Puncture injection device, surgical robot, and surgical robot system

Abstract

The present application relates to a kind of puncture injection device, surgical robot and surgical robot system, surgical robot system includes the navigation system and surgical robot of communication connection, surgical robot includes mechanical arm and puncture injection device, the end of mechanical arm is connected puncture injection device, navigation system is used to guide mechanical arm movement to drive puncture injection device movement to the target puncture position on predetermined object, puncture injection device includes mounting bracket and the puncture injection module of being arranged on mounting bracket, puncture injection module includes injector assembly, puncture mechanism and injection mechanism, mounting bracket is used to be connected with mechanical arm, puncture mechanism is used to drive injector assembly movement to puncture predetermined object, injection mechanism is used to drive injector assembly movement to inject liquid medicine to predetermined object, to realize automatic puncture and automatic liquid medicine injection, reduce artificial intervention, reduce the risk of surgical infection, improve the safety, reliability and surgical precision of surgical operation.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, in particular to a puncture injection device, a surgical robot and a surgical robot system. BACKGROUND

[0002] Puncture is a common technique in existing surgical operations, and is particularly widespread in the fields of tumor treatment, detection and neurosurgery. However, the puncture currently known mainly relies on medical personnel to visually observe the injection site of a patient, or to scan and confirm the physiological structure around the lesion before the operation, and then manually perform puncture and injection of the liquid medicine. This puncture method completely depends on the surgical skills of medical personnel, so that the puncture accuracy and success rate completely depend on the experience of the doctor, and it is difficult to overcome the problems of unstable injection process, uneven liquid output, infection caused by manual contact with the injection site, and the like, and the operation time is long and the patient is in great pain.

[0003] Therefore, it is necessary to provide a puncture injection device capable of automatic puncture to solve the problems existing in the current manual puncture. SUMMARY

[0004] The present application provides a puncture injection device, a surgical robot and a surgical robot system to reduce the dependence of puncture surgery on the experience of medical personnel, not only to reduce the risk of surgical infection, but also to ensure the stability and uniformity of the liquid medicine injection process, ultimately to improve the reliability, safety and surgical precision of puncture surgery and liquid medicine injection, and to reduce the pain of patients.

[0005] To achieve at least one of the above purposes, the present application provides a puncture injection device, which comprises a mounting bracket and a puncture injection module arranged on the mounting bracket, the puncture injection module comprising an injector assembly, a puncture mechanism and an injection mechanism.

[0006] The mounting bracket is used to connect with a mechanical arm;

[0007] The puncture mechanism is connected with the injector assembly and is used to drive the injector assembly to move to puncture a predetermined object;

[0008] The injection mechanism is connected with the injector assembly and is used to drive the injector assembly to move to inject liquid medicine into the predetermined object.

[0009] Optionally, the puncture mechanism comprises a moving body and a driving device, the moving body being connected with the injector assembly, and the driving device being used to drive the moving body to drive the injector assembly to move to puncture the predetermined object.

[0010] Optionally, one of the driving device and the moving body is an electromagnet, and the other is a ferromagnetic body, the electromagnet being used to magnetically attract the ferromagnetic body so as to drive the moving body to move the syringe assembly to puncture the predetermined object.

[0011] Optionally, the puncture mechanism further comprises an elastic structure connected with the moving body, the elastic structure being used to release elastic potential energy to drive the moving body to move the syringe assembly away from the predetermined object.

[0012] Optionally, the moving body is a hollow structure, and the syringe assembly is used to be partially inserted into the hollow structure of the moving body along a guide limiting assembly.

[0013] Optionally, the puncture mechanism further comprises a puncture support arranged on the injection mechanism, and the driving device is arranged on the puncture support.

[0014] Optionally, the syringe assembly comprises a syringe and a disposable sleeve matched with each other, the injection tube of the syringe is inserted into and fixedly connected with the sleeve, and the sleeve is inserted into and fixedly connected with the hollow structure of the moving body.

[0015] Optionally, one of the sleeve and the injection tube is provided with a limiting protrusion, and the other is provided with a limiting groove matched with the limiting protrusion, and / or one of the sleeve and the moving body is provided with a limiting pin hole, and the other is provided with a limiting pin inserted into the limiting pin hole.

[0016] Optionally, the injection mechanism comprises a motor, a transmission structure and a connecting structure connected in sequence, the connecting structure is used to be detachably connected with a push rod in the syringe assembly, and the motor is used to drive the transmission structure to move so that the connecting structure drives the push rod to move.

[0017] Optionally, the injection mechanism further comprises a guide structure movably connected with the connecting structure, and the connecting structure is used to move along the guide structure.

[0018] Optionally, the connecting structure and the proximal end of the push rod are connected through an elastic device, and / or the connecting structure has a mounting groove corresponding to the proximal end of the push rod, and the inner diameter of the mounting groove is greater than the diameter of the proximal end of the push rod.

[0019] Optionally, the connecting structure comprises a first part and a second part connected with each other, the first part has the mounting groove, the second part has a circumferentially open avoiding hole, the avoiding hole and the mounting groove are in communication with each other, the proximal end of the push rod is used to pass through the avoiding hole and enter the mounting groove.

[0020] Optionally, the injection mechanism further comprises an injection base connected with the mounting bracket, the motor, the transmission structure and the guide structure are arranged on the injection base, and the puncture mechanism is arranged on the injection base.

[0021] Optionally, the puncture injection device further comprises a mounting box arranged on the mounting bracket, and the puncture injection module is arranged in the mounting box.

[0022] Optionally, the puncture injection device further comprises a shooting device arranged on the mounting bracket, the shooting device is used to acquire image information of a puncture site on the predetermined object, and / or further comprises a control module arranged on the mounting bracket, the control module is in communication connection with the puncture injection module.

[0023] To achieve the at least one purpose, the present application further provides a surgical robot, which comprises a mechanical arm and the puncture injection device; the end of the mechanical arm is connected with the puncture injection device; the mechanical arm is used to drive the puncture injection device to move to a target puncture position on a predetermined object.

[0024] To achieve the at least one purpose, the present application further provides a surgical robot system, which comprises a navigation system in communication connection with the surgical robot; the navigation system is used to guide the movement of the mechanical arm, so as to drive the puncture injection device to move to a target puncture position on a predetermined object.

[0025] In the puncture injection device, the surgical robot and the surgical robot system provided by the present application, the puncture injection device comprises a mounting bracket and a puncture injection module arranged on the mounting bracket, the puncture injection module comprises an injector assembly, a puncture mechanism and an injection mechanism; the mounting bracket is used to be connected with a mechanical arm; the puncture mechanism is connected with the injector assembly and is used to drive the injector assembly to move to puncture a predetermined object; the injection mechanism is connected with the injector assembly and is used to drive the injector assembly to move to inject a liquid medicine to the predetermined object. When configured in this way, the present application can quickly and accurately guide the puncture injection device to a target puncture point through the mechanical arm before a puncture operation, then automatically and quickly puncture through the puncture mechanism, and then automatically and accurately inject through the injection mechanism after puncture. Not only the puncture injection efficiency is higher, but also the operation accuracy is higher. Meanwhile, the experience dependence of medical staff on puncture operation and liquid medicine injection is reduced, so that the puncture injection process is more stable, reliable and safe. The safety and reliability of the puncture injection operation and the operation accuracy are improved. The risk of operation infection is greatly reduced. Meanwhile, the pain of the patient is smaller, and the in-operation experience of the patient is better. BRIEF DESCRIPTION OF DRAWINGS

[0026] In the drawings, like reference numerals refer to like components or acts. The sizes and relative positions of components in the drawings are not necessarily drawn to scale. For example, the shapes and relative sizes of various components can have been exaggerated or distorted for the sake of clarity and presentation. Furthermore, the particular shapes and relative sizes of components in the drawings are not intended to convey any information regarding the actual shapes and relative sizes of the particular components, but are merely intended to convey information regarding the relative positions of the particular components as understood by those skilled in the art. In addition, the particular shapes and relative sizes of components in the drawings are not necessarily intended to convey any information regarding the actual shapes and relative sizes of the particular components, but are merely selected to be easily recognizable in the drawings:

[0027] Figure 1 Structure diagram of a surgical robot system according to a preferred embodiment of the present application;

[0028] Figure 2 Structure diagram of a puncture injection device according to a preferred embodiment of the present application;

[0029] Figure 3 Structure diagram of a syringe assembly according to a preferred embodiment of the present application;

[0030] Figure 4 Structure diagram of a sleeve according to a preferred embodiment of the present application;

[0031] Figure 5 Structure diagram of a syringe and sleeve self-locking according to a preferred embodiment of the present application;

[0032] Figure 6 Structure diagram of a puncture mechanism according to a preferred embodiment of the present application;

[0033] Figure 7 Structure diagram of a syringe assembly and puncture mechanism installation according to a preferred embodiment of the present application;

[0034] Figure 8 Structure diagram of an injection mechanism according to a preferred embodiment of the present application;

[0035] Figure 9 Structure diagram of an injection calibration according to a preferred embodiment of the present application;

[0036] Figure 10 Structure diagram of a mounting bracket according to a preferred embodiment of the present application;

[0037] Figure 11 Workflow diagram of a surgical robot system according to a preferred embodiment of the present application;

[0038] Figures 12a to 12c Sequentially, action process diagram of a puncture injection device according to a preferred embodiment of the present application;

[0039] Figure 13 Structure diagram of a puncture injection device according to another preferred embodiment of the present application;

[0040] Figure 14 Structure diagram of a puncture injection module according to another preferred embodiment of the present application;

[0041] Figure 15 Structure diagram of an injection mechanism according to another preferred embodiment of the present application.

[0042] [The following is a description of the reference signs]:

[0043] 1 - mechanical arm; 2 - puncture injection device; 21 - injector assembly; 211 - injector; 211a - injection tube; 211b - push rod; 211c - needle; 2111 - limiting protrusion; 212 - sleeve; 2121 - sliding groove; 2122 - guide groove; 2123 - limiting pin hole; 22 - puncture mechanism; 221 - iron core; 222 - elastic structure; 223 - electromagnetic coil; 224 - limiting pin; 225 - puncture support; 23 - injection mechanism; 231 - motor; 232 - ball screw; 233 - guide rod; 234, 234' - connecting structure; 2341 - mounting groove; 2342 - first part; 2343 - second part; 2344 - avoiding hole; 235 - injection base; 236 - electric push rod; 237 - electric push rod support; 238 - guide column; 24 - mounting support; 25 - mounting box; 3 - navigation system. DETAILED DESCRIPTION

[0044] In order to make the above objectives, features and advantages of the present application more apparent, specific embodiments of the present application will be described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. However, the present application can be practiced in a number of different ways beyond the specific embodiments described and it is therefore contemplated to cover all such modifications as fall within the scope of the application. It should be noted that the specific embodiments of the present application do not limit the scope of the present application.

[0045] The application is further described in detail by the following drawings and specific examples. In this application, terms such as "proximal" and "distal" are used to describe the relative positional, directional, and / or orientation of elements or actions with respect to each other from the perspective of a physician using the product. "Proximal" and "distal" are not limiting, but "proximal" generally refers to the end closer to the operator of the product, and "distal" generally refers to the end further from the operator of the product. As used in this specification, the singular forms "a," "an," and "the" include plural referents unless the content clearly dictates otherwise. As used in this specification, the term "or" is generally employed in its sense of "and / or" unless the content clearly dictates otherwise. As used in this specification, the terms "multiple," "a plurality of," and "plurality" are generally employed in their sense of "two or more" unless the content clearly dictates otherwise. In addition, the terms "first," "second," etc. are used only to describe a particular element and do not imply relative importance or a limitation to the number of such elements. Thus, a feature identified as "first," "second," etc. can include one or at least two of that feature. As described in this specification, the term "forward" refers to the distal direction, and "rearward" refers to the proximal direction. Further, terms used in this specification are not intended to limit the scope of the application. For example, spatially relative terms - such as "beneath", "below", "lower", "on", "above", "upper", "horizontal", "vertical", and the like - can be used herein for ease of description to describe one element's or feature's relationship to another element(s) or feature(s) as illustrated in the figures. These spatially relative terms are intended to encompass different positions and orientations of the devices in use or operation in addition to the positions and orientations shown in the figures. For example, if a device in the figures is turned over, elements described as "below" or "beneath" other elements or features would then be "above" or "over" other elements or features. Thus, the example term "below" can encompass both an orientation of above and below. The devices can be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly. Likewise, descriptions of movement along and around various axes include various special device positions and orientations. Also, the term "comprising" is intended to mean that the

[0046] In order to solve at least one technical problem existing in the current manual puncture injection, the present application provides a puncture injection device, a surgical robot comprising the puncture injection device and a surgical robot system, so as to realize automatic puncture and automatic micro-push injection, reduce manual intervention in the puncture operation process, reduce the risk of surgical infection, improve the safety, reliability and operation precision of the operation, reduce the pain of the patient and improve the experience of the puncture operation patient.

[0047] The puncture injection device disclosed in the present application specifically comprises a mounting bracket and a puncture injection module arranged on the mounting bracket, the puncture injection module comprising a syringe assembly, a puncture mechanism and an injection mechanism; the mounting bracket is used for being connected with a mechanical arm; the puncture mechanism is connected with the syringe assembly and is used for driving the syringe assembly to move to puncture a predetermined object; the injection mechanism is connected with the syringe assembly and is used for driving the syringe assembly to move to inject a liquid medicine into the predetermined object. When arranged in this way, the puncture injection device can be quickly and accurately guided to a target puncture point by the mechanical arm before the puncture operation, then the puncture mechanism is used to quickly puncture the predetermined object, so as to reduce the pain of the patient, and then the injection mechanism is used to realize accurate injection after puncture, so as to ensure the stability and uniformity of the injection process. It should be understood that the predetermined object disclosed in the present application is the operation object, i.e. the patient.

[0048] The present application will be described in more detail below in combination with the drawings and preferred embodiments, and the following embodiments and features in the embodiments can be supplemented or combined with each other without conflict.

[0049] Figure 1 A structure schematic diagram of a surgical robot system provided by an embodiment of the present application is shown. As shown in the figure, Figure 1 The surgical robot system provided by the embodiment of the present application comprises a communication-connected surgical robot and a navigation system 3; the surgical robot comprises a mechanical arm 1 and a puncture injection device 2, the end of the mechanical arm 1 is connected with the puncture injection device 2; the navigation system 3 is used for guiding the movement of the mechanical arm 1, so that the mechanical arm 1 drives the puncture injection device 2 to move to a target puncture position (i.e. a target puncture point) on a predetermined object, after reaching the target puncture position, the puncture injection device 2 can realize automatic puncture and liquid medicine injection.

[0050] This invention does not specify the type of navigation system 3, such as a magnetic navigation system, a visual navigation system, or a cursor navigation system. Navigation system 3 can pre-plan the surgical navigation path, causing the robotic arm 1 to move along the planned path, thereby driving the puncture and injection device 2 to the target puncture position on the predetermined object. Those skilled in the art can understand how the navigation system achieves pre-operative planning and the surgical navigation path based on existing technology. However, those skilled in the art will also understand that pre-operative planning of the surgical navigation path can be done manually, such as by a doctor using navigation system 3. Those skilled in the art will also understand that all electronic communication in the system can be wired, all electronic communication in the system can be wireless, or some parts of the system can be wired while other parts can be wireless.

[0051] Figure 2 The structure of a puncture and injection device 2 provided in an exemplary embodiment of the present invention is shown. For example... Figure 2 As shown, the puncture and injection device 2 includes a mounting bracket 24 and a puncture and injection module mounted on the mounting bracket 24. The puncture and injection module includes a syringe assembly 21, a puncture mechanism 22, and an injection mechanism 23. The mounting bracket 24 is used to connect to the end of the robotic arm 1, and can be detachably or non-detachably connected. The puncture mechanism 22 is connected to the syringe assembly 21 and is used to drive the syringe assembly 21 to move for puncture. The injection mechanism 23 is connected to the syringe assembly 21 and is used to drive the syringe assembly 21 to move to inject medication into a predetermined target. The syringe assembly 21 is mounted on the puncture mechanism 22 and the injection mechanism 23 and is used for puncture and medication injection. With this configuration, the present invention can quickly and accurately guide the puncture and injection device 2 to the target puncture point by the robotic arm 1 before puncture, improving the accuracy and efficiency of the puncture surgery. The puncture mechanism 22 enables rapid puncture, reducing patient pain. After puncture, the injection mechanism 23 enables automatic and precise drug injection, ensuring the stability and uniformity of the injection process. Therefore, this invention lowers the experience threshold required for medical staff to perform puncture injections, effectively overcomes the problems of unstable injection process and uneven fluid output, improves the safety, reliability and precision of puncture injection surgery, significantly reduces the risk of surgical infection, and reduces patient pain, resulting in a better patient experience during the procedure.

[0052] refer to Figure 3The syringe assembly 21 comprises a syringe 211, which comprises a syringe tube 211a, a plunger 211b and a needle 211c. It should be understood that the plunger 211b is movably inserted into the syringe tube 211a, and the needle 211c is arranged at the distal end of the syringe tube 211a. In the embodiment of the present application, the syringe 211 can be selected from different models to meet different surgical requirements. In the puncture surgery, the commonly used syringe models include 5ml, 10ml and 20ml, and the commonly used needle models include No. 4.5, No. 5, No. 6 and No. 7, and various models are suitable for the syringe 211 of the present application. Therefore, according to the surgical requirements, the syringe 211 of the corresponding specification can be selected.

[0053] Preferably, the syringe assembly 21 further comprises a disposable sleeve 212 matched with the syringe 211, and the disposable sleeve 212 of the corresponding model needs to be matched with the syringe 211 of the corresponding model. The syringe tube 211a of the syringe 211 is inserted into the sleeve 212, and the needle 211c of the syringe 211 extends out of the sleeve 212. The syringe tube 211a needs to be locked with the sleeve 212 to avoid relative movement between the two. Here, the disposable sleeve 212 is selected to further reduce the risk of infection in the puncture surgery. The present application does not make special requirements for the locking mode between the sleeve 212 and the syringe tube 211a. For example, in an embodiment, one of the sleeve 212 and the syringe tube 211a is provided with a limiting protrusion, and the other is provided with a limiting groove matched with the limiting protrusion, so that the self-locking of the two is realized through the matching of the limiting protrusion and the limiting groove. The self-locking structure is simple and convenient to operate. Of course, in other embodiments of the present application, a clamping block is extended on the inner wall surface of the sleeve 212, and a clamping portion is extended on the outer wall surface of the syringe tube 211a, wherein the clamping block has opposite clamping surfaces in the axial direction of the sleeve 212, and the clamping portion has opposite clamping surfaces in the axial direction of the syringe tube 211a, and the clamping surfaces are abutted on the outside of the corresponding clamping surfaces by rotating the syringe tube 211a, so as to realize the locking of the sleeve 212 and the syringe tube 211a.

[0054] Reference Figure 4 and Figure 5 As an optional solution, the inner wall of the sleeve 212 is provided with a limiting groove (not labeled), and the inner wall of the sleeve 212 is provided with an axially extending through sliding groove 2121, and the sliding groove 2121 communicates with the limiting groove. In this way, the syringe tube 211a can be inserted into the sleeve 212 along the sliding groove 2121, and the limiting protrusion on the syringe tube 211a can be locked with the limiting groove on the sleeve 212 by rotating the syringe tube 211a. In other embodiments of the present application, the sliding groove and the limiting groove can not be communicated, as long as they can be assembled along the sliding groove and the rotation of the syringe tube can be limited by the limiting groove.

[0055] Continue to refer to Figure 5In an embodiment, the outer wall of the syringe 211a is provided with a plurality of limiting protrusions 2111 which are configured to cooperate with a plurality of limiting recesses on the sleeve 212. The number of limiting protrusions 2111 is preferably at least two and preferably evenly distributed along the circumference of the syringe 211a. However, the present application does not particularly limit the number and distribution of the limiting protrusions 2111. As can be understood by those skilled in the art, in other embodiments, the limiting protrusions 2111 can be distributed along the axial direction, or distributed along both the axial and circumferential directions. The number of limiting protrusions 2111 is generally one-to-one corresponding to the number of limiting recesses. In the embodiment of the present application, the number of limiting protrusions 2111 and limiting recesses is both two and symmetrically arranged along the circumference. The shape of the limiting protrusions 2111 and limiting recesses can be various and is not particularly limited. For example, the limiting protrusions 2111 can be provided with a spherical shape for better limiting effect. As a specific embodiment, in operation, the syringe 211 is inserted into the sleeve 212 along the sliding groove 2121 on the inner side of the sleeve 212, and then the syringe 211 is rotated clockwise so that the limiting protrusions 2111 fall into the limiting recesses in the sleeve 212, thereby achieving self-locking of the syringe 211 and the disposable sleeve 212.

[0056] In the embodiment of the present application, the sleeve 212 is connected with the puncture mechanism 22, and the puncture mechanism 22 drives the entire syringe assembly 21 to move through the sleeve 212.

[0057] The present application does not particularly limit the manner in which the puncture mechanism 22 drives the syringe assembly 21. In a specific example of the present application, the puncture mechanism 22 includes a moving body and a driving device; the moving body is connected with the syringe assembly 21, such as the sleeve 212; and the driving device is configured to drive the moving body to move the syringe assembly 21 to puncture. In some embodiments, the driving device itself does not move but can generate a magnetic field to attract the moving body to move. In some embodiments, the driving device itself can output motion to move the moving body, such as an electric driving device, a pneumatic driving device, etc. In a preferred embodiment, the driving device is configured to magnetically attract the moving body, such as one of the driving device and the moving body being an electromagnet and the other being a ferromagnetic body, and the electromagnet is configured to magnetically attract the ferromagnetic body to move the moving body to move the syringe assembly 21 to puncture the predetermined object.

[0058] In the embodiment, the moving body can be made of a magnetic conductive material, such as Figure 6As shown, the moving body is provided as an iron core 221, which is connected with the sleeve 212. However, in other embodiments, a permanent magnet or an electromagnet can be used instead of the iron core 221. In this case, the driving device is provided as an electromagnet coil 223 (also referred to as an electromagnet). In use, the electromagnet coil 223 is powered to magnetically attract the iron core 221, which drives the sleeve 212 and the injector assembly 21 to move together for puncture, and the electromagnet coil 223 is powered off, and the iron core 221 drives the injector assembly 21 to reset under the elastic force of the elastic structure 222 to remove the injector assembly 21 from the predetermined object. Since the electromagnet controls the movement of the injector assembly 21 in a safe and reliable manner, it is suitable for use in surgery.

[0059] Of course, in addition to the electromagnet coil 223 controlling the movement of the injector assembly 21, there are other movement structures that can quickly puncture and quickly reset, such as a driving device using compressed gas as a power source to drive the injector assembly 21 to move. More specifically, in other embodiments of the present application, the driving device includes a cylinder and a piston, the piston is connected with the sleeve 212 through a piston rod, and the cylinder uses gas, usually air or pure gas, to drive the piston to move and drive the sleeve 212 and the injector assembly 21 to move together.

[0060] When the iron core 221 can be attracted by the electromagnet coil 223 to move, the elastic structure 222 should be understood as an optional structure, that is, the iron core 221 can be reset by elastic force, or can be reset by other external force. Preferably, the elastic structure 222 is connected with the iron core 221, for example, is sleeved on the outer periphery of the iron core 221; when the iron core 221 moves forward, the elastic structure 222 stores elastic potential energy; and when the electromagnet coil 223 is powered off, the elastic structure 222 releases the elastic potential energy to drive the iron core 221 to drive the injector assembly 21 to move backward to leave the predetermined object. Alternatively, the elastic structure 222 is a spring, which can be sleeved or not sleeved on the iron core 221. In actual use, when the electromagnet coil 223 is powered on, the iron core 221 can be controlled by the electromagnet coil 223 to move forward quickly, and the injector 211 is driven to move, achieving the function of quick and accurate puncture. In this process, the elastic structure 222 is compressed to store elastic potential energy; when the needle needs to be withdrawn, the electromagnet coil 223 is powered off, the elastic structure 222 releases the elastic potential energy, and drives the iron core 221 and the injector 211 to reset quickly backward, which can effectively reduce the pain of the patient.

[0061] As a specific embodiment, the moving body is a hollow structure, and the syringe assembly 21 is used to partially insert into the hollow structure of the moving body along the guide and limiting assembly. The arrangement of the guide and limiting assembly can increase the stability of the puncture injection device 2, prevent the radial displacement of the needle 211c during the operation, and further ensure the safety and reliability during the puncture injection process. As an example, the guide and limiting assembly includes a guide boss and a guide groove, one of the moving body and the syringe assembly 21 is provided with the guide boss, and the other is provided with the guide groove matched with the guide boss. The stable engagement of the guide boss and the guide groove can increase the stability of the puncture injection device. Preferably, the number of guide bosses and guide grooves is multiple, and the number of guide bosses and guide grooves is usually one-to-one, and preferably these structures are uniformly distributed. As an embodiment, the iron core 221 has an axially through hollow structure, the sleeve 212 is inserted into the hollow structure of the iron core 221, and one of the iron core 221 and the sleeve 212 is provided with a guide boss, and the other is provided with a guide groove matched with the guide boss.

[0062] Reference Figure 4 As an optional solution, the outer wall of the sleeve 211 is provided with a guide groove 2122, which is preferably two and uniformly distributed in the circumferential direction, and the guide groove 2122 extends through the sleeve 212 in the axial direction. The guide groove 2122 is stably engaged with the guide boss on the iron core 221. In the embodiment of the application, the number of guide grooves 2122 is three and uniformly distributed, and there are also cases where the number of guide grooves 2122 is greater than three, which are not limited by the application. See Figure 6 As a specific embodiment, the sleeve 212 is inserted into the hollow structure of the iron core 221 and fixedly connected with the iron core 221 through the limiting pin 224. This locking mode not only has a simple structure, but also is convenient to operate. For example, one of the sleeve 212 and the iron core 221 is provided with a limiting pin hole, and the other is provided with a limiting pin for inserting into the limiting pin hole. In an exemplary embodiment, referring to Figure 4 The distal end of the sleeve 212 is provided with a limiting pin hole 2123 for fixedly connecting with the limiting pin 224. The number of limiting pin holes 2123 is preferably at least two, and more preferably uniformly distributed in the circumferential direction. As an embodiment of the application, the number of limiting pin holes 2123 is three and uniformly distributed in the circumferential direction. The number of limiting pins 224 is usually consistent with the number of limiting pin holes 2123.

[0063] Reference Figure 6 and Figure 7The limiting pin 224 is arranged at the distal end of the iron core 221, and is inserted into or removed from the limiting pin hole 2123 of the sleeve 221 by pressing the limiting pin 224. In the implementation, after the syringe 211 extracts the liquid medicine and is combined with the disposable sleeve 212, the syringe assembly 21 is placed into the interior of the iron core 221, at this time, the limiting pin 224 is manually pressed to be inserted into the limiting pin hole 2123 of the disposable sleeve 212, thereby completing the installation and fixation of the syringe assembly 21 and the puncture mechanism 22, and the operation is very convenient.

[0064] Continuing to refer to Figure 6 The puncture mechanism 22 further comprises a puncture support 225 arranged on the injection mechanism 23, and the driving device such as the electromagnetic coil 223 is arranged on the puncture support 225, and is specifically arranged in the mounting hole of the puncture support 22.

[0065] In some embodiments, the sleeve 212 and the injection tube 211a of the syringe 211 are separately formed and then assembled, and in other embodiments, the sleeve 212 and the injection tube 211a are integrally connected and cannot be separated, so that the operation process of installing the syringe 211 and the sleeve 212 can be omitted.

[0066] As a preferred embodiment, the injection mechanism 23 comprises a motor, a transmission structure and a connecting structure connected in sequence; preferably, the injection mechanism 23 further comprises a guide structure, the guide structure is movably connected with the connecting structure, so that the connecting structure moves along the guide structure; the connecting structure is used for being detachably connected with the push rod 211b in the syringe assembly 21; the motor is used for driving the transmission structure to move, so that the connecting structure drives the push rod 211b to move. Preferably, the transmission structure is a ball screw assembly or an electric push rod assembly. In this way, the injection speed can be adjusted by controlling the rotating speed of the motor, which is not only suitable for the needs of different surgical scenes, has better flexibility, has a wider application scene, but also can more accurately administer and inject, and has high injection precision.

[0067] As Figure 2 and Figure 8As shown, in an embodiment, the injection mechanism 23 comprises a motor 231, a ball screw 232, a guide rod 233 and a connecting structure 234; in this way, the ball screw 232 serves as a transmission structure, the guide rod 233 serves as a guide structure, and the guide rod 233 is preferably two and arranged in parallel. The motor 231, the ball screw 232 and the connecting structure 234 are connected in sequence; the guide rod 233 passes through the connecting structure 234; the connecting structure 234 is detachably connected to the proximal end of the push rod 211b in the syringe 211; the motor 231 drives the connecting structure 234 to move the push rod 211b of the syringe 211 along the guide rod 233 through the ball screw 232. However, the guide rod 233 is not the only choice, for example, a guide rail, a guide groove, etc. can be used to achieve the same guiding function.

[0068] In view of the manual injection of the syringe 211 mounted on the puncture mechanism 22, since the push rod 211b and the injection tube 211a of the syringe 211 are flexibly connected, there may be a phenomenon of jamming, blocking, etc. when the connecting structure 234 pushes the push rod 211b of the syringe 211, which may further cause uneven liquid output and other problems, causing certain risks to the surgical process. In order to solve this technical problem, the push rod 211b is arranged to have a certain radial displacement relative to the connecting structure 234, and the radial displacement of the push rod 211b relative to the connecting structure 234 ensures that the axis of the injection tube 211a is aligned with the axis of the push rod 211b, so that during the injection process, the push rod 211b and the injection tube 211a of the syringe 211 are automatically aligned coaxially, ensuring the uniformity of the injection liquid. In some embodiments, the connecting structure 234 has a mounting groove that allows the proximal end of the push rod 211b to be inserted, and the inner diameter of the mounting groove is configured to be larger than the diameter of the proximal end of the push rod 211b, so that the push rod 211b can be displaced in the radial direction of the mounting groove 2341, and the axis of the injection tube 211a can also be aligned with the axis of the push rod 211b. In other embodiments, the connecting structure 234 and the proximal end of the push rod 211b are connected by an elastic device, which automatically aligns the axes of the injection tube 211a and the push rod 221b. The elastic device is, for example, a spring, a spring piece or other relatively soft and deformable structure. One or more of these ways can be combined to automatically align the relative positions of the push rod 211b and the injection tube 211a of the syringe 211 during the injection process, so that the axis of the injection tube 211a is aligned with the axis of the push rod 211b, ensuring the uniformity of the injection liquid.

[0069] As Figure 9As shown in the embodiment, the connecting structure 234 has a mounting groove 2341, the proximal end of the push rod 211b is inserted into the mounting groove 2341, and the inner diameter of the mounting groove 2341 is greater than the diameter of the proximal end of the push rod 211b, so as to compensate the displacement caused by the bending and deformation of the push rod 211b during pushing, and realize the automatic centering of the axis of the push rod 211b and the axis of the injection tube 211a. However, the structure of the connecting structure 234 is not specially required, for example, the connecting structure 234 is connected by two plates, or the connecting structure 234 is made of one plate.

[0070] In the embodiment of the present application, as shown in Figure 8 The connecting structure 234 includes a first part 2342 and a second part 2343 connected with each other; optionally, the first part 2342 is arranged on the proximal end side of the second part 2343 and is higher than the second part 2343 by one step, a side surface of the first part 2342 close to the second part 2343 is provided with the mounting groove 2341 (as shown in Figure 9 The second part 2343 has a circumferentially open avoiding hole 2344, the avoiding hole 2344 and the mounting groove 2341 are in communication with each other, the proximal end of the push rod 211b is used to pass through the avoiding hole 2344 and enter the mounting groove 2341, and the inner diameter of the mounting groove 2341 is slightly greater than the diameter of the proximal end of the push rod 211b, so as to allow the proximal end of the push rod 211b to produce displacement in the radial direction of the mounting groove 2341, for example, the mounting groove 2341 can be arranged in various shapes such as a waist-shaped hole, a circular hole, an elliptical hole and the like. More preferably, the inner diameter of the avoiding hole 2344 is greater than the inner diameter of the mounting groove 2341, so as to sufficiently avoid when the proximal end of the push rod 211b enters the mounting groove 2341.

[0071] Continuing to refer to Figure 8 The injection mechanism 23 can further include an injection base 235 connected with the mounting bracket 24, the motor 231, the ball screw 232 and the guide rod 233 are arranged on the injection base 235, and the puncture mechanism 22 is arranged on the injection base 235. In a specific example, the puncture support 225 of the puncture mechanism 22 is fixed on the injection base 235, and the two can be locked by screws.

[0072] The present application does not have special requirements for the shape of the mounting bracket 24. For example Figure 10 As shown in the figure, the mounting bracket 24 can be generally in a T-shaped structure, one end of the T-shaped structure is connected with the mechanical arm 1, and the other end is arranged with the puncture and injection device 2.

[0073] Further, the puncture injection device 2 further comprises a shooting device arranged on the mounting bracket 24, which is used to obtain image information of the puncture site and send the image information to the navigation system 3 for display, so that medical staff can know the state of the puncture site, such as whether there is bleeding, swelling or other problems, according to the image taken by the shooting device. The shooting device is preferably a miniature camera. The arrangement of the shooting device enables the puncture injection device 2 to meet different scene requirements. Further, the puncture injection device 2 can further comprise a control module arranged on the mounting bracket 24, which is in communication connection with the puncture injection module, so as to drive the movement of the puncture injection module by receiving the control signal sent by the navigation system 3 or other control system through the control module. For example, the control module can control the puncture injection module to inject the liquid medicine according to the set injection condition, so that the puncture injection device 2 can meet different scene requirements. The type of the control module is not particularly limited in this embodiment, which can be hardware for performing logical operation, such as single-chip microcomputer, microprocessor, programmable logic controller (PLC) or field-programmable gate array (FPGA), or software program, function module, function, object library or dynamic-link library based on hardware to realize the above functions.

[0074] Next, the operation process of the surgical robot system provided by the present application will be further described. Figure 11 As shown in Figure 11 , the operation process of the surgical robot system of the present application can include the following steps:

[0075] Step S1, preoperative positioning and planning of navigation path: the doctor formulates a treatment plan according to the patient's condition, and the navigation system automatically plans a navigation path according to the treatment plan. However, in fact, the navigation path can be automatically planned by the navigation system or manually planned by the doctor. For example, the doctor can obtain the lesion information of the patient according to the image data, thereby formulating a treatment plan and planning a navigation path. Preferably, when the preoperative positioning and the navigation path are planned, the puncture angle and depth information can also be obtained automatically or manually, so that the mechanical arm automatically adjusts the posture of the puncture injection device to adapt to the puncture angle, and the puncture injection device controls the puncture depth according to the pre-obtained information.

[0076] Step S2, adapting the syringe to the disposable sleeve: the medical staff pre-fills the syringe with liquid medicine and selects a corresponding type of disposable sleeve. After the syringe is placed in the disposable sleeve, it is fixed.

[0077] Step S3, Install the syringe into the puncture mechanism: Place the matched syringe and sleeve into the puncture mechanism and secure them;

[0078] Step S4, Automatic positioning of the robotic arm: The robotic arm moves autonomously to the target puncture position according to the guidance of the navigation system;

[0079] Step S5, Data Confirmation: Medical staff confirm the puncture information, such as the puncture point, angle, and depth. If the information is correct, proceed to the next step. Once the information is confirmed to be correct, a "confirmation" signal can be sent to the puncture and injection device, causing the device to start operating based on the "confirmation" signal. Conversely, if the information is incorrect, the puncture and injection device will be prohibited from operating until a "confirmation" signal is received.

[0080] Step S6, Automatic Puncture and Micro-Injection: After the information is confirmed to be correct, the puncture and injection device starts to run, so that the puncture mechanism outputs linear motion and drives the syringe assembly to move to achieve rapid puncture. After reaching the puncture depth, the injection mechanism starts to move and pushes the syringe to inject the drug solution.

[0081] Next, in conjunction with the preferred embodiments, and according to Figures 12a to 12c This further explains the operation process of the puncture and injection device 2.

[0082] like Figure 12a As shown, before the puncture injection, after the syringe assembly 21 is installed, both the puncture mechanism 22 and the injection mechanism 23 are in their initial positions, waiting to begin the puncture micro-push injection.

[0083] like Figure 12b As shown, during puncture, before injection: the electromagnet coil 223 is energized, the puncture mechanism 22 moves forward quickly to the end, the elastic structure 222 is compressed, so the iron core 221 drives the syringe assembly 21 to move forward through the sleeve 212, so that the needle 211c can quickly puncture. At this time, the injection mechanism 23 is still in the initial position.

[0084] like Figure 12c As shown, after puncture and during injection: After puncture, the injection mechanism 23 starts to move, and the connecting structure 234 pushes the plunger 211b of the syringe 211 forward at a constant speed to the set position, so as to inject the drug solution evenly into the patient's body.

[0085] Further reading Figure 13 The puncture injection module can be placed inside the mounting box 25, and then the mounting box 25 can be mounted on the mounting bracket 24. For example... Figure 13 As shown, the puncture and injection device 2 includes a puncture and injection module, a mounting bracket 24, and a mounting box 25. The mounting box 25 has an openable and closable lid. The mounting box 25 makes the puncture and injection device cleaner and more reliable.

[0086] In addition, in another embodiment, the transmission structure in the injection mechanism 23 can also be implemented by an electric push rod assembly. Through the retraction movement of the electric push rod, the connecting structure 234 is driven to move and push the syringe assembly 21 to perform the micro-push injection operation.

[0087] In more detail, with reference to Figure 14 and Figure 15 In another embodiment, the injection mechanism 23 comprises a motor 231, a connecting structure 234', an electric push rod 236, an electric push rod bracket 237, and a guide column 238; the number of the guide column 238 is one, and the electric push rod 236 is inserted into the guide column 238. The same parts of the embodiment using the electric push rod 236 as the embodiment using the ball screw 232 can be referred to the disclosure of the above embodiment, which will not be described in detail here, and the difference between the two is that the connecting structure 234' is fixedly connected with the proximal end of the electric push rod 236, the electric push rod 236 is inserted into the guide column 238, the movement direction of the electric push rod 236 is limited by the guide column 238, and the guide column 238 is installed on the electric push rod bracket 237. The motor 231 drives the electric push rod 236 to move in and out, and finally pushes the syringe assembly 21 to move to perform injection.

[0088] In summary, the puncture injection device, the surgical robot, and the surgical robot system provided by the present application can quickly and accurately guide the puncture injection device to the target puncture point through the mechanical arm before the puncture operation, and then automatically and quickly puncture through the puncture mechanism. After puncture, automatic and accurate drug injection is realized through the injection mechanism. Not only is the puncture injection efficiency higher, but also the operation accuracy is higher. At the same time, the experience dependence on medical staff during puncture operation and liquid injection is reduced, the puncture injection process is more stable, reliable and safe, the safety and reliability of the puncture injection operation and the operation precision are improved, the risk of surgical infection is greatly reduced, the patient's pain is smaller, and the patient's intraoperative experience is better.

[0089] It should be understood that the preferred embodiments of the present application are as described above, but are not limited to the disclosure of the above embodiments. For example, the structure of the injection mechanism includes but is not limited to ball screw transmission, electric push rod transmission, and other compact transmission structures such as gear transmission and thread transmission. Compared with other transmission structures, the ball screw transmission or electric push rod transmission structure provided by the embodiments of the present application is simpler, the entire puncture injection device can be made smaller and lighter, and the operation precision is improved.

[0090] It should be noted that, for those skilled in the art, several improvements and supplements can also be made without departing from the method of the present application, and these improvements and supplements should also be considered as the protection scope of the present application. For those skilled in the art, some changes, modifications and equivalent changes made by using the disclosed technical content without departing from the spirit and scope of the present application are equivalent embodiments of the present application; meanwhile, any equivalent changes, modifications and evolution made to the above embodiments according to the essential technology of the present application are still within the scope of the technical solutions of the present application.

Claims

1. A lancing device, comprising: The device includes a mounting bracket and a puncture and injection module disposed on the mounting bracket. The puncture and injection module includes a syringe assembly, a puncture mechanism, and an injection mechanism. The mounting bracket is used for connection with the robotic arm; The syringe assembly includes a matching syringe and a disposable sleeve, wherein the syringe tube is inserted into the sleeve and fixedly connected to the sleeve; The puncture mechanism is connected to the syringe assembly and is used to drive the syringe assembly to move in order to puncture a predetermined object; the puncture mechanism includes a moving body and a driving device; the sleeve is inserted into the hollow structure of the moving body and is fixedly connected to the moving body; one of the driving device and the moving body is an electromagnet and the other is a ferromagnet, the electromagnet is used to magnetically attract the ferromagnet so that the moving body drives the syringe assembly to move in order to puncture the predetermined object; The injection mechanism is connected to the syringe assembly and is used to drive the syringe assembly to inject the drug solution into the predetermined object.

2. The lancing device of claim 1, wherein, The puncture mechanism also includes an elastic structure connected to the moving body, the elastic structure being used to release elastic potential energy to drive the moving body to move the syringe assembly away from the predetermined object.

3. The lancing device of claim 1, wherein, The syringe assembly is used for partial insertion into the hollow structure of the moving body along the guide limiting assembly.

4. The lancing device of claim 1, wherein, The puncture mechanism further includes a puncture support disposed on the injection mechanism, and the driving device is disposed on the puncture support.

5. The lancing device of claim 1, wherein, One of the sleeve and the injection tube is provided with a limiting protrusion, and the other is provided with a limiting groove that mates with the limiting protrusion; and / or, one of the sleeve and the moving body is provided with a limiting pin hole, and the other is provided with a limiting pin for insertion into the limiting pin hole.

6. The lancing device of claim 1, wherein, The injection mechanism includes a motor, a transmission structure, and a connecting structure connected in sequence; the connecting structure is used to be detachably connected to the plunger in the syringe assembly; the motor is used to drive the transmission structure to move, so that the connecting structure drives the plunger to move.

7. The lancing device of claim 6, wherein, The injection mechanism further includes a guide structure movably connected to the connecting structure, the connecting structure being used to move along the guide structure.

8. The lancing device of claim 6 or 7, wherein, The connecting structure is connected to the proximal end of the push rod by an elastic device, and / or the connecting structure has a mounting groove corresponding to the proximal end of the push rod, the inner diameter of the mounting groove being larger than the diameter of the proximal end of the push rod.

9. The lancing device of claim 8, wherein, The connection structure includes a first part and a second part connected to each other. The first part has the mounting groove, and the second part has a circumferentially open clearance hole that communicates with the mounting groove. The proximal end of the push rod is used to pass through the clearance hole and enter the mounting groove.

10. The lancing device of claim 7, wherein, The injection mechanism also includes an injection base connected to the mounting bracket. The motor, the transmission structure, and the guide structure are all mounted on the injection base, and the puncture mechanism is mounted on the injection base.

11. The lancing device of claim 1, wherein, It also includes a mounting box disposed on the mounting bracket, and the puncture injection module is disposed in the mounting box.

12. The lancing device of claim 1, wherein, Also included is a shooting device disposed on the mounting bracket, the shooting device being configured to acquire image information of a puncture site on the predetermined object, and / or a control module disposed on the mounting bracket, the control module being in communication connection with the puncture injection module.

13. A surgical robot, characterized by The puncture injection device as claimed in any one of claims 1-12, wherein the puncture injection device is connected to an end of a mechanical arm, and the mechanical arm is configured to drive the puncture injection device to move to a target puncture position on a predetermined object.

14. A surgical robotic system, characterized by, The surgical robot as claimed in claim 13, wherein a navigation system in communication connection is included, and the navigation system is configured to guide movement of the mechanical arm to drive the puncture injection device to move to a target puncture position on a predetermined object.

Images