tuning mechanism of the present application, this embodiment also provides two different implementation schemes for the specific design of the guide rail 71:

[0054] Solution 1: In order to eliminate the internal stress between the adjusting seat 73 and the guide rail 71, improve the smoothness of the adjusting seat 73, and reduce the adjustment resistance. Preferably, there are two guide rails 71, which are distributed at both ends of the adjusting seat 73. A transition fit is adopted between the guide rail 71 and the adjusting seat 73, and the guide rail 71 is an arc-shaped guide rail. The purpose of the transition fit between the guide rail 71 and the adjusting seat 73 is to ensure the relative free sliding between two relative components while restricting the position of the adjusting seat 73 from shaking in a direction other than the constraint of the guide rail 71.

[0055] Solution 2: There are two guide rails 71, which are distributed at both ends of the adjusting seat 73. A clearance fit is adopted between the upper and lower surfaces of the guide rail 71 and the adjusting seat 73, and a transition fit is adopted between the left and right surfaces of the guide rail 71 and the adjusting seat 73. The guide rail 71 is a linear guide rail. The purpose of setting a clearance between the upper and lower surfaces of the guide rail 71 and the adjusting seat 73 is to accommodate the deviation generated in the vertical direction by the arc-shaped trajectory when the adjusting seat 73 drives the puncture mechanism 5 to move in the pitch direction, so that the sliding adjustment of the adjusting seat 73 is not restricted. The purpose of adopting a transition fit between the left and right surfaces of the guide rail 71 and the adjusting seat 73 is to ensure that the adjusting seat 73 does not have excessive offset and shaking in the left and right directions and introduce new errors; At this point, as an ordinary person in the art already understands, in order to achieve the above structural functions, there can be various settings for the cross-sectional shape of the guide rail 71, such as square, rectangular, circular, etc. All structural combinations that can limit left and right movement and allow up and down movement should be included in the scope of interpretation of this technical solution, and will not be listed one by one here.

[0056] Embodiment 2:

[0057] This embodiment also provides a puncture device, as shown in the attached drawings of the specification. Figures 1 - 6 It includes a pitch fine-tuning mechanism for the puncture device provided in Embodiment 1. It includes a frame 2 fixedly installed on the ground. An arc-shaped arm 3 is hinged on the frame 2. An arc-shaped guide rail 4 is installed on the arc-shaped arm 3. The positioning puncture mechanism 5 is slidably installed on the arc-shaped guide rail 4.

[0058] The positioning puncture mechanism 5 includes a driving mechanism 51, a first linear movement mechanism 52, a second linear movement mechanism 53, and a first mounting plate 54 slidably arranged on the arc-shaped guide rail 4. A plurality of pulleys 513 for clamping the arc-shaped guide rail 4 are arranged on the first mounting plate 54. The arc-shaped guide rail 4 is fixedly connected with an arc-shaped rack 41. The driving mechanism 51 includes a driving gear 512 meshing with the arc-shaped rack 41. When deflection is required, the driving mechanism 51 controls the driving gear 512 to mesh with the arc-shaped rack 41 through a third motor 511, thereby driving the puncture mechanism 5 to reciprocally slide along the arc-shaped guide rail 4, realizing left and right deflection in the Figure 1 shown state. After deflecting to a preset angle, when parallel movement is required at this angle, the first linear movement mechanism 52 and the second linear movement mechanism 53 are needed to complete it, specifically as follows:

[0059] The first linear movement mechanism 52 is also installed on the first mounting plate 54. The first linear movement mechanism 52 includes a reciprocating first slide block 524. A second linear movement mechanism 53 perpendicular to the first linear movement mechanism 52 is fixedly installed on the first slide block 524. The second linear movement mechanism 53 includes a reciprocating second slide block 534 for installing a needle holder.

[0060] In this embodiment, the first linear movement mechanism 52 includes at least one first linear guide rail 523 fixedly installed on the first mounting plate 54 and a first motor 521. The first motor 521 is drivingly connected with a first lead screw 522. The first lead screw 522 is drivingly connected with the first slide block 524. The first slide block 524 is slidably arranged on the first linear guide rail 523. The second linear movement mechanism 53 includes at least one second linear guide rail 533 fixedly connected with the first slide block 524, a second motor 531 fixedly installed at one end of the second linear guide rail 533, a second lead screw 532 drivingly connected with the second motor 531, and a second slide block 534 drivingly connected with the second lead screw 532 and slidably arranged on the second linear guide rail 533 for installing a needle holder.

[0061] Further in combination with the attached drawings of the specification Figure 2 、 Figure 4 and Figure 6As shown, since the first linear movement mechanism 52 and the second linear movement mechanism 53 are perpendicular to each other and have the same working principle, the second motor 531, as a power supply device, drives the second lead screw 532 to rotate, thereby pushing the second slide 534 to reciprocate on the second linear guide 533. Through the simultaneous combined movement of the first linear movement mechanism 52 and the second linear movement mechanism 53, therefore, needle track positioning and puncture can be achieved at any position within the rectangular range bounded by the first linear guide 523 and the second linear guide 533.

[0062] In this embodiment, a gear backlash elimination mechanism is further included. Further combined with the attached drawings of the specification Figures 7 - 11 As shown, the gear backlash elimination mechanism includes a backlash elimination mechanism 6 installed on the first mounting plate 54. The backlash elimination mechanism 6 includes at least one elastic member for eliminating the meshing runout clearance between the driving gear 512 and the arc-shaped rack 41. The first mounting plate 54 is hinged with a second mounting plate 61 for fixedly installing the driving mechanism 51. At least one through hole is further provided on the second mounting plate 61. A fastener 68 is fixedly installed on the first mounting plate 54 and passes through the through hole for limiting the swing amplitude of the second mounting plate 61. There is an annular gap 69 between the fastener 68 and the through hole. The elastic member is a spring 63. One end of the spring 63 is connected to the second mounting plate 61, and the other end of the spring 63 is connected to the first mounting plate 54.

[0063] Working principle of the gear backlash elimination mechanism:

[0064] As Figure 9 shown, under the action of the spring 63, the entire second mounting plate 61 and the driving mechanism 51 will deflect around the hinge point of the second mounting plate 61 and the first mounting plate 54. The deflection direction is the direction in which the driving gear 512 approaches the arc-shaped rack 41, thereby eliminating the problems of clearance and runout. Since the manufacturing and assembly errors are small, the deflection amplitude of the second mounting plate 61 must be limited, otherwise new errors will be introduced additionally. The way to limit the second mounting plate 61 is achieved through the cooperation of the fastener 68 and the through hole. The fastener 68 is detachably and fixedly connected to the first mounting plate 54 and passes through the through hole, so that the maximum deflection amplitude of the second mounting plate 61 during deflection depends on the gap between the inner diameter of the through hole and the outer diameter of the fastener 68. The larger the gap between the two, the larger the deflectable angle, and vice versa. It should be noted that the deflection angle or amplitude is not limited by specific dimensions, but is flexibly set and changed according to the actual dimensions and progress of the actual application components. Usually, the way of replacing fasteners 68 with different diameters is a feasible and low-cost way.

[0065] Furthermore, in order to prevent the through hole and the fastener 68 on the second mounting plate 61 from being worn during repeated friction contact, and to limit the second mounting plate 61 from moving or tilting in the axial direction, as another preferred method, a sleeve 67 can be provided on the fastener 68, and an annular gap 69 is provided between the axial outer diameter of the sleeve 67 and the through hole. Figure 11 As shown, the sleeve 67 is further provided with an annular end cover, which is provided between the fastener 68 and the second mounting plate 61. The annular end cover and the fastener 68 are used to abut against the second mounting plate 61 to prevent the second mounting plate 61 from deflecting in the axial direction.

[0066] As for the specific structural setting of the gap elimination mechanism 6, see Figure 9 As shown, the second mounting plate 61 extends radially outward to form a convex portion for mounting the first mounting seat 62, and the second mounting seat 66 is mounted on the first mounting plate 54. The second mounting seat 66 is provided with a guide rod 65 for mounting the spring 63, and the guide rod 65 is provided with an adjuster 64 that can move back and forth along the guide rod 65. The spring 63 is provided between the adjuster 64 and the first mounting seat 62 and is sleeved on the guide rod 65.

[0067] In order to achieve the purpose of stable engagement between the arc-shaped rack 41 and the driving gear 512, as another parallel setting scheme, the hinge point between the second mounting plate 61 and the first mounting plate 54 is located below the second mounting plate 61, the first mounting seat 62 is located on the left side of the hinge point, and the spring 63 is always in a compressed state; or, the hinge point between the second mounting plate 61 and the first mounting plate 54 is located above the second mounting plate 61, the first mounting seat 62 is located on the left side of the hinge point, and the spring 63 is always in a stretched state.

[0068] It is worth noting that regardless of which of the above-mentioned solutions is used, the overall inventive concept remains unchanged: in both cases, the positive pressure or tension generated by an elastic member, such as spring 63, prevents the generation of excessive clearance between the arcuate rack and the drive gear, which would otherwise cause abnormal jitter in the meshing between the drive gear 512 and the arcuate rack 41 and introduce transmission errors. Under the action of the elastic member, such as spring 63 or a spring, the drive gear 512 always maintains a good meshing state with the arcuate rack 41. Even if there are slight machining or installation errors in the arcuate rack 41, the elastic force of the elastic member will cause the drive gear 512 to achieve adaptive meshing with the arcuate rack 41, thereby eliminating the excessive clearance.

[0069] Inspired by the above inventive concept, those skilled in the art can also achieve clearance elimination in a non-articulated manner. For example, the driving mechanism 51 with the driving gear 512 is slidably arranged on the first mounting plate 54, and a positive pressure is always applied to the driving mechanism 51 by the spring 63 or other elastic members, so that the driving gear 512 always maintains a good meshing state with the arc-shaped rack 41, thereby achieving stable meshing and the purpose of eliminating clearance. Similarly, this embodiment is not only applicable to the application between gears and racks, but also applicable to other structures involving gear meshing to avoid or reduce transmission errors.

[0070] In order to achieve linear adjustment, in this embodiment, the adjuster 64 and the guide rod 65 are threadedly connected. By changing the position of the adjuster 64, the pressure or tension of the spring 63 is adjusted, so as to meet the external force required to ensure meshing under different working conditions.

[0071] The above are only the preferred embodiments of the present application and are not used to limit the present application. For those skilled in the art, the present application can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A pitch fine-tuning mechanism for a puncture device, characterized in that: It includes an adjustment seat (73) fixedly installed on the positioning and puncturing mechanism (5) and at least one guide rail (71) fixedly installed on a frame (2) for supporting the positioning and puncturing mechanism (5). The axial direction of the guide rail (71) is consistent with the pitching side of the puncturing device. The adjustment seat (73) is slidably arranged on the guide rail (71), and an adjustment unit is arranged on the frame (2) for adjusting the relative position between the adjustment seat (73) and the guide rail (71). Springs (72) for keeping the adjustment seat (73) balanced are sleeved on at least one end of any of the guide rails (71). The adjustment unit includes a spherical seat (75) fixedly installed on the frame (2), an adjustment screw rod (74) hinged to the spherical seat (75). The free end of the adjustment screw rod (74) penetrates through the adjustment seat (73) and extends outwards to be threadedly connected with a second adjustment nut (77). A first adjustment nut (76) is also arranged on the adjustment screw rod (74) between the adjustment seat (73) and the spherical seat (75). There are two guide rails (71), and the cross-sectional shape of the guide rail (71) adopts any one of a square, a rectangle, and a circle.

2. The pitch fine-tuning mechanism for a puncture device according to claim 1, characterized in that: The guide rails (71) are distributed at both ends of the adjustment seat (73). A transition fit is adopted between the guide rails (71) and the adjustment seat (73), and the guide rails (71) are arc-shaped guide rails.

3. The pitch fine-tuning mechanism for a puncture device according to claim 1, characterized in that: The guide rails (71) are distributed at both ends of the adjustment seat (73). A clearance fit is adopted between the upper and lower surfaces of the guide rails (71) and the adjustment seat (73), and a transition fit is adopted between the left and right surfaces of the guide rails (71) and the adjustment seat (73). The guide rails (71) are linear guide rails.

4. A puncture device, characterized in that, It includes a pitching fine-tuning mechanism for a puncturing device as described in Claim 1.

5. The puncture device according to claim 4, characterized in that It includes a frame (2) fixedly installed on the ground. An arc-shaped arm (3) is hinged on the frame (2). An arc-shaped guide rail (4) is installed on the arc-shaped arm (3). The positioning and puncturing mechanism (5) is slidably installed on the arc-shaped guide rail (4). The positioning and puncturing mechanism (5) includes a driving mechanism (51), a first linear movement mechanism 52, a second linear movement mechanism 53, and a first mounting plate 54 that are slidably arranged on the arc-shaped guide rail (4). A plurality of pulleys (513) for clamping the arc-shaped guide rail (4) are arranged on the first mounting plate (54). An arc-shaped rack (41) is fixedly connected to the arc-shaped guide rail (4). The driving mechanism (51) includes a driving gear (512) meshing with the arc-shaped rack (41). A first linear movement mechanism (52) is also installed on the first mounting plate (54). The first linear movement mechanism (52) includes a first sliding seat (524) that reciprocates. A second linear movement mechanism (53) perpendicular to the first linear movement mechanism (52) is fixedly installed on the first sliding seat (524). The second linear movement mechanism (53) includes a second sliding seat (534) that reciprocates and is used for installing a needle holder.

6. The puncture device according to claim 5, wherein: The first linear moving mechanism (52) includes at least one first linear guide rail (523) fixedly installed on the first mounting plate (54) and a first motor (521). The first motor (521) is drivingly connected to a first lead screw (522), and the first lead screw (522) is drivingly connected to the first slide block (524). The first slide block (524) is slidably arranged on the first linear guide rail (523). The second linear moving mechanism (53) includes at least one second linear guide rail (533) fixedly connected to the first slide block (524), a second motor (531) fixedly installed at one end of the second linear guide rail (533), a second lead screw (532) drivingly connected to the second motor (531), and a second slide block (534) drivingly connected to the second lead screw (532) and slidably arranged on the second linear guide rail (533) for installing a needle holder.

7. The puncture device according to claim 6, wherein: It further includes a gear backlash elimination mechanism. The gear backlash elimination mechanism includes a backlash elimination mechanism (6) installed on the first mounting plate (54). The backlash elimination mechanism (6) includes at least one elastic member for eliminating the meshing runout clearance between the driving gear (512) and the arc-shaped rack (41). A second mounting plate (61) for fixedly installing the driving mechanism (51) is hinged on the first mounting plate (54). At least one through hole is further provided on the second mounting plate (61). A fastener (68) fixedly installed on the first mounting plate (54) and passing through the through hole for limiting the swing amplitude of the second mounting plate (61) is provided. There is an annular gap (69) between the fastener (68) and the through hole. The elastic member is a spring (63). One end of the spring (63) is connected to the second mounting plate (61), and the other end of the spring (63) is connected to the first mounting plate (54).

8. The puncture device according to claim 7, characterized in that: The second mounting plate (61) extends radially outward to form a convex portion for installing the first mounting seat (62). A second mounting seat (66) is installed on the first mounting plate (54). A guide rod (65) for installing the spring (63) is provided on the second mounting seat (66). A regulator (64) capable of reciprocating along the guide rod (65) is installed on the guide rod (65). The spring (63) sleeved on the guide rod (65) is provided between the regulator (64) and the first mounting seat (62).

9. The puncture device according to claim 8, characterized in that: The hinge point between the second mounting plate (61) and the first mounting plate (54) is located below the second mounting plate (61), and the first mounting seat (62) is located on the left side of the hinge point. The spring (63) is always in a compressed state. Or, the hinge point between the second mounting plate (61) and the first mounting plate (54) is located above the second mounting plate (61), and the first mounting seat (62) is located on the left side of the hinge point. The spring (63) is always in a stretched state.

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