Piercing device and piercing system

Abstract

This invention discloses a puncture device and puncture system, including a puncture needle mechanism, a linearly movable moving mechanism, and a clamping mechanism for supporting the puncture needle mechanism. The moving mechanism includes a base, a sliding component, and a puncture driving component. The sliding component is slidably disposed on the base. The puncture driving component includes a shielding box for shielding external radiation and a puncture driving member. The shielding box is connected to the base, and the puncture driving member is built into the shielding box and connected to the sliding component, used to drive the sliding component to move linearly relative to the base. The clamping mechanism includes a first clamping component and a clamping driving component. The first clamping component is disposed on the sliding component, and the clamping driving component is built into the shielding box and connected to the first clamping component, used to drive the first clamping component to clamp or release the puncture needle mechanism. This invention eliminates the need for manual operation of the puncture needle for puncture.

Description

[0001] This application is a divisional application of the invention entitled "A puncture device and a puncture system", filed on May 24, 2021, with application number 202110566014.X. Technical Field

[0002] This invention relates to the field of puncture technology, and more particularly to a puncture device and puncture system. Background Technology

[0003] In traditional interventional surgery, the operator directly controls the puncture needle by hand to insert it into the body. Because the puncture is performed manually, it is impossible to obtain imaging assistance in time. Only after the puncture can CT imaging or other means be used to confirm whether the puncture was in place. This process may be repeated, thus limiting its accuracy and smoothness. Since medical staff are present at the puncture site, it is impossible to set up an imaging device with a certain amount of radiation to image the puncture site and lesion location in real time. Existing puncture devices do not have the capability to perform puncture surgery remotely, making it impossible to perform puncture surgery remotely with the assistance of imaging devices. Summary of the Invention

[0004] In view of this, it is necessary to provide a puncture device to solve the technical problem in the prior art that the inability to obtain timely image assistance is caused by the manual operation of the puncture device.

[0005] To achieve the above-mentioned technical objectives, the present invention provides a puncture device, comprising:

[0006] Puncture needle mechanism;

[0007] A linearly movable mechanism includes a base, a sliding assembly, and a puncture drive assembly. The sliding assembly is slidably disposed on the base. The puncture drive assembly includes a shielding box for shielding external radiation and a puncture drive component. The shielding box is connected to the base, and the puncture drive component is built into the shielding box and connected to the sliding assembly, for driving the sliding assembly to move linearly relative to the base.

[0008] A clamping mechanism that can support the puncture needle mechanism includes a first clamping component and a clamping drive component. The first clamping component is disposed on the sliding component, and the clamping drive component is built into the shielding box and connected to the first clamping component, for driving the first clamping component to clamp or release the puncture needle mechanism.

[0009] In one embodiment, the clamping mechanism further includes a drive shaft, which is disposed along the sliding direction of the sliding component and rotatably connected to the base and the first clamping component. The clamping drive component is connected to the drive shaft and is used to drive the drive shaft to rotate along its own axis. The rotatable drive shaft can drive the first clamping component to clamp or release the puncture needle mechanism.

[0010] In one embodiment, the first clamping assembly includes two first clamping claws and two first elastic members. The two first clamping claws are symmetrically distributed along the axis of the drive shaft and are respectively hinged to the sliding assembly. The first clamping assembly also includes two first elastic members. One end of each of the two first elastic members is connected to the two first clamping claws, and the other end is connected to the sliding assembly. The first elastic members are used to provide the two first clamping claws with an elastic force to release the puncture needle mechanism.

[0011] In one embodiment, the first clamping assembly further includes a first cam, which is slidably sleeved on the drive shaft along the axial direction of the drive shaft and rotatably disposed between the two first clamping jaws, such that the rotating first cam drives the two first clamping jaws to open or close.

[0012] In one embodiment, the puncture needle mechanism includes a puncture needle and a sleeve fitted onto the puncture needle. The sleeve is provided with a clamping and positioning structure, and the first clamping component clamps the puncture needle mechanism through the clamping and positioning structure of the sleeve.

[0013] In one embodiment, the clamping and positioning structure is an annular groove opened circumferentially on the outer wall of the sleeve. The sleeve includes a first block and a second block disposed opposite to each other, and a first block and the second block are respectively disposed on both sides of the puncture needle and have mounting grooves opened opposite to the puncture needle. The first block and the second block are sleeved on the puncture needle through the mounting grooves.

[0014] In one embodiment, the puncture needle mechanism further includes a guide portion slidably connected to the puncture needle, and the clamping mechanism further includes a second clamping assembly connected to the base. The clamping drive assembly can also drive the second clamping assembly to clamp or release the guide portion via the drive shaft.

[0015] In one embodiment, the puncture drive assembly further includes a first transmission rope connected to the sliding assembly, the puncture drive member connected to the first transmission rope, and the puncture drive member driving the sliding assembly to move linearly relative to the base via the first transmission rope.

[0016] In one embodiment, the clamping drive assembly includes a second transmission rope and a clamping drive member. The second transmission rope is connected to the drive shaft, and the clamping drive member is built into the shielding box and connected to the second transmission rope. The drive shaft is driven to rotate along its own axis by the second transmission rope.

[0017] The present invention also provides a puncture system, including an imaging device, a robotic arm, and the aforementioned puncture device. The imaging device is used to acquire the location of the lesion in the patient. The robotic arm is connected to the puncture device and is used to drive the puncture device to a designated location. The puncture device is used to drive the puncture needle to puncture the lesion location and / or release the puncture needle so that the puncture needle disengages from the robotic arm.

[0018] Compared with the prior art, the beneficial effects of the present invention include: the present invention can control the puncture needle to perform puncture through a moving mechanism, and can clamp or release the puncture needle mechanism through a clamping mechanism, eliminating the need for manual operation of the puncture needle. The clamping and moving mechanisms can be remotely controlled, so that the operator does not need to be present at the puncture site. An imaging device with radiation can be set up at the puncture site when there is no operator. The operator can stay outside the imaging room and conveniently obtain image support when performing puncture, which can improve the accuracy and workflow of interventional surgery. The clamping mechanism can be remotely controlled to release the clamping state, so that the puncture needle mechanism can be released from the clamping mechanism, thereby allowing the puncture device to leave the surgical area, facilitating subsequent surgical procedures. The puncture surgery can be performed remotely. By setting up a shielding box, the puncture driving component and the clamping driving component are covered, preventing scattered X-rays from damaging delicate driving circuits and other components in the external radiation environment. It can also prevent high-density metal components from forming artifacts in the imaging, and prevent the puncture driving component and the clamping driving component from interfering with the medical staff's recognition and reading of the image. Attached Figure Description

[0019] Figure 1 This is an exploded view of the puncture device described in this invention;

[0020] Figure 2 yes Figure 1 A magnified view of a portion of point E in the middle;

[0021] Figure 3 This is a schematic diagram of the puncture device described in this invention;

[0022] Figure 4 It is along Figure 3 A sectional view of the F-F line in the middle;

[0023] Figure 5 It is along Figure 3 A cross-sectional view of the G-G line;

[0024] Figure 6 This is a perspective view of the puncture device described in this invention after concealing the base and support;

[0025] Figure 7 yes Figure 6 A magnified view of a portion of point H in the middle;

[0026] Figure 8 yes Figure 6 A magnified view of a portion of point I in the middle;

[0027] Figure 9 This is a perspective view of the puncture device described in this invention with its base and support hidden from another angle.

[0028] Figure 10 yes Figure 9 A magnified view of a portion of point J in the middle;

[0029] Figure 11 yes Figure 9 A magnified view of a portion of point K;

[0030] Figure 12 This is a schematic diagram of the structure of the puncture device described in the invention after concealing the base and support.

[0031] Explanation of reference numerals in the attached figures:

[0032] Puncture needle mechanism 1;

[0033] 11 puncture needles;

[0034] Sleeve 12;

[0035] First block 121;

[0036] Second block 122;

[0037] Card cancellation 123;

[0038] Clamping and positioning structure 124;

[0039] Mounting slot 125;

[0040] Guiding section 13;

[0041] Mobile mechanism 2;

[0042] Base 21;

[0043] Sliding component 22;

[0044] Slider 221;

[0045] Guide shaft 222;

[0046] Puncture drive component 23;

[0047] First transmission rope 23a;

[0048] First rope body a1;

[0049] Second rope body a2;

[0050] Puncture drive component 23b;

[0051] First motor b1;

[0052] First winding tube b2;

[0053] First pulley b3;

[0054] Second pulley b4;

[0055] Third pulley b5;

[0056] Fourth pulley b6;

[0057] Fifth pulley b7;

[0058] First rotating shaft b8;

[0059] First gear b9;

[0060] Second gear b10;

[0061] Shielding box 23c;

[0062] 23d bracket;

[0063] Clamping mechanism 3;

[0064] First clamping component 31;

[0065] First gripper 311;

[0066] First cam 312;

[0067] First elastic element 313;

[0068] First connecting rope 314;

[0069] Clamping drive component 32;

[0070] Second transmission rope 321;

[0071] Clamping drive component 322;

[0072] Second motor 3221;

[0073] Second winding cylinder 3222;

[0074] Driven wheel 3223;

[0075] Second shaft 3224;

[0076] Third gear 3225;

[0077] Fourth gear 3226;

[0078] Drive shaft 33;

[0079] Second clamping component 34;

[0080] Fixture 341;

[0081] Second gripper 342;

[0082] Second elastic element 343;

[0083] Second connecting rope 344;

[0084] Second cam 345. Detailed Implementation

[0085] Preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which form part of this application and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not intended to limit the scope of the present invention.

[0086] This invention provides a puncture device, such as Figure 1 As shown, it includes a puncture needle mechanism 1, a linearly movable moving mechanism 2, and a clamping mechanism 3 that can support the puncture needle mechanism 1. The puncture needle mechanism 1 includes a puncture needle 11 and a sleeve 12 sleeved on the puncture needle 11.

[0087] Among them, the puncture needle 11 can be a biopsy puncture needle, an injection puncture needle, a drainage puncture needle, etc. By accurately inserting the puncture needle 11 into the lesion location of the patient, the surgery can be performed. It can be used for sampling, injection, implantation, and fluid aspiration of tissues of various organs such as the kidney, liver, lung, breast, thyroid, prostate, pancreas, testis, uterus, ovary, body surface, and abdomen.

[0088] In this embodiment, a clamping and positioning structure 124 is provided on the sleeve 12.

[0089] The clamping and positioning structure 124 has an annular groove on the outer wall of the sleeve 12 along the circumference of the sleeve 12.

[0090] One side of the annular groove has a V-shaped cross-section, which makes it easier to clamp.

[0091] like Figure 2As shown, the sleeve 12 includes a first block 121 and a second block 122 disposed opposite to each other, and a locking pin 123 disposed between the first block 121 and the second block 122. The first block 121 and the second block 122 are respectively disposed on both sides of the puncture needle 11 and have mounting grooves 125 opposite to the puncture needle 11. The first block 121 and the second block 122 are sleeved on the puncture needle 11 through the mounting grooves 125. A pin hole is opened on one side of the first block 121 opposite to the second block 122. One end of the locking pin 123 is connected to the second block 122 and the other end is inserted into the pin hole.

[0092] By using the first block 121, the second block 122, and the locking pin 123, the first block 121 and the second block 122 can be fitted onto the puncture needle 11 and connected to each other by the locking pin 123. The locking pin 123 can be indirectly clamped by the clamping sleeve 12, and the first block 121 and the second block 122 can be removed from the puncture needle 11 as needed.

[0093] In this embodiment, the puncture needle mechanism 1 further includes a guide portion 13, which is slidably connected to the puncture needle 11.

[0094] The guide part 13 has a through hole relative to the puncture needle 11, and the guide part 13 can be slidably sleeved on the puncture needle 11 through the through hole.

[0095] By providing the guide part 13, the sliding of the puncture needle 11 can be guided, preventing the tip of the puncture needle 11 from shaking.

[0096] In this embodiment, the moving mechanism 2 includes a base 21, a sliding component 22, and a puncture driving component 23. The sliding component 22 is slidably disposed on the base 21. The puncture driving component 23 is disposed on the base 21 and connected to the sliding component 22, and is used to drive the sliding component 22 to move linearly relative to the base 21. The clamping mechanism 3 is disposed on the sliding component 22.

[0097] The base 21 serves as a support device, used to support the puncture drive assembly 23, the sliding assembly 22, etc.

[0098] The sliding component 22 includes a slider 221, which is slidably disposed on the base 21, and the clamping mechanism 3 is disposed on the slider 221.

[0099] The clamping mechanism 3 is set on the slider 221 and the slider 221 is slidably connected to the base 21. The slider 221 drives the clamping mechanism 3 to move, thereby realizing that the clamping mechanism 3 drives the clamped puncture needle 11 to move.

[0100] The sliding component 22 also includes a guide shaft 222, which is arranged along the length of the base 21 and rotatably connected to the base 21 around its own axis. The slider 221 has a first through hole along its sliding direction, and the slider 221 is slidably sleeved on the guide shaft 222 through the first through hole.

[0101] The puncture drive assembly 23 is connected to the slider 221 and is used to drive the slider 221 to move linearly relative to the base 21.

[0102] The puncture drive assembly 23 can be a cylinder, hydraulic cylinder, electric push rod, linear drive chain, transmission belt, etc. The puncture drive assembly 23 can be any mechanism that can drive the slider 221 to move linearly.

[0103] In this embodiment, the puncture drive assembly 23 includes a first transmission rope 23a and a puncture drive member 23b. The first transmission rope 23a is connected to the sliding assembly 22, and the puncture drive member 23b drives the sliding assembly 22 to move linearly relative to the base 21 through the first transmission rope 23a.

[0104] like Figure 11 and Figure 12 As shown, in this embodiment, the puncture drive component 23b includes a first motor b1, a first rope winding drum b2, a first pulley b3, a second pulley b4, a third pulley b5, a fourth pulley b6, and a fifth pulley b7. The first motor b1 is fixed to the base 21. The first rope winding drum b2 is rotatably connected to the output shaft of the first motor b1 around its axis. The first pulley b3 and the second pulley b4 are disposed at one end of the base 21 and respectively disposed on both sides of the guide shaft 222. The first pulley b3 and the second pulley b4 are rotatably connected to the base 21 around their own axes. The third pulley b5 is disposed at the other end of the base 21 and disposed below the slider 221. The third pulley b5 is rotatably connected to the base 21 around its own axis. The fourth pulley b6 and the fifth pulley b7 are disposed at one end of the base 21 and are rotatably connected to the base 21. The rotation axis of the fourth pulley b6 is perpendicular to the rotation axis of the first pulley b3, and the rotation axis of the fifth pulley b7 is perpendicular to the rotation axis of the second pulley b4.

[0105] The first transmission rope 23a includes a first rope body a1 and a second rope body a2. One end of the first rope body a1 is wound around a first rope drum b2, and the other end is connected to the slider 221 after passing through a first pulley b3 and a fourth pulley b6. One end of the second rope body a2 is wound around the first rope drum b2, and the winding direction of one end of the second rope body a2 is opposite to the winding direction of one end of the first rope body a1. The other end of the second rope body a2 passes through a fifth pulley b7 and a second pulley b4, and then passes around a third pulley b5 on the side away from the slider 221 until it is connected to the slider 221.

[0106] By setting up a first rope a1 and a second rope a2, and connecting the first rope a1 and the second rope a2 to the slider 221 via the first pulley b3, the second pulley b4, the third pulley b5, the fourth pulley b6, and the fifth pulley b7 respectively, when the first rope drum b2 rotates clockwise, the first rope a1 is continuously wound around the first rope drum b2, and the second rope a2 wound around the first rope drum b2 loosens. The first rope a1 drives the slider 221 to slide upward. At this time, the slider 221 stretches the second rope a2 that passes around the third pulley b5, so that the second rope a2 is always taut. When the first rope drum b2 rotates counterclockwise, the second rope a2 is continuously wound around the first rope drum b2. The first rope a1 wound around the first rope drum b2 is unwound, and the second rope a2 passing over the third pulley b5 drives the slider 221 to slide downward. As the first rope drum b2 continuously winds the second rope a2 around the first rope drum b2, it keeps the first rope a1 taut, thus keeping the second rope a2 constantly taut. By setting the first transmission rope 23a and the piercing drive 23b, the slider 221 can move up and down under the guidance of the guide shaft 222 under the action of the first transmission rope 23a.

[0107] like Figure 9 and Figure 10 As shown, the puncture drive 23b also includes a first rotating shaft b8, a first gear b9, and a second gear b10. The first rotating shaft b8 is rotatably connected to the base 21 around its own axis. The first rope winding cylinder b2 is fixedly sleeved on the first rotating shaft b8. The first gear b9 is fixedly sleeved on the first rotating shaft b8. The second gear b10 is fixedly sleeved on the output shaft of the first motor b1 and meshes with the first gear b9.

[0108] like Figure 3 As shown, in this embodiment, the puncture drive assembly 23 further includes a shielding box 23c, which is connected to the base 21 and is used to shield external radiation. The puncture drive component 23b is built into the shielding box 23c and connected to the first transmission rope 23a.

[0109] By setting up a shielding box 23c, the puncture drive component 23b is covered, preventing scattered X-rays from damaging the precision drive circuit and the first motor b1 and other components in the external radiation environment. It also prevents high-density metal components from forming artifacts in the imaging process and prevents the first motor b1 from interfering with the medical staff's recognition and reading of the image.

[0110] The puncture drive assembly 23 also includes a bracket 23d, which is connected to the base 21. The shielding box 23c is connected to the base 21 via the bracket 23d. The housing of the first motor b1 is connected to the bracket 23d. The first rotating shaft b8 is rotatably connected to the bracket 23d around its own axis. The first rotating shaft b8 is rotatably connected to the base 21 via the bracket 23d.

[0111] The first motor b1 and the shielding box 23c can be fixed by setting the bracket 23d.

[0112] The first motor b1 can be a servo motor containing an encoder and a gearbox, which drives the first rope drum b2 to rotate clockwise or counterclockwise through the output shaft of the servo motor.

[0113] By using ropes and pulleys for transmission, when this invention is combined with image monitoring, the rope transmission mechanism produces fewer artifacts in the imaging process, avoiding artifact interference with medical users' identification and reading of images. It can achieve a high degree of integration with imaging equipment, enabling intraorific puncture and real-time image monitoring, and improving the accuracy and smoothness of puncture surgery.

[0114] The clamping mechanism 3 is mounted on the moving mechanism 2 and can clamp or release the puncture needle mechanism 1.

[0115] The clamping mechanism 3 can be any device that can clamp or release the puncture needle mechanism 1. In this embodiment, the clamping mechanism 3 includes a first clamping component 31 and a clamping drive component 32. The first clamping component 31 is disposed on the sliding component 22, and the clamping drive component 32 is disposed on the base 21 and connected to the first clamping component 31, for driving the first clamping component 31 to clamp or release the puncture needle mechanism 1.

[0116] In this embodiment, the clamping mechanism 3 further includes a drive shaft 33. The drive shaft 33 is arranged along the sliding direction of the sliding component 22 and is rotatably connected to the base 21 and the first clamping component 31. The clamping drive component 32 is connected to the drive shaft 33 and is used to drive the shaft 33 to rotate along its own axis. The rotatable drive shaft 33 can drive the first clamping component 31 to clamp or release the puncture needle mechanism 1.

[0117] The drive shaft 33 can slide along the slider 221 or slide relative to the slider 221. In this embodiment, the slider 221 has a second through hole along the sliding direction. The two ends of the drive shaft 33 are rotatably connected to the base 21 through bearings. The drive shaft 33 can slide through the slider 221 through the second through hole and can rotate relative to the slider 221.

[0118] The first clamping component 31 clamps the puncture needle mechanism 1 through the clamping and positioning structure 124 of the sleeve 12.

[0119] like Figure 6 and Figure 7 As shown, in this embodiment, the first clamping component 31 includes two first clamping claws 311, which are symmetrically distributed along the axis of the drive shaft 33 and respectively hinged to the sliding component 22.

[0120] like Figure 4As shown, the first clamping assembly 31 further includes a first cam 312, which is slidably sleeved on the drive shaft 33 along the axial direction of the drive shaft 33 and rotatably disposed between the two first clamping jaws 311.

[0121] The drive shaft 33 has beveled edges on both sides, and the first cam 312 is fitted onto the drive shaft 33.

[0122] By cutting edges on both sides of the drive shaft 33 and fitting the first cam 312 onto the drive shaft 33, the first cam 312 cannot rotate relative to the drive shaft 33. When the drive shaft 33 rotates, it will drive the first cam 312 to rotate, thus preventing the first cam 312 from slipping relative to the drive shaft 33.

[0123] When the two first clamping jaws 311 need to clamp the sleeve 12, the drive shaft 33 is driven to rotate. The drive shaft 33 drives the first cam 312 to rotate. During the rotation of the first cam 312, the first cam 312 drives the two first clamping jaws 311 to rotate around their own rotation axis, so that the two first clamping jaws 311 close or open. When the two first clamping jaws 311 close, the sleeve 12 is clamped by the two closed first clamping jaws 311. When the two first clamping jaws 311 open, the two first clamping jaws 311 release the sleeve 12.

[0124] In this embodiment, the first clamping assembly 31 further includes two first elastic members 313. One end of each of the two first elastic members 313 is connected to the two first clamping claws 311, and the other end is connected to the sliding assembly 22. The first elastic members 313 are used to provide the two first clamping claws 311 with the elastic force to release the puncture needle mechanism 1.

[0125] The first elastic element 313 can be a spring, elastic rubber, elastic rope, etc. In this embodiment, the first elastic element 313 is a spring, one end of the first elastic element 313 is connected to the first clamping claw 311, and the other end is connected to the slider 221.

[0126] The first clamping assembly 31 further includes two first connecting ropes 314, which are arranged in a one-to-one correspondence with the first elastic element 313. One end of the first elastic element 313 is connected to the first clamping claw 311 via the first connecting rope 314, and the two first connecting ropes 314 are arranged in a cross manner.

[0127] By setting the first elastic element 313 and the first connecting rope 314, when the first cam 312 drives the two first clamping claws 311 to open, the two first clamping claws 311 stretch the first elastic element 313 through the corresponding first connecting rope 314. When the first cam 312 rotates to a distance less than the distance between the two first clamping claws 311, the two first clamping claws 311 reset under the action of the elastic restoring force of the first elastic element 313, so that the two first clamping claws 311 release the sleeve 12.

[0128] In this embodiment, the clamping mechanism 3 further includes a second clamping component 34, which is connected to the base 21. The clamping drive component 32 can also drive the second clamping component 34 to clamp or release the guide portion 13 via the drive shaft 33.

[0129] like Figure 8 As shown, in this embodiment, the second clamping assembly 34 includes a fixed frame 341, two second clamping claws 342, and two second elastic members 343. The fixed frame 341 is connected to the base 21. The two second clamping claws 342 are symmetrically distributed along the axis of the drive shaft 33 and are respectively hinged to the fixed frame 341. One end of each of the two second elastic members 343 is connected to the two second clamping claws 342, and the other end is connected to the fixed frame 341. The second elastic members 343 are used to provide the two second clamping claws 342 with the elastic force to release the puncture needle mechanism 1.

[0130] The second elastic element 343 can be a spring, elastic rubber, elastic rope, etc. In this embodiment, the second elastic element 343 is a spring, one end of the second elastic element 343 is connected to the second clamping claw 342, and the other end is connected to the fixing frame 341.

[0131] The second clamping assembly 34 further includes two second connecting ropes 344, which are arranged in a one-to-one correspondence with the second elastic members 343. One end of the second elastic member 343 is connected to the second clamping claw 342 via the second connecting ropes 344, and the two second connecting ropes 344 are arranged in a cross configuration.

[0132] like Figure 5 As shown, in this embodiment, the second clamping assembly 34 further includes a second cam 345, which is slidably sleeved on the drive shaft 33 along the axial direction of the drive shaft 33 and rotatably disposed between the two second clamping claws 342.

[0133] When the two clamping jaws need to clamp the sleeve 12, the drive shaft 33 is driven to rotate, and the drive shaft 33 drives the second cam 345 to rotate. When the second cam 345 drives the two second clamping jaws 342 to open or close, the second cam 345 drives the two second clamping jaws 342 to rotate around their own rotation axis. When the two second clamping jaws 342 close, the two closed second clamping jaws 342 clamp the sleeve 12. When the two second clamping jaws 342 begin to open, the two second clamping jaws 342 release the guide part 13, and the release of the guide part 13 by the second clamping jaws 342 is synchronized with the release of the sleeve 12 by the first clamping jaw 311.

[0134] By setting the second elastic element 343 and the second connecting rope 344, when the second cam 345 drives the two second clamping claws 342 to open, the two second clamping claws 342 stretch the second elastic element 343 through the corresponding second connecting rope 344. When the second cam 345 rotates to a distance less than the distance between the two second clamping claws 342, the two second clamping claws 342 reset under the action of the elastic restoring force of the second elastic element 343, so that the two second clamping claws 342 release the guide part 13.

[0135] In this embodiment, the clamping drive assembly 32 further includes a second transmission rope 321 and a clamping drive member 322. The second transmission rope 321 is connected to the drive shaft 33, and the clamping drive member 322 is built into the shielding box 23c and connected to the second transmission rope 321. The drive shaft 33 is driven to rotate along its own axis by the second transmission rope 321.

[0136] The clamping drive component 322 can be a motor, hydraulic motor, etc. The clamping drive component 322 can also be a motor with a belt and pulley, a motor with a sprocket and chain, or a motor with a reducer. In this embodiment, the clamping drive component 322 includes a second motor 3221, a second rope winding drum 3222, and a driven wheel 3223. The housing of the second motor 3221 is connected to the bracket 23d, and the second motor 3221 is built into the shielding box 23c. The second rope winding drum 3222 is connected to the output shaft of the second motor 3221 and is coaxially arranged with the output shaft of the second motor 3221. The driven wheel 3223 is fixedly sleeved on the drive shaft 33. The second rope winding drum 3222 and the driven wheel 3223 are connected by a second transmission rope 321.

[0137] The second transmission rope 321 is arranged in a figure-eight shape, and its two ends are respectively sleeved on the second winding drum 3222 and the driven wheel 3223.

[0138] Specifically, the clamping drive unit 322 also includes a second rotating shaft 3224, a third gear 3225, and a fourth gear 3226. The second rotating shaft 3224 is rotatably connected to the bracket 23d around its own axis. The third gear 3225 is fixedly sleeved on the second rotating shaft 3224. The fourth gear 3226 is fixedly sleeved on the output shaft of the second motor 3221 and meshes with the third gear 3225. The second rope winding drum 3222 is fixedly sleeved on the second rotating shaft 3224 and connected to the base 21 via the second rotating shaft 3224.

[0139] By setting a second motor 3221, the output shaft of the second motor 3221 drives the second rotating shaft 3224 to rotate through the fourth gear 3226 and the third gear 3225. The second rotating shaft 3224 drives the second rope drum 3222 to rotate. The second rope drum 3222 drives the drive shaft 33 to rotate through the second transmission rope 321. The transmission is carried out through the second transmission rope 321, which can avoid the scattered X-rays from damaging the precision drive circuit and motor components, avoid the formation of artifacts in the imaging of high-density scattered metal components, and avoid the scattering clamping drive component 322 from interfering with the medical staff's recognition and reading of the image.

[0140] The present invention also provides a puncture system, including an imaging device, a robotic arm, and a puncture device as described in the above embodiments. The imaging device is used to acquire the location of the lesion in the patient. The robotic arm is connected to the puncture device and is used to drive the puncture device to a designated location. The puncture device is used to drive the puncture needle 11 to puncture the lesion location and / or release the puncture needle 11 so that the puncture needle 11 is disengaged from the robotic arm.

[0141] The imaging device can be one or more of the following: computed tomography (CT), magnetic resonance imaging (MR), positron emission tomography (PET), radiotherapy, X-ray imaging, single-photon emission computed tomography (SPECT), and ultrasound imaging.

[0142] The patient is scanned using an imaging device to obtain the coordinates of the lesion location within the patient's body, and these coordinates are output so that medical staff or control devices can know the location of the lesion.

[0143] The robotic arm can be connected to the base 21, the bracket 23d, etc. In this embodiment, the robotic arm is connected to the bracket 23d. By connecting the robotic arm to the bracket 23d, the movement of the robotic arm drives the puncture device to move.

[0144] Specifically, after obtaining the coordinates of the lesion location through the imaging device, the coordinates are transmitted to the control device, such as a computer. The control device plans the motion path of the robotic arm assembly based on the target location. Then, the control device controls the robotic arm assembly to move along the motion path and to the designated position. The control device then issues a motion command to the puncture needle device. The puncture drive assembly 23 drives the slider 221 to move along the guide shaft 222. The slider 221 drives the puncture movement, allowing the puncture needle 11 to gradually move towards the patient and pierce the target point on the patient's body surface until it reaches the lesion location. Then, the first motor b1 is activated. The first motor b1 drives the two first gripping claws 311 and the two second gripping claws 342 to simultaneously release the sleeve 12 and the guide part 13, so that the first gripping claws 311 and the second gripping claws 342 release the puncture needle 11. Then, the control device drives the robotic arm to move, so that the robotic arm carries the puncture needle 11 away from the surgical area, facilitating subsequent surgery.

[0145] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. A puncture device, characterized in that, include: Puncture needle mechanism (1); A linearly movable mechanism (2) includes a base (21), a sliding assembly (22), and a puncture drive assembly (23). The sliding assembly (22) is slidably disposed on the base (21). The puncture drive assembly (23) includes a shielding box (23c) for shielding external radiation, a first transmission rope (23a), and a puncture drive member (23b). The shielding box (23c) is connected to the base (21), the first transmission rope (23a) is connected to the sliding assembly (22), and the puncture drive member (23b) is built into the shielding box (23c) and connected to the first transmission rope (23a), for driving the sliding assembly (22) to move linearly relative to the base (21); and A clamping mechanism (3) capable of supporting the puncture needle mechanism (1) includes a first clamping component (31), a clamping drive component (32), and a drive shaft (33). The first clamping component (31) is disposed on the sliding component (22), the clamping drive component (32) is disposed on the base (21) and connected to the first clamping component (31), and the drive shaft (33) is disposed along the sliding direction of the sliding component (22) and rotatably connected to the base (21) and the first clamping component (31). The rotatable drive shaft (33) can drive the first clamping component (1) to move. The holding component (31) clamps or releases the puncture needle mechanism (1); the clamping drive component (32) is connected to the drive shaft (33) and is used to drive the drive shaft (33) to rotate along its own axis. The clamping drive component (32) includes a second transmission rope (321) and a clamping drive component (322). The clamping drive component (322) is built into the shielding box (23c) and connected to the second transmission rope (321). The second transmission rope (321) is connected to the drive shaft (33) and drives the drive shaft (33) to rotate along its own axis through the second transmission rope (321).

2. The puncture device according to claim 1, characterized in that, The first clamping assembly (31) includes two first clamping claws (311) and two first elastic elements (313). The two first clamping claws (311) are symmetrically distributed along the axis of the drive shaft (33) and are respectively hinged to the sliding assembly (22). The first clamping assembly (31) also includes two first elastic elements (313). One end of each of the two first elastic elements (313) is connected to the two first clamping claws (311) and the other end is connected to the sliding assembly (22). The first elastic elements (313) are used to provide the two first clamping claws (311) with the elastic force to release the puncture needle mechanism (1).

3. The puncture device according to claim 2, characterized in that, The first clamping assembly (31) further includes a first cam (312), which is slidably sleeved on the drive shaft (33) along the axial direction of the drive shaft (33) and rotatably disposed between the two first clamping jaws (311), so that the rotating first cam (312) drives the two first clamping jaws (311) to open or close.

4. The puncture device according to claim 1, characterized in that, The puncture needle mechanism (1) includes a puncture needle (11) and a sleeve (12) sleeved on the puncture needle (11). A clamping and positioning structure (124) is provided on the sleeve (12). The first clamping component (31) clamps the puncture needle mechanism (1) through the clamping and positioning structure (124) of the sleeve (12).

5. The puncture device according to claim 4, characterized in that, The clamping and positioning structure (124) is an annular groove opened circumferentially on the outer wall of the sleeve (12). The sleeve (12) includes a first block (121) and a second block (122) arranged opposite to each other, and a locking pin (123) disposed between the first block (121) and the second block (122). The first block (121) and the second block (122) are respectively disposed on both sides of the puncture needle (11) and have mounting grooves (125) opened opposite to the puncture needle (11). The first block (121) and the second block (122) are sleeved on the puncture needle (11) through the mounting grooves (125).

6. The puncture device according to claim 4, characterized in that, The puncture needle mechanism (1) further includes a guide portion (13), which is slidably connected to the puncture needle (11). The clamping mechanism (3) further includes a second clamping component (34), which is connected to the base (21). The clamping drive component (32) can also drive the second clamping component (34) to clamp or release the guide portion (13) via the drive shaft (33).

7. A puncture system, characterized in that, The device includes an imaging device, a robotic arm, and a puncture device as described in any one of claims 5 to 6. The imaging device is used to acquire the location of the lesion in the patient. The robotic arm is connected to the puncture device and is used to drive the puncture device to a designated location. The puncture device is used to drive the puncture needle (11) to puncture the lesion location and / or release the puncture needle (11) so that the puncture needle (11) is disengaged from the robotic arm.

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