A puncture robot for percutaneous puncture incision

Abstract

The present application provides a kind of puncture robot for percutaneous puncture dissection.It includes: support includes mounting rod and support rod;First drive mechanism is installed on mounting rod;Second drive mechanism includes slide table, ultrasonic probe drive assembly and puncture needle drive assembly, slide table is installed on first drive mechanism, ultrasonic probe drive assembly and puncture needle drive assembly are installed on slide table;Ultrasonic probe is installed on ultrasonic probe drive assembly, and is fed or back under the drive of ultrasonic probe drive assembly;Puncture needle is installed on puncture needle drive assembly, and is fed or back or attitude adjustment under the drive of puncture needle drive assembly;Control mechanism is electrically connected with first drive mechanism, second drive mechanism and ultrasonic probe respectively, the position and attitude of ultrasonic probe are adjusted by controlling first drive mechanism and second drive mechanism, and first drive mechanism and second drive mechanism are controlled according to ultrasonic image.The robot surgery accuracy and safety are higher, and high efficiency.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a puncture robot for percutaneous puncture and incision. Background Technology

[0002] Airway obstruction caused by foreign objects or the accumulation of internal secretions is a common condition in emergency situations. Airway obstruction causes difficulty breathing and, in severe cases, can lead to suffocation and death. Percutaneous dilatational tracheotomy is an emergency measure performed when the patient's upper airway is obstructed and cannot be cleared in a short time.

[0003] During a percutaneous dilatational tracheostomy, the doctor first determines the puncture point on the patient's neck based on ultrasound images or human anatomy to avoid damaging important tissues and organs such as the thyroid gland. Then, the doctor inserts a puncture needle through the skin into the airway at that point. After a successful puncture, dilatation instruments and other auxiliary instruments are delivered under the guidance of the puncture needle to dilate the puncture point into an incision, and then the airway is intubated.

[0004] In percutaneous dilatational tracheostomy, the selection of the puncture site and the control of needle insertion are crucial factors in determining the success of the procedure. While the delivery of subsequent dilatation instruments and other auxiliary equipment can be quickly mastered with simple training, these two steps are highly dependent on the surgeon's individual skill and experience. Therefore, the accuracy and safety of the puncture procedure are difficult to guarantee, and the efficiency of the surgery is relatively low. Summary of the Invention

[0005] This invention provides a puncture robot for percutaneous puncture surgery, addressing the problems of low surgical accuracy and safety, and low efficiency, caused by manual puncture by medical personnel in existing technologies. It achieves a puncture robot with high surgical accuracy, safety, and efficiency for performing puncture procedures.

[0006] The present invention provides a puncture robot for percutaneous puncture and incision, comprising: a support, a first drive mechanism, a second drive mechanism, a control mechanism, an ultrasonic probe, and a puncture needle;

[0007] The bracket includes a mounting rod and a support rod;

[0008] The first drive mechanism is mounted on the mounting rod;

[0009] The second driving mechanism includes a slide, an ultrasound probe driving assembly, and a puncture needle driving assembly. The slide is slidably mounted on the first driving mechanism and performs six degrees of freedom of spatial movement under the drive of the first driving mechanism. The ultrasound probe driving assembly and the puncture needle driving assembly are mounted on the slide.

[0010] The ultrasonic probe is mounted on the ultrasonic probe drive assembly and is fed or retracted under the drive of the ultrasonic probe drive assembly.

[0011] The puncture needle is mounted on the puncture needle drive assembly and is fed, retracted, or has its posture adjusted under the drive of the puncture needle drive assembly.

[0012] The control mechanism is electrically connected to the first drive mechanism, the second drive mechanism, and the ultrasound probe, respectively. It adjusts the position and orientation of the ultrasound probe by controlling the first drive mechanism and the second drive mechanism, and controls the first drive mechanism and the second drive mechanism based on the ultrasound image obtained through the ultrasound probe, so as to drive the puncture needle to perform puncture surgery.

[0013] According to the present invention, a puncture robot for percutaneous puncture and incision is provided, wherein the first driving mechanism includes: a first slider-linkage driving assembly, a second slider-linkage driving assembly, a master two-degree-of-freedom joint assembly, a slave two-degree-of-freedom joint assembly, a slider guide rail assembly, a first driving assembly, and a second driving assembly;

[0014] The first slider linkage drive assembly and the second slider linkage drive assembly have the same structure and are installed in parallel on the mounting rod, and are used to drive the slide table to move in the first direction and the second direction and to rotate about the first direction axis and the second direction axis.

[0015] The first end of the main two-degree-of-freedom joint assembly is hinged to the connecting rod on the first slider-link drive assembly;

[0016] The first end of the two-degree-of-freedom joint assembly is hinged to the link on the second slider link drive assembly;

[0017] The slider guide rail assembly includes a first slider, a fixed block, and a first slide rail. The first slide rail is slidably connected to the first slider, and one end of the first slide rail is fixedly connected to the fixed block. The first slider is hinged to the second end of the secondary two-degree-of-freedom joint assembly, and the fixed block is hinged to the second end of the primary two-degree-of-freedom joint assembly. Alternatively, the first slider is hinged to the second end of the primary two-degree-of-freedom joint assembly, and the fixed block is hinged to the second end of the secondary two-degree-of-freedom joint assembly.

[0018] The first driving component is mounted on the first end of the main two-degree-of-freedom joint assembly and is used to drive the main two-degree-of-freedom joint assembly to rotate about the third direction axis.

[0019] The second drive component is mounted on the first slide rail and is used to drive the slide table, which is slidably mounted on the first slide rail, to slide along the first slide rail;

[0020] The first direction axis, the second direction axis, and the third direction axis are perpendicular to each other.

[0021] According to the present invention, a puncture robot for percutaneous puncture and incision is provided. The first slider-link drive assembly includes a first nut screw drive module, a second nut screw drive module, a first link and a second link. The second slider-link drive assembly includes a third nut screw drive module, a fourth nut screw drive module, a third link and a fourth link.

[0022] The first nut screw drive module, the second nut screw drive module, the third nut screw drive module, and the fourth nut screw drive module are arranged parallel to each other and located on the same plane;

[0023] One end of the first connecting rod is rotatably connected to the nut of the first nut screw drive module, and the other end of the first connecting rod is hinged to the first end of the main two-degree-of-freedom joint assembly.

[0024] One end of the second connecting rod is rotatably connected to the nut of the second nut screw drive module, and the other end of the second connecting rod is hinged to the first end of the main two-degree-of-freedom joint assembly;

[0025] One end of the third link is rotatably connected to the nut of the third nut screw drive module, and the other end of the third link is hinged to the first end of the two-degree-of-freedom joint assembly.

[0026] One end of the fourth link is rotatably connected to the nut of the fourth nut screw drive module, and the other end of the fourth link is hinged to the first end of the two-degree-of-freedom joint assembly.

[0027] According to the present invention, a puncture robot for percutaneous puncture and incision is provided, wherein the primary two-degree-of-freedom joint assembly and the secondary two-degree-of-freedom joint assembly each include two U-shaped hinge supports, the openings of the two U-shaped hinge supports face opposite directions and are rotatably connected at the bottom;

[0028] The first and second ends of the primary two-degree-of-freedom joint assembly and the secondary two-degree-of-freedom joint are respectively the openings of two U-shaped hinge supports.

[0029] According to the present invention, a puncture robot for percutaneous puncture and incision is provided, wherein the second drive component includes a first motor, a first gear and a first rack;

[0030] The first motor is mounted on the first slide rail;

[0031] The first gear is fixedly connected to the free end of the motor shaft of the first motor;

[0032] The first rack is mounted on the slide and meshes with the first gear. A first sliding part is provided on the first base plate of the slide. The slide is mounted on the first slide rail through the first sliding part, and after installation, the first rack is parallel to the first slide rail.

[0033] According to the present invention, a puncture robot for percutaneous puncture and incision is provided, wherein the ultrasound probe driving assembly includes a second motor, a second gear, a second rack, and a clamping module;

[0034] The second motor is mounted on the first side plate of the slide, and the motor shaft of the second motor is perpendicular to the first side plate;

[0035] The second gear is fixedly mounted on the free end of the second motor shaft;

[0036] The second rack is mounted on the clamping module and meshes with the second gear;

[0037] The clamping module is provided with a second sliding part parallel to the second rack. The second sliding part is slidably connected to a second slide rail on the first base plate of the slide table. The second slide rail is arranged parallel to the second rack.

[0038] According to the present invention, a puncture robot for percutaneous puncture and incision is provided, wherein the puncture needle driving mechanism includes a first driving module, a second driving module and a third driving module;

[0039] The first drive module and the second drive module are respectively mounted on the second side plate of the slide table;

[0040] The third drive module is installed on the first drive module and the second drive module;

[0041] The puncture needle is mounted on the third drive module and is adjusted in position and posture under the drive of the first drive module and the second drive module. It is fed or retracted under the drive of the third drive module.

[0042] According to the present invention, a puncture robot for percutaneous puncture and incision is provided, wherein the first drive module includes a third motor, a first rocker arm, a second rocker arm, and a first cross arm;

[0043] The third motor is mounted on the second side plate and the motor shaft of the third motor is perpendicular to the second side plate;

[0044] One end of the first rocker arm is fixedly connected to the motor shaft of the third motor;

[0045] The first horizontal arm is rotatably connected to the other end of the first rocker arm;

[0046] One end of the second rocker arm is rotatably connected to the other end of the first cross arm, and the other end of the second rocker arm is rotatably connected to the first side plate;

[0047] The first horizontal arm is perpendicular to the first side plate and the second side plate, the third drive module is partially mounted on the first horizontal arm, and the rotation axes of the first rocker arm and the second rocker arm are parallel to each other.

[0048] According to the present invention, a puncture robot for percutaneous puncture and incision is provided, wherein the second drive module includes a fourth motor, a third rocker arm, a fourth rocker arm, a second cross arm, a fifth rocker arm, and a sixth rocker arm.

[0049] The fourth motor is mounted on the second side plate and the motor shaft of the fourth motor is perpendicular to the second side plate;

[0050] One end of the third rocker arm is fixedly connected to the motor shaft of the fourth motor;

[0051] One end of the fourth rocker arm is rotatably connected to the other end of the third rocker arm;

[0052] One end of the second horizontal arm is rotatably connected to the other end of the fourth rocker arm;

[0053] One end of the fifth rocker arm is rotatably connected to the other end of the second horizontal arm;

[0054] One end of the sixth rocker arm is rotatably connected to the other end of the fifth rocker arm, and the other end of the sixth rocker arm is rotatably connected to the first side plate;

[0055] The second horizontal arm is perpendicular to the first side plate and the second side plate. The third drive module is partially mounted on the second horizontal arm. The rotation axes of the third rocker arm, the fourth rocker arm, the fifth rocker arm and the sixth rocker arm are parallel to each other.

[0056] According to the present invention, a puncture robot for percutaneous puncture and incision is provided, wherein the third drive module includes a fifth motor, a nut screw and a puncture needle holder;

[0057] The nut screw is perpendicular to the first horizontal arm and the second horizontal arm, and is mounted on the first horizontal arm and the second horizontal arm;

[0058] The fifth motor is mounted on the lead screw, and the free end of the motor shaft of the fifth motor is fixedly connected to the lead screw of the lead screw.

[0059] The puncture needle holder is fixedly installed on the nut of the nut screw, and is fed or retracted under the drive of the nut screw.

[0060] The puncture robot for percutaneous puncture provided by this invention controls the position of the ultrasound probe to acquire ultrasound images of the patient through a control mechanism, and controls the puncture needle to perform the puncture surgery based on the ultrasound images. On the one hand, the puncture surgery is performed based on ultrasound images, which does not rely on the skills of medical personnel, ensuring the accuracy and safety of the surgery, and the efficiency of the surgery is high, saving medical resources. On the other hand, the puncture robot can treat patients in emergency scenarios, reducing the possibility of patients missing the best treatment time due to the inability to be sent to the hospital in time. Furthermore, the puncture needle of the puncture robot can perform six degrees of freedom of spatial movement under the control of the control mechanism, which greatly improves the flexibility of the puncture needle. Attached Figure Description

[0061] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0062] Figure 1 This is a schematic diagram of the puncture robot structure provided by the present invention. Figure 1 ;

[0063] Figure 2 This is a schematic diagram of the puncture robot structure provided by the present invention. Figure 2 ;

[0064] Figure 3 This is a side view diagram of the puncture robot provided by the present invention;

[0065] Figure 4 This is a schematic diagram of the structure of the first nut screw drive module, the second nut screw drive module, the third nut screw drive module, and the fourth nut screw drive module provided by the present invention;

[0066] Figure 5 This is a schematic diagram of the main two-degree-of-freedom joint assembly / slave two-degree-of-freedom joint assembly structure provided by the present invention;

[0067] Figure 6 This is a schematic diagram of the rear view structure of the slide provided by the present invention;

[0068] Figure 7 This is a front view schematic diagram of the second driving mechanism provided by the present invention;

[0069] Figure 8 This is a three-dimensional structural diagram of the second driving mechanism provided by the present invention;

[0070] Figure 9This is a schematic diagram of the three-dimensional structure of the clamping module provided by the present invention;

[0071] Figure 10 This is an exploded view of the clamping module provided by the present invention;

[0072] Figure 11 This is a schematic diagram of the puncture needle driving mechanism provided by the present invention;

[0073] Figure 12 This is a schematic diagram of the puncture needle holder structure provided by the present invention.

[0074] Reference numerals: 101, Ultrasonic probe; 102, Puncture needle; 1, Support; 103, Mounting rod; 104, Support rod; 2, First drive mechanism; 3, Second drive mechanism; 105, Slide table; 106, Main two-degree-of-freedom joint assembly; 107, Slave two-degree-of-freedom joint assembly; 108, First drive assembly; 109, First slider; 110, Fixing block; 111, First slide rail; 112, First nut screw drive module; 113, Second nut screw drive module; 114, First connecting rod; 115, Second connecting rod; 116, Third nut screw drive module; 117, Fourth nut screw drive module; 118, Third connecting rod; 119, Fourth connecting rod; 120 121 First motor; 122 Second motor; 123 Second gear; 124 Second rack; 4 Clamping module; 125 Second sliding part; 126 Second slide rail; 127 Second base plate; 128 First side clamping plate; 129 Second side clamping plate; 130 Third side baffle; 131 Limiting claw; 132 Third motor; 133 First rocker arm; 134 Second rocker arm; 135 First cross arm; 136 Fourth motor; 137 Third rocker arm; 138 Fourth rocker arm; 139 Second cross arm; 140 Fifth rocker arm; 141 Sixth rocker arm; 142 Fifth motor; 143 Nut screw; 144 Puncture needle clamping component. Detailed Implementation

[0075] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0076] In the description of the embodiments of the present invention, it should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of the present invention. In addition, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0077] In the description of the embodiments of the present invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of the present invention based on the specific circumstances.

[0078] In embodiments of the present invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0079] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0080] The following is combined with Figures 1-12 This invention describes a puncture robot for percutaneous puncture incision.

[0081] refer to Figure 1 , Figure 2 and Figure 3 As shown, the puncture robot for percutaneous puncture includes: a support 1, a first drive mechanism 2, a second drive mechanism 3, a control mechanism (not shown), an ultrasound probe 101, and a puncture needle 102; the support 1 includes a mounting rod 103 and a support rod 104; the first drive mechanism 2 is mounted on the mounting rod 103; the second drive mechanism 3 includes a slide 105, an ultrasound probe drive assembly, and a puncture needle drive assembly, the slide 105 is slidably mounted on the first drive mechanism 2, and performs 6 degrees of freedom spatial movement under the drive of the first drive mechanism 2, the ultrasound probe drive assembly and the puncture needle drive assembly are mounted on the slide 105; An ultrasound probe 101 is mounted on the ultrasound probe drive assembly and is fed or retracted under the drive of the ultrasound probe drive assembly; a puncture needle 102 is mounted on the puncture needle drive assembly and is fed, retracted, or has its posture adjusted under the drive of the puncture needle drive assembly; a control mechanism is electrically connected to the first drive mechanism 2, the second drive mechanism 3, and the ultrasound probe 101, respectively, and adjusts the position and posture of the ultrasound probe 101 by controlling the first drive mechanism 2 and the second drive mechanism 3, and controls the first drive mechanism 2 and the second drive mechanism 3 based on the ultrasound image obtained through the ultrasound probe 101 to drive the puncture needle 102 to perform puncture surgery.

[0082] Specifically, the aforementioned bracket 1 may include a mounting rod 103 and a support rod 104. The mounting rod 103 is used to mount at least the first drive mechanism 2, and the support rod 104 is used to support the bracket 1 so that it can be erected on a predetermined plane, such as the ground, a table, or a countertop. The mounting rod 103 of the bracket 1 may be telescopic, and the support rod 104 of the bracket 1 may be foldable. For example, the mounting rod 103 can be extended when the puncture robot is in use and retracted when not in use; the support rod 104 is hinged to the mounting rod 103, and can be pulled out to form a triangular support structure when in use, and can be closed when not in use so that the support rod 104 and the mounting rod 103 are in a parallel or nearly parallel state. For a specific structure, see, for example, a tripod for a camera. This design of the bracket 1 facilitates the storage and transportation of the puncture robot when it is not in use.

[0083] The first driving mechanism 2 can drive the slide 105 to perform spatial movements with 6 degrees of freedom. The puncture needle 102 and the ultrasound probe 101 are both mounted on the slide 105, so that the ultrasound probe 101 and the puncture needle 102 have three orthogonal translational degrees of freedom and three rotational degrees of freedom in three-dimensional space, which greatly improves the movement flexibility of the ultrasound probe 101 and the puncture needle 102.

[0084] Under the control of the control mechanism, when the ultrasound probe 101 moves to the target position under the drive of the first drive mechanism 2, the ultrasound probe drive assembly on the second drive mechanism 3 can drive the ultrasound probe 101 to perform feed detection. After detection, the ultrasound probe 101 can be controlled to retract, providing sufficient working space for the puncture needle 102 for subsequent work. Specifically, the control mechanism analyzes the ultrasound images obtained by the ultrasound probe 101 to control the first drive mechanism 2 and the second drive mechanism 3 to adjust the position and orientation of the ultrasound probe 101, and determine whether the correct location of the puncture point has been found.

[0085] Under the control of the control mechanism, the puncture needle 102 is initially adjusted in position and orientation by the first drive mechanism 2, and after the ultrasound probe 101 retracts. The puncture needle drive assembly on the second drive mechanism 3 can drive the puncture needle 102 to perform fine-tuning of position and orientation, as well as drive the puncture needle 102 to advance or retract to perform the puncture procedure.

[0086] It is understood that the puncture robot may also include a power source (not shown) for powering the first drive mechanism 2, the second drive mechanism 3, the control mechanism, and the ultrasonic probe 101.

[0087] The puncture robot for percutaneous puncture provided in the above embodiment controls the position of the ultrasound probe 101 to obtain ultrasound images of the patient through a control mechanism, and controls the puncture needle 102 to perform puncture surgery based on the ultrasound images. On the one hand, the puncture surgery is performed based on ultrasound images, without relying on the skills of medical personnel, ensuring the accuracy and safety of the surgery, and the efficiency of the surgery is high, saving medical resources. On the other hand, the puncture robot can treat patients in emergency scenarios, reducing the possibility of patients missing the best treatment time due to the inability to be sent to the hospital in time. Furthermore, the puncture needle 102 of the puncture robot can perform six degrees of freedom of spatial movement under the control of the control mechanism, greatly improving the flexibility of the puncture needle 102.

[0088] In one embodiment, such as Figure 1 , 2As shown in Figure 3, the first driving mechanism 2 includes: a first slider-link drive assembly, a second slider-link drive assembly, a primary two-degree-of-freedom joint assembly 106, a secondary two-degree-of-freedom joint assembly 107, a slider guide rail assembly, a first drive assembly 108, and a second drive assembly; the first slider-link drive assembly and the second slider-link drive assembly have the same structure and are installed in parallel on the mounting rod 103, for driving the slide table 105 to move in a first direction and a second direction and to rotate about the first direction axis and the second direction axis; the first end of the primary two-degree-of-freedom joint assembly 106 is hinged to the link on the first slider-link drive assembly; the first end of the secondary two-degree-of-freedom joint assembly 107 is hinged to the link on the second slider-link drive assembly; the slider guide rail assembly includes a first slider 109, a fixing block 110, and a first slide rail 111, the first slide rail 111 being connected to the first slider A sliding connection is formed, wherein one end of the first slide rail 111 is fixedly connected to the fixed block 110, the first slider 109 is hinged to the second end of the secondary two-degree-of-freedom joint assembly 107, and the fixed block 110 is hinged to the second end of the primary two-degree-of-freedom joint assembly 106; or the first slider 109 is hinged to the second end of the primary two-degree-of-freedom joint assembly 106, and the fixed block 110 is hinged to the second end of the secondary two-degree-of-freedom joint assembly 107; the first drive assembly 108 is mounted on the first end of the primary two-degree-of-freedom joint assembly 106 and is used to drive the primary two-degree-of-freedom joint assembly 106 to rotate about a third direction axis; the second drive assembly is mounted on the first slide rail 111 and is used to drive the slide table 105, which is slidably mounted on the first slide rail 111, to slide along the first slide rail 111; wherein the first direction axis, the second direction axis, and the third direction axis are perpendicular to each other.

[0089] Specifically, the first slider-link drive assembly and the second slider-link drive assembly have identical structures and are installed in parallel on the mounting rod 103. The first ends of the primary two-degree-of-freedom joint assembly 106 and the secondary two-degree-of-freedom joint assembly 107 are respectively hinged to the connecting rods on the first slider-link drive assembly and the second slider-link drive assembly. For example, the primary two-degree-of-freedom joint assembly 106 can be hinged to the connecting rod of the first slider-link drive assembly, and the secondary two-degree-of-freedom joint assembly 107 can be hinged to the connecting rod of the second slider-link drive assembly; alternatively, the primary two-degree-of-freedom joint assembly 106 can be hinged to the connecting rod of the second slider-link drive assembly, and the secondary two-degree-of-freedom joint assembly 107 can be hinged to the connecting rod of the first slider-link drive assembly.

[0090] The second ends of the primary two-degree-of-freedom joint assembly 106 and the secondary two-degree-of-freedom joint assembly 107 are respectively fixedly connected to the first slider 109 and the fixing block 110 in the slider guide assembly. For example, the first slider 109 can be connected to the second end of the secondary two-degree-of-freedom joint assembly 107, and the fixing block 110 can be connected to the second end of the primary two-degree-of-freedom joint assembly 106; or the first slider 109 can be connected to the second end of the primary two-degree-of-freedom joint assembly 106, and the fixing block 110 can be connected to the second end of the secondary two-degree-of-freedom joint assembly 107. The first end and the second end are the two opposite ends of the primary two-degree-of-freedom joint assembly 106 or the secondary two-degree-of-freedom joint assembly 107.

[0091] In the slider guide rail assembly, one end of the first slide rail 111 is connected to the fixed block 110 and slidably connected to the first slider 109, and the slide table 105 is slidably mounted on the slide rail. Through the cooperation of the first slider linkage drive assembly, the second slider linkage drive assembly, the main two-degree-of-freedom joint assembly 106, and the secondary two-degree-of-freedom joint assembly 107, the slide table 105 can have two vertical translational degrees of freedom and two rotational degrees of freedom in three-dimensional space.

[0092] The first drive assembly 108 is mounted on the first end of the main two-degree-of-freedom joint assembly 106. For example, the first drive assembly 108 is a motor, the main body of which can be mounted on the nearest connecting rod. The motor shaft is fixedly connected to the first end of the main two-degree-of-freedom joint assembly 106. When the motor is started, it can drive the main two-degree-of-freedom joint assembly 106 to rotate about the third direction axis, thereby driving the slide table 105 mounted on the second end of the main two-degree-of-freedom joint assembly 106 to rotate about the third direction axis. The second drive assembly is mounted on the first slide rail 111 to drive the slide table 105 to slide along the first slide rail 111.

[0093] In one embodiment, such as Figures 1 to 4As shown, the first slider linkage drive assembly includes a first nut screw drive module 112, a second nut screw drive module 113, a first connecting rod 114, and a second connecting rod 115. The second slider linkage drive assembly includes a third nut screw drive module 116, a fourth nut screw drive module 117, a third connecting rod 118, and a fourth connecting rod 119. The first nut screw drive module 112, the second nut screw drive module 113, the third nut screw drive module 116, and the fourth nut screw drive module 117 are arranged parallel to each other and located on the same plane. One end of the first connecting rod 114 is rotatably connected to the nut of the first nut screw drive module 112. The other end of link 14 is hinged to the first end of the main two-degree-of-freedom joint assembly 106; one end of the second link 115 is rotatably connected to the nut of the second nut screw drive module 113, and the other end of the second link 115 is hinged to the first end of the main two-degree-of-freedom joint assembly 106; one end of the third link 118 is rotatably connected to the nut of the third nut screw drive module 116, and the other end of the third link 118 is hinged to the first end of the slave two-degree-of-freedom joint assembly 107; one end of the fourth link 119 is rotatably connected to the nut of the fourth nut screw drive module 117, and the other end of the fourth link 119 is hinged to the first end of the slave two-degree-of-freedom joint assembly 107.

[0094] Specifically, the first connecting rod 114 and the second connecting rod 115 are respectively mounted on the first nut screw drive module 112 and the second nut screw drive module 113, and the third connecting rod 118 and the fourth connecting rod 119 are respectively mounted on the third nut screw drive module 116 and the fourth nut screw drive module 117. For example... Figure 4 As shown, the first nut screw drive module 112, the second nut screw drive module 113, the third nut screw drive module 116, and the fourth nut screw drive module 117 all include a shaft connector, a screw support, a screw, a guide rod, and a nut.

[0095] For example, by making one end of the first link 114 and the second link 115, respectively, mounted on the first nut screw drive module 112 and the second nut screw drive module 113, close to each other, and one end of the third link 118 and the fourth link 119, respectively, mounted on the third nut screw drive module 116 and the fourth nut screw drive module 117, close to each other; or by making one end of the first link 114 and the second link 115, respectively, mounted on the first nut screw drive module 112 and the second nut screw drive module 113, far apart from each other, and one end of the third link 118 and the fourth link 119, respectively, mounted on the third nut screw drive module 116 and the fourth nut screw drive module 117, far apart from each other, the slide table 105 can be moved in the first direction.

[0096] For example, by having the first link 114 and the second link 115 respectively installed on the first nut screw drive module 112 and the second nut screw drive module 113, and the third link 118 and the fourth link 119 respectively installed on the third nut screw drive module 116 and the fourth nut screw drive module 117, move simultaneously in the same direction, the slide table 105 can be moved in the second direction.

[0097] For example, by making one end of the first link 114 and the second link 115 mounted on the first nut screw drive module 112 and the second nut screw drive module 113 respectively far apart, and making one end of the third link 118 and the fourth link 119 mounted on the third nut screw drive module 116 and the fourth nut screw drive module 117 respectively close together; or by making one end of the first link 114 and the second link 115 mounted on the first nut screw drive module 112 and the second nut screw drive module 113 close together, and making one end of the third link 118 and the fourth link 119 mounted on the third nut screw drive module 116 and the fourth nut screw drive module 117 far apart, the slide table 105 can be driven to rotate on the second direction axis.

[0098] For example, the ends of the first link 114 and the second link 115, which are respectively mounted on the first nut screw drive module 112 and the second nut screw drive module 113, move simultaneously in the first direction, while the ends of the third link 118 and the fourth link 119, which are respectively mounted on the third nut screw drive module 116 and the fourth nut screw drive module 117, remain stationary or move simultaneously in the second direction, with the first direction and the second direction being opposite. This can drive the slide table 105 to rotate on the first direction axis.

[0099] In one embodiment, such as Figure 5 As shown, the primary two-degree-of-freedom joint assembly 106 and the secondary two-degree-of-freedom joint assembly 107 each include two U-shaped hinge supports, the openings of the two U-shaped hinge supports face opposite directions and are rotatably connected at the bottom; the first end and the second end of the primary two-degree-of-freedom joint assembly 106 and the secondary two-degree-of-freedom joint are respectively the openings of the two U-shaped hinge supports.

[0100] Specifically, the primary two-degree-of-freedom joint assembly 106 and the secondary two-degree-of-freedom joint assembly 107 each include two U-shaped hinge supports. The openings of the two U-shaped hinge supports face opposite directions and their bottoms are rotatably connected to each other. Hinge shafts may also be provided at the openings of the two U-shaped hinge supports.

[0101] In one embodiment, such as Figure 6As shown, the second drive assembly includes a first motor 120, a first gear (not shown), and a first rack 121; the first motor 120 is mounted on the first slide rail 111; the first gear is fixedly connected to the free end of the motor shaft of the first motor 120; the first rack 121 is mounted on the slide table 105 and meshes with the first gear; a first sliding part is provided on the first base plate of the slide table 105; the slide table 105 is mounted on the first slide rail 111 through the first sliding part; and after installation, the first rack 121 is parallel to the first slide rail 111.

[0102] Specifically, the working principle of the second drive component is as follows: the first motor 120 starts, and the first gear fixedly connected to the free end of the motor shaft of the first motor 120 rotates. The rotation of the first gear drives the first rack 121, which is mounted on the slide table 105 and meshes with the first gear, to move linearly. The first sliding part on the slide table 105 is slidably connected to the first slide rail 111, so that the slide table 105 slides along the first slide rail 111.

[0103] In one embodiment, such as Figure 7 and Figure 8 As shown, the ultrasonic probe driving assembly includes a second motor 122, a second gear 123, a second rack 124, and a clamping module 4. The second motor 122 is mounted on the first side plate of the slide table 105, and the motor shaft of the second motor 122 is perpendicular to the first side plate. The second gear 123 is fixedly mounted on the free end of the motor shaft of the second motor 122. The second rack 124 is mounted on the clamping module 4 and meshes with the second gear 123. The clamping module 4 is provided with a second sliding part 125 parallel to the second rack 124. The second sliding part 125 is slidably connected to a second slide rail 126 on the first base plate of the slide table 105. The second slide rail 126 is arranged parallel to the second rack 124.

[0104] Specifically, the working principle of the ultrasonic probe drive assembly is as follows: the main body of the second motor 122 is mounted on the first side plate of the slide 105, and the motor shaft of the second motor 122 is perpendicular to the first side plate. When the second motor 122 is started, the motor shaft of the second motor 122 rotates, driving the second gear 123, which is fixedly mounted on the free end of the motor shaft of the second motor 122, to rotate. The rotation of the second gear 123 drives the second rack 124, which is mounted on the clamping module 4 and meshes with the second gear 123, to move linearly. The second sliding part 125 on the clamping module 4 is slidably connected to the second slide rail 126, thereby allowing the clamping module 4 to slide along the second slide rail 126.

[0105] For example, such as Figure 9 and Figure 10As shown, the clamping module 4 includes a second base plate 127, a first side clamping plate 128, a second side clamping plate 129, and a third side baffle 130. The third side baffle 130 is perpendicular to both the first side clamping plate 128 and the second side clamping plate 129, and is mounted on the side of the second base plate 127 away from the transmitting end of the ultrasonic probe 101. The third side baffle 130 can be integrally formed with the second base plate 127. The first side clamping plate 128 and the second side clamping plate 129 are mounted on opposite sides of the second base plate 127 and are elastically connected to the second base plate 127. The first side clamping plate 128 and the second side clamping plate 129 are shaped to match the ultrasonic probe 101, and multiple limiting claws 131 are provided on the first side clamping plate 128 and the second side clamping plate 129 perpendicular to the first side clamping plate 128 and the second side clamping plate 129. Based on the shape of the ultrasonic probe 101, when the first side clamp 128 and the second side clamp 129 have difficulty clamping the ultrasonic probe 101, it is advisable to fix the ultrasonic probe 101 to the third side baffle 130.

[0106] In one embodiment, the puncture needle 102 driving mechanism includes a first driving module, a second driving module, and a third driving module; the first driving module and the second driving module are respectively mounted on the second side plate of the slide table 105; the third driving module is mounted on the first driving module and the second driving module; the puncture needle 102 is mounted on the third driving module and adjusts its position and posture under the drive of the first driving module and the second driving module, and feeds or retracts under the drive of the third driving module.

[0107] Specifically, the first drive module is used to drive the puncture needle 102 to perform fine-tuning of its position, the second drive module is used to drive the puncture needle 102 to perform fine-tuning of its posture, and the third drive module is installed on the first and second drive modules and is used to drive the puncture needle 102 to perform feeding or retraction.

[0108] In one embodiment, such as Figure 7 and Figure 8As shown, the first drive module includes a third motor 132, a first rocker arm 133, a second rocker arm 134, and a first cross arm 135; the third motor 132 is mounted on the second side plate and the motor shaft of the third motor 132 is perpendicular to the second side plate; one end of the first rocker arm 133 is fixedly connected to the motor shaft of the third motor 132; the first cross arm 135 is rotatably connected to the other end of the first rocker arm 133; one end of the second rocker arm 134 is rotatably connected to the other end of the first cross arm 135, and the other end of the second rocker arm 134 is rotatably connected to the first side plate; wherein, the first cross arm 135 is perpendicular to the first side plate and the second side plate, the third drive module is partially mounted on the first cross arm 135, and the rotation axes of the first rocker arm 133 and the second rocker arm 134 are parallel to each other.

[0109] Specifically, the main body of the third motor 132 can be fixed to the second side plate, and the motor shaft of the third motor 132 is perpendicular to the second side plate. The driving principle of the first drive module is as follows: when the third motor 132 starts, the shaft of the third motor 132 drives the first rocker arm 133 to rotate around the shaft of the third motor 132. Since the second rocker arm 134 is indirectly connected to the first rocker arm 133 through the first cross arm 135 and the rotation axes of the first rocker arm 133 and the second rocker arm 134 are parallel to each other, the first rocker arm 133 drives the second rocker arm 134 to rotate by driving the first cross arm 135. At this time, the position of the third drive module installed on the first cross arm 135 will change accordingly. The first cross arm 135 is connected to the first rocker arm 133 and the second rocker arm 134 at the same time, which can improve the movement stability of the first cross arm 135.

[0110] In one embodiment, such as Figure 7 and Figure 8As shown, the second drive module includes a fourth motor 136, a third rocker arm 137, a fourth rocker arm 138, a second cross arm 139, a fifth rocker arm 140, and a sixth rocker arm 141; the fourth motor 136 is mounted on the second side plate and the motor shaft of the fourth motor 136 is perpendicular to the second side plate; one end of the third rocker arm 137 is fixedly connected to the motor shaft of the fourth motor 136; one end of the fourth rocker arm 138 is rotatably connected to the other end of the third rocker arm 137; one end of the second cross arm 139 is connected to the other end of the fourth rocker arm 138. Rotatable connection; one end of the fifth rocker arm 140 is rotatably connected to the other end of the second horizontal arm 139; one end of the sixth rocker arm 141 is rotatably connected to the other end of the fifth rocker arm 140, and the other end of the sixth rocker arm 141 is rotatably connected to the first side plate; wherein, the second horizontal arm 139 is perpendicular to the first side plate and the second side plate, the third drive module is partially mounted on the second horizontal arm 139, and the rotation axes of the third rocker arm 137, the fourth rocker arm 138, the fifth rocker arm 140 and the sixth rocker arm 141 are parallel to each other.

[0111] Specifically, since the third drive module is installed on the first drive module and the second drive module, when the first cross arm 135 moves, it will drive the third rocker arm 137, the fourth rocker arm 138, the second cross arm 139, the fifth rocker arm 140 and the sixth rocker arm 141 to move at the same time.

[0112] The main body of the fourth motor 136 can be fixed to the second side plate, and the shaft of the fourth motor 136 is perpendicular to the second side plate. The driving principle of the second drive module is as follows: when the fourth motor 136 starts, it drives the third rocker arm 137 to rotate around the shaft of the fourth motor 136, and at the same time drives the fourth rocker arm 138, the second horizontal arm 139, the fifth rocker arm 140, and the sixth rocker arm 141, which are connected in sequence to the third rocker arm 137, to move. At this time, the position and posture of the third drive module installed on the second horizontal arm 139 will change accordingly. Under the coordinated action of the first drive module and the second drive module, the position and posture of the third drive module can be adjusted.

[0113] In one embodiment, such as Figure 11As shown, the third drive module includes a fifth motor 142, a lead screw 143, and a puncture needle holder 144; the lead screw 143 is perpendicular to the first horizontal arm 135 and the second horizontal arm 139, and is mounted on the first horizontal arm 135 and the second horizontal arm 139; the fifth motor 142 is mounted on the lead screw 143, and the free end of the motor shaft of the fifth motor 142 is fixedly connected to the lead screw of the lead screw 143; the puncture needle holder 144 is fixedly mounted on the nut of the lead screw 143, and is fed or retracted under the drive of the lead screw 143.

[0114] Specifically, the third drive module includes a fifth motor 142, a lead screw 143, and a puncture needle holder 144. The motor shaft of the fifth motor 142 is fixedly connected to the lead screw on the lead screw 143, and is used to drive the rotation of the lead screw so that the nut on the lead screw 143 performs linear motion. Figure 11 and Figure 12 As shown, the puncture needle holder 144 is fixedly mounted on the nut and moves linearly with the nut to feed or retract. The puncture needle holder 144 can be integrally formed with the nut. The shape of the contact surface between the puncture needle holder 144 and the puncture needle 102 matches the shape of the clamping part of the puncture needle 102. Furthermore, an elastic material layer, such as a silicone layer, can be provided on the contact surface between the puncture needle holder 144 and the puncture needle 102 to improve the clamping stability of the puncture needle 102 and reduce clamping damage to the puncture needle 102.

[0115] The puncture robot for percutaneous puncture provided in the above embodiment controls the position of the ultrasound probe 101 to obtain ultrasound images of the patient through a control mechanism, and controls the puncture needle 102 to perform puncture surgery based on the ultrasound images. On the one hand, the puncture surgery is performed based on ultrasound images, without relying on the skills of medical personnel, ensuring the accuracy and safety of the surgery, and the efficiency of the surgery is high, saving medical resources. On the other hand, the puncture robot can treat patients in emergency scenarios, reducing the possibility of patients missing the best treatment time due to the inability to be sent to the hospital in time. Furthermore, the puncture needle 102 of the puncture robot can perform six degrees of freedom of spatial movement under the control of the control mechanism, greatly improving the flexibility of the puncture needle 102.

[0116] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A puncture robot for percutaneous puncture and incision, characterized in that, include: The device comprises a support, a first drive mechanism, a second drive mechanism, a control mechanism, an ultrasonic probe, and a puncture needle. The bracket includes a mounting rod and a support rod; The first drive mechanism is mounted on the mounting rod; The second driving mechanism includes a slide, an ultrasound probe driving assembly, and a puncture needle driving assembly. The slide is slidably mounted on the first driving mechanism and performs six degrees of freedom of spatial movement under the drive of the first driving mechanism. The ultrasound probe driving assembly and the puncture needle driving assembly are mounted on the slide. The ultrasonic probe is mounted on the ultrasonic probe drive assembly and is fed or retracted under the drive of the ultrasonic probe drive assembly. The puncture needle is mounted on the puncture needle drive assembly and is fed, retracted, or has its posture adjusted under the drive of the puncture needle drive assembly. The control mechanism is electrically connected to the first drive mechanism, the second drive mechanism and the ultrasound probe respectively. It adjusts the position and orientation of the ultrasound probe by controlling the first drive mechanism and the second drive mechanism, and controls the first drive mechanism and the second drive mechanism based on the ultrasound image obtained by the ultrasound probe to drive the puncture needle to perform puncture surgery. The first driving mechanism includes: a first slider-link driving assembly, a second slider-link driving assembly, a master two-degree-of-freedom joint assembly, a slave two-degree-of-freedom joint assembly, a slider guide rail assembly, a first driving assembly, and a second driving assembly; The first slider linkage drive assembly and the second slider linkage drive assembly have the same structure and are installed in parallel on the mounting rod, and are used to drive the slide table to move in the first direction and the second direction and to rotate about the first direction axis and the second direction axis. The first end of the main two-degree-of-freedom joint assembly is hinged to the connecting rod on the first slider-link drive assembly; The first end of the two-degree-of-freedom joint assembly is hinged to the link on the second slider link drive assembly; The slider guide rail assembly includes a first slider, a fixed block, and a first slide rail. The first slide rail is slidably connected to the first slider, and one end of the first slide rail is fixedly connected to the fixed block. The first slider is hinged to the second end of the secondary two-degree-of-freedom joint assembly, and the fixed block is hinged to the second end of the primary two-degree-of-freedom joint assembly. Alternatively, the first slider is hinged to the second end of the primary two-degree-of-freedom joint assembly, and the fixed block is hinged to the second end of the secondary two-degree-of-freedom joint assembly. The first driving component is mounted on the first end of the main two-degree-of-freedom joint assembly and is used to drive the main two-degree-of-freedom joint assembly to rotate about the third direction axis. The second drive component is mounted on the first slide rail and is used to drive the slide table, which is slidably mounted on the first slide rail, to slide along the first slide rail; The first direction axis, the second direction axis, and the third direction axis are perpendicular to each other.

2. The puncture robot for percutaneous puncture and incision according to claim 1, characterized in that, The first slider-link drive assembly includes a first nut screw drive module, a second nut screw drive module, a first link and a second link, and the second slider-link drive assembly includes a third nut screw drive module, a fourth nut screw drive module, a third link and a fourth link; The first nut screw drive module, the second nut screw drive module, the third nut screw drive module, and the fourth nut screw drive module are arranged parallel to each other and located on the same plane; One end of the first connecting rod is rotatably connected to the nut of the first nut screw drive module, and the other end of the first connecting rod is hinged to the first end of the main two-degree-of-freedom joint assembly. One end of the second connecting rod is rotatably connected to the nut of the second nut screw drive module, and the other end of the second connecting rod is hinged to the first end of the main two-degree-of-freedom joint assembly; One end of the third link is rotatably connected to the nut of the third nut screw drive module, and the other end of the third link is hinged to the first end of the two-degree-of-freedom joint assembly. One end of the fourth link is rotatably connected to the nut of the fourth nut screw drive module, and the other end of the fourth link is hinged to the first end of the two-degree-of-freedom joint assembly.

3. The puncture robot for percutaneous puncture and incision according to claim 2, characterized in that, The primary two-degree-of-freedom joint assembly and the secondary two-degree-of-freedom joint assembly each include two U-shaped hinge supports, the openings of the two U-shaped hinge supports facing opposite directions and being rotatably connected at the bottom; The first and second ends of the primary two-degree-of-freedom joint assembly and the secondary two-degree-of-freedom joint are respectively the openings of two U-shaped hinge supports.

4. The puncture robot for percutaneous puncture and incision according to claim 1, characterized in that, The second drive assembly includes a first motor, a first gear, and a first rack; The first motor is mounted on the first slide rail; The first gear is fixedly connected to the free end of the motor shaft of the first motor; The first rack is mounted on the slide and meshes with the first gear. A first sliding part is provided on the first base plate of the slide. The slide is mounted on the first slide rail through the first sliding part, and after installation, the first rack is parallel to the first slide rail.

5. The puncture robot for percutaneous puncture and incision according to any one of claims 1 to 4, characterized in that, The ultrasonic probe driving assembly includes a second motor, a second gear, a second rack, and a clamping module; The second motor is mounted on the first side plate of the slide, and the motor shaft of the second motor is perpendicular to the first side plate; The second gear is fixedly mounted on the free end of the motor shaft of the second motor; The second rack is mounted on the clamping module and meshes with the second gear; The clamping module is provided with a second sliding part parallel to the second rack. The second sliding part is slidably connected to a second slide rail on the first base plate of the slide table. The second slide rail is arranged parallel to the second rack.

6. The puncture robot for percutaneous puncture and incision according to claim 5, characterized in that, The puncture needle driving assembly includes a first driving module, a second driving module, and a third driving module; The first drive module and the second drive module are respectively mounted on the second side plate of the slide table; The third drive module is installed on the first drive module and the second drive module; The puncture needle is mounted on the third drive module and is adjusted in position and posture under the drive of the first drive module and the second drive module. It is fed or retracted under the drive of the third drive module.

7. The puncture robot for percutaneous puncture and incision according to claim 6, characterized in that, The first drive module includes a third motor, a first rocker arm, a second rocker arm, and a first cross arm; The third motor is mounted on the second side plate and the motor shaft of the third motor is perpendicular to the second side plate; One end of the first rocker arm is fixedly connected to the motor shaft of the third motor; The first horizontal arm is rotatably connected to the other end of the first rocker arm; One end of the second rocker arm is rotatably connected to the other end of the first cross arm, and the other end of the second rocker arm is rotatably connected to the first side plate; The first horizontal arm is perpendicular to the first side plate and the second side plate, the third drive module is partially mounted on the first horizontal arm, and the rotation axes of the first rocker arm and the second rocker arm are parallel to each other.

8. The puncture robot for percutaneous puncture and incision according to claim 6, characterized in that, The second drive module includes a fourth motor, a third rocker arm, a fourth rocker arm, a second cross arm, a fifth rocker arm, and a sixth rocker arm; The fourth motor is mounted on the second side plate and the motor shaft of the fourth motor is perpendicular to the second side plate; One end of the third rocker arm is fixedly connected to the motor shaft of the fourth motor; One end of the fourth rocker arm is rotatably connected to the other end of the third rocker arm; One end of the second horizontal arm is rotatably connected to the other end of the fourth rocker arm; One end of the fifth rocker arm is rotatably connected to the other end of the second horizontal arm; One end of the sixth rocker arm is rotatably connected to the other end of the fifth rocker arm, and the other end of the sixth rocker arm is rotatably connected to the first side plate; The second horizontal arm is perpendicular to the first side plate and the second side plate. The third drive module is partially mounted on the second horizontal arm. The rotation axes of the third rocker arm, the fourth rocker arm, the fifth rocker arm and the sixth rocker arm are parallel to each other.

9. The puncture robot for percutaneous puncture and incision according to claim 6, characterized in that, The third drive module includes a fifth motor, a nut screw, and a puncture needle clamp; The nut screw is perpendicular to the first cross arm in the first drive module and the second cross arm in the second drive module, and is mounted on the first cross arm and the second cross arm. The fifth motor is mounted on the lead screw, and the free end of the motor shaft of the fifth motor is fixedly connected to the lead screw of the lead screw. The puncture needle holder is fixedly installed on the nut of the nut screw, and is fed or retracted under the drive of the nut screw.

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