End effector of a thoracic and abdominal puncture surgical robot with quick needle changing function

Abstract

This invention discloses an end effector for a thoracic and abdominal puncture surgery robot with quick needle changing function, comprising a needle magazine changer, a frame, a needle inserter, a needle clamp, and a guide block. The needle magazine changer includes an upper needle plate, a safety ring, a lower end cover, a lower needle plate, a ratchet plate, a spring, a cam cover, a locking lever, and a support. The needle inserter includes a ball screw mechanism, a guide groove, and a clamp locking nut. The needle clamp includes a needle holder, a puncture needle, and a puncture needle locking nut. This invention enables continuous and rapid needle changing and insertion by a single operator in robot-assisted puncture surgery. It features multiple mechanical safety mechanisms, ensuring safety and efficiency, simplifying the operation process, reducing the risks caused by instrument operation during surgery, effectively improving the efficiency and safety of puncture surgery, and reducing the workload of medical staff.

Description

Technical Field

[0001] This invention relates to the field of medical devices, specifically to an end effector for a thoracic and abdominal puncture surgery robot with quick needle changing function. Background Technology

[0002] Thoracic and abdominal cancers, such as lung cancer, liver cancer, and kidney cancer, are among the cancers with the highest incidence and mortality rates. Percutaneous biopsy and localized interventional procedures are crucial medical approaches. Compared to traditional surgical methods, actuators offer high accuracy, sensitivity, and stability. Combined with advanced surgical programming techniques, scarless surgery, and rapid recovery methods, actuators have become an indispensable device in surgeries assisted by puncture navigation.

[0003] In actual thoracic and abdominal surgeries, multiple puncture needles (i.e., a group of puncture needles) are often used in the same procedure. Currently, commercially available robotic end effectors for puncture procedures have the following main shortcomings: 1. They can only hold one needle, making needle changes during surgery cumbersome: For example, application number 202210968737.7 discloses a single-needle clamping end effector. This single-needle clamping design limits the use of puncture needles by medical staff during surgery, and in some cases, even requires pausing the surgery to change needles, increasing the risk and difficulty of the surgical procedure. 2. They are large in size: For example, application number 202311652201.5 discloses an electric end effector for robotic puncture surgery. This end effector is large in size, which may cause inconvenience in actual surgical environments.

[0004] To address the shortcomings of the aforementioned end effectors, improve surgical safety and efficiency, and reduce the workload of medical staff, there is an urgent need to design an end effector with quick needle changing capabilities for use in thoracic and abdominal puncture surgical robots. Summary of the Invention

[0005] To address the shortcomings of existing technologies, the technical problem this invention aims to solve is to provide an end effector for a thoracic and abdominal puncture surgery robot with quick needle changing function.

[0006] The technical solution of the present invention to solve the aforementioned technical problem is to provide an end effector for a thoracic and abdominal puncture surgical robot with quick needle changing function, characterized in that the actuator includes a needle magazine changer, a frame, a needle inserter, a needle clamp, and a guide block;

[0007] The needle magazine changer includes an upper needle plate, a safety ring, a lower end cover, a lower needle plate, a ratchet plate, a spring, a cam cover, a locking lever, and a support; the needle inserter includes a ball screw mechanism, a guide groove, and a clamping nut; the needle clamp includes a needle holder, a puncture needle, and a puncture needle locking nut.

[0008] The upper surface of the lower end cover is provided with a fixed shaft, and the outer surface is provided with a lower end cover clamp guide groove;

[0009] The inner surface of the ratchet disc is provided with a fixing groove, and the outer surface is provided with an upper elastic pawl and a lower elastic pawl along the axial direction of the ratchet disc.

[0010] The inner surface of the lower needle plate is provided with a lower needle plate ratchet, the outer surface is provided with several lower needle plate clamp guide grooves, and the upper surface is provided with several positioning keys;

[0011] The outer surface of the safety ring is provided with several safety ring clamp guide grooves and several locking pins, the inner surface is provided with several stops, and a safety ring locking rod through hole is provided through the axial direction of the safety ring.

[0012] The inner surface of the upper needle plate is provided with an upper needle plate ratchet, the outer surface is provided with several upper needle plate clamping guide grooves, the lower surface is provided with several lower needle plate positioning grooves, and an upper needle plate locking rod through hole is provided through the axial direction of the upper needle plate.

[0013] The outer side of the ratchet disc is nested from bottom to top with a lower needle disc, a safety ring, and an upper needle disc; the fixed shaft passes through the fixed groove and is connected to the fixed groove to achieve a fixed connection between the lower end cover and the ratchet disc; the top of the fixed shaft is fixed to the top of the frame to fix the lower end cover to the frame; the lower end cover is rotatably connected to the lower needle disc.

[0014] The upper elastic pawl engages with the upper needle plate ratchet to form a ratchet mechanism; the lower elastic pawl engages with the lower needle plate ratchet to form a ratchet mechanism.

[0015] The positioning key passes through the safety ring and is fixed in the positioning groove of the lower needle plate, realizing the fixed connection between the lower needle plate and the upper needle plate; each stop is located between two adjacent positioning keys and has a gap, so that the safety ring can drive the upper needle plate and the lower needle plate to rotate together and can achieve relative rotation with respect to the upper needle plate and the lower needle plate according to the gap size.

[0016] A support is fixed to the upper surface of the upper needle plate; the middle part of the cam cover is rotatably mounted on the support; a spring is nested on the rod of the locking lever, one end of which contacts or is fixedly connected to the head of the locking lever, and the other end of which contacts or is fixedly connected to the upper surface of the upper needle plate; the end of the cam cover is the cam part, which contacts the top of the head of the locking lever; the rod of the locking lever can pass through the locking lever through hole of the upper needle plate and the locking lever through hole of the safety ring.

[0017] A clamping guide groove is formed by an upper needle plate clamping guide groove, a safety ring clamping guide groove, and a lower needle plate clamping guide groove located on the same straight line; a needle holder is slidably arranged in each clamping guide groove; the clamping guide groove is connected to the lower end cover clamping guide groove by rotation;

[0018] The guide groove is mounted on the ball screw mechanism, which enables the vertical lifting of the guide groove; a needle holder is slidably mounted inside the guide groove; the lower end cover clamp guide groove is connected to the guide groove; the clamp locking nut is threaded in the side wall of the guide groove and cooperates with the needle holder to lock or release the needle holder.

[0019] The needle holder has a needle clamping groove at its front end; the puncture needle is slidably installed in the needle clamping groove; the puncture needle locking nut is threaded into the side wall of the needle clamping groove and cooperates with the puncture needle to lock or release the puncture needle; a positioning block is provided on the rear side of the needle holder; the positioning block is slidably installed in the clamp guide groove, the lower end cover clamp guide groove and the guide groove; a locking groove is opened in the middle of the positioning block, and the locking pin cooperates with the locking groove;

[0020] The guide block is fixed to the bottom of the frame and has a guide needle hole in the middle, which is used for positioning and navigation of the puncture needle.

[0021] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0022] (1) This invention enables continuous and rapid needle changing and insertion by a single person in robot-assisted puncture surgery. It has multiple mechanical safety features, is safe and efficient, simplifies the operation process, reduces the risk caused by instrument operation during the operation, effectively improves the efficiency and safety of puncture surgery, and reduces the pressure on medical staff.

[0023] (2) The present invention enables the continuous replacement of multiple puncture needles in the same surgery.

[0024] (3) This invention forms a unidirectional multi-pawl ratchet mechanism through the cooperation of a pawl and a ratchet wheel. The unidirectional rotation structure has an anti-misrotation function, effectively preventing the misuse of contaminated puncture needles. At the same time, the multi-pawl ratchet mechanism can serve as a rotation indexing indicator, facilitating accurate needle replacement by operators. Furthermore, the clicking sound of the multi-pawl ratchet during rotation can provide an audible alert to medical personnel during needle replacement; there is no clicking sound when the specified angle has not been rotated, effectively improving the success rate of manual needle replacement.

[0025] (4) The present invention drives the needle through a ball screw structure, which can achieve self-locking and hovering at any position and withstand sufficient reaction force without moving.

[0026] (5) The shape and size of the present invention can be adjusted according to the size of the surgical robot to reduce the volume and achieve miniaturization. Attached Figure Description

[0027] Figure 1 This is a three-dimensional schematic diagram of the overall structure of the present invention;

[0028] Figure 2 This is an exploded view of the overall structure of the needle magazine changer of the present invention;

[0029] Figure 3 An exploded view from below of a portion of the needle magazine changer of the present invention;

[0030] Figure 4 This is a schematic diagram of the cam cover of the needle magazine changer of the present invention in the pressed state;

[0031] Figure 5 This is a schematic diagram of the cam cover of the needle magazine changer of the present invention in the lifted state;

[0032] Figure 6 This is a three-dimensional schematic diagram of a portion of the needle insertion device of the present invention;

[0033] Figure 7 This is a three-dimensional schematic diagram of a portion of the needle insertion device of the present invention;

[0034] Figure 8 This is a schematic diagram of the needle clamp of the present invention;

[0035] Figure 9 This is a schematic diagram of the needle clamp of the present invention being unlocked on the needle magazine changer;

[0036] Figure 10 This is a schematic diagram of the needle clamp of the present invention locking onto the needle magazine changer.

[0037] In the diagram, there are: 1. Needle magazine changer; 2. Frame; 3. Needle feeder; 4. Needle clamp; 5. Guide block.

[0038] Upper end cover 101, upper needle plate 102, safety ring 103, lower end cover 104, lower needle plate 105, ratchet plate 106, spring 107, cam cover 108, locking lever 109, rotating shaft 110, support 111;

[0039] Upper needle plate ratchet 102-1, upper needle plate clamp guide groove 102-2, lower needle plate positioning groove 102-3, upper end cover circular guide groove 102-4, upper needle plate locking rod through hole 102-5;

[0040] Operating handle 103-1, locking pin 103-2, stop block 103-3, safety ring locking rod through hole 103-4, safety ring clamp guide groove 103-5;

[0041] Fixed shaft 104-1, arc-shaped protrusion 104-2, lower end cover clamp guide groove 104-3;

[0042] Lower needle plate ratchet 105-1, lower needle plate clamp guide groove 105-2, lower end cover circular guide groove 105-3, positioning key 105-4;

[0043] Fixed groove 106-1, upper elastic pawl 106-2, lower elastic pawl 106-3;

[0044] 301. Ball screw nut, 302. Guide groove, 303. Needle holder, 304. Clamp locking nut, 305. Ball screw, 306. Coupling, 307. Drive motor, 308. Guide rod, 309.

[0045] Needle holder 401, puncture needle 402, puncture needle locking nut 403;

[0046] Needle clamping groove 401-1, positioning block 401-2, locking groove 401-3. Detailed Implementation

[0047] Specific embodiments of the present invention are given below. These specific embodiments are only used to further illustrate the present invention in detail and do not limit the scope of protection of the present invention.

[0048] The present invention provides an end effector (hereinafter referred to as the actuator) for a thoracic and abdominal puncture surgical robot with quick needle changing function. The actuator is characterized in that it includes a needle magazine changer 1, a frame 2, a needle inserter 3, a needle clamp 4, and a guide block 5.

[0049] The needle magazine changer 1 includes an upper needle plate 102, a safety ring 103, a lower end cover 104, a lower needle plate 105, a ratchet plate 106, a spring 107, a cam cover 108, a locking lever 109, and a support 111; the needle inserter 3 includes a ball screw mechanism, a guide groove 302, and a clamp locking nut 304; the needle clamp 4 includes a needle holder 401, a puncture needle 402, and a puncture needle locking nut 403;

[0050] The upper surface of the lower end cover 104 is provided with a fixed shaft 104-1, and the outer surface is provided with a lower end cover clamp guide groove 104-3;

[0051] The inner surface of the ratchet disc 106 is provided with a fixing groove 106-1, and the outer surface is provided with an upper elastic pawl 106-2 and a lower elastic pawl 106-3 along the axial direction of the ratchet disc 106.

[0052] The inner surface of the lower needle plate 105 is provided with a lower needle plate ratchet 105-1, the outer surface is provided with a plurality of lower needle plate clamp guide grooves 105-2 (eight in this embodiment), and the upper surface is provided with a plurality of positioning keys 105-4;

[0053] The outer surface of the safety ring 103 is provided with several safety ring clamp guide grooves 103-5 and several locking pins 103-2, the inner surface is provided with several stops 103-3, and a safety ring locking rod through hole 103-4 is provided through the axial direction of the safety ring 103 (i.e. through the upper and lower surfaces of the safety ring 103).

[0054] The inner surface of the upper needle plate 102 is provided with an upper needle plate ratchet 102-1, the outer surface is provided with a number of upper needle plate clamp guide grooves 102-2, the lower surface is provided with a number of lower needle plate positioning grooves 102-3, and an upper needle plate locking rod through hole 102-5 is provided through the axial direction of the upper needle plate 102 (i.e. through the upper surface and the lower surface of the upper needle plate 102).

[0055] The outer side of the ratchet disc 106 is nested from bottom to top with a lower needle disc 105, a safety ring 103, and an upper needle disc 102; the fixed shaft 104-1 passes through the fixed groove 106-1 and is engaged with the fixed groove 106-1 to achieve a fixed connection between the lower end cover 104 and the ratchet disc 106; the top of the fixed shaft 104-1 is fixed to the top of the frame 2 to achieve a fixed connection between the lower end cover 104 and the frame 2; the lower end cover 104 is rotatably connected to the lower needle disc 105.

[0056] The upper elastic pawl 106-2 cooperates with the upper needle plate ratchet 102-1 to form a multi-pawl ratchet mechanism by cooperating with the ratchet plate 106 and the upper needle plate 102; the lower elastic pawl 106-3 cooperates with the lower needle plate ratchet 105-1 to form a multi-pawl ratchet mechanism by cooperating with the ratchet plate 106 and the lower needle plate 105.

[0057] The safety ring 103 is located between the upper needle plate 102 and the lower needle plate 105; the positioning key 105-4 passes through the safety ring 103 and is inserted and fixed in the positioning groove 102-3 of the lower needle plate, realizing the fixed connection between the lower needle plate 105 and the upper needle plate 102; each stop 103-3 is located between two adjacent positioning keys 105-4 and has a gap, so that the safety ring 103 can drive the upper needle plate 102 and the lower needle plate 105 to rotate together and can achieve relative rotation with respect to the upper needle plate 102 and the lower needle plate 105 with a gap size;

[0058] A support 111 is fixed to the upper surface of the upper needle plate 102; the middle part of the cam cover 108 is rotatably mounted on the support 111 via a rotating shaft 110; a spring 107 is nested on the rod of the locking lever 109, one end of which contacts or is fixedly connected to the head of the locking lever 109, and the other end of which contacts or is fixedly connected to the upper surface of the upper needle plate 102; the end of the cam cover 108 is a cam part, which contacts the top of the head of the locking lever 109; the rod of the locking lever 109 can pass through the upper needle plate locking lever passage. Hole 102-5 and safety ring locking rod through hole 103-4; lift the beginning end of cam cover 108, causing cam cover 108 to rotate around pivot 110, pushing locking rod 109 through upper needle plate locking rod through hole 102-5 and safety ring locking rod through hole 103-4, locking safety ring 103 with upper needle plate 102, while spring 107 is compressed; conversely, press down the beginning end of cam cover 108, locking rod 109 resets under the action of spring 107, and safety ring 103 unlocks from upper needle plate 102;

[0059] A clamp guide groove consisting of an upper needle plate clamp guide groove 102-2, a safety ring clamp guide groove 103-5, and a lower needle plate clamp guide groove 105-2 located on the same straight line; a needle holder 401 is slidably arranged in each clamp guide groove; the clamp guide groove is connected to the lower end cover clamp guide groove 104-3 by rotation;

[0060] The guide groove 302 is mounted on the ball screw mechanism, which enables the vertical lifting of the guide groove 302; the needle holder 401 is slidably mounted inside the guide groove 302; the lower end cover clamp guide groove 104-3 is connected to the guide groove 302; the clamp locking nut 304 is threaded in the side wall of the guide groove 302 and cooperates with the needle holder 401 to lock or release the needle holder 401;

[0061] The needle holder 401 has a needle clamping groove 401-1 at its front end; the puncture needle 402 is slidably installed in the needle clamping groove 401-1; the puncture needle locking nut 403 is threadedly installed in the side wall of the needle clamping groove 401-1 and cooperates with the puncture needle 402 to lock or release the puncture needle 402; a positioning block 401-2 is provided on the rear side of the needle holder 401; the positioning block 401-2 is slidably installed in the clamp guide groove, the lower end cover clamp guide groove 104-3 and the guide groove 302; a locking groove 401-3 is opened in the middle of the positioning block 401-2, and a locking pin 103-2 cooperates with the locking groove 401-3; when the locking pin 103-2 slides into the locking groove 401-3, the needle clamp 4 is locked on the needle magazine changer 1 by the safety ring 103, and can rotate together with the upper needle plate 102 and the lower needle plate 105;

[0062] The guide block 5 is detachably fixed to the bottom of the frame 2, and a needle guide hole is provided in the middle. The needle guide hole is used for positioning and navigation of the puncture needle 402 to improve the accuracy of the needle insertion position during the needle insertion process.

[0063] Preferably, the fixed shaft 104-1 is a splined shaft, and the fixed groove 106-1 is a splined groove; the splined shaft and the splined groove cooperate to realize the fixed connection between the lower end cover 104 and the ratchet disc 106.

[0064] Preferably, the upper surface of the lower end cover 104 is provided with an arc-shaped protrusion 104-2; the lower surface of the lower needle plate 105 is provided with a circular guide groove 105-3; the arc-shaped protrusion 104-2 is rotatably installed in the inner groove 105-3 of the annulus, so as to realize the rotatable connection between the lower end cover 104 and the lower needle plate 105.

[0065] Preferably, a plurality of upper elastic pawls 106-2 are evenly arranged on the circumferential direction of the outer surface of the ratchet disk 106; a plurality of lower elastic pawls 106-3 are evenly arranged on the circumferential direction of the outer surface of the ratchet disk 106.

[0066] Preferably, the upper elastic pawl 106-2 and the lower elastic pawl 106-3 are oriented in the same direction, and the tooth grooves of the upper needle plate ratchet 102-1 and the lower needle plate ratchet 105-1 are oriented in the same direction, so that the upper needle plate 102 and the lower needle plate 105 move in the same direction.

[0067] Preferably, the lower needle plate positioning groove 102-3 is arc-shaped; the positioning key 105-4 is arc-shaped.

[0068] Preferably, the needle magazine changer 1 further includes an upper cover 101; the top of the fixed shaft 104-1 is fixed to the top of the frame 2 by the upper cover 101; the upper surface of the upper needle plate 102 is provided with an upper cover circular guide groove 102-4; the upper cover 101 is rotatably installed in the upper cover circular guide groove 102-4.

[0069] Preferably, the outer surface of the safety ring 103 is provided with an operating handle 103-1, which is used by the operator to hold during operation.

[0070] Preferably, the ball screw mechanism includes a ball screw nut 301, a needle holder 303, a ball screw 305, a drive motor 307, a guide rod 308, and a guide sleeve 309.

[0071] The housing of the drive motor 307 is fixed to the bottom of the frame 2, and the output end passes through the bottom of the frame 2 and is fixedly connected to one end of the ball screw 305 through the coupling 306. The other end of the ball screw 305 is rotatably mounted on the lower surface of the lower end cover 104 through a bearing and a bearing seat. One end of the guide rod 308 is fixed to the bottom of the frame 2, and the other end is fixed to the lower surface of the lower end cover 104. The ball screw nut 301 is connected to the ball screw 305. The needle insertion bracket 303 is fixedly connected to the ball screw nut 301. The front end of the needle insertion bracket 303 is fixed with a guide groove 302. The rear end of the needle insertion bracket 303 is fixed with a guide sleeve 309, which is slidably connected to the guide rod 308 to stabilize the needle insertion bracket 303.

[0072] Preferably, the guide groove 302 is vertically arranged; a baffle is provided at the bottom end of the guide groove 302 to prevent the needle holder 401 from slipping out.

[0073] Preferably, the top of the frame 2 is provided with a cantilever, and the end of the cantilever is a sunken cup-shaped connector for being fixedly connected to the upper end cover 101 and lower end cover 104 of the needle magazine changer 1 by threads, so as to realize the connection between the needle magazine changer 1 and the frame 2.

[0074] Preferably, the guide block 5 is connected to the frame 2 in a split quick-change structure, which allows for the replacement of guide blocks 5 of different specifications according to different specifications of puncture needles 402.

[0075] The working principle and workflow of this invention are as follows:

[0076] (1) Preoperative preparation: First, according to the actual number of puncture needles 402 required, the operator uses the respective puncture needle locking nut 403 to position and tighten each puncture needle 402 with its respective needle holder 401 to form several needle clamps 4; then the needle clamps 4 are installed into the needle magazine changer 1. At this time, the safety ring 103 and the upper needle plate 102 are in the unlocked state. Rotate the safety ring 103 to slide the locking pin 103-2 into the locking groove 401-3, and lock the needle clamps 4 onto the needle magazine changer 1 through the safety ring 103;

[0077] (2) Needle insertion: Lift the cam cover 108 to lock the safety ring 103 and the upper needle plate 102; then, the operator rotates the safety ring 103, which in turn rotates the upper needle plate 102 and the lower needle plate 105, so that the puncture needle 402 to be used is aligned with the lower end cover clamp guide groove 104-3; then, press down the cam cover 108 to unlock the safety ring 103 and the upper needle plate 102, and then rotate the safety ring 103 in the opposite direction to slide the locking pin 103-2 out of the locking groove 401-3. The needle clamp 4 moves downward from the upper needle plate clamp guide groove 102-2, the safety ring clamp guide groove 103-5, the lower needle plate clamp guide groove 105-2, and the lower end cover clamp guide groove 104-3 to the end of the guide groove 302, and the needle clamp 4 is positioned and clamped on the needle inserter 3 using the clamp locking nut 304; then the drive motor 307 of the ball screw mechanism rotates, driving the needle inserter 3 to start inserting the needle; during the needle insertion process, the puncture needle 402 is assisted in positioning by the guide block 5;

[0078] (3) Return stroke: The drive motor 307 of the ball screw mechanism reverses, driving the needle inserter 3 to move upward; the needle inserter 3 returns along the original path until it returns to the initial position of the needle insertion, in preparation for quick needle change;

[0079] (4) Changing the puncture needle 402 during surgery: The operator pushes the needle clamp 4 back into the needle magazine changer 1, rotates the safety ring 103, and slides the locking pin 103-2 into the locking groove 401-3, locking the needle clamp 4 onto the needle magazine changer 1 through the safety ring 103; then lifts the cam cover 108 to lock the safety ring 103 and the upper needle plate 102; then the operator rotates the safety ring 103, thereby rotating the upper needle plate 102 and the lower needle plate 105, so that the puncture needle 402 to be used is aligned with the lower end cover clamp guide groove 10. 4-3; Then press down the cam cover 108 to unlock the safety ring 103 from the upper needle plate 102, and then rotate the safety ring 103 in the opposite direction to slide the locking pin 103-2 out of the locking groove 401-3. The replaced needle clamp 4 moves down from the upper needle plate clamp guide groove 102-2, the safety ring clamp guide groove 103-5, the lower needle plate clamp guide groove 105-2 and the lower end cover clamp guide groove 104-3 to the end of the guide groove 302, and uses the clamp locking nut 304 to position and clamp the needle clamp 4 on the needle inserter 3 to complete the needle replacement.

[0080] Any aspects not covered in this invention are applicable to existing technologies.

Claims

1. An end effector for a thoracoabdominal puncture surgical robot with quick needle changing function, characterized in that, The actuator includes a needle magazine changer (1), a frame (2), a needle feeder (3), a needle clamp (4), and a guide block (5). The needle magazine changer (1) includes an upper needle plate (102), a safety ring (103), a lower end cover (104), a lower needle plate (105), a ratchet plate (106), a spring (107), a cam cover (108), a locking lever (109), and a support (111); the needle inserter (3) includes a ball screw mechanism, a guide groove (302), and a clamp locking nut (304); the needle clamp (4) includes a needle holder (401), a puncture needle (402), and a puncture needle locking nut (403). The upper surface of the lower end cover (104) is provided with a fixed shaft (104-1), and the outer surface is provided with a lower end cover clamp guide groove (104-3). The inner surface of the ratchet disc (106) is provided with a fixing groove (106-1), and the outer surface is provided with an upper elastic pawl (106-2) and a lower elastic pawl (106-3) along the axial direction of the ratchet disc (106). The inner surface of the lower needle plate (105) is provided with a lower needle plate ratchet (105-1), the outer surface is provided with a number of lower needle plate clamp guide grooves (105-2), and the upper surface is provided with a number of positioning keys (105-4). The outer surface of the safety ring (103) is provided with several safety ring clamp guide grooves (103-5) and several locking pins (103-2), the inner surface is provided with several stops (103-3), and a safety ring locking rod through hole (103-4) is provided through the axial direction of the safety ring (103). The inner surface of the upper needle plate (102) is provided with an upper needle plate ratchet (102-1), the outer surface is provided with several upper needle plate clamp guide grooves (102-2), the lower surface is provided with several lower needle plate positioning grooves (102-3), and an upper needle plate locking rod through hole (102-5) is provided through the axial direction of the upper needle plate (102). The outer side of the ratchet disc (106) is nested from bottom to top with a lower needle disc (105), a safety ring (103), and an upper needle disc (102); the fixed shaft (104-1) passes through the fixed groove (106-1) and is connected to the fixed groove (106-1) to realize the fixed connection between the lower end cover (104) and the ratchet disc (106); the top of the fixed shaft (104-1) is fixed to the top of the frame (2) to realize the lower end cover (104) is fixed to the frame (2); the lower end cover (104) is rotatably connected to the lower needle disc (105); The upper elastic pawl (106-2) cooperates with the upper needle plate ratchet (102-1) to realize the ratchet plate (106) and the upper needle plate (102) to form a ratchet mechanism; the lower elastic pawl (106-3) cooperates with the lower needle plate ratchet (105-1) to realize the ratchet plate (106) and the lower needle plate (105) to form a ratchet mechanism; The positioning key (105-4) passes through the safety ring (103) and is fixed in the positioning groove (102-3) of the lower needle plate, realizing the fixed connection between the lower needle plate (105) and the upper needle plate (102); each stop (103-3) is located between two adjacent positioning keys (105-4) and has a gap, so that the safety ring (103) can drive the upper needle plate (102) and the lower needle plate (105) to rotate together and can achieve relative rotation with respect to the upper needle plate (102) and the lower needle plate (105) with the gap size; A support (111) is fixed on the upper surface of the upper needle plate (102); the middle part of the cam cover (108) is rotatably mounted on the support (111); the spring (107) is nested on the rod of the locking rod (109), one end of which is in contact with or fixedly connected to the head of the locking rod (109), and the other end is in contact with or fixedly connected to the upper surface of the upper needle plate (102); the end of the cam cover (108) is the cam part, which is in contact with the top of the head of the locking rod (109); the rod of the locking rod (109) can pass through the upper needle plate locking rod through hole (102-5) and the safety ring locking rod through hole (103-4). A clamp guide groove is formed by an upper needle plate clamp guide groove (102-2), a safety ring clamp guide groove (103-5), and a lower needle plate clamp guide groove (105-2) located on the same straight line; a needle holder (401) is slidably arranged in each clamp guide groove; the clamp guide groove is connected to the lower end cover clamp guide groove (104-3) by rotation; The guide groove (302) is mounted on the ball screw mechanism, which enables the vertical lifting of the guide groove (302); a needle holder (401) is slidably mounted inside the guide groove (302); the lower end cover clamp guide groove (104-3) is connected to the guide groove (302); the clamp locking nut (304) is threaded in the side wall of the guide groove (302) and cooperates with the needle holder (401) to lock or release the needle holder (401); The needle holder (401) has a needle clamping groove (401-1) at its front end; the puncture needle (402) is slidably installed in the needle clamping groove (401-1); the puncture needle locking nut (403) is threadedly installed in the side wall of the needle clamping groove (401-1) and cooperates with the puncture needle (402) to lock or release the puncture needle (402); a positioning block (401-2) is provided on the rear side of the needle holder (401); the positioning block (401-2) is slidably installed in the clamp guide groove, the lower end cover clamp guide groove (104-3) and the guide groove (302); a locking groove (401-3) is opened in the middle of the positioning block (401-2), and a locking pin (103-2) cooperates with the locking groove (401-3); The guide block (5) is fixed on the bottom of the frame (2) and has a guide needle hole in the middle. The guide needle hole is used for positioning and navigation of the puncture needle (402).

2. The end effector of the thoracic and abdominal puncture surgical robot with quick needle changing function according to claim 1, characterized in that, The fixed shaft (104-1) is a spline shaft, and the fixed groove (106-1) is a spline groove; the spline shaft and the spline groove cooperate to realize the fixed connection between the lower end cover (104) and the ratchet disc (106).

3. The end effector of the thoracic and abdominal puncture surgical robot with quick needle changing function according to claim 1, characterized in that, The upper surface of the lower end cover (104) is provided with an arc-shaped protrusion (104-2); the lower surface of the lower needle plate (105) is provided with a circular guide groove (105-3); the arc-shaped protrusion (104-2) is rotatably installed in the circular guide groove (105-3) of the lower end cover, so as to realize the rotatable connection between the lower end cover (104) and the lower needle plate (105).

4. The end effector of the thoracic and abdominal puncture surgical robot with quick needle changing function according to claim 1, characterized in that, Several upper elastic pawls (106-2) are evenly arranged around the outer surface of the ratchet disc (106); several lower elastic pawls (106-3) are evenly arranged around the outer surface of the ratchet disc (106); the upper elastic pawls (106-2) and the lower elastic pawls (106-3) are oriented in the same direction, and the tooth grooves of the upper needle disc ratchet (102-1) and the lower needle disc ratchet (105-1) are oriented in the same direction, so that the upper needle disc (102) and the lower needle disc (105) move in the same direction.

5. The end effector of the thoracic and abdominal puncture surgical robot with quick needle changing function according to claim 1, characterized in that, The needle magazine changer (1) also includes an upper cover (101); the top of the fixed shaft (104-1) is fixed to the top of the frame (2) through the upper cover (101); the upper surface of the upper needle plate (102) is provided with an upper cover circular guide groove (102-4); the upper cover (101) is rotatably installed in the upper cover circular guide groove (102-4).

6. The end effector of the thoracic and abdominal puncture surgical robot with quick needle changing function according to claim 1, characterized in that, The outer surface of the safety ring (103) is provided with an operating handle (103-1), which is used by the operator to hold during operation.

7. The end effector of the thoracic and abdominal puncture surgical robot with quick needle changing function according to claim 1, characterized in that, The ball screw mechanism includes a ball screw nut (301), a needle holder (303), a ball screw (305), a drive motor (307), a guide rod (308), and a guide sleeve (309). The housing of the drive motor (307) is fixed to the bottom of the frame (2), and the output end passes through the bottom of the frame (2) and is fixedly connected to one end of the ball screw (305); the other end of the ball screw (305) is rotatably mounted on the lower surface of the lower end cover (104); one end of the guide rod (308) is fixed to the bottom of the frame (2), and the other end is fixed to the lower surface of the lower end cover (104); the ball screw nut (301) is connected to the ball screw (305); the needle holder (303) is fixedly connected to the ball screw nut (301); the front end of the needle holder (303) is fixed with a guide groove (302); the rear end of the needle holder (303) is fixed with a guide sleeve (309), which is slidably connected to the guide rod (308).

8. The end effector of the thoracic and abdominal puncture surgical robot with quick needle changing function according to claim 1, characterized in that, The guide groove (302) is set vertically; a baffle is provided at the bottom of the guide groove (302) to prevent the needle holder (401) from sliding out.

9. The end effector of the thoracic and abdominal puncture surgical robot with quick needle changing function according to claim 1, characterized in that, The top of the frame (2) is provided with a cantilever, and the end of the cantilever is a sunken cup-shaped connector for fixed connection with the lower end cover (104) of the needle magazine changer (1).

10. The end effector of the thoracic and abdominal puncture surgical robot with quick needle changing function according to claim 1, characterized in that, The lower needle plate positioning groove (102-3) is arc-shaped; the positioning key (105-4) is arc-shaped.

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