Needle insertion device for a surgical robot and surgical robot

Abstract

The application discloses a needle insertion device for a puncture surgical robot and the puncture surgical robot. The needle insertion device comprises a main mounting plate, a first driving device, a second driving device and a puncture needle clamping device. The puncture needle clamping device comprises a fixed support, two positioning blocks which are completely symmetrical and are closed to limit, a first swing arm and a second swing arm which are installed on the fixed support and are used for driving the positioning blocks to open and close respectively. The first driving device comprises a driving wheel, a driven wheel, a gear box and a servo motor which are used for driving the puncture needle to make a needle insertion action. The second driving device comprises an electric push rod, a position sensor and a hinge device. The driving wheel and the driven wheel are located in a space formed after the two positioning blocks are closed. The gap between the driving wheel and the driven wheel is on the same line with two limiting grooves formed after the two positioning blocks are closed. The puncture needle is located in the gap between the driving wheel and the driven wheel and the two limiting grooves.

Description

TECHNICAL FIELD

[0001] The present application relates to the medical field, in particular, a needle insertion device for a puncture surgery robot and the puncture surgery robot. BACKGROUND

[0002] Puncture surgery is operated by a robot system, that is, a puncture surgery robot stabs various puncture needles such as biopsy needles and ablation needles into a patient's body at a pre-set position according to a host program, which not only can realize real-time puncture needle path guidance, but also can overcome the influence of hand tremor, greatly improving the operation precision.

[0003] The process of performing puncture by various puncture needles needs to be completed by an electric execution device installed at the end of the mechanical arm of the surgery robot, but the existing electric execution device often appears to be stuck due to deviation of the puncture needle in the puncture process because of unreasonable structure, which leads to the failure to achieve the purpose of accurate puncture. SUMMARY

[0004] The purpose of the present application is to provide a needle insertion device for a puncture surgery robot and the puncture surgery robot.

[0005] The needle insertion device for a puncture surgery robot in the present application is used to drive a puncture needle to complete a needle insertion action under the control of a puncture surgery robot, and comprises a main mounting plate, a first driving device, a second driving device and a puncture needle clamping device; the first driving device, the second driving device and the puncture needle clamping device are fixedly installed on the main mounting plate.

[0006] The puncture needle clamping device comprises a fixed support, two positioning blocks which are completely symmetrical and closed to each other and used to limit the puncture needle, a first swing arm and a second swing arm installed on the fixed support and used to drive the positioning blocks to open and close respectively.

[0007] The first driving device comprises a driving wheel used to drive the puncture needle in the puncture needle clamping device to make a needle insertion action, a driven wheel, a gear box used to drive the driving wheel to rotate and a servo motor.

[0008] The second driving device comprises an electric push rod used to drive the first swing arm and the second swing arm to make an opening and closing action, a position sensor and a hinge device used to hinge connect the first swing arm and the second swing arm to make an opening and closing action.

[0009] The driving wheel and the driven wheel are located in the space formed after the two positioning blocks are closed, the gap between the driving wheel and the driven wheel is on the same straight line as the upper and lower limiting grooves formed after the two positioning blocks are closed, and the puncture needle is located in the gap between the upper and lower limiting grooves and the driving wheel and the driven wheel.

[0010] Preferably, the positioning block is integrally formed by non-toxic medical plastic, in the shape of a "H" character, and is provided with a V-shaped groove on the outer side surface of the two end feet for placing the puncture needle, two or more fixing columns on the first inner side surface for plugging connection with the first and second swing arms, and a clamping block on the inner side surface of the feet for clamping connection with the first and second swing arms.

[0011] Preferably, the first swing arm and the second swing arm are rotatably connected with a first rotating shaft fixedly installed on the fixed support, integrally formed by a metal material, and in the shape of an L, comprising a positioning block fixing part and a pivoting part; the positioning block fixing part is consistent with the shape of the positioning block and is fixedly connected with the positioning block in a plugging and adhering manner; the pivoting part is provided with a through hole for arranging the first rotating shaft and a lug for pivotally connecting with the hinge device; the first swing arm is provided with a driving arm connected with the second driving device at the pivoting part; and the second swing arm is provided with a driven wheel mounting arm for mounting the driven wheel at the positioning block fixing part.

[0012] Preferably, the first swing arm and the second swing arm are provided with a counterbore matched with the fixing column and a clamping groove matched with the clamping block on the positioning block fixing part.

[0013] Preferably, the driven wheel mounting arm is integrally formed with the positioning block fixing part of the second swing arm and located at the back of the counterbore.

[0014] Preferably, the column surface of the fixing column is in the shape of a tapered surface.

[0015] Preferably, the second driving device comprises a push rod fixedly connected with the electric push rod, and the movable end of the push rod is provided with a rotating shaft movably coupled with the driving arm, and the fixed end of the push rod is fixedly connected with the electric push rod.

[0016] Preferably, the driving wheel and the driven wheel are disposable devices made of non-toxic medical plastic and are provided with a groove at the position in contact with the puncture needle.

[0017] In the puncture needle device, the driving wheel and the driven wheel are arranged in the middle of the positioning block, and the puncture needle limiting grooves are formed at the upper and lower positions of the driving wheel and the driven wheel. During the puncture needle insertion process, the puncture needle driving position is limited up and down, which can effectively prevent the puncture needle from deviating and ensure the straight movement during the puncture process, and the puncture needle will not be stuck due to deviation. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 is a schematic diagram of the three-dimensional structure of the puncture needle device in the working state.

[0019] Figure 2 is a schematic diagram of the three-dimensional structure of the needle insertion device in the present application.

[0020] Figure 3 is a schematic diagram of the three-dimensional structure of the needle insertion device after removing the main mounting plate in the present application.

[0021] Figure 4 is a schematic diagram of the three-dimensional structure of the clamping device in the open state in the present application.

[0022] Figure 5 is a schematic diagram of the three-dimensional structure of the clamping device in the closed state in the present application.

[0023] Figure 6 is a schematic diagram of the three-dimensional structure of the positioning block in the present application.

[0024] Figure 7 is a schematic diagram of the three-dimensional structure of the first swing arm in the present application.

[0025] Figure 8 is a schematic diagram of the three-dimensional structure of the second swing arm in the present application. DETAILED DESCRIPTION

[0026] To make the purpose, technical scheme and advantages of the present application more clear and explicit, the present application will be further described in detail below in combination with specific embodiments and with reference to the accompanying drawings. It should be understood that these descriptions are only exemplary and are not intended to limit the scope of the present application. In addition, in the following description, the description of well-known structures and technologies is omitted to avoid unnecessary confusion of the concept of the present application. The orientation terms such as "up", "down", "in", "out", "inside", etc. involved in the present application are described with the orientation shown in Figure 3 , only for the convenience and clear description of the technical scheme, and are not used to limit the specific protection scope.

[0027] Under the control of the puncture robot, the needle insertion device in the present application can be used to drive the puncture needle to complete the puncture action, and to open the limit of the puncture needle at the moment when the puncture is completed, so that the puncture needle is immediately separated from the needle insertion device, avoiding the puncture needle causing harm to the patient's body.

[0028] As shown in Figure 1 and Figure 2 , the needle insertion device in the present application includes a main mounting plate 1, a first driving device, a second driving device and a puncture needle clamping device 2.

[0029] The main mounting plate 1 is a rectangular metal plate with a thickness of 0.8-1.5 cm, which can support the weight of the structural light source 3, the camera 4, the first driving device, the second driving device and the puncture needle clamping device 2. The two ends (short side direction) of the main mounting plate 1 are respectively fixedly installed with the structural light source 3 and the camera 4, and the structural light source 3, the camera 4 and the puncture needle clamping device 2 are located in the same long side direction of the main mounting plate 1 after installation, forming a space for installing the first driving device and the second driving device on the lower surface of the main mounting plate 1, and the structure of the whole device is reasonable and compact. Through the accurate calculation of the structural light source 3, the camera 4 and the host program of the puncture surgical robot, the puncture needle 13 can be accurately positioned, and the host program of the structural light source 3, the camera 4 and the puncture surgical robot is described in detail in other patents, which will not be described in detail here.

[0030] The top surface of the main mounting plate 1 is fixedly installed with a connecting flange 5 near one end of the structural light source 3, and the puncture device in the present application can be fixedly installed at the end of the puncture surgical robot mechanical arm through the connecting flange 5, and the puncture action can be completed under the control of the puncture surgical robot control system.

[0031] As shown in Figure 2 and Figure 3 , the first driving device includes a servo motor 6, a gear box 7, a driving wheel 8 and a driven wheel 9; the servo motor 6 is installed on the top of the main mounting plate 1, the gear box 7 is fixedly installed on the lower surface of the main mounting plate 1 through a gear box fixing frame 18, the servo motor 6 is connected with the gear box 7 through the main mounting plate 1, the output shaft 10 of the gear box 7 is fixedly connected with the driving wheel 8, and the puncture needle 13 is driven by the driving wheel 8 and the driven wheel 9 to complete the puncture process of the puncture needle 13.

[0032] The second driving device includes an electric push rod 11 and two symmetrical position sensors 12. The electric push rod 11 is fixedly installed on the lower surface of the main mounting plate 1 through an electric push rod support frame 19; the two position sensors 12 are fixedly installed on the lower surface of the main mounting plate 1 on the sensor fixing frame 20, and one of the position sensors 12 is located above the electric push rod 11, as shown in Figure 3 The movement process of the electric push rod 11 can be controlled by using the two position sensors 12.

[0033] As shown in Figure 2 , Figure 3 , Figure 4 and Figure 5 , the puncture needle clamping device 2 limits the puncture needle 13, so that the puncture needle 13 is always in a straight line state during the puncture process, effectively preventing the driving wheel 8 and the driven wheel 9 from being stuck when driving the puncture needle 13 to puncture.

[0034] The puncture needle clamping device 2 includes a fixed bracket 14, two completely symmetrical positioning blocks 15 that can close with each other, a first swing arm 16 and a second swing arm 17 installed on the fixed bracket 14 for respectively driving the opening and closing of the positioning blocks 15.

[0035] The fixed bracket 14 is fixedly installed on the gearbox fixing bracket 18, in an L shape, and its specific structure can be reasonably set according to the overall layout, and is not limited to this. The fixed bracket 14 is used to fixedly install the puncture needle clamping device 2, so that the puncture needle 13 in the puncture needle clamping device 2 can perform a needle insertion action under the drive of the first driving device, and at the moment when the puncture needle 13 completes the needle insertion action, the first swing arm 16 and the second swing arm 17 are driven by the second driving device to perform an opening action, releasing the puncture needle 13 and disengaging the restriction on the puncture needle 13.

[0036] Specifically as follows: As Figure 6 shown, the positioning block 15 is integrally formed of non-toxic medical plastic, in a "冂" shape. On the outer surface of the two end feet of the positioning block 15, there are respectively V-shaped grooves 21 for placing the puncture needle 13, and on the first inner side surface 38, there are three fixing columns 22. The number of fixing columns 22 can be two or more, and is specifically set according to the size of the positioning block 15. Inside the feet, on the back of the V-shaped groove 21, there is a clamping block 36. By using the fixing columns 22 and the clamping block 36, the positioning block 15 can be inserted and connected with the first swing arm 16 or the second swing arm 17 at any time, and the positioning block 15 is made of non-toxic medical plastic, so it is used as a disposable tool to ensure the use safety of the puncture needle 13.

[0037] The first swing arm 16 and the second swing arm 17 are integrally formed of metal material, and the whole is in an L shape.

[0038] As Figure 2 and Figure 4 shown, the first swing arm 16 and the second swing arm 17 are both rotationally connected to the fixed bracket 14 through the first rotating shafts 23. Preferably, the installation structures of the two first rotating shafts 23 are the same, one end of which is fixedly connected to the fixed bracket 14, and the other end is rotationally connected to the first swing arm 16 or the second swing arm 17, preferably a bearing connection.

[0039] As Figure 7 and Figure 8As shown, the first swing arm 16 and the second swing arm 17 include a positioning block fixing portion 24 and a pivoting portion 25, the positioning block fixing portion 24 is consistent with the shape of the positioning block 15, and is fixedly connected with the positioning block 15 through insertion and fitting; the pivoting portion 25 is provided with a through hole 26 for arranging the first rotating shaft 23 and a lug 27 for pivoting connection with the hinge device 30; the first swing arm 16 is provided with a driving arm 28 connected with the second driving device at the pivoting portion 25. The second swing arm 17 is provided with a driven wheel mounting arm 29 for mounting the driven wheel 9 at the positioning block fixing portion 24. Preferably, the driven wheel mounting arm 29 is integrally formed with the positioning block fixing portion 24 of the second swing arm 17 and is located at the back of the setting counterbore 31, and can also be fixedly connected by a connecting piece. As shown Figure 4 and Figure 5 As shown, the hinge device 30 adopts a double-shaft structure and is a mature product on the market, and will not be described in detail here.

[0040] Preferably, the driving arm 28 is provided with a through hole 37 in the shape of a long strip, and the second rotating shaft 34 is rotatably connected with the push rod 33. As shown Figure 3 The push rod 33 is fixedly connected with the output shaft of the electric push rod 11 perpendicularly, and the electric push rod 11 drives the push rod 33 to swing in the process of moving in and out, and the movable end of the push rod 33 drives the first swing arm 16 to swing through the second rotating shaft 34, and then the first swing arm 16 and the second swing arm 17 are opened and closed through the hinge device 30. Further, the positioning block 15 is opened and closed to complete the limiting and releasing of the puncture needle 13. Preferably, the linear movement distance of the electric push rod 11 is controlled by two position sensors 12.

[0041] In order to cooperate with the insertion connection of the positioning block 15, the first swing arm 16 and the second swing arm 17 are provided with a counterbore 31 corresponding to the fixed column 22 and a clamping groove 32 cooperating with the clamping block 36 on the positioning block fixing portion 24. Preferably, in order to facilitate insertion and connection, the surface of the fixed column 22 is in the shape of a taper.

[0042] As described above, the driven wheel mounting arm 29 fixes the driven wheel 9 in the U-shaped interior of the positioning block 15, cooperates with the driven wheel 9, and extends the output shaft 10 of the gear box 7 to the position of the positioning block 15, so that the driving wheel 8 fixedly installed at the end of the output shaft 10 is symmetrically located in the U-shaped interior of the positioning block 15, that is, the driving wheel 8 and the driven wheel 9 are located in the space formed after the two positioning blocks 15 are closed, the gap between the driving wheel 8 and the driven wheel 9 is on the same straight line as the upper and lower limiting grooves formed after the two positioning blocks 15 are closed, and the puncture needle 13 is located in the upper and lower limiting grooves and the gap between the driving wheel 6 and the driven wheel 9. The distance between the driving wheel 8 and the driven wheel 9 is slightly smaller than the diameter of the needle tube of the puncture needle 13, which can provide sufficient driving force for the puncture needle 13.

[0043] The invention sets the driving wheel 8 and the driven wheel 9 in the middle of the positioning block 15, and the driving wheel 8 and the driven wheel 9 are positioned via the V-shaped groove 21 of the positioning block 15, which can effectively prevent the puncture needle 13 from deviating and ensure the linear movement during the puncture process.

[0044] The driving wheel 8 and the driven wheel 9 are integrally formed by non-toxic medical plastic and are disposable tools, and the contact surface position of the driving wheel 8 and the driven wheel 9 with the puncture needle 13 can be provided with a groove 35 or can be flat. The driving wheel 8 is connected with the output shaft 10 of the gear box 7 through a spline, and the driven wheel 9 is also connected with the driven wheel mounting arm 29 through a spline, which are convenient to disassemble and convenient for medical staff to operate. The driving wheel 8 and the driven wheel 9 are replaced before each operation.

[0045] In order to match various puncture needles 13 of different diameters, the diameters of the driving wheel 8 and the driven wheel 9 can be of various different sizes, and the corresponding driving wheel 8 and the driven wheel 9 are selected for each type of puncture needle 13.

Claims

1. A needle insertion device for a puncture surgical robot, for driving a puncture needle to complete a needle insertion action under the control of the puncture surgical robot, characterized in that, The needle insertion device includes a main mounting plate (1), a first driving device, a second driving device, and a puncture needle clamping device (2); the first driving device, the second driving device, and the puncture needle clamping device are fixedly mounted on the main mounting plate; The puncture needle clamping device includes a fixed bracket (14), two completely symmetrical positioning blocks (15) that are closed to limit the puncture needle, a first swing arm (16) and a second swing arm (17) mounted on the fixed bracket (14) for driving the positioning blocks (15) to open and close respectively; The first driving device includes a driving wheel (8), a driven wheel (9) for driving the puncture needle in the puncture needle clamping device to perform a needle insertion action, a gearbox (7) for driving the driving wheel to rotate, and a servo motor (6); The second driving device includes an electric push rod (11), a position sensor (12) for driving the first swing arm (16) and the second swing arm (17) to perform an opening and closing action, and a hinge device (30) for hinge-connecting the first swing arm and the second swing arm to perform an opening and closing action; The driving wheel (8) and the driven wheel (9) are located in the space formed after the two positioning blocks (15) are closed. The gap between the driving wheel and the driven wheel is on the same straight line as the upper and lower two limiting grooves formed after the two positioning blocks are closed. The puncture needle is located in the upper and lower two limiting grooves and the gap between the driving wheel and the driven wheel; The positioning block (15) is integrally formed by non-toxic medical plastic, in a "冂” shape, and V-shaped grooves (21) for placing the puncture needle are provided on the outer surface of each end foot of the positioning block (15); The driving wheel (8) and the driven wheel (9) are disposable tools made of non-toxic medical plastic, and grooves (35) are provided at the positions where they contact the puncture needle; The second driving device includes a lever (33) fixedly connected to the electric push rod (11). A second rotating shaft (34) is provided at the movable end of the lever (33). The first swing arm (16) is provided with a driving arm (28) connected to the second driving device at the pivoting part (25); a through hole (37) with a long strip-shaped cross section is provided in the driving arm (28), and the through hole (37) is rotatably connected to the lever (33) through the second rotating shaft (34).

2. The needle insertion device for a surgical robot according to claim 1, wherein The positioning block (15) is provided with two or more fixing columns (22) inserted and connected to the first and second swing arms on the first inner surface (38), and clamping blocks (36) clamped and connected to the first and second swing arms are provided on the inner surface of each foot; 3. The needle insertion device for a surgical robot according to claim 2, wherein The first swing arm (16) and the second swing arm (17) are rotationally connected with a first rotation shaft (23) fixedly installed on the fixed support (14), the first swing arm (16) and the second swing arm (17) are integrally formed of a metal material and are in an L shape as a whole, and include a positioning block fixing portion (24) and a pivoting portion (25); the positioning block fixing portion (24) is consistent in shape with the positioning block and is fixedly connected with the positioning block (15) in a plug-in and abutting manner; the pivoting portion (25) is provided with a through hole (26) for arranging the first rotation shaft (23) and a lug (27) pivotally connected with the hinge device (30); the second swing arm (17) is provided with a driven wheel mounting arm (29) for mounting a driven wheel at the positioning block fixing portion.

4. The needle insertion device for a surgical robot according to claim 3, wherein The first swing arm (16) and the second swing arm (17) are provided with a counterbore (31) cooperating with the fixed column (22) and a clamping groove (32) cooperating with the clamping block (36) at the positioning block fixing portion (24).

5. The needle insertion device for a surgical robot according to claim 4, wherein The driven wheel mounting arm (29) is integrally formed with the positioning block fixing portion (24) of the second swing arm (17) and is located at the back of the counterbore (31).

6. The needle insertion device for a surgical robot according to claim 4, wherein The column surface of the fixed column (22) is in a conical surface shape.

7. A puncture operation robot comprising the needle insertion device according to any one of claims 1-6.

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