A method for producing a puncture guide for robotic minimally invasive surgery

Abstract

The present invention discloses a method for producing a puncture guide for robot minimally invasive surgery, wherein the puncture guide device described in step one includes a support arm fixedly mounted on a power device, and the present invention relates to the field of medical clinical technology. The method for producing a puncture guide for robot minimally invasive surgery can completely clamp the puncture needle assembly by closing the first mounting seat and the second mounting seat, and a locking mechanism is provided between the first mounting seat and the second mounting seat, and the first mounting seat and the second mounting seat are closed and fixed by the locking mechanism, and a flip quick release assembly is provided between the puncture needle assembly and the first mounting seat and the second mounting seat, so that when the puncture needle assembly needs to be flipped 180° for operation and removal of the puncture needle assembly, the locking mechanism does not need to be released, which effectively overcomes the defect that a large force is required to release the locking mechanism after locking, and it is not only stable but also easy to operate.

Description

Technical Field

[0001] The invention relates to the field of medical clinical technology, and in particular to a method for producing a puncture guide for robot minimally invasive surgery. Background Art

[0002] In minimally invasive treatment of tumors or spine (hereinafter referred to as "minimally invasive surgery"), percutaneous puncture is used to allow treatment instruments (such as puncture needles, cryonezzles, radiofrequency needles, vertebral screw needles, etc., hereinafter referred to as "puncture needles") to reach the lesion directly for targeted treatment.

[0003] In actual clinical practice, doctors generally perform punctures by hand or with the assistance of 3D printed templates. Existing puncture methods have great limitations. Hand punctures have low accuracy, high risks, and are completely dependent on the doctor's experience and skills. When the patient's condition changes significantly or in areas with large movements such as the lungs, it is not suitable to use 3D printed templates. Therefore, using robots for minimally invasive surgery can solve the drawbacks of existing puncture methods.

[0004] However, most robots currently on the market are general-purpose robots. In order to enable them to perform minimally invasive surgery in clinical practice, they need to be combined with a puncture guide (hereinafter referred to as the "guide") for minimally invasive treatment. Summary of the invention

[0005] In view of the shortcomings of the prior art, the present invention provides a method for producing a puncture guide for robotic minimally invasive surgery, which solves the problem that puncture by hand or with the assistance of a 3D printed template in existing clinical practice is very limited, has high risks, and is not applicable.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions: a method for producing a puncture guide for robotic minimally invasive surgery, specifically comprising the following steps:

[0007] Step 1: Install the puncture guide device: first, connect the puncture guide device with the power device, and then use the power device to control the directional movement process of the puncture guide;

[0008] Step 2: Install the puncture needle: Then install the puncture needle assembly inside the puncture guide device, and adjust the rotation by 180° according to the needs. After the puncture is completed, quickly remove the puncture needle assembly;

[0009] Among them, the puncture guide device described in step one comprises a support arm fixedly mounted on the power device, one side of the support arm is detachably fixedly mounted with a first mounting seat through a mounting mechanism, one side of the first mounting seat is slidably provided with a second mounting seat, the first mounting seat and the second mounting seat can be closed to completely clamp the puncture needle assembly, and a locking mechanism is arranged between the first mounting seat and the second mounting seat; the locking mechanism comprises a raised seat fixedly mounted on the top of the first mounting seat, the outer surface of the raised seat is rotatably connected with a press buckle, the outer surface of the press buckle is rotatably connected with a pull ring, a locking seat is fixed on the top of the second mounting seat, and the outer surface of the pull ring is sleeved on the recessed part of the locking seat surface, and the press buckle is pressed down to lock, a T-slot is opened on the inner wall of the first mounting seat, a T-block is fixed on one side of the second mounting seat, and the outer surface of the T-block slides with the inner surface of the T-slot, and a flip quick-release assembly is arranged between the puncture needle assembly and the first mounting seat and the second mounting seat.

[0010] Preferably, the flip quick-release assembly includes mounting grooves provided on both sides of the inner walls of the first mounting seat and the second mounting seat, guide wheels are rotatably installed inside the two mounting grooves, a transverse groove is provided through one side of the first mounting seat and the second mounting seat, and a transverse plate is slidably connected to the inner surfaces of the two transverse grooves, and one side of the transverse plate extends to the outside of the first mounting seat and the second mounting seat respectively, and a handle is fixed at the end.

[0011] Preferably, a connecting groove is provided on one side of the inner wall of the first mounting seat and the second mounting seat and is connected to the transverse displacement groove, an extension plate is fixed on one side of the transverse displacement plate, a first spring is fixed on one side of the extension plate, one end of the first spring is fixed to the inner wall of the connecting groove, and the puncture needle assembly includes a syringe and a needle.

[0012] Preferably, a plug-in column is fixed at one end of the needle, and the outer surface of the plug-in column is plug-in-connected to the inner surface of the syringe. A push plate is fixed at one end of the plug-in column. Trapezoidal blocks are slidably penetrated on both sides of the surface of the syringe. Guide wheel grooves are provided on the sides of the two trapezoidal blocks that are away from each other, and the inner surface of the guide wheel groove is adapted to the outer surface of the guide wheel.

[0013] Preferably, both sides of the push plate are in contact with the inclined surfaces of the two trapezoidal blocks, a second spring is fixed between the inclined surfaces of the two trapezoidal blocks, and sliding limit blocks are passed through the two sides of the syringe and between the two trapezoidal blocks. The sides of the two limit blocks that are away from each other are in contact with one side of the transverse plate, and the outer surface of the limit block is engaged with the inner surface of the transverse groove.

[0014] Preferably, built-in grooves are provided on opposite sides of the two limit blocks, a third spring is fixed between the two built-in grooves, a groove is provided on opposite sides of the two limit blocks and between the two built-in grooves, and the groove allows the push plate to move through.

[0015] Preferably, the mounting mechanism includes a connecting column fixed at one end of the support arm, the outer surface of the connecting column is provided with an external thread, and the outer surface of the external thread is threadedly connected with a threaded sleeve, one end of the first mounting seat is fixed with an annular sleeve, and one side of the threaded sleeve can contact one side of the annular sleeve after moving.

[0016] Preferably, a limiting groove is penetrated through one side of the inner wall of the annular shell, an arc groove is perpendicularly provided on the inner wall of the annular shell and is provided, a clamping groove is provided on the inner wall of the annular shell and is connected to the arc groove, and clamping blocks are fixed on both sides of the surface of the connecting column, and the outer surface of the clamping block can slide along the limiting groove and the arc groove and enter the interior of the clamping groove to be clamped therewith.

[0017] The present invention provides a method for producing a puncture guide for robotic minimally invasive surgery. Compared with the prior art, the present invention has the following beneficial effects:

[0018] (1) The method for producing a puncture guide for minimally invasive surgery with a robot can completely clamp the puncture needle assembly by closing the first mounting seat and the second mounting seat, and a locking mechanism is provided between the first mounting seat and the second mounting seat. The locking mechanism is used to fix the first mounting seat and the second mounting seat after closing. A flip quick-release assembly is provided between the puncture needle assembly and the first mounting seat and the second mounting seat. When the puncture needle assembly needs to be flipped 180 degrees for operation and removal of the puncture needle assembly, the locking mechanism does not need to be released, which effectively overcomes the defect that a large force is required to release the locking mechanism after locking. The method has strong stability and is easy to operate.

[0019] (2) The method for producing a puncture guide for minimally invasive surgery with a robot comprises the following steps: a first mounting seat is detachably fixedly mounted on one side of a support arm through a mounting mechanism; the outer surface of the clamping block can slide along a limiting groove and an arc groove and enter the interior of the clamping groove to be clamped therewith; the threaded sleeve is contacted and limited with the annular sleeve shell; the first mounting seat and the second mounting seat can be conveniently replaced according to the size of the puncture needle assembly; the structure is novel, the operation is convenient, and the stability is strong. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is the front view of the external structure of the present invention;

[0021] Figure 2 is a three-dimensional structural cross-sectional view of the first mounting seat of the present invention;

[0022] Figure 3It is a three-dimensional structural schematic diagram of the locking mechanism of the present invention;

[0023] Figure 4 This is a three-dimensional structural exploded view of the locking mechanism of the present invention;

[0024] Figure 5 It is a three-dimensional structural schematic diagram of the flip quick-release assembly of the present invention;

[0025] Figure 6 A three-dimensional diagram of the internal structure of the syringe of the present invention;

[0026] Figure 7 It is a schematic diagram of the three-dimensional structure of the first mounting base of the present invention;

[0027] Figure 8 It is a partial structural stereogram of the present invention;

[0028] Fig. 9 It is a three-dimensional structural exploded view of the mounting mechanism of the present invention.

[0029] In the figure, 1-support arm, 101-syringe, 102-needle, 2-installation mechanism, 21-connection column, 22-external thread, 23-threaded sleeve, 24-annular sleeve, 25-limiting groove, 26-arc groove, 27-card slot, 28-card block, 3-first mounting seat, 4-second mounting seat, 5-locking mechanism, 51-protruding seat, 52-press buckle, 53-pull ring, 54-locking seat, 55-T-slot, 56-T-block, 57-flip quick release assembly, 5 7-1-installation slot, 57-2-guide wheel, 57-3-transverse slot, 57-4-transverse plate, 57-5-handle, 57-6-connecting slot, 57-7-extension plate, 57-8-first spring, 57-9-plug-in column, 57-10-push plate, 57-11-trapezoidal block, 57-12-guide wheel slot, 57-13-second spring, 57-14-limiting block, 57-15-built-in slot, 57-16-third spring, 57-17-groove. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0031] See also Figure 1-9 The embodiment of the present invention provides a technical solution: a method for producing a puncture guide for robotic minimally invasive surgery, specifically comprising the following steps:

[0032] Step 1: Install the puncture guide device: first, connect the puncture guide device with the power device, and then use the power device to control the directional movement process of the puncture guide;

[0033] Step 2: Install the puncture needle: Then install the puncture needle assembly inside the puncture guide device, and adjust the rotation by 180° according to the needs. After the puncture is completed, quickly remove the puncture needle assembly;

[0034] Among them, the puncture guide device in step one includes a support arm 1 fixedly mounted on the power device, a first mounting seat 3 is detachably fixedly mounted on one side of the support arm 1 through a mounting mechanism 2, a second mounting seat 4 is slidably arranged on one side of the first mounting seat 3, the first mounting seat 3 and the second mounting seat 4 are closed to completely clamp the puncture needle assembly, the inner diameter formed by the inner walls of the first mounting seat 3 and the second mounting seat 4 is smaller than the outer diameter of the puncture needle assembly, and a locking mechanism 5 is arranged between the first mounting seat 3 and the second mounting seat 4; the locking mechanism 5 includes a raised seat 51 fixedly mounted on the top of the first mounting seat 3, and the outer surface of the raised seat 51 is rotatably connected A push buckle 52 is connected, and a pull ring 53 is rotatably connected to the outer surface of the push buckle 52. A locking seat 54 is fixed on the top of the second mounting seat 4, and the outer surface of the pull ring 53 is sleeved in the recessed part of the locking seat 54 surface, and the push buckle 52 is pressed down to lock it. A T-slot 55 is provided on the inner wall of the first mounting seat 3, and a T-block 56 is fixed on one side of the second mounting seat 4. The T-slot 55 and the T-block 56 can enhance the stability of the second mounting seat 4 during movement, and the outer surface of the T-block 56 slides with the inner surface of the T-slot 55, and a flip quick-release assembly 57 is provided between the puncture needle assembly and the first mounting seat 3 and the second mounting seat 4.

[0035] In the embodiment of the present invention, the flip quick-release assembly 57 includes mounting grooves 57-1 provided on both sides of the inner walls of the first mounting seat 3 and the second mounting seat 4, guide wheels 57-2 are rotatably installed inside the two mounting grooves 57-1, and the guide wheels 57-2 can rotate in the mounting grooves 57-1, and a transverse groove 57-3 is provided on one side of the first mounting seat 3 and the second mounting seat 4, and a transverse plate 57-4 is slidably connected to the inner surfaces of the two transverse grooves 57-3, and one side of the transverse plate 57-4 extends to the outside of the first mounting seat 3 and the second mounting seat 4 respectively, and a handle 57-5 is fixed at the end, and the handle 57-5 can be provided to facilitate the operation of the transverse plate 57-4, and one side of the inner wall of the first mounting seat 3 and the second mounting seat 4 is connected to the transverse groove 57-3. A connecting groove 57-6 is provided, and an extension plate 57-7 is fixed on one side of the transverse plate 57-4. The extension plate 57-7 can slide in the connecting groove 57-6. A first spring 57-8 is fixed on one side of the extension plate 57-7. The elastic coefficient of the first spring 57-8 can be set according to needs. One end of the first spring 57-8 is fixed to the inner wall of the connecting groove 57-6. The puncture needle assembly includes a syringe 101 and a needle 102. A plug-in column 57-9 is fixed to one end of the needle 102. The outer surface of the plug-in column 57-9 is plug-in-connected with the inner surface of the syringe 101. There is resistance during the plug-in and pull-out process between the plug-in column 57-9 and the syringe 101, and the resistance is less than the resistance when the pull ring 53 is pulled. A push plate 57-10 is fixed to one end of the plug-in column 57-9. The syringe 101 1, both sides of the surface of the push plate 57-10 are penetrated and slidably provided with trapezoidal blocks 57-11, and the trapezoidal blocks 57-11 are provided, and the push plate 57-10 can reset the two trapezoidal blocks 57-11 under the action of the inclined surface of the trapezoidal blocks 57-11, and the two sides of the two trapezoidal blocks 57-11 away from each other are provided with guide wheel grooves 57-12, and the inner surface of the guide wheel groove 57-12 is adapted to the outer surface of the guide wheel 57-2, and the guide wheel 57-2 can still enter the guide wheel groove 57-12 after rotation, and both sides of the push plate 57-10 are in contact with the inclined surfaces of the two trapezoidal blocks 57-11, and a second spring 57-13 is fixed between the inclined surfaces of the two trapezoidal blocks 57-11, and the elastic coefficient of the second spring 57-13 can be set according to requirements, and the two sides of the syringe 101 and the two sides are located at A sliding limit block 57-14 runs through the two trapezoidal blocks 57-11, and the sides of the two limit blocks 57-14 that are away from each other are in contact with one side of the transverse plate 57-4, and the outer surface of the limit block 57-14 is clamped with the inner surface of the transverse groove 57-3. Built-in grooves 57-15 are provided on the opposite sides of the two limit blocks 57-14, and the built-in grooves 57-15 are used to place the third spring 57-16. The third spring 57-16 is fixed between the two built-in grooves 57-15, and the elastic coefficient of the third spring 57-16 can be set according to requirements. A groove 57-17 is provided on the opposite sides of the two limit blocks 57-14 and between the two built-in grooves 57-15. The groove 57-17 can prevent obstruction to the push plate 57-10.And the groove 57-17 allows the push plate 57-10 to move through.

[0036] In the embodiment of the present invention, the mounting mechanism 2 includes a connecting column 21 fixed at one end of the support arm 1, and an external thread 22 is provided on the outer surface of the connecting column 21. The thread provided on the connecting column 21 is partially provided, and the threaded end that is not needed is not provided with a thread, and the outer surface of the external thread 22 is threadedly connected with a threaded sleeve 23, and an annular sleeve 24 is fixed at one end of the first mounting seat 3, and one side of the threaded sleeve 23 can contact one side of the annular sleeve 24 after moving, and a limiting groove 25 is provided on one side of the inner wall of the annular sleeve 24, and an arc groove 26 is provided on the inner wall of the annular sleeve 24 and perpendicular to the limiting groove 25, and a clamping groove 27 is provided on the inner wall of the annular sleeve 24 and connected to the arc groove 26, and the inner surface of the clamping groove 27 is adapted to the outer surface of the clamping block 28, and clamping blocks 28 are fixed on both sides of the surface of the connecting column 21, and the outer surface of the clamping block 28 can slide along the limiting groove 25 and the arc groove 26 and enter the interior of the clamping groove 27 and clamp it.

[0037] Meanwhile, the contents not described in detail in this specification belong to the prior art known to those skilled in the art.

[0038] When in use, first place the syringe 101 between the first mounting seat 3 and the second mounting seat 4, with one end of the syringe 101 tightly against the inner wall of the first mounting seat 3, and then move the second mounting seat 4 so that the second mounting seat 4 moves toward the side of the first mounting seat 3, and then synchronously drive the T-block 56 to move to one side in the T-slot 55, so that the guide wheel groove 57-12 on the trapezoidal block 57-11 is tightly fitted with the guide wheel 57-2, and then pull the pull ring 53 so that the outer surface of the pull ring 53 is sleeved in the recessed part of the surface of the locking seat 54, and the pressing buckle 52 is pressed down to lock it, and the limit block 57-14 is stuck in the transverse groove 57-3. At this time, the installation process of the syringe 101 and the needle 102 on the first mounting seat 3 and the second mounting seat 4 is completed. When the syringe 101 needs to be installed When the needle 102 is rotated 180°, there is no need to release the limit between the first mounting seat 3 and the second mounting seat 4. You only need to press the two handles 57-5 toward the middle, and use the two handles 57-5 to move closer to the middle, so that the two transverse plates 57-4 move closer to the middle in the transverse groove 57-3, and then synchronously drive the extension plate 57-7 to move toward the middle in the connecting groove 57-6. At this time, the first spring 57-8 is compressed under the action of the extension plate 57-7 until the transverse plate 57-4 is against the limit block 57-14, and the transverse plate 57-4 is used to drive the two limit blocks 57-14 to move closer to the middle. Under the action of the two limit blocks 57-14, the third spring 57-16 is compressed, and then until the two limit blocks 57-14 are completely After the syringe 101 is fully inserted into the interior of the syringe 101, the syringe 101 can be rotated at the same time under the action of the guide wheel 57-2. After the syringe 101 is rotated, the two handles 57-5 can be loosened. After the two handles 57-5 are loosened, the syringe 101 rotates 180 degrees and the limit block 57-14 will be re-stuck in the transverse groove 57-3 for fixation, and the guide wheel groove 57-12 and the guide wheel 57-2 will fit tightly again. After the puncture work is completed, the syringe 101 and the needle 102 are removed at this time, and the needle 102 is pulled outward at this time, and the needle 102 moves outward to drive the plug-in column 57-9 to move outward, and the plug-in column 57-9 moves outward to further drive the push plate 57-10 to move outward, and the push plate 57-10 moves outward so that the push plate 57- 10 releases the limit between the two trapezoidal blocks 57-11. Under the action of the second spring 57-13, the two trapezoidal blocks 57-11 move closer to the middle. At this time, repeat the above operation of pressing the two handles 57-5 toward the middle until the two limit blocks 57-14 completely enter the interior of the syringe 101, and the syringe 101 and the needle 102 can be easily taken out. At this time, the outer surface of the pull ring 53 can be separated from the recessed part of the surface of the lock seat 54 for easy operation. The reverse operation can be performed during the installation process. When it is necessary to replace the first mounting seat 3 and the second mounting seat 4 of different sizes according to the diameters of the syringe 101 and the needle 102, one end of the connecting column 21 is inserted into the annular shell 24, so that the block 28 on one side of the connecting column 2 slides along the limit groove 25.When the block 28 slides along the limit groove 25 to the arc groove 26, the annular housing 24 is rotated to make the block 28 slide relative to the arc groove 26 until the block 28 moves to the slot 27. The annular housing 24 is pulled to one side, and then the threaded sleeve 23 is rotated to make the threaded sleeve 23 move along the external thread 22 until one side of the threaded sleeve 23 abuts against one side of the annular housing 24. When disassembly is required, the reverse operation can be performed. The above is the working principle of a method for producing a puncture guide for robotic minimally invasive surgery.

[0039] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0040] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A method for producing a puncture guide for robotic minimally invasive surgery, comprising the following steps: Step 1: Install the puncture guide device: first, connect the puncture guide device with the power device, and then use the power device to control the directional movement process of the puncture guide; Step 2: Install the puncture needle: Then install the puncture needle assembly inside the puncture guide device, and adjust the rotation by 180° according to the needs. After the puncture is completed, quickly remove the puncture needle assembly; The puncture guide device described in step 1 comprises a support arm (1) fixedly mounted on a power device, characterized in that: a first mounting seat (3) is detachably fixedly mounted on one side of the support arm (1) through a mounting mechanism (2), a second mounting seat (4) is slidably mounted on one side of the first mounting seat (3), the first mounting seat (3) and the second mounting seat (4) can be closed to completely clamp the puncture needle assembly, and a locking mechanism (5) is arranged between the first mounting seat (3) and the second mounting seat (4); The locking mechanism (5) comprises a raised seat (51) fixedly mounted on the top of the first mounting seat (3), the outer surface of the raised seat (51) being rotatably connected to a push button (52), the outer surface of the push button (52) being rotatably connected to a pull ring (53), a locking seat (54) being fixedly mounted on the top of the second mounting seat (4), the outer surface of the pull ring (53) being sleeved in a recessed portion of the surface of the locking seat (54), and the push button (52) being pressed downward to lock, a T-shaped slot (55) being provided on the inner wall of the first mounting seat (3), a T-shaped block (56) being fixedly mounted on one side of the second mounting seat (4), the outer surface of the T-shaped block (56) slidingly sliding with the inner surface of the T-shaped slot (55), and a flip quick-release assembly (57) being provided between the puncture needle assembly and the first mounting seat (3) and the second mounting seat (4); The flip quick-release assembly (57) comprises mounting grooves (57-1) provided on both sides of the inner walls of the first mounting seat (3) and the second mounting seat (4), guide wheels (57-2) being rotatably installed inside the two mounting grooves (57-1), a transverse groove (57-3) being provided through one side of the first mounting seat (3) and the second mounting seat (4), a transverse plate (57-4) being slidably connected to the inner surfaces of the two transverse grooves (57-3), and one side of the transverse plate (57-4) extending to the first mounting seat (3) and the second mounting seat (4) respectively. A handle (57-5) is fixed on the outside of the seat (4) and at the end thereof; a connecting groove (57-6) is provided on one side of the inner wall of the first mounting seat (3) and the second mounting seat (4) and is connected to the transverse groove (57-3); an extension plate (57-7) is fixed on one side of the transverse plate (57-4); a first spring (57-8) is fixed on one side of the extension plate (57-7); one end of the first spring (57-8) is fixed to the inner wall of the connecting groove (57-6); and the puncture needle assembly comprises a syringe (101) and a needle (102); A plug-in column (57-9) is fixed at one end of the needle head (102), and the outer surface of the plug-in column (57-9) is plug-in-connected to the inner surface of the syringe (101). A push plate (57-10) is fixed at one end of the plug-in column (57-9). Trapezoidal blocks (57-11) are slidably penetrated on both sides of the surface of the syringe (101). A guide wheel groove (57-12) is provided on the side away from each other of the two trapezoidal blocks (57-11), and the inner surface of the guide wheel groove (57-12) is matched with the outer surface of the guide wheel (57-2). Both sides of the push plate (57-10) are in contact with the inclined surfaces of the two trapezoidal blocks (57-11), a second spring (57-13) is fixed between the inclined surfaces of the two trapezoidal blocks (57-11), and sliding limit blocks (57-14) are passed through the two sides of the syringe (101) and between the two trapezoidal blocks (57-11), and the sides of the two limit blocks (57-14) that are away from each other are in contact with one side of the transverse plate (57-4), and the outer surface of the limit block (57-14) is engaged with the inner surface of the transverse groove (57-3).

2. A method for producing a puncture guide for robotic minimally invasive surgery according to claim 1, characterized in that: Built-in grooves (57-15) are provided on opposite sides of the two limit blocks (57-14), a third spring (57-16) is fixed between the two built-in grooves (57-15), a groove (57-17) is provided on opposite sides of the two limit blocks (57-14) and between the two built-in grooves (57-15), and the groove (57-17) allows the push plate (57-10) to move through.

3. A method for producing a puncture guide for robotic minimally invasive surgery according to claim 1, characterized in that: The mounting mechanism (2) comprises a connecting column (21) fixed to one end of the support arm (1); an outer surface of the connecting column (21) is provided with an external thread (22); and a threaded sleeve (23) is threadedly connected to the outer surface of the external thread (22); an annular sleeve (24) is fixed to one end of the first mounting seat (3); and one side of the threaded sleeve (23) can contact one side of the annular sleeve (24) after moving.

4. A method for producing a puncture guide for robotic minimally invasive surgery according to claim 3, characterized in that: A limiting groove (25) is formed through one side of the inner wall of the annular casing (24), an arc groove (26) is formed on the inner wall of the annular casing (24) and is perpendicular to the limiting groove (25), a clamping groove (27) is formed on the inner wall of the annular casing (24) and is connected to the arc groove (26), and clamping blocks (28) are fixed on both sides of the surface of the connecting column (21), and the outer surface of the clamping block (28) can slide along the limiting groove (25) and the arc groove (26) and enter the inside of the clamping groove (27) to be clamped therewith.

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