Medical device and method of controlling the same

Abstract

The application provides a medical device, which comprises a first driving mechanism, a second driving mechanism and a posture adjusting assembly, the first driving mechanism comprises a first main driving assembly, a first slave driving assembly and a first connecting assembly, the second driving mechanism comprises a second main driving assembly, a second slave driving assembly and a second connecting assembly, the first connecting assembly and the second connecting assembly are movably connected with upper and lower end portions of the posture adjusting assembly respectively, the first main driving assembly and the first slave driving assembly cooperate to make the first connecting assembly move in a first plane, and the second main driving assembly and the second slave driving assembly cooperate to make the second connecting assembly move in a second plane, so that the posture adjusting assembly realizes translation movement, pitching movement and yawing movement. The movement posture adjusting range of the posture adjusting assembly is wider, more accurate and more convenient, and the precise surgery is facilitated. The application further provides a control method of the medical device.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, in particular to a medical device and a control method thereof. BACKGROUND

[0002] The rapid development of artificial intelligence and the continuous expansion of application scenarios have brought new impetus to the progress of the medical field. In recent years, with the continuous improvement of artificial intelligence technology, robots have entered the medical field, making precision medicine accessible to the public. The deepening application of artificial intelligence in the medical field can assist doctors in medical diagnosis and treatment, thereby further promoting the informatization and intelligentization of the medical field. Medical robots have proven their value in many surgical or stereotactic procedures involving precise control of a target treatment site on or in a body. By combining instrument guidance with medical imaging, the entry position, entry depth, and entry direction of a medical instrument can be precisely determined to reach a target treatment site on or in a body.

[0003] A Chinese patent with publication number CN111012456B discloses an ablation surgery automatic positioning and needle insertion device based on an image guidance device, which comprises a base, a positioning mechanism, a rotating mechanism, a rotating assembly, and a needle insertion mechanism. The positioning mechanism comprises a first moving assembly and a second moving assembly, which are connected vertically. The extension direction of the first moving assembly is the X direction, and the extension direction of the second moving assembly is the Y direction. The first moving assembly is arranged on the base, and the second moving assembly can move in a direction parallel to the X direction. The rotating mechanism is arranged on the second moving assembly and can move in a direction parallel to the Y direction. The needle insertion mechanism is connected with the rotating mechanism through the rotating assembly. The automatic positioning and needle insertion device can accurately control the ablation needle to reach the planned needle insertion angle and depth under the real-time image guidance of a physician through remote operation of a computer, realize the automatic positioning and automatic needle insertion of the puncture needle, and eliminate the uncertainty risk caused by manual needle insertion. However, the rigidity of the device is poor, which leads to poor stability of the device, thereby affecting the precision of the needle insertion angle and depth of the needle insertion mechanism. Moreover, the adjustment range of the needle insertion mechanism of the device is small.

[0004] Therefore, it is necessary to provide a new medical device and a control method thereof to solve the above problems in the prior art. SUMMARY

[0005] The present application relates to the technical field of medical devices, in particular to a medical device and a control method thereof.

[0006] To achieve the above-mentioned purpose, the medical device of the present application comprises:

[0007] The first driving mechanism comprises a first main driving component, a first slave driving component and a first connecting component, and the first main driving component and the first slave driving component are connected with the first connecting component;

[0008] The second driving mechanism comprises a second main driving component, a second slave driving component and a second connecting component, and the second main driving component and the second slave driving component are connected with the second connecting component;

[0009] The posture adjusting component is used for clamping a surgical instrument, and the first connecting component and the second connecting component are movably connected with upper and lower end portions of the posture adjusting component, respectively.

[0010] The first main driving component and the first slave driving component cooperate to move the first connecting component in a first plane, the second main driving component and the second slave driving component cooperate to move the second connecting component in a second plane, and the first plane is parallel to the second plane, so that the first connecting component and the second connecting component drive the posture adjusting component to realize at least one of translational motion, pitching motion and yawing motion.

[0011] The medical device has the beneficial effects that: the first main driving assembly and the first slave driving assembly are connected with the first connecting assembly, the first main driving assembly and the first slave driving assembly cooperate to move the first connecting assembly in a first plane, the second main driving assembly and the second slave driving assembly are connected with the second connecting assembly, the second main driving assembly and the second slave driving assembly cooperate to move the second connecting assembly in a second plane, the first plane is parallel to the second plane, so that the posture adjusting assembly can realize translational motion when the first driving mechanism and the second driving mechanism synchronously drive the first connecting assembly and the second connecting assembly to move in the same direction; and the first connecting assembly and the second connecting assembly are movably connected with the upper end and the lower end of the posture adjusting assembly respectively, so that the posture adjusting assembly can realize pitching motion and yawing motion when the first driving mechanism and the second driving mechanism drive the first connecting assembly and the second connecting assembly to move asynchronously; that is, the medical device can make the posture adjusting assembly hold the surgical instrument to realize translational motion, pitching motion and yawing motion and other multi-degree-of-freedom motion postures; the first driving mechanism includes the first main driving assembly and the first slave driving assembly to simultaneously drive the first connecting assembly to move, and the second driving mechanism includes the second main driving assembly and the second slave driving assembly to drive the second connecting assembly to move, so that the rigidity of the medical device is greatly improved, the probability of shaking of the medical device during use is reduced, the motion posture adjusting range of the posture adjusting assembly is wider, more accurate and more convenient, the accuracy of target position orientation of the surgical instrument is improved, and precise surgery is facilitated.

[0012] Optionally, the first main driving assembly and the second main driving assembly have the same structure, and the first slave driving assembly and the second slave driving assembly have the same structure; the first main driving assembly and the first slave driving assembly each include a driving assembly and a crank transmission assembly, the driving assembly is connected with the crank transmission assembly, and the crank transmission assemblies in the first main driving assembly and the first slave driving assembly are connected with the first connecting assembly respectively. The beneficial effects are that the crank transmission assembly can amplify the stroke of the driving assembly, so that the motion posture adjusting range of the posture adjusting assembly is wider, more accurate and more convenient, the accuracy of target position orientation of the surgical instrument is improved, and precise surgery is facilitated.

[0013] Optionally, the crank transmission assembly comprises a sliding piece, a main transmission piece, a crank and a slave transmission piece, the sliding piece is connected with the driving assembly, the sliding piece, the main transmission piece, the crank and the slave transmission piece are sequentially movably connected, and the slave transmission piece is movably connected with the first connecting assembly. Its beneficial effect lies in that the driving force of the driving assembly is converted into the swing of the crank, the crank can amplify the stroke of the driving assembly, the movement posture adjustment range of the posture adjustment assembly is wider, more accurate and more convenient, the accuracy of the target position orientation of the surgical instrument is improved, and precise surgery is facilitated.

[0014] Optionally, the first main driving assembly further comprises a first slave and a second slave, the first slave is arranged in parallel with the crank in the first main driving assembly, and the second slave is arranged in parallel with the slave transmission piece in the first main driving assembly. Its beneficial effect lies in that the first connecting assembly can move in any direction in the first plane, and rotation of the first connecting assembly is avoided, so that the freedom degree of the first connecting assembly and the second connecting assembly is reduced, and the positioning of the posture adjustment assembly is more accurate and unique.

[0015] Optionally, the structure of the first connecting assembly is the same as that of the second connecting assembly; the first connecting assembly comprises a connecting piece and a rotating piece, the connecting piece and the rotating piece are movably connected, the connecting piece is movably connected with the first main driving assembly and the first slave driving assembly respectively, and the rotating piece is movably connected with the posture adjustment assembly. Its beneficial effect lies in that the rotating piece can be movably connected with the connecting piece and the posture adjustment assembly under the gravity of the posture adjustment assembly and the surgical instrument, so that the rotating piece can be movably connected with the connecting piece and the posture adjustment assembly, and the posture adjustment assembly can realize the deflection movement.

[0016] Optionally, the medical device further comprises a fixing seat, the crank transmission assembly in the first main driving assembly comprises a first crank and a first slave transmission piece, the crank transmission assembly in the first slave driving assembly comprises a second crank and a second slave transmission piece, one end of the first crank and one end of the second crank are movably connected to the fixing seat, and the fixing seat, the first crank, the first slave transmission piece, the second crank and the second slave transmission piece constitute a five-link mechanism. Its beneficial effect lies in that the first connecting assembly can move in any direction in the first plane, the movement posture adjustment range of the posture adjustment assembly is wider, more accurate and more convenient, the accuracy of the target position orientation of the surgical instrument is improved, and precise surgery is facilitated.

[0017] Optionally, the first main driving assembly further comprises a connecting fixing member, one end of the first driven member is movably connected to the fixing base, the other end of the first driven member and the other end of the first crank are movably connected to the connecting fixing member, the first driven member and the first crank form a first connecting line at the positions arranged on the fixing base respectively, the first driven member and the first crank form a second connecting line at the positions arranged on the connecting fixing member respectively, the first driven member, the first crank, the first connecting line and the second connecting line form a parallelogram structure; one end of the second driven member and one end of the first from driving member are movably connected to the connecting fixing member, the other end of the second driven member is movably connected to the first connecting assembly, the second driven member and the first from driving member form a third connecting line at the positions arranged on the connecting fixing member respectively, the second driven member and the first from driving member form a fourth connecting line at the positions arranged on the first connecting assembly respectively, the second driven member, the first from driving member, the third connecting line and the fourth connecting line form a parallelogram structure. The beneficial effect is that the parallelogram structure makes the first driven member and the first crank keep parallel arrangement when the medical device is running, and makes the second driven member and the first from driving member keep parallel arrangement when the medical device is running, thereby ensuring that the first connecting assembly can translate in any direction in the first plane, avoiding rotation of the first connecting assembly.

[0018] Optionally, the driving assembly comprises a motor, a screw rod and a guide rail, the motor is connected with the screw rod, the screw rod and the guide rail are arranged in parallel, the sliding member is slidably arranged on the screw rod and the guide rail, the motor drives the screw rod to move, thereby driving the sliding member to move along the guide rail. The beneficial effect is that the screw rod converts the rotary motion of the motor into linear motion, thereby realizing movement of the sliding member along the guide rail driven by the screw rod.

[0019] Optionally, the posture adjusting assembly comprises a posture member and a clamping member, the posture member and the clamping member are detachably connected, the posture member is movably connected with the first connecting assembly and the second connecting assembly respectively, and the clamping member is used for clamping the surgical instrument.

[0020] Optionally, the first connecting assembly comprises a first rotating member, the first rotating member comprises a rotating cavity structure and a first connecting rod, the first connecting rod is movably connected with the upper end of the posture adjusting assembly and is arranged through the rotating cavity structure, the upper end of the posture adjusting assembly rotates around the first connecting rod, and the first connecting rod moves in the rotating cavity structure when the posture adjusting assembly rotates. The beneficial effect is that the posture adjusting assembly can automatically adjust the posture when the first driving mechanism and the second driving mechanism drive, which is beneficial to the posture adjusting assembly to realize the pitching motion and the yawing motion.

[0021] Optionally, the second connecting assembly comprises a second rotating member, the second rotating member comprises a through hole structure and a second connecting rod, the second connecting rod is movably connected with the lower end of the posture adjusting assembly and is arranged through the through hole structure, and the lower end of the posture adjusting assembly rotates around the second connecting rod. The beneficial effect is that the structure is simple and the investment cost is low.

[0022] Optionally, the control method of the medical device comprises the following steps:

[0023] The surgical instrument is clamped and fixed by the posture adjusting assembly;

[0024] The first connecting assembly moves in the first plane by cooperation of the first main driving assembly and the first slave driving assembly, and the second connecting assembly moves in the second plane by cooperation of the second main driving assembly and the second slave driving assembly, so that the first connecting assembly and the second connecting assembly drive the posture adjusting assembly to realize at least one of the translational motion, the pitching motion and the yawing motion.

[0025] The beneficial effects of the control method for the medical device of the present invention are as follows: the first main drive component and the first slave drive component cooperate to move the first connecting component in a first plane, and the second main drive component and the second slave drive component cooperate to move the second connecting component in a second plane. The first drive mechanism and the second drive mechanism respectively drive the first connecting component and the second connecting component to move, so that when the first drive mechanism and the second drive mechanism synchronously drive the first connecting component and the second connecting component to move in the same direction, the attitude adjustment component can achieve translational movement, and when the first drive mechanism and the second drive mechanism drive the first connecting component and the second connecting component to move in different directions, the attitude adjustment component can achieve pitch and yaw movements. That is, by controlling the first drive mechanism and the second drive mechanism to drive the first connecting component and the second connecting component to move respectively, the attitude adjustment component can clamp the surgical instrument to achieve any one of translational movement, pitch movement, and yaw movement; moreover, the attitude adjustment component has a wider, more precise, and more convenient range of motion adjustment, which is beneficial to improving the accuracy of the target position orientation of the surgical instrument. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the structure of a medical device according to an embodiment of the present invention;

[0027] Figure 2 for Figure 1 Top view of the structure of the medical device shown;

[0028] Figure 3 for Figure 1 A schematic diagram of the posture adjustment component in the medical device shown in an upward motion state;

[0029] Figure 4 for Figure 1 This is a schematic diagram of the attitude adjustment component in the medical device being in a deflection motion state. Detailed Implementation

[0030] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below. Obviously, the described embodiments are only some but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts should fall into the scope of the present application. Unless otherwise defined, the technical terms or scientific terms used herein should be understood as their common meanings to those of ordinary skill in the art to which the present application belongs. The terms such as "comprise" and the like used herein mean that the elements or objects before the terms encompass the elements or objects listed after the terms and their equivalents, and do not exclude other elements or objects.

[0031] In order to overcome the problems in the prior art, the embodiments of the present application provide a medical device and a control method thereof, so as to solve the problems that the device in the prior art has poor structural rigidity, poor stability of the device, and thus the accuracy of the needle insertion angle and the needle insertion depth of the needle insertion mechanism is affected, and the adjustment range of the needle insertion mechanism is small.

[0032] In some embodiments of the present application, the medical device comprises:

[0033] The first driving mechanism comprises a first main driving component, a first slave driving component and a first connecting component, and the first main driving component and the first slave driving component are connected with the first connecting component;

[0034] The second driving mechanism comprises a second main driving component, a second slave driving component and a second connecting component, and the second main driving component and the second slave driving component are connected with the second connecting component;

[0035] The posture adjusting component is used for clamping a surgical instrument, and the first connecting component and the second connecting component are movably connected with upper and lower end portions of the posture adjusting component, respectively.

[0036] The first main driving component and the first slave driving component cooperate to move the first connecting component in a first plane, the second main driving component and the second slave driving component cooperate to move the second connecting component in a second plane, the first plane is parallel to the second plane, so that the first connecting component and the second connecting component drive the posture adjusting component to realize at least one of translational motion, pitching motion and yawing motion.

[0037] The first main drive assembly and the first slave drive assembly are connected with the first connecting assembly, the first main drive assembly and the first slave drive assembly cooperate to move the first connecting assembly in a first plane, the second main drive assembly and the second slave drive assembly are connected with the second connecting assembly, the second main drive assembly and the second slave drive assembly cooperate to move the second connecting assembly in a second plane, the first plane is parallel to the second plane, so that when the first drive mechanism and the second drive mechanism synchronously drive the first connecting assembly and the second connecting assembly to move in the same direction, that is, the first drive mechanism and the second drive mechanism drive the first connecting assembly and the second connecting assembly to move forward, backward, left or right at the same time, the attitude adjusting assembly can realize translational motion; and the first connecting assembly and the second connecting assembly are movably connected with the upper end and the lower end of the attitude adjusting assembly respectively, so that when the first drive mechanism and the second drive mechanism drive the first connecting assembly and the second connecting assembly to move asynchronously, that is, the first drive mechanism and the second drive mechanism drive the first connecting assembly and the second connecting assembly to move in different directions, or drive the first connecting assembly and the second connecting assembly to move in the same direction but with different distances, the attitude adjusting assembly can realize pitching motion and yawing motion; that is, the medical device can make the attitude adjusting assembly hold the surgical instrument to realize translational motion, pitching motion and yawing motion and other multi-degree-of-freedom motion attitudes; the first drive mechanism includes the first main drive assembly and the first slave drive assembly to simultaneously drive the first connecting assembly to move, the second drive mechanism includes the second main drive assembly and the second slave drive assembly to simultaneously drive the second connecting assembly to move, so that the rigidity of the medical device is greatly improved, the shaking probability of the medical device during use is reduced, the motion attitude adjusting range of the attitude adjusting assembly is wider, more accurate and more convenient, the accuracy of target position orientation of the surgical instrument is improved, and precise surgery is facilitated.

[0038] Figure 1 A structural schematic diagram of the medical device of the embodiment of the present application is shown in the figure. Figure 2 A structural schematic diagram of the medical device of the embodiment of the present application is shown in the figure. Figure 1 A structural top view of the medical device is shown in the figure. Figure 3 A structural schematic diagram of the medical device of the embodiment of the present application is shown in the figure. Figure 1 A schematic diagram of the attitude adjusting assembly in the medical device in a pitching motion state is shown in the figure. Figure 4 A schematic diagram of the attitude adjusting assembly in the medical device in a yawing motion state is shown in the figure. Figure 1 A schematic diagram of the attitude adjusting assembly in the medical device in a yawing motion state is shown in the figure.

[0039] In some embodiments of the present application, with reference to Figures 1 to 4 The medical device comprises a fixed support 1, which comprises a first fixed support 11 and a second fixed support 12, and the first fixed support 11 and the second fixed support 12 are connected and fixed in two layers. The first driving mechanism (not shown in the figure) is arranged on the first fixed support 11, and the second driving mechanism (not shown in the figure) is arranged on the second fixed support 12.

[0040] In some embodiments of the present application, the structure of the first main driving assembly and the structure of the second main driving assembly are the same, and the structure of the first slave driving assembly and the structure of the second slave driving assembly are the same; the first main driving assembly and the first slave driving assembly each comprise a driving assembly and a crank transmission assembly, the driving assembly is connected with the crank transmission assembly, and the crank transmission assembly in the first main driving assembly and the crank transmission assembly in the first slave driving assembly are respectively connected with the first connecting assembly. The crank transmission assembly in the first main driving assembly and the crank transmission assembly in the first slave driving assembly cooperate, so that when the driving assembly drives the movement of the crank transmission assembly, the first connecting assembly realizes movement in any direction in a first plane. The crank transmission assembly in the second main driving assembly and the crank transmission assembly in the second slave driving assembly are respectively connected with the second connecting assembly, and the crank transmission assembly in the second main driving assembly and the crank transmission assembly in the second slave driving assembly cooperate, so that when the driving assembly drives the movement of the crank transmission assembly, the second connecting assembly realizes movement in any direction in a second plane. That is, under the cooperation of the first driving mechanism and the second driving mechanism, the attitude adjusting assembly realizes translational motion, pitching motion and deflection motion, and the crank transmission assembly can amplify the stroke of the driving assembly, so that the movement attitude adjusting range of the attitude adjusting assembly is wider, more accurate and more convenient, the accuracy of the target position orientation of the surgical instrument is improved, and precise surgery is facilitated.

[0041] In some embodiments of the present application, with reference to Figures 1 to 4The first main driving assembly (not shown in the figure) comprises a first crank driving assembly 110 and a first driving assembly 120, and the first driving assembly 120 is connected with the first crank driving assembly 110. The first slave driving assembly (not shown in the figure) comprises a second crank driving assembly 210 and a second driving assembly 220, and the second driving assembly 220 is connected with the second crank driving assembly 210. The first crank driving assembly 110 and the second crank driving assembly 210 are respectively connected with the first connecting assembly 300. The first driving assembly 120 drives the first crank driving assembly 110 to move, and the second driving assembly 220 drives the second crank driving assembly 210 to move, thereby driving the first connecting assembly 300 to move in the first plane.

[0042] In some embodiments of the present application, with reference to Figures 1 to 4 The second main driving assembly (not shown in the figure) comprises a third driving assembly (not shown in the figure) and a third crank driving assembly 410, and the third driving assembly (not shown in the figure) is connected with the third crank driving assembly 410. The second slave driving assembly (not shown in the figure) comprises a fourth driving assembly (not shown in the figure) and a fourth crank driving assembly 510, and the fourth driving assembly (not shown in the figure) is connected with the fourth crank driving assembly 510. The third crank driving assembly 410 and the fourth crank driving assembly 510 are respectively connected with the second connecting assembly 600. The third driving assembly (not shown in the figure) drives the third crank driving assembly 410 to move, and the fourth driving assembly (not shown in the figure) drives the fourth crank driving assembly 510 to move, thereby driving the second connecting assembly 600 to move in the second plane.

[0043] In some embodiments of the present application, the crank driving assembly comprises a sliding piece, a main driving piece, a crank and a slave driving piece, the sliding piece is connected with the driving assembly, the sliding piece, the main driving piece, the crank and the slave driving piece are sequentially movably connected, and the slave driving piece is movably connected with the first connecting assembly. The driving force of the driving assembly is converted into the swing of the crank, and the crank can amplify the stroke of the driving assembly, so that the movement posture adjustment range of the posture adjustment assembly is wider, more accurate and more convenient, the accuracy of the target position orientation of the surgical instrument is improved, and precise surgery is facilitated.

[0044] In some embodiments of the present application, the driving assembly comprises a motor, a screw rod and a guide rail, the motor is connected with the screw rod, the screw rod and the guide rail are arranged in parallel, the sliding member is slidingly arranged on the screw rod and the guide rail, the motor drives the screw rod to move, thereby driving the sliding member to move along the guide rail. The screw rod converts the rotary motion of the motor into linear motion, thereby realizing the movement of the sliding member along the guide rail driven by the screw rod.

[0045] In the embodiments of the present application, the rotation angle of the crank is related to the stroke of the screw rod, the greater the stroke of the screw rod, the greater the rotation angle of the crank. The connection position of the main transmission member and the crank is determined according to the stroke of the screw rod and the length of the main transmission member.

[0046] In some embodiments of the present application, the medical device further comprises a fixed seat, the crank transmission assembly in the first main driving assembly comprises a first crank and a first slave transmission member, the crank transmission assembly in the first slave driving assembly comprises a second crank and a second slave transmission member, one end of the first crank and one end of the second crank are movably connected to the fixed seat, and the fixed seat, the first crank, the first slave transmission member, the second crank and the second slave transmission member form a five-bar linkage mechanism. The first connecting assembly can move in any direction in the first plane, which is beneficial to wider, more accurate and more convenient movement of the posture adjusting assembly, and improves the accuracy of the target position orientation of the surgical instrument.

[0047] In some specific embodiments of the present application, with reference to Figures 1 to 4 , the first crank transmission assembly 110 comprises a first sliding member 111, a first main transmission member 112, a first crank 113 and a first slave transmission member 114. The first sliding member 111, the first main transmission member 112, the first crank 113 and the first slave transmission member 114 are movably connected in sequence. The first slave transmission member 114 is movably connected with the first connecting assembly 300. The first driving assembly 120 comprises a first motor 121, a first screw rod 122 and a first guide rail 123. The first motor 121 is connected with the first screw rod 122, and the first screw rod 122 and the first guide rail 123 are arranged in parallel. The first sliding member 111 is slidingly arranged on the first screw rod 122 and the first guide rail 123, and the first motor 121 drives the first screw rod 122 to move, thereby driving the first sliding member 111 to move along the first guide rail 123, so that the first sliding member 111 can drive the first main transmission member 112, the first crank 113 and the first slave transmission member 114 to move in sequence.

[0048] Further, with reference toFigures 1 to 4 The second crank transmission assembly 210 comprises a second sliding member 211, a second main transmission member 212, a second crank 213 and a second slave transmission member 214. The second sliding member 211, the second main transmission member 212, the second crank 213 and the second slave transmission member 214 are sequentially connected in a movable manner. The second slave transmission member 214 is movably connected with the first connecting assembly 300. The second driving assembly 220 comprises a second motor 221, a second screw rod 222 and a second guide rail 223. The second motor 221 is connected with the second screw rod 222, and the second screw rod 222 and the second guide rail 223 are arranged in parallel. The second sliding member 211 is slidably arranged on the second screw rod 222 and the second guide rail 223. The second motor 221 drives the second screw rod 222 to move, thereby driving the second sliding member 211 to move along the second guide rail 223, so that the second sliding member 211 can sequentially drive the second main transmission member 212, the second crank 213 and the second slave transmission member 214 to move.

[0049] Specifically, referring to Figures 1 to 4 The first motor 121 and the second motor 221 cooperate to drive the first slave transmission member 114 and the second slave transmission member 214 to drive the first connecting assembly 300 to move in any direction in the first plane.

[0050] In some specific embodiments of the present application, referring to Figures 1 to 4 The third crank transmission assembly 410 comprises a third sliding member (not shown in the figure), a third main transmission member 411, a third crank 412 and a third slave transmission member 413. The third sliding member (not shown in the figure), the third main transmission member 411, the third crank 412 and the third slave transmission member 413 are sequentially connected in a movable manner. The third slave transmission member 413 is movably connected with the second connecting assembly 600.

[0051] Further, the third driving assembly comprises a third motor, a third screw rod and a third guide rail. The third motor is connected with the third screw rod, and the third screw rod and the third guide rail are arranged in parallel. The third sliding member is slidably arranged on the third screw rod and the third guide rail. The third motor drives the third screw rod to move, thereby driving the third sliding member to move along the third guide rail, so that the third sliding member can sequentially drive the third main transmission member 411, the third crank 412 and the third slave transmission member 413 to move.

[0052] Further, referring to Figures 1 to 4The fourth crank transmission assembly 510 comprises a fourth slider 511, a fourth main transmission member 512, a fourth crank 513 and a fourth slave transmission member 514. The fourth slider 511, the fourth main transmission member 512, the fourth crank 513 and the fourth slave transmission member 514 are sequentially movably connected. The fourth slave transmission member 514 is movably connected with the second connecting assembly 600.

[0053] Further, the fourth driving assembly comprises a fourth motor, a fourth screw rod and a fourth guide rail. The fourth motor is connected with the fourth screw rod, and the fourth screw rod and the fourth guide rail are arranged in parallel. The fourth slider 511 is slidably arranged on the fourth screw rod and the fourth guide rail. The fourth motor drives the fourth screw rod to move, thereby driving the fourth slider 511 to move along the fourth guide rail, so that the fourth slider 511 can sequentially drive the fourth main transmission member 512, the fourth crank 513 and the fourth slave transmission member 514 to move.

[0054] Specifically, referring to Figures 1 to 4 The third motor and the fourth motor cooperate to drive the third slave transmission member 413 and the fourth slave transmission member 514 to drive the second connecting assembly 600 to move in any direction in the second plane.

[0055] In some specific embodiments of the present application, the first main transmission member 112, the first slave transmission member 114, the second main transmission member 212, the second slave transmission member 214, the third main transmission member 411, the third slave transmission member 413, the fourth main transmission member 512 and the fourth slave transmission member 514 are all connecting rods.

[0056] Specifically, referring to Figures 1 to 4 The medical device further comprises a fixing seat 13, the fixing seat 13 comprises a first fixing seat 131 and a second fixing seat 132, the first fixing seat 131 and the second fixing seat 132 are connected and fixed in two layers, the fixing seat 13 is divided into two layers, and the rigidity is better, which is beneficial to the stability of the medical device. One end of the first crank 113 and one end of the second crank 213 are movably connected to the first fixing seat 131. The first fixing seat 131, the first crank 113, the first slave transmission member 114, the second crank 213 and the second slave transmission member 214 constitute a five-link mechanism. One end of the third crank 412 and one end of the fourth crank 513 are movably connected to the second fixing seat 132. The second fixing seat 132, the third crank 412, the third slave transmission member 413, the fourth crank 513 and the fourth slave transmission member 514 constitute a five-link mechanism.

[0057] In some embodiments of the present application, the first connecting assembly and the second connecting assembly have the same structure; the first connecting assembly comprises a connecting piece and a rotating piece, the connecting piece and the rotating piece are movably connected, the connecting piece is movably connected with the first master driving assembly and the first slave driving assembly respectively, and the rotating piece is movably connected with the posture adjusting assembly. The connecting piece and the rotating piece are movably connected, so that the rotating piece can rotate in any direction relative to the connecting piece under the gravity of the posture adjusting assembly and the surgical instrument itself, so that the posture adjusting assembly realizes the deflection movement, and the rotating piece is movably connected with the posture adjusting assembly, which is conducive to realizing the pitching movement and the deflection movement of the posture adjusting assembly.

[0058] In some embodiments of the present application, the first connecting assembly comprises a first rotating piece, the first rotating piece comprises an avoiding rotating cavity structure and a first connecting rod, the first connecting rod is movably connected with the upper end of the posture adjusting assembly and is arranged through the avoiding rotating cavity structure, the upper end of the posture adjusting assembly rotates around the first connecting rod, and the first connecting rod moves in the avoiding rotating cavity structure when the posture adjusting assembly rotates. When the first driving mechanism and the second driving mechanism drive, the posture adjusting assembly can automatically adjust the posture, which is conducive to realizing the pitching movement and the deflection movement of the posture adjusting assembly.

[0059] In some embodiments of the present application, the second connecting assembly comprises a second rotating piece, the second rotating piece comprises a through hole structure and a second connecting rod, the second connecting rod is movably connected with the lower end of the posture adjusting assembly and is arranged through the through hole structure, and the lower end of the posture adjusting assembly rotates around the second connecting rod. The structure is simple, and the investment cost is low.

[0060] In some specific embodiments of the present application, referring to Figures 1 to 4 , the first connecting assembly 300 comprises a first connecting piece 310 and a first rotating piece 320, the first connecting piece 310 and the first rotating piece 320 are movably connected, the first connecting piece 310 is movably connected with the first slave transmission member 114 and the second slave transmission member 214 respectively, and the first rotating piece 320 is movably connected with the upper end of the posture adjusting assembly 700.

[0061] In some specific embodiments of the present application, referring to Figures 1 to 4The second connecting assembly 600 comprises a second connecting piece 610 and a second rotating piece 620, the second connecting piece 610 and the second rotating piece 620 are movably connected, the second connecting piece 610 is movably connected with the third slave transmission piece 413 and the fourth slave transmission piece 514 respectively, and the second rotating piece 620 is movably connected with the lower end of the posture adjusting assembly 700.

[0062] In some embodiments of the present application, the posture adjusting assembly 700 comprises a posture piece 710 and a clamping piece 720, the posture piece 710 and the clamping piece 720 are detachably connected, the posture piece 710 is movably connected with the first connecting assembly 300 and the second connecting assembly 600 respectively, and the clamping piece 720 is used for clamping the surgical instrument 800. Figures 1 to 4

[0063] In the embodiments of the present application, the clamping piece can be equipped with different clamping structures according to different surgical instruments, has strong universality, wide application range, and can be used for assisting in different surgeries.

[0064] In some embodiments of the present application, the clamping piece is provided with a plurality of clamping structures, the plurality of clamping structures have different structures and models, so as to clamp a plurality of surgical instruments with different structures on the same clamping piece, or to enable the plurality of clamping structures to adapt to different structural parts of the clamping surgical instruments.

[0065] In some specific embodiments of the present application, the clamping piece 720 comprises a limiting part, and the surgical instrument 800 penetrates through the limiting part. Figures 1 to 4 In specific, the limiting part is a through hole structure or a groove structure, and the surgical instrument 800 is a biopsy needle or a puncture needle. The limiting part can limit the surgical instrument 800, so that the surgical instrument 800 can be more stable and not shake, thereby being beneficial to precise surgery.

[0066] In another specific embodiment of the present application, the clamping piece comprises a C-shaped movable clamp, the C-shaped movable clamp is provided with N, the N is a positive integer greater than or equal to 1, and the C-shaped movable clamp can be used for clamping a puncture needle and other surgical instruments.

[0067] In some embodiments of the present application, the surgical instrument is a puncture needle, and the puncture needle is used for assisting in puncture surgery, such as neurosurgery puncture surgery or spinal puncture surgery.

[0068] In some embodiments of the present application, the surgical instrument is a biopsy needle, and the biopsy needle is used for retrieving a tissue sample from a target, such as a suspicious nodule, a tumor, an infection or an inflammation.

[0069] ​In some embodiments of the application, the surgical instrument is an injection needle for targeted drug delivery.

[0070] In some embodiments of the application, the surgical instrument is an endoscope, an exoscope or the like.

[0071] In some embodiments of the application, the surgical instrument is one of several needle electrodes used in ablation.

[0072] In some embodiments of the application, the medical device can be used to guide any kind of surgical instrument into a target location, which is manually pushed by a surgeon along the longitudinal axis direction thereof.

[0073] In some embodiments of the application, referring to Figures 1 to 4 , the first rotating member 320 comprises a first connecting rod 321 and an avoiding rotating cavity structure 322, the first connecting rod 321 is movably connected with the upper end of the attitude member 710 and is arranged through the avoiding rotating cavity structure 322, the upper end of the attitude member 710 rotates around the first connecting rod 321 as the center, and the first connecting rod 321 moves in the avoiding rotating cavity structure 322 when the attitude adjusting assembly 700 rotates. That is, the first connecting rod 321 can rotate or slide in the avoiding rotating cavity structure 322.

[0074] Specifically, referring to Figures 1 to 4 , the avoiding rotating cavity structure 322 is an arc-shaped groove, and the first connecting rod 321 can rotate or slide in the arc-shaped groove when the attitude adjusting assembly 700 rotates.

[0075] In some embodiments of the application, referring to Figures 1 to 4 , the second rotating member 620 comprises a through hole structure (not shown in the figure) and a second connecting rod 621, the second connecting rod 621 is movably connected with the lower end of the attitude member 710 and is arranged through the through hole structure (not shown in the figure), and the lower end of the attitude member 710 rotates around the second connecting rod 621 as the center.

[0076] In some embodiments of the application, the first main driving assembly further comprises a first driven member and a second driven member, the first driven member is arranged in parallel with the crank in the first main driving assembly, and the second driven member is arranged in parallel with the transmission member in the first main driving assembly. It is ensured that the first connecting assembly can translate in any direction in the first plane, and rotation of the first connecting assembly is avoided, that is, the first connecting assembly and the second connecting assembly reduce the degree of freedom, thereby facilitating more accurate positioning of the attitude adjusting assembly.

[0077] In some embodiments of the present application, the first main driving assembly further comprises a connecting fixing member, one end of the first follower is movably connected to the fixing base, the other end of the first follower and the other end of the first crank are movably connected to the connecting fixing member, the first follower and the first crank form a first connecting line at the positions arranged on the fixing base, the first follower and the first crank form a second connecting line at the positions arranged on the connecting fixing member, and the first follower, the first crank, the first connecting line and the second connecting line form a parallelogram structure. One end of the second follower and one end of the first transmission member are movably connected to the connecting fixing member, the other end of the second follower is movably connected to the first connecting assembly, the second follower and the first transmission member form a third connecting line at the positions arranged on the connecting fixing member, the second follower and the first transmission member form a fourth connecting line at the positions arranged on the first connecting assembly, and the second follower, the first transmission member, the third connecting line and the fourth connecting line form a parallelogram structure. The parallelogram structure enables the first follower and the first crank to be arranged in parallel during operation of the medical device, and enables the second follower and the first transmission member to be arranged in parallel during operation of the medical device, thereby ensuring that the first connecting assembly can be translated in any direction in the first plane, and avoiding rotation of the first connecting assembly.

[0078] In some specific embodiments of the present application, with reference to Figures 1 to 4The first main driving assembly (not shown) further comprises a first driven member 130, a second driven member 140 and a first connecting fixing member 150. One end of the first driven member 130 and one end of the first crank 113 are movably connected to the first fixed seat 131. The other end of the first driven member 130 and the other end of the first crank 113 are movably connected to the first connecting fixing member 150. The first driven member 130 and the first crank 113 form a first connecting line at the positions arranged on the first fixed seat 131 respectively. The first driven member 130 and the first crank 113 form a second connecting line at the positions arranged on the first connecting fixing member 150 respectively. The first driven member 130, the first crank 113, the first connecting line and the second connecting line form a parallelogram structure. One end of the second driven member 140 and one end of the first from driving member 114 are movably connected to the first connecting fixing member 150. The other end of the second driven member 140 and the other end of the first from driving member 114 are movably connected to the first connecting member 310 respectively. The second driven member 140 and the first from driving member 114 form a third connecting line at the positions arranged on the first connecting fixing member 150 respectively. The second driven member 140 and the first from driving member 114 form a fourth connecting line at the positions arranged on the first connecting member 310 respectively. The second driven member 140, the first from driving member 114, the third connecting line and the fourth connecting line form a parallelogram structure.

[0079] In some embodiments of the present application, reference is made to ​The second main driving assembly (not shown) further comprises a first driven member two (not shown), a second driven member two 420 and a second connecting fixing member (not shown). One end of the first driven member two (not shown) and one end of the third crank 412 are movably connected to the second fixing seat 132. The other end of the first driven member two (not shown) and the other end of the third crank 412 are movably connected to the second connecting fixing member (not shown). The first driven member two (not shown) and the third crank 412 form a fifth connecting line at the positions arranged on the second fixing seat 132 respectively. The first driven member two (not shown) and the third crank 412 form a sixth connecting line at the positions arranged on the second connecting fixing member (not shown) respectively. The first driven member two (not shown), the third crank 412, the fifth connecting line and the sixth connecting line form a parallelogram structure. One end of the second driven member two 420 and one end of the third transmission member 413 are movably connected to the second connecting fixing member (not shown). The other end of the second driven member two 420 and the other end of the third transmission member 413 are movably connected to the second connecting member 610 respectively. The second driven member two 420 and the third transmission member 413 form a seventh connecting line at the positions arranged on the second connecting fixing member (not shown) respectively. The second driven member two 420 and the third transmission member 413 form an eighth connecting line at the positions arranged on the second connecting member 610 respectively. The second driven member two 420, the third transmission member 413, the seventh connecting line and the eighth connecting line form a parallelogram structure.

[0080] In some specific embodiments of the present application, the first connecting fixing member 150 and the second connecting fixing member have the same triangular structure, which makes the medical device more rigid and helps to position the posture adjusting assembly more accurately. The first connecting fixing member 150 comprises a first angle part, a second angle part and a third angle part. The first driven member 130 is arranged in the first angle part through a first connecting pin, the first crank 113 and the first transmission member 114 are arranged in the second angle part through a second connecting pin, and the second driven member 140 is arranged in the third angle part through a third connecting pin, which helps to ensure that the first driven member 130 is arranged in parallel with the first crank 113, and that the second driven member 140 is arranged in parallel with the first transmission member 114. The second connecting fixing member comprises a fourth angle part, a fifth angle part and a sixth angle part. The first driven member 120 is arranged in the fourth angle part through a fourth connecting pin, the third crank 412 and the third transmission member 413 are arranged in the fifth angle part through a fifth connecting pin, and the second driven member 420 is arranged in the sixth angle part through a sixth connecting pin, which helps to ensure that the first driven member 120 is arranged in parallel with the third crank 412, and that the second driven member 420 is arranged in parallel with the third transmission member 413.

[0081] In the embodiments of the present application, the movable connection is achieved by hinging two components or by connecting pins penetrating the two components.

[0082] In some embodiments of the present application, the medical device can be used to support percutaneous intervention, such as tumor ablation (RF, IRE, CRYO, BRACHY), soft tissue and bone biopsy, direct drug injection, internal leakage treatment, shunt replacement, marker and guide wire placement, etc.

[0083] In some embodiments of the present application, the medical device is further provided with a fixing device, so that before the operation, the medical device can be arranged on the operating table through the fixing device, i.e. the medical device is arranged immovably relative to the target position of the patient, and then the direction and position of the posture adjusting assembly are fine-tuned by driving the first driving mechanism and the second driving mechanism.

[0084] In some embodiments of the present application, the control method of the medical device comprises the following steps:

[0085] The surgical instrument is clamped and fixed by the posture adjusting assembly;

[0086] The first connection assembly is moved in a first plane by cooperation of the first master drive assembly and the first slave drive assembly, and the second connection assembly is moved in a second plane by cooperation of the second master drive assembly and the second slave drive assembly, so that the first connection assembly and the second connection assembly drive the attitude adjustment assembly to perform at least one of translational movement, pitching movement and yawing movement.

[0087] While the embodiments of the application have been illustrated and described in detail, it will be readily apparent to those skilled in the art that various modifications and changes can be made to the embodiments without departing from the scope and spirit of the application, as described in the claims. Moreover, the application described is not limited in its application to the details set forth in the description or illustrated in the drawings. The application is capable of other embodiments and of being practiced or carried out in various ways.

Claims

1. A medical device, characterized in that, include: The first drive mechanism includes a first main drive component, a first slave drive component, and a first connection component, wherein the first main drive component and the first slave drive component are both connected to the first connection component. The second drive mechanism includes a second main drive component, a second slave drive component, and a second connection component, wherein the second main drive component and the second slave drive component are both connected to the second connection component. An attitude adjustment assembly for holding surgical instruments, wherein the first connecting assembly and the second connecting assembly are movably connected to the upper end and the lower end of the attitude adjustment assembly, respectively; The first main drive component and the first slave drive component cooperate to move the first connecting component in a first plane, and the second main drive component and the second slave drive component cooperate to move the second connecting component in a second plane, wherein the first plane and the second plane are parallel, thereby enabling the first connecting component and the second connecting component to drive the attitude adjustment component to achieve at least one of translational motion, pitching motion and yaw motion; The structure of the first master drive assembly is the same as that of the second master drive assembly, and the structure of the first slave drive assembly is the same as that of the second slave drive assembly. Both the first master drive assembly and the first slave drive assembly include a drive assembly and a crank transmission assembly. The drive assembly is connected to the crank transmission assembly. The crank transmission assembly in the first master drive assembly and the crank transmission assembly in the first slave drive assembly are respectively connected to the first connecting assembly. The crank transmission assembly includes a slider, a main transmission component, a crank, and a driven transmission component. The slider is connected to the drive assembly. The slider, the main transmission component, the crank, and the driven transmission component are sequentially and movably connected. The driven transmission component is movably connected to the first connecting assembly. The first main drive assembly further includes a first driven member and a second driven member, wherein the first driven member is arranged parallel to the crank in the first main drive assembly, and the second driven member is arranged parallel to the driven transmission member in the first main drive assembly.

2. The medical device according to claim 1, characterized in that, The structure of the first connecting component is the same as that of the second connecting component; the first connecting component includes a connector and a rotating component, the connector and the rotating component are movably connected, the connector is movably connected to the first main drive component and the first slave drive component respectively, and the rotating component is movably connected to the attitude adjustment component.

3. The medical device according to claim 1, characterized in that, It also includes a fixed base. The crank transmission assembly in the first main drive assembly includes a first crank and a first driven member. The crank transmission assembly in the first driven assembly includes a second crank and a second driven member. One end of the first crank and one end of the second crank are movably connected to the fixed base. The fixed base, the first crank, the first driven member, the second crank, and the second driven member constitute a five-bar linkage.

4. The medical device according to claim 3, characterized in that, The first main drive assembly further includes a connecting fastener. One end of the first driven member is movably connected to the fixed base. The other end of the first driven member and the other end of the first crank are both movably connected to the connecting fastener. The first driven member and the first crank form a first connecting line at their respective positions on the fixed base. The first driven member and the first crank form a second connecting line at their respective positions on the connecting fastener. The first driven member, the first crank, the first connecting line, and the second connecting line constitute a parallelogram structure. One end of the second driven member and one end of the first driven member are movably connected to the connecting fixing member. The other end of the second driven member is movably connected to the first connecting assembly. The second driven member and the first driven member form a third connecting line at positions on the connecting fixing member. The second driven member and the first driven member form a fourth connecting line at positions on the first connecting assembly. The second driven member, the first driven member, the third connecting line, and the fourth connecting line constitute a parallelogram structure.

5. The medical device according to claim 1, characterized in that, The driving assembly includes a motor, a lead screw, and a guide rail. The motor is connected to the lead screw, and the lead screw and the guide rail are arranged in parallel. The slider is slidably disposed on the lead screw and the guide rail. The motor drives the lead screw to move, thereby causing the slider to move along the guide rail.

6. The medical device according to claim 1, characterized in that, The posture adjustment assembly includes a posture component and a clamping component, which are detachably connected. The posture component is movably connected to the first connecting component and the second connecting component, respectively, and the clamping component is used to clamp the surgical instrument.

7. The medical device according to claim 2, characterized in that, The first connecting component includes a first rotating member, which includes an avoidance rotation cavity structure and a first connecting rod. The first connecting rod is movably connected to the upper end of the attitude adjustment component and passes through the avoidance rotation cavity structure. The upper end of the attitude adjustment component rotates around the first connecting rod, and when the attitude adjustment component rotates, the first connecting rod moves within the avoidance rotation cavity structure.

8. The medical device according to claim 2, characterized in that, The second connecting component includes a second rotating member, which includes a through hole structure and a second connecting rod. The second connecting rod is movably connected to the lower end of the attitude adjustment component and passes through the through hole structure. The lower end of the attitude adjustment component rotates around the second connecting rod.

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