Piercing robot

Abstract

The present invention discloses a puncture robot, which relates to the technical field of surgical instruments. The puncture robot includes a translation adjustment mechanism, an angle adjustment mechanism and a puncture guide mechanism. The translation adjustment mechanism includes a transverse translation adjustment mechanism and a longitudinal translation adjustment mechanism. The longitudinal translation adjustment mechanism is connected to the output end of the transverse translation adjustment mechanism and is arranged below the transverse translation adjustment mechanism. The angle adjustment mechanism is arranged below the translation adjustment mechanism and connected to the output end of the longitudinal translation adjustment mechanism. The puncture guide mechanism is connected to the output end of the angle adjustment mechanism for puncture operation. The angle adjustment mechanism is arranged below the translation adjustment mechanism with a large adjustment range, and the angle adjustment mechanism is connected to the puncture guide mechanism, so that the angle adjustment fulcrum is closer to the patient's skin puncture point. When adjusting the angle, only a small translation compensation is required to achieve the puncture point to be fixed, and a large range of adjustment of the puncture guide mechanism is achieved. The space utilization rate of the puncture robot is high.

Description

Technical Field

[0001] The present invention relates to the technical field of surgical instruments, and in particular to a puncture robot. Background Art

[0002] Puncture robots are used clinically to perform precise punctures on the patient's affected areas. Puncture robots can effectively solve the problem of puncture positioning.

[0003] The mechanical arm of a conventional puncture robot is large in size and difficult to enter the CT scanning area. Although a miniaturized puncture robot can enter the CT scanning area, its range of motion is limited. When a large-range moving translation adjustment mechanism is set below the angle adjustment mechanism, in order to make the fixed point compensation translation adjustment as small as possible during angle adjustment, the lower connecting rod of the angle adjustment mechanism is often bent, and the vertical distance between the upper and lower universal joints corresponding to the angle adjustment mechanism is large. This has an impact on the longitudinal translation adjustment range in the translation adjustment mechanism, and under the same angle adjustment, the adjustment range of the connecting rod combination is required to be larger, which makes the puncture robot occupy a large space. Summary of the invention

[0004] The purpose of the present invention is to provide a puncture robot which only needs a small translation compensation to keep the puncture point unchanged during angle adjustment, thereby not only realizing a large-range adjustment of the puncture guide mechanism but also improving the space utilization of the puncture robot.

[0005] To achieve this object, the present invention adopts the following technical solutions:

[0006] Piercing robot, including:

[0007] The translation adjustment mechanism comprises a transverse translation adjustment mechanism and a longitudinal translation adjustment mechanism, wherein the longitudinal translation adjustment mechanism is connected to an output end of the transverse translation adjustment mechanism and is arranged below the transverse translation adjustment mechanism;

[0008] An angle adjustment mechanism, disposed below the translation adjustment mechanism and connected to an output end of the longitudinal translation adjustment mechanism;

[0009] The puncture guiding mechanism is connected to the output end of the angle adjusting mechanism and is used for puncture operation.

[0010] As an optional solution for the puncture robot, the angle adjustment mechanism includes a moving part, and the moving part includes two symmetrically arranged connecting rod assemblies, the ends of the two connecting rod assemblies are coaxially arranged and connected to the puncture guide mechanism through a first universal joint.

[0011] As an optional solution for the puncture robot, the puncture robot also includes a mounting plate, and the output end of the longitudinal translation adjustment mechanism is connected to the angle adjustment mechanism through the mounting plate, and a drive assembly and a transmission assembly are arranged on the mounting plate. Two of the drive assemblies and two of the transmission assemblies are arranged, and the two drive assemblies and the two transmission assemblies are connected one by one and are symmetrically arranged on the mounting plate, and each of the transmission assemblies is connected to one of the connecting rod assemblies.

[0012] As an optional solution for the puncture robot, the connecting rod assembly includes a first connecting rod and a second connecting rod, one end of the first connecting rod is connected to the transmission assembly, and the other end is connected to the second connecting rod through a bearing.

[0013] As an optional solution for the puncture robot, the angle adjustment mechanism further includes an angle encoder, and the angle encoder is arranged at the connection between the connecting rod assembly and the transmission assembly.

[0014] As an optional solution for the puncture robot, the angle encoder is a magnetic encoder, which includes a magnet and a sensor circuit. The magnet is integrated at the rotation center of the first connecting rod, and the sensor circuit is fixedly connected to the mounting plate by fixing sheet metal.

[0015] As an optional solution for the puncture robot, the angle adjustment mechanism further includes a fixing portion, which is disposed below the moving portion and connected to the puncture guide mechanism via a second universal joint.

[0016] As an optional solution for the puncture robot, a measuring sensor is provided at the end of the fixing portion, and the measuring sensor is connected to the second universal joint for detecting a puncture signal during the puncture process of the puncture guide mechanism.

[0017] As an optional solution for the puncture robot, the puncture robot also includes a shell, on which a first output window and a second output window are provided, the first output window and the second output window are arranged in parallel in a vertical direction, and both of the second connecting rods pass through the first output window and are connected to the first universal joint; the fixed part includes a third connecting rod, one end of the third connecting rod is connected to the mounting plate, and the other end passes through the second output window and is connected to the second universal joint.

[0018] As an optional solution for the puncture robot, ball assemblies are provided on both upper and lower end surfaces of the first output window and both upper and lower end surfaces of the second output window, and the second connecting rod and the third connecting rod are both in rolling cooperation with the ball assemblies.

[0019] As an optional solution for the puncture robot, the ball assembly includes a ball base and multiple balls. The upper and lower end surfaces of the first output window and the upper and lower end surfaces of the second output window are both provided with ball bases, and the multiple balls are spaced apart in the ball bases.

[0020] As an optional solution for the puncture robot, the width of the second connecting rod and the width of the third connecting rod are both greater than the distance between two adjacent balls.

[0021] As an optional solution for the puncture robot, the lateral translation adjustment mechanism includes a first precision guide rail and a first ball screw, two first precision guide rails are provided, the first ball screw is arranged between the two first precision guide rails, the first precision guide rail is connected to the longitudinal translation adjustment mechanism through a first slider, and the first ball screw drives the longitudinal translation adjustment mechanism to move laterally through a first screw nut.

[0022] As an optional solution for the puncture robot, the distance between the two first precision guide rails is greater than the first set distance.

[0023] As an optional solution for the puncture robot, the longitudinal translation adjustment mechanism includes a second precision guide rail and a second ball screw, two second precision guide rails are provided, the second ball screw is arranged between the two second precision guide rails, the second precision guide rail is connected to the angle adjustment mechanism through a second slider, and the second ball screw drives the angle adjustment mechanism to move longitudinally through a second screw nut.

[0024] As an optional solution for the puncture robot, the distance between the two first precision guide rails is smaller than the second preset distance.

[0025] Beneficial effects of the present invention:

[0026] The puncture robot provided by the present invention can adjust the translation range of the puncture guide mechanism by setting a translation adjustment mechanism, and can adjust the two dimensions of the horizontal and vertical directions. The angle range of the puncture guide mechanism is adjusted by the angle adjustment mechanism, and the puncture action is performed by the puncture guide mechanism, so that accurate positioning and automatic puncture can be achieved. The angle adjustment mechanism is arranged below the translation adjustment mechanism with a large adjustment range, and the angle adjustment mechanism is connected to the puncture guide mechanism, so that the angle adjustment fulcrum is closer to the puncture point of the patient's skin. When adjusting the angle, only a small translation compensation is required to achieve the puncture point not moving, and a large range of adjustment of the puncture guide mechanism can be achieved, and the adjustment range of the longitudinal translation adjustment mechanism is not affected, so that the space utilization rate of the puncture robot is high.

[0027] By setting the moving part of the angle adjustment mechanism as a structure in which two connecting rod assemblies are connected in parallel, the angle adjustment efficiency is high and the structure is stable. The ends of the two connecting rod assemblies are connected by a first universal joint, so that the puncture guide mechanism can be flexibly adjusted. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a structural schematic diagram of a hidden shell of a puncture robot provided in a specific embodiment of the present invention;

[0029] Figure 2 is a structural schematic diagram of a lateral translation adjustment mechanism provided in a specific embodiment of the present invention;

[0030] Figure 3 is a structural schematic diagram of a longitudinal translation adjustment mechanism provided in a specific embodiment of the present invention;

[0031] Figure 4 is a structural schematic diagram of an angle adjustment mechanism provided in a specific embodiment of the present invention;

[0032] Figure 5 The structure of the moving part provided by the specific embodiment of the present invention is shown in FIG. Figure 1 ;

[0033] Figure 6 The structure of the moving part provided by the specific embodiment of the present invention is shown in FIG. Figure 2 ;

[0034] Figure 7 is a schematic structural diagram of a fixing portion provided in a specific embodiment of the present invention;

[0035] Figure 8 It is a structural schematic diagram of a puncture robot with a housing provided in a specific embodiment of the present invention;

[0036] Fig. 9 is a schematic structural diagram of a ball assembly provided in a specific embodiment of the present invention;

[0037] Fig.10 It is a structural schematic diagram of the registration mechanism provided in a specific embodiment of the present invention.

[0038] In the figure:

[0039] 1. Translation adjustment mechanism; 2. Angle adjustment mechanism; 3. Puncture guide mechanism; 4. Registration mechanism; 5. First universal joint; 6. Second universal joint; 7. Shell; 8. Measurement sensor;

[0040] 11. lateral translation adjustment mechanism; 12. longitudinal translation adjustment mechanism; 21. third connecting rod; 22. moving part; 23. mounting plate; 24. third motor; 25. transmission assembly; 26. fixed sheet metal; 27. connecting plate; 41. marker fixing plate; 42. marker; 71. first output window; 72. second output window; 73. ball assembly;

[0041] 111. first support plate; 112. first precision guide rail; 113. first ball screw; 114. first synchronous belt transmission mechanism; 115. first slider; 116. first output plate; 117. first screw nut; 118. first linear displacement sensor; 119. first limit switch; 121. second support plate; 122. second precision guide rail; 123. second ball screw; 124. second synchronous belt transmission mechanism; 125. second slider; 126. second output plate; 127. second screw nut; 128. second linear displacement sensor; 129. second limit switch; 221. first connecting rod; 222. second connecting rod; 251. first bevel gear; 252. second bevel gear; 253. harmonic reducer; 731. ball base; 732. ball. DETAILED DESCRIPTION

[0042] In order to make the technical problem solved by the present invention, the technical solution adopted and the technical effect achieved more clearly, the technical solution of the present invention is further explained below with reference to the accompanying drawings and through specific implementation methods.

[0043] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0044] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0045] In the description of this embodiment, the terms "upper", "lower", "right" and other directions or positional relationships are based on the directions or positional relationships shown in the drawings, and are only for the convenience of description and simplified operation, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operate in a specific direction, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0046] like Figure 1-Figure 4 As shown, this embodiment provides a puncture robot, including a translation adjustment mechanism 1, an angle adjustment mechanism 2 and a puncture guide mechanism 3. The translation adjustment mechanism 1 includes a transverse translation adjustment mechanism 11 and a longitudinal translation adjustment mechanism 12. The longitudinal translation adjustment mechanism 12 is connected to the output end of the transverse translation adjustment mechanism 11 and is arranged below the transverse translation adjustment mechanism 11. The angle adjustment mechanism 2 is arranged below the translation adjustment mechanism 1 and connected to the output end of the longitudinal translation adjustment mechanism 12. The puncture guide mechanism 3 is connected to the output end of the angle adjustment mechanism 2 for puncture operation.

[0047] The puncture guide mechanism 3 includes a servo motor, a transmission mechanism and a puncture needle. The servo motor is connected to the puncture needle through the transmission mechanism, so as to realize the puncture drive of the puncture needle. The puncture needle is a disposable puncture needle and is detachably connected to the transmission mechanism.

[0048] By setting the translation adjustment mechanism 1 to adjust the translation range of the puncture guide mechanism 3, the horizontal and vertical dimensions can be adjusted. By adjusting the angle range of the puncture guide mechanism 3 through the angle adjustment mechanism 2, the puncture guide mechanism 3 performs the puncture action, and accurate positioning and automatic puncture can be achieved.

[0049] The translation adjustment mechanism 1 is arranged above the angle adjustment mechanism 2, and is used to drive the angle adjustment mechanism 2 and the puncture guide mechanism 3 to translate as a whole. Such an arrangement makes the angle adjustment fulcrum of the angle adjustment mechanism 2 relatively close to the skin puncture point of the patient. When the angle adjustment mechanism 2 adjusts the angle, only a small translation compensation is required to keep the puncture point unchanged, and a large range of adjustment of the puncture guide mechanism 3 can be achieved without affecting the adjustment range of the longitudinal translation adjustment mechanism 12, so that the space utilization rate of the puncture robot is high.

[0050] As an optional solution for the puncture robot, the lateral translation adjustment mechanism 11 includes a first support plate 111, a first precision guide rail 112, a first ball screw 113, a first motor, a first synchronous belt transmission mechanism 114, a first slider 115 and a first output plate 116. The first precision guide rail 112, the first ball screw 113, the first motor and the first synchronous belt transmission mechanism 114 are all arranged on the first support plate 111. The first motor is connected to the first ball screw 113 through the first synchronous belt transmission mechanism 114, and is used to drive the first The ball screw 113 rotates, the first ball screw 113 is connected to the first screw nut 117 in transmission, and the first screw nut 117 is connected to the first output plate 116; the first precision guide rails 112 and the first sliders 115 are provided with two, and are connected one to one, and the two first sliders 115 are connected to the first output plate 116, the first ball screw 113 is provided between the two first precision guide rails 112, and is connected to the first output plate 116 through the first screw nut 117, and the first output plate 116 is connected to the longitudinal translation adjustment mechanism 12. The first ball screw 113 drives the longitudinal translation adjustment mechanism 12 to move horizontally through the first screw nut 117.

[0051] The longitudinal translation adjustment mechanism 12 includes a second support plate 121, a second precision guide rail 122, a second ball screw 123, a second motor, a second synchronous belt transmission mechanism 124, a second slider 125 and a second output plate 126. The second support plate 121 is connected to the first output plate 116. The second precision guide rail 122, the second ball screw 123, the second motor and the second synchronous belt transmission mechanism 124 are all arranged on the second support plate 121. The second motor is connected to the second ball screw 123 through the second synchronous belt transmission mechanism 124, and is used to drive the second ball screw 123 to rotate. The ball screw 123 is transmission-connected to the second lead screw nut 127, and the second lead screw nut 127 is connected to the second output plate 126; two second precision guide rails 122 and two second sliders 125 are provided, and are connected one-to-one, and the two second sliders 125 are connected to the second output plate 126, and the second ball screw 123 is arranged between the two second precision guide rails 122, and is connected to the second output plate 126 through the second lead screw nut 127, and the second output plate 126 is connected to the angle adjustment mechanism 2, and the second ball screw 123 drives the angle adjustment mechanism 2 to move longitudinally through the second lead screw nut 127.

[0052] Both the lateral translation adjustment mechanism 11 and the longitudinal translation adjustment mechanism 12 adopt a combination of double guide rails and a ball screw. The ball screw is located between the two guide rails, which can not only eliminate the backlash at the output end of the translation adjustment mechanism 1 and improve the puncture accuracy; at the same time, it can ensure the rigidity of the translation adjustment mechanism 1, thereby ensuring that the load-bearing angle adjustment mechanism 2 and the puncture guide mechanism 3 are more stable and reliable.

[0053] The first motor and the first precision guide rail 112 are non-coaxially arranged, the second motor and the second precision guide rail 122 are non-coaxially arranged, and the motor and the guide rail are connected by a synchronous belt transmission mechanism, which improves the transmission efficiency, reduces the noise during the transmission process, and saves space.

[0054] The first output plate 116 and the second output plate 126 may be fabricated from sheet metal.

[0055] As an optional solution of the puncture robot, the lateral translation adjustment mechanism 11 also includes a first linear displacement sensor 118 and a first limit switch 119. The first linear displacement sensor 118 and the first limit switch 119 are both arranged on the first support plate 111. The first linear displacement sensor 118 is arranged along the length direction of the first precision guide rail 112, and is used to detect the lateral displacement of the puncture guide mechanism 3; the first limit switch 119 is arranged at both ends of the first precision guide rail 112, and the first limit switch 119 is used to limit the position of the first slider 115. The longitudinal translation adjustment mechanism 12 also includes a second linear displacement sensor 128 and a second limit switch 129. The second linear displacement sensor 128 and the second limit switch 129 are both arranged on the second support plate 121. The second linear displacement sensor 128 is arranged along the length direction of the second precision guide rail 122, and is used to detect the longitudinal displacement of the puncture guide mechanism 3; the second limit switch 129 is arranged at both ends of the second precision guide rail 122, and the second limit switch 129 is used to limit the position of the second slider 125.

[0056] In order to ensure the safety of the operation and improve the accuracy of puncture, the first linear displacement sensor 118 is provided to ensure the accuracy of the lateral displacement adjusted by the lateral translation adjustment mechanism 11. The second linear displacement sensor 128 is provided to ensure the accuracy of the longitudinal displacement adjusted by the longitudinal translation adjustment mechanism 12. The first limit switch 119 is used to limit the two extreme positions of the first slider 115, and the second limit switch 129 is used to limit the two extreme positions of the second slider 125.

[0057] The first linear displacement sensor 118 and the second linear displacement sensor 128 can be magnetic scales, grating scales or sliding resistors. The first limit switch 119 and the second limit switch 129 can be mechanical switches or photoelectric limit switches.

[0058] A first encoder is arranged on the driving shaft of the first motor, and the first encoder is used to measure the rotation speed of the first motor. A second encoder is arranged on the driving shaft of the second motor, and the second encoder is used to measure the rotation speed of the second motor.

[0059] During the initial operation of the puncture robot, the absolute positions of the first slider 115 and the second slider 125 are determined through the initialization movement. During the operation, the first linear displacement sensor 118 and the first encoder are calibrated with each other, and the second linear displacement sensor 128 and the second encoder are calibrated with each other to ensure the accuracy of the lateral displacement and longitudinal displacement adjusted by the translation adjustment mechanism 1.

[0060] like Figure 5-Figure 7 As shown, as an optional solution for the puncture robot, the angle adjustment mechanism 2 includes a fixed part and a moving part 22, and the moving part 22 includes two symmetrically arranged connecting rod assemblies, the ends of the two connecting rod assemblies are coaxially arranged, and are connected to the puncture guide mechanism 3 through the first universal joint 5. The moving part 22 is arranged as two parallel connecting rod assemblies, which has high adjustment efficiency and stable structure. The ends of the two connecting rod assemblies are connected through the first universal joint 5, so as to realize flexible adjustment of the puncture guide mechanism 3. The fixed part is arranged below the moving part 22 and is connected to the puncture guide mechanism 3 through the second universal joint 6. When the angle is adjusted, the moving part 22 is adjusted, and the position of one end of the moving part 22 connected to the puncture guide mechanism 3 changes relative to the position of one end of the fixed part connected to the puncture guide mechanism 3, so as to realize the angle adjustment of the puncture guide mechanism 3.

[0061] As an optional solution of the puncture robot, the puncture robot also includes a mounting plate 23, the output end of the longitudinal translation adjustment mechanism 12 is connected to the angle adjustment mechanism 2 through the mounting plate 23, and a driving assembly and a transmission assembly 25 are arranged on the mounting plate 23. Two driving assemblies and two transmission assemblies 25 are provided, and two driving assemblies and two transmission assemblies 25 are connected one by one and symmetrically arranged on the mounting plate 23, and each transmission assembly 25 is connected to a connecting rod assembly. The driving assembly drives the moving part 22 through the transmission assembly 25. The second output plate 126 is connected to the mounting plate 23, and the translation adjustment mechanism 1 drives the angle adjustment mechanism 2 and the puncture guide mechanism 3 to translate through the mounting plate 23.

[0062] The driving assembly includes a third motor 24, and the transmission assembly 25 includes a first bevel gear 251, a second bevel gear 252, and a harmonic reducer 253. The output shaft of the third motor 24 is connected to the first bevel gear 251, and the first bevel gear 251 and the second bevel gear 252 are meshed and transmitted, and the axis of the first bevel gear 251 is perpendicular to the axis of the second bevel gear 252. The third motor 24, the first bevel gear 251, and the second bevel gear 252 are all connected to the bottom of the mounting plate 23. A connecting plate 27 is also provided below the mounting plate 23. The two third motors 24 are fixed on the connecting plate 27. The output shaft of the third motor 24 passes through the connecting plate 27 and is connected to the first bevel gear 251. The second bevel gear 252 passes through the mounting plate 23 and is connected to the input shaft of the harmonic reducer 253 located above the mounting plate 23. The output shaft of the harmonic reducer 253 is connected to the moving part 22 for driving the moving part 22 to adjust the angle. The output power of the third motor 24 is turned 90 degrees by the first bevel gear 251 and the second bevel gear 252, making the arrangement more compact and saving space. The backlash effect can be effectively eliminated by the harmonic reducer 253, and the large reduction ratio can increase the reverse driving force to prevent the puncture guide mechanism 3 connected to the angle adjustment mechanism 2 from being deformed by force.

[0063] Specifically, the connecting rod assembly includes a first connecting rod 221 and a second connecting rod 222, one end of the first connecting rod 221 is connected to the transmission assembly 25, and the other end is connected to the second connecting rod 222 through a bearing. In this embodiment, one end of the first connecting rod 221 is connected to the output shaft of the harmonic reducer 253 above the mounting plate 23, and the other end is connected to the second connecting rod 222 on one side of the mounting plate 23 through a bearing, and the bearing is a precision bearing.

[0064] The ends of the two second connecting rods 222 are connected to the first universal joint 5 through a connecting shaft, and the first universal joint 5 is connected to the puncture guide mechanism 3 to ensure the flexibility of angle adjustment.

[0065] As an optional solution of the puncture robot, the angle adjustment mechanism 2 also includes an angle encoder, which is arranged at the connection between the connecting rod assembly and the transmission assembly 25. An embedded absolute angle encoder is integrated at the connection between the first connecting rod 221 and the harmonic reducer 253, and the embedded absolute angle sensor is arranged at the rotation center of the first connecting rod 221, so as to realize the accurate measurement of the absolute angle.

[0066] Optionally, the angle encoder is a magnetic encoder, which includes a magnet and a sensor circuit. The magnet is integrated at the rotation center of the first connecting rod 221. The sensor circuit is fixed to the mounting plate 23 by a fixed sheet metal 26, so that the distance between the sensor chip on the sensor circuit and the magnet is fixed, thereby achieving accurate measurement of the absolute angle.

[0067] As an optional solution of the puncture robot, a measuring sensor 8 is provided at the end of the fixing portion, and the measuring sensor 8 is connected to the second universal joint 6 for detecting a puncture signal during the puncture process of the puncture guide mechanism 3 .

[0068] The fixing portion includes a third connecting rod 21 , one end of which is connected to the mounting plate 23 , and the other end of which is connected to the second universal joint 6 , and the second universal joint 6 is connected to the puncture guide mechanism 3 .

[0069] In this embodiment, the measuring sensor 8 is a pressure sensor, which is disposed between the third connecting rod 21 and the second universal joint 6 and is used to measure the puncture force of the puncture guide mechanism 3 during the puncture process.

[0070] like Figure 8 As shown, as an optional solution for the puncture robot, the puncture robot also includes a shell 7, on which a first output window 71 and a second output window 72 are provided. The first output window 71 and the second output window 72 are arranged in parallel in the vertical direction, and the two second connecting rods 222 both pass through the first output window 71 and are connected to the first universal joint 5; the third connecting rod 21 passes through the second output window 72 and is connected to the second universal joint 6.

[0071] In this embodiment, the translation adjustment mechanism 1 is arranged in the shell 7, and the first output window 71 and the second output window 72 are both arranged on the side wall of the shell 7 close to the puncture guide mechanism 3. The second connecting rod 222 and the third connecting rod 21 are supported by the shell 7, which can effectively improve the rigidity of the angle adjustment mechanism 2.

[0072] As an optional solution of the puncture robot, the distance between the two first precision guide rails 112 is greater than the first preset distance. The distance between the two first precision guide rails 112 is increased as much as possible to improve the rigidity of the translation adjustment mechanism 1.

[0073] As an optional solution of the puncture robot, the spacing between the two second precision guide rails 122 is smaller than the second preset spacing. The spacing between the two second precision guide rails 122 is controlled within a reasonable range to take into account the rigidity and adjustment range of the translation adjustment mechanism 1.

[0074] like Figure 8 As shown, in this embodiment, the length direction of the shell 7 is perpendicular to the lateral displacement of the puncture guide mechanism 3. Taking the length L of the shell 7 as a reference, the first preset spacing is 2L / 3.

[0075] The width direction of the housing 7 is perpendicular to the longitudinal displacement of the puncture guide mechanism 3. Taking the width W of the housing 7 as a reference, the second preset spacing is W / 3.

[0076] like Figure 8 and Fig. 9As shown, as an optional solution for the puncture robot, the upper and lower end surfaces of the first output window 71 and the upper and lower end surfaces of the second output window 72 are both provided with ball assemblies 73, and the second connecting rod 222 and the third connecting rod 21 are both rollingly matched with the ball assemblies 73. Specifically, the ball assembly 73 includes a ball base 731 and a plurality of balls 732, and the upper and lower end surfaces of the first output window 71 and the upper and lower end surfaces of the second output window 72 are both provided with ball bases 731, and a plurality of balls 732 are spaced apart in the ball bases 731. When the angle adjustment mechanism 2 adjusts the angle, the second connecting rod 222 is rollingly connected to the first output window 71, and the third connecting rod 21 is rollingly connected to the second output window 72, which effectively improves the rigidity of the second connecting rod 222 and the third connecting rod 21.

[0077] As an optional solution for the puncture robot, the width of the second connecting rod 222 and the width of the third connecting rod 21 are both greater than the distance between two adjacent balls 732. Such a setting can ensure that the second connecting rod 222 and the third connecting rod 21 can always contact with at least one ball 732, thereby achieving the purpose of improving rigidity.

[0078] The puncture robot provided in this embodiment is used for microwave ablation surgery during tumor puncture biopsy and liver tumor treatment. During tumor puncture biopsy, the puncture robot uses a puncture needle to perform precise puncture on the patient. During puncture, the puncture robot performs puncture under the guidance of ultrasound, nuclear magnetic resonance or CT images. In microwave ablation surgery, the puncture robot uses an ablation needle to perform precise puncture on the patient. For larger tumors, it is often necessary to perform microwave ablation surgery synchronously after multiple ablation needles are punctured in place. The puncture robot provided in this embodiment meets the requirements of lightweight and miniaturized settings, and can maximize the adjustment range in a limited space. It can be used in application scenarios where multiple puncture needles are punctured at the same time.

[0079] The puncture robot performs puncture under the guidance of ultrasound, MRI or CT images, which can prevent medical staff from being exposed to radiation.

[0080] like Fig.10As shown, in order to establish the coordinate relationship between the puncture robot and the CT image, as an optional solution for the puncture robot, a registration mechanism 4 is provided on the housing 7, and the registration mechanism 4 includes a marker fixing plate 41 and a marker 42. The marker fixing plates 41 are provided on both sides of the length direction of the first output window 71 and the second output window 72, and the marker fixing plates 41 extend from the housing 7 toward the direction close to the puncture guide mechanism 3, and the marker 42 is provided on the marker fixing plate 41. The marker fixing plates 41 are provided on both sides of the length direction of the first output window 71 and the second output window 72 to ensure that the registration mechanism 4 covers the active area of ​​the puncture guide mechanism 3, and the marker 42 can identify the information related to the CT image to ensure the registration between the puncture robot and the CT image.

[0081] The specific method and working principle for identifying the information related to the marker 42 and the CT image are already in the prior art and will not be described in detail here.

[0082] The marker fixing plate 41 is made of a low-density material, such as carbon fiber. The marker 42 is in the shape of a conventional registration marker, and optionally, the marker 42 is a Z-shaped metal wire. In order to ensure that the marker 42 does not produce obvious metal artifacts in CT imaging, a low-density metal material such as aluminum wire is generally selected, and the diameter of the aluminum wire is generally between 0.5 mm and 1 mm.

[0083] The above contents are only preferred embodiments of the present invention. For ordinary technicians in this field, according to the concept of the present invention, there will be changes in the specific implementation methods and application scopes. The content of this specification should not be understood as limiting the present invention.

Claims

1. A puncture robot, It is characterized in that include: A translation adjustment mechanism (1) comprises a transverse translation adjustment mechanism (11) and a longitudinal translation adjustment mechanism (12), wherein the longitudinal translation adjustment mechanism (12) is connected to an output end of the transverse translation adjustment mechanism (11) and is arranged below the transverse translation adjustment mechanism (11); An angle adjustment mechanism (2) is arranged below the translation adjustment mechanism (1) and is connected to an output end of the longitudinal translation adjustment mechanism (12); A puncture guide mechanism (3) connected to the output end of the angle adjustment mechanism (2) and used for puncture operation; The angle adjustment mechanism (2) comprises a moving part (22), and the moving part (22) comprises two symmetrically arranged connecting rod assemblies, the ends of the two connecting rod assemblies are coaxially arranged and connected to the puncture guide mechanism (3) via a first universal joint (5); The puncture robot also includes a mounting plate (23), the output end of the longitudinal translation adjustment mechanism (12) is connected to the angle adjustment mechanism (2) through the mounting plate (23), a drive assembly and a transmission assembly (25) are arranged on the mounting plate (23), two of the drive assemblies and two of the transmission assemblies (25) are arranged, the two drive assemblies and the two transmission assemblies (25) are connected one by one and are symmetrically arranged on the mounting plate (23), and each of the transmission assemblies (25) is connected to one of the connecting rod assemblies; The connecting rod assembly comprises a first connecting rod (221) and a second connecting rod (222); one end of the first connecting rod (221) is connected to the transmission assembly (25), and the other end is connected to the second connecting rod (222) via a bearing.

2. The puncture robot according to claim 1, It is characterized in that The angle adjustment mechanism (2) further comprises an angle encoder, which is arranged at the connection between the connecting rod assembly and the transmission assembly (25).

3. The puncture robot according to claim 2, It is characterized in that The angle encoder is a magnetic encoder, which comprises a magnet and a sensor circuit. The magnet is integrated at the rotation center of the first connecting rod (221), and the sensor circuit is fixedly connected to the mounting plate (23) via a fixed sheet metal (26).

4. The puncture robot according to claim 1, It is characterized in that The angle adjustment mechanism (2) further comprises a fixing portion, which is arranged below the moving portion (22) and is connected to the puncture guide mechanism (3) via a second universal joint (6).

5. The puncture robot according to claim 4, It is characterized in that A measuring sensor (8) is provided at the end of the fixing portion. The measuring sensor (8) is connected to the second universal joint (6) and is used to detect a puncture signal during the puncture process of the puncture guide mechanism (3).

6. The puncture robot according to claim 4, It is characterized in that The puncture robot also includes a shell (7), on which a first output window (71) and a second output window (72) are provided, the first output window (71) and the second output window (72) are arranged in parallel in a vertical direction, and both of the two second connecting rods (222) pass through the first output window (71) to be connected to the first universal joint (5); the fixed part includes a third connecting rod (21), one end of the third connecting rod (21) is connected to the mounting plate (23), and the other end passes through the second output window (72) to be connected to the second universal joint (6).

7. The puncture robot according to claim 6, It is characterized in that The upper and lower end surfaces of the first output window (71) and the upper and lower end surfaces of the second output window (72) are both provided with ball assemblies (73), and the second connecting rod (222) and the third connecting rod (21) are both in rolling cooperation with the ball assemblies (73).

8. The puncture robot according to claim 7, It is characterized in that The ball assembly (73) comprises a ball base (731) and a plurality of balls (732); the upper and lower end surfaces of the first output window (71) and the upper and lower end surfaces of the second output window (72) are both provided with a ball base (731); and the plurality of balls (732) are arranged at intervals in the ball base (731).

9. The puncture robot according to claim 8, It is characterized in that The width of the second connecting rod (222) and the width of the third connecting rod (21) are both greater than the distance between two adjacent balls (732).

10. The puncture robot according to any one of claims 1 to 9, It is characterized in that The lateral translation adjustment mechanism (11) comprises a first precision guide rail (112) and a first ball screw (113); two first precision guide rails (112) are provided; the first ball screw (113) is provided between the two first precision guide rails (112); the first precision guide rail (112) is connected to the longitudinal translation adjustment mechanism (12) via a first slider (115); the first ball screw (113) drives the longitudinal translation adjustment mechanism (12) to move laterally via a first screw nut (117).

11. The puncture robot according to claim 10, It is characterized in that The distance between the two first precision guide rails (112) is greater than a first set distance.

12. The puncture robot according to any one of claims 1 to 9, It is characterized in that The longitudinal translation adjustment mechanism (12) comprises a second precision guide rail (122) and a second ball screw (123); two second precision guide rails (122) are provided; the second ball screw (123) is provided between the two second precision guide rails (122); the second precision guide rail (122) is connected to the angle adjustment mechanism (2) via a second slider (125); and the second ball screw (123) drives the angle adjustment mechanism (2) to move longitudinally via a second screw nut (127).

13. The puncture robot according to claim 12, It is characterized in that The distance between the two second precision guide rails (122) is smaller than the second preset distance.

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