Guiding clamp arm, positioning assembly, robot and laser collimation method for puncture procedures

Abstract

A guide clamp arm, positioning assembly, robot and laser collimation method for robot puncture surgery are used for robot-assisted surgery positioning, indicating the puncture needle point position after scanning CT images, facilitating accurate indication of the position for local disinfection, anesthesia, skin breaking and puncture of the doctor; wherein it comprises: a guide clamp arm, which is composed of a pair of clamp arms rigidly connected with an end effector, the clamp arms can be attached to each other or separated, realizing clamping and releasing of the positioning assembly; the positioning assembly is clamped in the V-shaped groove of the guide clamp arm, realizing that the laser or puncture direction is consistent with the puncture path planned by the doctor; the laser collimation method clamps the positioning assembly after the guide clamp arm is sleeved with a sterile bag and performs positioning marking with the robot movement. The device structure effectively avoids the shielding and refraction problems of the sterile bag, ensuring reliable beam collimation. Experiments show that the positioning accuracy of the device can reach 1mm, effectively improving the consistency of the skin breaking point and the needle point, and reducing the secondary skin breaking injury and the proportion of complications.

Description

TECHNICAL FIELD

[0001] The present application relates to the medical technology field, and particularly relates to a guiding clamp arm, a positioning assembly, a robot and a laser collimation method for puncture surgery. BACKGROUND

[0002] The surgical robot-assisted percutaneous puncture surgery can effectively improve the puncture precision and puncture quality, and reduce the surgical risk and complications.

[0003] When the robot-assisted percutaneous puncture surgery is performed, the doctor needs to mark the position of the puncture needle entry point on the human skin with a skin marker pen, so as to perform local anesthesia, skin breaking and comparison and confirmation of the puncture needle entry point.

[0004] The marked position is usually obtained by laser indication. At present, the laser emitter of the existing surgical robot is basically divided into two categories. One is integrated on the end, which is far away from the human body. At the same time, since the laser passes through different substances (such as a sterile bag), refraction will occur, and accurate positioning cannot be achieved. The second type still needs to prepare a complex structure bracket for separately setting up a laser emitter, and the position of the laser needs to be manually adjusted, which is difficult to operate. However, the puncture surgery is performed in a sterile environment, so the surgical robot-assisted equipment needs to be covered with a sterile bag to maintain the sterile environment during the surgery. The sterile bag will block and refract the light emitted by the laser emitter, resulting in inaccurate positioning. In addition, the installation position of the laser emitter is far away from the human body, which also leads to inaccurate positioning.

[0005] Therefore, a device that is not affected by the blocking and refraction of the sterile bag, has high positioning accuracy, is easy to operate and convenient to use is needed. SUMMARY

[0006] The application provides a guiding clamp arm, a positioning assembly, a robot and a laser collimation method for puncture surgery, which facilitates the disassembly and assembly of the clamping piece after the sterile bag is sleeved on the guiding clamp arm, has a simple structure and is convenient to operate.

[0007] The application provides a guiding clamp arm for puncture surgery, comprising: a first clamp arm and a second clamp arm arranged side by side; the first clamp arm and the second clamp arm can be attached to and separated from each other along the arrangement direction; the first clamp arm is provided with a first clamping groove, and the second clamp arm is provided with a second clamping groove; when the first clamp arm and the second clamp arm are attached, the first clamping groove and the second clamping groove surround a through clamping hole. The guiding clamp arm for puncture surgery in the embodiment of the application is designed as a separable guiding clamp arm, which is convenient for disassembling the clamping part after the sterile bag is sleeved on the guiding clamp arm, has a simple structure and is convenient to operate. In an example embodiment, along the thickness direction of the first clamp arm and the second clamp arm, the first clamping groove and the second clamping groove are respectively at least partially V-shaped grooves or trapezoidal grooves. The V-shaped groove is beneficial to adaptive adjustment of the laser emitter or the puncture needle and the clamping hole, has the function of automatic correction of the axis, ensures that the axis of the laser emitter and the axis of the clamping hole are coaxial, can reduce the positioning and positioning area of the clamping part matched with the clamping hole, and thus reduces the processing difficulty of the clamping part.

[0008] In an example embodiment, the guiding clamp arm for puncture surgery further comprises a limiting structure arranged on the side of the clamping hole, the limiting structure comprises a guide groove arranged on one of the first clamp arm and the second clamp arm and a limiting sliding block arranged on the other clamp arm; when the first clamp arm and the second clamp arm move towards each other and are attached or move away from each other, the limiting sliding block can slide in the guide groove to limit the installation position of the clamping part clamped in the clamping hole. The limiting sliding block can limit and block the clamping part when the clamping part is installed in the clamping hole, avoid the placement position of the clamping part deviating from the clamping hole, and cause the clamping part to be not clamped. The limiting sliding block ensures that the placement position of the clamping part is basically consistent with the clamping hole, and ensures that the clamping is successful at one time.

[0009] In an example embodiment, the first clamp arm and the second clamp arm each have a clamping end in the shape of a platform, the clamping hole and the limiting structure are arranged on the opposite sides of the two clamping ends, and the limiting structure is located on the side of the clamping hole away from the end of the clamping end. The clamping end in the shape of a platform is convenient for the guiding clamp arm to clamp the clamping part to align the human body for laser collimation or puncture surgery.

[0010] In an example embodiment, when the first clamp arm and the second clamp arm are attached to each other, the opposite sides of the two clamping ends are respectively provided with notches; when the first clamp arm and the second clamp arm move towards each other and are attached, the two notches form a positioning opening, and the positioning opening is in communication with the clamping hole. The positioning opening can cooperate with the limiting of the clamping part, can ensure the accurate installation position of the laser emitter, and thus can prevent the laser emitter from rotating along the circumferential direction thereof or having an uncertain installation position, thereby reducing the requirement for processing precision.

[0011] In an exemplary embodiment, the clamping hole includes an upper receiving hole and a lower positioning hole communicating with the receiving hole along the thickness direction of the guide clamp arm; the radial width of the receiving hole is greater than or equal to the radial width of the positioning hole at the same position, and the positioning hole is a polygonal hole. Since the guide clamp arm for puncture surgery needs to be fitted with a sterile bag before the clamping component can be installed, the receiving hole forms a space that can accommodate the folds of the sterile bag, avoiding a significant impact on the clamping accuracy of the clamping component. The radial width of the receiving hole is larger than the radial width of the positioning hole, allowing it to accommodate more folds of the sterile bag.

[0012] This application provides a positioning component for puncture surgery, including: a guide clamp arm as described in any of the above embodiments, and a laser emitter installed in the clamping hole of the guide clamp arm.

[0013] In one exemplary embodiment, the laser emitter includes a cylindrical body and a clamping post extending from one end of the cylindrical body in a direction away from that end. A laser module is disposed within the cylindrical body, and the clamping post has an optical path. The clamping post is configured to cooperate with the clamping hole to clamp the laser emitter. The diameter of the clamping post is smaller than the diameter of the cylindrical body, thereby achieving axial positioning of the laser emitter.

[0014] In an exemplary embodiment, when the first clamping arm and the second clamping arm are engaged with each other, a positioning opening communicating with the clamping hole is formed between the ends of the first clamping arm and the second clamping arm. The positioning opening extends from the clamping hole toward the front end faces of the two clamping ends. The laser emitter also includes a limiting portion protruding from the side of the clamping post, the limiting portion extending into the positioning opening and engaging with the positioning opening to limit the movement. By providing a limiting portion that engages with the positioning opening, the laser emitter can restrict its circumferential rotation, thereby reducing the manufacturing precision requirements of the laser emitter.

[0015] This application also provides an end effector, characterized in that it includes an adjustment module and a needle insertion module, wherein the needle insertion module is slidably mounted on the adjustment module, and the adjustment module includes a guide gripper arm as described in any of the above embodiments. The adjustment module of the end effector of the puncture surgery guiding robot is equipped with a guide gripper arm, which facilitates the aseptic clamping of the puncture needle or laser emitter, and has a simple structure and is easy to operate.

[0016] This application also provides a guiding robot for puncture surgery, characterized in that it includes a robotic arm and an end effector as described in any of the above embodiments, mounted on the robotic arm. The end effector of the guiding robot for puncture surgery adopts a guiding gripper arm, which can facilitate the aseptic clamping of the puncture needle or laser emitter, and has a simple structure and is easy to operate.

[0017] In one exemplary embodiment, the guided robot further includes a laser emitter or puncture needle mounted in a gripping hole of the guide arm of the end effector. The guide arm of the guided robot can not only grip the puncture needle for puncture surgery, but also grip the laser emitter for laser collimation.

[0018] This application also provides a laser collimation method for puncture surgery, applied to a puncture surgery guide robot. The guide robot includes an end effector and a guide gripper mounted on the end effector. The guide gripper has a clamping hole for mounting a laser emitter or a puncture needle.

[0019] The laser alignment method includes: acquiring the position of the puncture needle insertion point on the human body; and, based on the acquired position of the puncture needle insertion point, controlling the actuator to move the guide arm and the laser emitter to an orientation indicating the position of the puncture needle insertion point. The laser alignment method for puncture surgery in this embodiment uses a laser emitter mounted on the guide arm of the actuator for laser alignment. The laser source is close to the human body, unobstructed, and accurately positioned.

[0020] In one exemplary embodiment, the puncture point is determined by the doctor based on the lesion location determined by the CT scan results after a CT scan of the human body, and the puncture path is planned accordingly.

[0021] In an exemplary embodiment, the step of controlling the execution end to drive the guide clamp arm to move the laser emitter to the posture indicating the puncture point position based on the obtained human puncture point position includes: obtaining the puncture path planned by the doctor on the operation interface to determine the puncture point position, controlling the execution end to drive the guide clamp arm to move to the laser emitter clamping posture, and waiting for the doctor to install and turn on the laser emitter.

[0022] In an exemplary embodiment, after controlling the end effector to move the guide arm and the laser emitter to the posture indicating the puncture point position based on the acquired puncture point position, the step includes: controlling the end effector to move the guide arm back to the laser emitter clamping posture; controlling the end effector to move the guide arm and the puncture needle to compare the position indicating the human puncture point with the position indicating the human puncture point by the laser emitter; the position indicating the human puncture point by the laser emitter is the position marked on the human skin by the doctor based on the laser point emitted by the laser emitter.

[0023] In one exemplary embodiment, the puncture surgery guiding robot is the puncture surgery guiding robot described in any of the above embodiments.

[0024] Compared with related technologies, the guide arm of the puncture surgery in this application is designed to be detachable, which makes it easy to disassemble and assemble the clamping parts after the sterile bag is put on the guide arm. The structure is simple and the operation is convenient.

[0025] Other features and advantages of this application will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing the application. Other advantages of this application can be realized and obtained by means of the solutions described in the description and the accompanying drawings. Attached Figure Description

[0026] The accompanying drawings are used to provide an understanding of the technical solutions of this application and constitute a part of the specification. They are used together with the embodiments of this application to explain the technical solutions of this application and do not constitute a limitation on the technical solutions of this application.

[0027] Figure 1 This is a perspective view of the separated state of the guide clamp arm in a puncture procedure according to an embodiment of this application;

[0028] Figure 2 for Figure 1 A top view of the status;

[0029] Figure 3 This is a perspective view of the fitting state of the guide clamp arm in the puncture surgery according to an embodiment of this application;

[0030] Figure 4 for Figure 2 A top view of the status;

[0031] Figure 5 A perspective view of the first clamp arm of the guide clamp arm for puncture surgery according to an embodiment of this application;

[0032] Figure 6 A perspective view of a first embodiment of the puncture surgery guiding component according to this application;

[0033] Figure 7 This is a perspective view of the laser emitter of the puncture surgery guidance component according to an embodiment of this application;

[0034] Figure 8 for Figure 7 Another angle view;

[0035] Figure 9 This is a cross-sectional view of the laser emitter of the puncture surgery guidance component according to an embodiment of this application;

[0036] Figure 10 This is a partial perspective view of the puncture surgery guidance robot according to an embodiment of this application;

[0037] Figure 11 This is a perspective view of a second embodiment of the puncture surgery guidance component according to the present application.

[0038] Figure label:

[0039]

[0040] Detailed Implementation

[0041] This application describes several embodiments, but these descriptions are exemplary and not restrictive, and it will be apparent to those skilled in the art that many more embodiments and implementations are possible within the scope of the embodiments described herein. Although many possible combinations of features are shown in the drawings and discussed in the detailed description, many other combinations of the disclosed features are also possible. Unless specifically limited, any feature or element of any embodiment may be used in combination with, or may replace, any feature or element of any other embodiment.

[0042] This application includes and contemplates combinations of features and elements known to those skilled in the art. The embodiments, features, and elements disclosed in this application may also be combined with any conventional features or elements to form a unique inventive scheme as defined by the claims. Any feature or element of any embodiment may also be combined with features or elements from other inventive schemes to form another unique inventive scheme as defined by the claims. Therefore, it should be understood that any feature shown and / or discussed in this application may be implemented individually or in any suitable combination. Therefore, the embodiments are not limited except by the limitations imposed by the appended claims and their equivalents. Furthermore, various modifications and changes may be made within the scope of the appended claims.

[0043] Furthermore, in describing representative embodiments, the specification may have presented methods and / or processes as a specific sequence of steps. However, the method or process should not be limited to the specific order of steps described herein, to the extent that it does not depend on such a specific order. As will be understood by those skilled in the art, other sequences of steps are also possible. Therefore, the specific order of steps set forth in the specification should not be construed as a limitation of the claims. Moreover, the claims concerning the method and / or process should not be limited to the steps performed in the written order, and those skilled in the art will readily understand that these orders can be varied and still remain within the spirit and scope of the embodiments of this application.

[0044] like Figures 1-5As shown, the guide clamp arm 1 for puncture surgery provided in this application includes: a first clamp arm 11 and a second clamp arm 12 arranged side by side. The first clamp arm 11 and the second clamp arm 12 can be fitted together and separated from each other along the arrangement direction. The first clamp arm 11 is provided with a first clamping groove 13a, and the second clamp arm 12 is provided with a second clamping groove 13b. When the first clamp arm 11 and the second clamp arm 12 are fitted together, the first clamping groove 13a and the second clamping groove 13b form a through clamping hole 13. The clamping hole 13 is not required to be closed; in this embodiment, it has a positioning opening.

[0045] The guide clamp arm 1 for puncture surgery in this embodiment is designed with detachable guide clamp arms 11 and 12, which facilitates the assembly and disassembly of the clamping components after a sterile bag is placed on the guide clamp arms 11 and 12. The structure is simple and the operation is convenient. The clamping component can be the puncture needle 2a (see...). Figure 11 ) or laser emitter 2 (see Figure 6 (As shown). In this embodiment, the puncture needle 2a is indirectly clamped on the guide arm 1 by a clamping guide. The puncture needle 2a can move axially through the middle hole of the guide.

[0046] like Figures 1-4 As shown, the guide arm 1 for puncture surgery also includes a limiting structure 14. The limiting structure 14 includes a guide groove 141 on one of the first clamping arms 11 and the second clamping arm 12, and a limiting slider 142 on the other clamping arm. In this embodiment, the limiting slider 142 is detachably mounted on the second clamping arm 12. A portion of the limiting slider 142 is mounted to the second clamping arm 12 via a screw connector, and the other portion extends into the guide groove 141 of the first clamping arm 11. The limiting structure 14 can restrict the relatively stable translational contact or separation of the first clamping arm 11 and the second clamping arm 12.

[0047] like Figure 1 , Figure 2 As shown, when the first clamping arm 11 and the second clamping arm 12 are in a backward movement state, the limiting slider 142 can slide in the guide groove 141 to achieve the guide separation of the clamping hole 13, so as to limit the installation position of the clamping member clamped in the clamping hole 13.

[0048] like Figure 3 , Figure 4 As shown, when the first clamping arm 11 and the second clamping arm 12 are moving towards each other, the limiting slider 142 can limit and block the clamping part when it is installed in the clamping hole 13, so as to prevent the clamping part from being placed off the clamping hole 13 and thus failing to clamp. The limiting slider 142 ensures that the position of the clamping part is basically consistent with the clamping hole 13, ensuring successful clamping in one go.

[0049] For example, when the laser generator 201 or the puncture needle 1a or the positioning component that is used to clamp the laser generator 201 or the puncture needle 1a into the clamping hole 13, the limiting slider 142 can stop the laser generator 201 or the puncture needle 1a or the positioning component. When clamping, you only need to hold the laser generator 201 or the puncture needle 1a or the positioning component against the limiting slider 142 and then clamp it to prevent the hand position from being too far in and deviating from the clamping hole 13.

[0050] like Figure 1 , Figure 3 As shown, the first clamping arm 11 and the second clamping arm 12 of the puncture surgery both have a platform-shaped clamping end 1a. A clamping hole 13 and a limiting structure 14 are provided on opposite sides of the two clamping ends 1a, and the limiting structure 14 is located on the side of the clamping hole 13 away from the end of the clamping end 1a. The clamping hole 13 communicates with the guide groove 141.

[0051] like Figure 4 As shown, notches are provided on opposite sides of the two clamping ends 1a. When the first clamping arm 11 and the second clamping arm 12 are engaged, the two notches form a positioning opening 15. The positioning opening 15 extends from the clamping hole 13 to the front end face of the two clamping ends 1a, so that when the laser emitter 2 is clamped in the clamping hole 13, the positioning opening 15 can limit the limiting part 211, thereby preventing the laser emitter 2 from rotating circumferentially. In other embodiments, the positioning opening 15 may also communicate with the clamping hole 130, which is not limited here. In human surgery, the operating precision requirements of surgical instruments are very high. The positioning opening 15 can cooperate with the limiting part of the clamping part to ensure the accurate installation position of the laser emitter 2, thereby preventing the laser emitter 2 from rotating circumferentially or having an uncertain installation position, thus reducing the processing precision requirements.

[0052] like Figure 4 , Figure 5As shown, the clamping hole 13, along the thickness direction of the guide clamping arm 1, includes an upper receiving hole 131 and a lower positioning hole 132 that communicates with the receiving hole 131. Half of the receiving hole 131 and the other half of the positioning hole 132 are respectively disposed on the first clamping arm 11 and the other half on the second clamping arm 12. The radial width of the receiving hole 131 is greater than or equal to the radial width of the positioning hole 132 at the same location, thereby forming a receiving space around the receiving hole 131. In this embodiment, the radial width of the receiving hole 131 or the positioning hole 132 refers to the average length from the center point of the receiving hole 131 or the positioning hole 132 to its periphery. Since the guide clamp arm 1 for puncture surgery needs to be fitted with a sterile bag before the clamping component can be installed, and the clamping component is installed outside the sterile bag, when clamping the puncture needle, only radial pressure is applied to the sterile bag at the positioning hole 132 to create wrinkles. However, when clamping the laser emitter 2, not only radial pressure is applied at the positioning hole 132 to create wrinkles, but the end face of the cylinder body 20 facing the clamping post 21 also applies pressure to the sterile bag to create more wrinkles. The receiving hole 131 forms a receiving space that can accommodate the wrinkled part of the sterile bag, thus avoiding a significant impact on the clamping accuracy of the clamping component.

[0053] like Figure 2 , Figure 4 As shown, the radial width of the receiving hole 131 is larger than that of the positioning hole 132, which can accommodate more aseptic bag pleats. In this embodiment, the receiving hole 131 is a round hole for ease of manufacturing. The positioning hole 132 is a polygonal hole, such as a square hole in this view. Along the thickness direction of the first clamping arm 11 and the second clamping arm 12, the first clamping groove 13a includes a V-shaped portion, and the second clamping groove 13b includes another V-shaped portion. The positioning hole 132 can also be quadrilateral, etc., and is not limited here. The polygonal hole design of the positioning hole 132 can reduce the positioning area with the clamping member, thereby reducing the processing difficulty of the clamping member. In other embodiments, the receiving hole 131 can also be a square hole, and is not limited here. Figure 6 As shown, this application embodiment also provides a positioning component for puncture surgery, including a puncture surgery guide clamp 1 as described in any of the above embodiments, and a laser emitter 2 installed in the clamping hole 13 of the puncture surgery guide clamp 1.

[0054] The guide arm 1 of this application embodiment can hold the laser emitter 2 after the sterile bag is covered. The laser emitter 2 is located outside the sterile bag, thereby avoiding the problem of laser refraction when passing through the sterile bag and ensuring positioning accuracy.

[0055] The laser emitter 2 in this embodiment is small in size, facilitating bagging, sterilization, and disinfection. Furthermore, the laser emitter 2 can be positioned according to the puncture angle of the guide arm 1 during the puncture procedure, without being limited by angle or requiring manual adjustment, greatly improving surgical efficiency. The V-groove of the clamping hole in the guide arm 1 allows for adaptive adjustment of the laser emitter 2, ensuring the laser beam and puncture direction are coaxial and reducing the error caused by folding of the sterile bag.

[0056] In addition, the laser emitter 2 in this embodiment is directly installed on the front guide arm 1 of the puncture surgical actuator, which can mark the surgical area A at a position close to the human body, and further improves the positioning accuracy of the laser emitter 2.

[0057] like Figures 7-9 As shown, the laser emitter 2 includes a cylindrical body 20 with a laser module 201 and a clamping post 21 extending from one end of the cylindrical body 20 away from that end and having an optical path 210. The clamping post 21 is cylindrical. The clamping post 21 is clamped in conjunction with the clamping hole 13. The diameter of the clamping post 21 is smaller than the diameter of the cylindrical body 20, thereby achieving axial positioning of the laser emitter 2. The laser emitter 2 also includes a limiting part 211 provided on the side of the clamping post 21. The limiting part 211 protrudes outward from the side of the clamping part 21 and extends axially along the clamping part. When the laser emitter 2 is installed in conjunction with the guide arm 1, the limiting part 211 extends into the positioning opening 15 for limiting. By setting the limiting part 211 to cooperate with the positioning opening 15, the laser emitter 2 can restrict its rotation in the circumferential direction, thereby reducing the manufacturing precision requirements of the laser emitter 2. The main body of the laser emitter 2 also has a battery compartment, and a push-button switch is provided at the rear.

[0058] like Figure 6 As shown, this application embodiment also provides a puncture surgery guide assembly, which includes a puncture surgery guide clamp 1 as described in any of the above embodiments, and a laser emitter 2 as described in any of the above embodiments, which is installed in conjunction with the clamping hole 13 of the puncture surgery guide clamp 1. The structure and effect of the guide clamp 1 and the laser emitter 2 can be referred to in any of the above embodiments, and will not be repeated here.

[0059] like Figure 11 As shown, this application embodiment also provides a puncture surgery guide assembly, which includes a puncture surgery guide clamp 1 as described in any of the above embodiments, and a puncture needle 2a as described in any of the above embodiments, which is fitted with a clamping hole 13 of the puncture surgery guide clamp 1. The structure and effect of the guide clamp 1 can be referred to in any of the above embodiments, and will not be repeated here.

[0060] like Figure 10As shown, this application embodiment also provides an end effector, including an adjustment module 31 and a needle insertion module 32. The needle insertion module 32 is slidably mounted on the adjustment module 31, and the adjustment module 31 includes a guide arm 1 as described in any of the above embodiments.

[0061] This application also provides a robot for guiding puncture surgery, including a robotic arm (not shown) and an end effector as described in any of the above embodiments mounted on the robotic arm.

[0062] The puncture surgery guidance robot also includes a clamping component mounted on the puncture surgery guidance gripper arm 1 of the end effector. The clamping component is either the laser emitter 2 or the puncture needle 2a as described in any of the above embodiments. The structure and effect of the guidance gripper arm 1 and the laser emitter 2 can be referred to in any of the above embodiments, and will not be repeated here.

[0063] This application also provides a laser collimation method for guiding puncture surgery, applied to a puncture surgery guidance robot. The laser collimation method for guiding puncture surgery according to this application embodiment can be applied to a puncture surgery guidance robot, which includes a robotic arm, an end effector mounted on the robotic arm, and a guide gripper mounted on the end effector. The guide gripper has a clamping hole for mounting a laser emitter or a puncture needle. The puncture surgery guidance robot can be any of the puncture surgery guidance robots described in the above embodiments, or any puncture surgery guidance robot in the prior art, and is not limited thereto. The laser emitter or puncture needle can be the laser emitter 2 or puncture needle 2a described in any of the above embodiments.

[0064] The laser collimation method in this application includes the following operations:

[0065] S1. Obtain the location of the puncture needle insertion point;

[0066] S2. Based on the obtained puncture point location, control the execution end of the puncture surgery guide robot to move the guide arm to the posture indicated by the laser emitter 2 at the puncture point location.

[0067] In step S1, the location of the puncture needle insertion point is determined by the doctor based on the CT scan results after scanning the human body and planning the puncture path.

[0068] Before step S2, the laser collimation method of this application embodiment further includes the following operation:

[0069] S21. Obtain the puncture path planned by the doctor on the operation interface to determine the puncture needle entry point, control the execution end to drive the guide clamp arm to the laser emitter clamping posture, and wait for the doctor to install and turn on the laser emitter.

[0070] The laser collimation method of this application embodiment further includes the following operation after step S2:

[0071] S22. After the doctor marks the position indicated by the laser emitter 2, the execution end is controlled to drive the guide arm to move back to the clamping posture of the laser emitter 2.

[0072] S23. The control actuator drives the guide arm to move the puncture needle to the indicated puncture point position and compares it with the puncture point position indicated by the laser emitter; the puncture point position indicated by the laser emitter 2 is the position marked on the human body by the doctor based on the laser point emitted by the laser emitter.

[0073] The laser alignment method for puncture surgery in this embodiment uses a guide clamp arm mounted on the end of the procedure in conjunction with a laser emitter for laser alignment. The laser source is close to the human body, unobstructed, and accurately positioned. This not only avoids the complex structure of a separate laser emitter support, but also avoids the problem of laser refraction and inaccurate positioning caused by the laser being installed inside a sterile bag.

[0074] An exemplary laser collimation method for a guidance robot used in puncture surgery according to embodiments of this application includes the following steps:

[0075] (1) Position the patient in a suitable position on the CT bed;

[0076] (2) Control the CT bed to enter the scanning position for CT scanning via the CT operation panel;

[0077] (3) After the CT scan is completed, control the CT bed to move back to the surgical position;

[0078] (4) The doctor observes the CT image and determines the location of the lesion on the surgical operating system interface;

[0079] (5) The doctor plans the puncture path and determines the puncture point on the operation interface;

[0080] (6) Control the execution end to drive the guide arm 1 to move to the clamping posture of the laser emitter 2;

[0081] (7) The doctor takes the sterile laser emitter 2 out of the sterile medical kit;

[0082] (8) Turn on the laser;

[0083] (9) Flatten the sterile bag at guide arm 1 to avoid multi-layer stacking (the auxiliary equipment is already covered with a sterile bag, not shown in the figure);

[0084] (10) Place the laser emitter 2 in the V-groove between the guide arms 1 and press the guide arms 1 to hold the laser emitter 2.

[0085] (11) Control the execution end to drive the guiding clamping arm 1 to move to the posture indicated by the laser emitter 2, and indicate the puncture needle insertion point;

[0086] (12) Mark the position of the laser point on the human skin with a marker pen;

[0087] (13) Control the execution end to drive the guiding clamping arm 1 to move back to the clamping posture of the laser emitter 2;

[0088] (14) Open the guiding clamping arm 1, remove and close the laser emitter;

[0089] (15) Disinfect the patient according to the position of the laser marking point, lay a surgical drape, perform local anesthesia or other surgical preparation work such as skin puncture;

[0090] (16) Replace the clamping surgical puncture needle 2a on the auxiliary device, and control the execution end to drive the guiding clamping arm 1 to the surgical position;

[0091] (17) Operate the auxiliary device to move the puncture needle 2a along the puncture direction close to the marking point, and observe whether the tip of the needle coincides with the marking point. If it coincides, the puncture surgery can be performed. If there is a deviation, it is necessary to recheck and plan the surgery. The guiding clamping arm 1, components, robot and laser collimation method of the puncture surgery in the embodiment of the present application have high positioning accuracy, are not affected by the sterile bag, occupy a small space, have a simple usage method, the laser device can be repeatedly sterilized with ethylene oxide and reused, the distance between the laser emitter and the positioning skin point is small, its operation is simple, the positioning accuracy is high, the manufacturing cost of the laser emitter is low, and it is not affected by the refraction of the sterile bag. The V-shaped groove of the guiding clamping arm has the function of automatically correcting the axis, and the clamping accuracy of the cylindrical laser emitter can reach 1 mm.

[0092] In the description of the present invention, it should be noted that the terms "upper", "lower", "one side", "the other side", "one end", "the other end", "side", "opposite", "four corners", "perimeter", "the "mouth" character structure", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the structure referred to has a specific orientation, is constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0093] In the description of the embodiments of the present invention, unless otherwise clearly specified and limited, the terms "connection", "direct connection", "indirect connection", "fixed connection", "installation", "assembly" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; the terms "installation", "connection", "fixed connection" can be directly connected, or indirectly connected through an intermediate medium, and can be the internal communication of two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood in specific situations

[0094] It will be understood by those skilled in the art that all or some of the steps, systems, or apparatuses disclosed above, and their functional modules / units, can be implemented as software, firmware, hardware, or suitable combinations thereof. In hardware implementations, the division between functional modules / units mentioned above does not necessarily correspond to the division of physical components; for example, a physical component may have multiple functions, or a function or step may be performed collaboratively by several physical components. Some or all components may be implemented as software executed by a processor, such as a digital signal processor or microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit (ASIC). Such software may be distributed on a computer-readable medium, which may include computer storage media (or non-transitory media) and communication media (or transient media). As is known to those skilled in the art, the term computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disc (DVD) or other optical disc storage, magnetic cartridges, magnetic tape, disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and can be accessed by a computer. Furthermore, it is well known to those skilled in the art that communication media typically contain computer-readable instructions, data structures, program modules, or other data in modulated data signals such as carrier waves or other transmission mechanisms, and may include any information delivery medium.

Claims

1. A guide clamp for puncture surgery, characterized in that, include: A first clamping arm and a second clamping arm arranged side by side; the first clamping arm and the second clamping arm can be fitted together and separated along the arrangement direction; The first clamping arm is provided with a first clamping groove, and the second clamping arm is provided with a second clamping groove. When the first clamping arm and the second clamping arm are in contact, the first clamping groove and the second clamping groove form a through clamping hole. The guide arm for the puncture surgery also includes a limiting structure located adjacent to the clamping hole. The limiting structure includes a guide groove on one of the first and second clamp arms and a limiting slider on the other clamp arm. When the first clamping arm and the second clamping arm move toward each other or move away from each other, the limiting slider can slide in the guide groove to limit the installation position of the clamping member clamped in the clamping hole; When the first and second clamping arms are moving in opposite directions, the limiting slider can slide within the guide groove to achieve guided separation of the clamping hole; When the first clamping arm and the second clamping arm are moving in opposite directions, the limiting slider can limit and block the clamping member when the clamping member is installed into the clamping hole.

2. The guide clamp for puncture surgery according to claim 1, characterized in that, Along the thickness direction of the first clamping arm and the second clamping arm, the first clamping groove and the second clamping groove are at least partially V-shaped grooves or trapezoidal grooves.

3. The guide clamp for puncture surgery according to claim 2, characterized in that, Both the first clamping arm and the second clamping arm have platform-shaped clamping ends, and the clamping holes and the limiting structure are located on opposite sides of the two clamping ends; The limiting structure is located on the side of the clamping hole away from the end of the clamping end.

4. The guide clamp for puncture surgery according to claim 3, characterized in that, When the first clamping arm and the second clamping arm are in contact with each other, notches are provided on the opposite sides of the two clamping ends respectively; When the first clamping arm and the second clamping arm move toward each other and fit together, the two notches form a positioning opening, which communicates with the clamping hole.

5. The guide clamp for puncture surgery according to any one of claims 1-4, characterized in that, The clamping hole includes an upper receiving hole and a lower positioning hole that communicates with the receiving hole along the thickness direction of the guide arm. The radial width of the receiving hole is greater than or equal to the radial width of the positioning hole at the same position, and the positioning hole is a polygonal hole.

6. A positioning component for puncture surgery, characterized in that, include: The guide arm as described in any one of claims 1-5 and the laser emitter installed in the clamping hole.

7. The positioning component for puncture surgery according to claim 6, characterized in that, The laser emitter includes a cylindrical body and a clamping post extending from one end of the cylindrical body toward a direction away from that end. The cylindrical body is provided with a laser module, and the clamping post is provided with an optical path. The clamping post is configured to cooperate with the clamping hole to clamp the laser emitter.

8. The positioning component for puncture surgery according to claim 7, characterized in that, When the first clamping arm and the second clamping arm are in contact with each other, a positioning opening communicating with the clamping hole is formed between the ends of the first clamping arm and the second clamping arm. Both the first clamping arm and the second clamping arm have a platform-shaped clamping end. The positioning opening extends from the clamping hole to the front end face of the two clamping ends. The laser emitter also includes a limiting part protruding from the side of the clamping post, the limiting part extending into the positioning opening and cooperating with the positioning opening for limiting.

9. An end effector, characterized in that, It includes an adjustment module and a needle insertion module, the needle insertion module being slidably mounted on the adjustment module, the adjustment module including a guide clamp as described in any one of claims 1 to 5.

10. A guiding robot for puncture surgery, characterized in that, Includes a robotic arm and an end effector as described in claim 9 mounted on the robotic arm.

11. The guiding robot according to claim 10, characterized in that, It also includes a laser emitter or puncture needle mounted in the clamping hole of the guide arm of the end effector.

12. A laser alignment method for a puncture procedure, applied to a guiding robot for a puncture procedure as described in claim 10 or 11, the guiding robot comprising an end effector and a guiding gripper mounted on the end effector, the guiding gripper having a clamping hole for mounting a laser emitter or a puncture needle; the laser alignment method comprising: Obtain the location of the puncture needle insertion point; Based on the obtained location of the puncture point in the human body, the end effector of the guiding robot is controlled to move the guiding gripper to the position indicated by the laser emitter at the location of the puncture point.

13. The laser collimation method according to claim 12, characterized in that, The location of the puncture needle insertion point is determined by the doctor based on the lesion location determined by the CT scan results, and the puncture path is planned accordingly.

14. The laser collimation method according to claim 12, characterized in that, The step of controlling the end effector to move the guide arm to the position indicated by the laser emitter before the obtained puncture point location is determined includes: The system obtains the puncture path planned by the doctor on the operation interface to determine the puncture needle insertion point, and controls the execution end to drive the guide arm to move to the laser emitter clamping posture.

15. The laser collimation method according to claim 12, characterized in that, The step of controlling the end effector to move the guide arm to the laser emitter in the posture indicating the puncture point position, based on the obtained puncture point location, includes: Control the end effector to return to the laser emitter clamping position; The actuator is controlled to move the guide arm to compare the position of the puncture needle insertion point with the position of the puncture needle insertion point indicated by the laser emitter; the position of the puncture needle insertion point indicated by the laser emitter is the position marked on the human skin by the doctor based on the laser point emitted by the laser emitter.

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