Positioning tooling and positioning method for hand components

Abstract

The present application provides a positioning tool and a positioning method for a slave assembly, which relates to the technical field of medical equipment. Among them, the positioning device can be applied to the slave assembly. The telescopic arm of the slave assembly is rotatably connected to the mounting seat, so that the angle between the telescopic arm and the mounting seat can be adjusted, so that the orientation of the puncture tube connected to the telescopic arm can be changed. The positioning member is arranged along a preset axis, so that the positioning rod is distributed along the preset axis. The positioning member is passed through the puncture tube, and the positioning member is located on the central axis of the puncture tube, so that the central axis of the puncture tube is also located on the preset axis, so that the puncture tube can be aligned with the center surrounded by multiple instrument boxes, thereby achieving the purpose of positioning the puncture tube, and making the positioning process of the puncture tube simple and convenient, and the positioning accuracy is high.

Description

Technical Field

[0001] The present application relates to a positioning tool and a method for positioning a hand assembly, belonging to the technical field of medical equipment. Background Art

[0002] The surgical robot's slave hand assembly is the component used to perform surgical operations. It can have multiple instrument cassettes, each corresponding to the same type of surgical instrument. This allows the slave hand assembly to perform multiple surgical maneuvers. Multiple cassettes can be rotated, enabling the slave hand assembly to perform more complex surgical operations. The slave hand assembly also has a puncture tube, through which instruments are inserted into the affected area.

[0003] During assembly of the hand assembly, multiple instrument cassettes must be arranged around the cassette's rotational center, which must be aligned with the puncture cannula. However, due to limitations in assembly precision and component accuracy, alignment of the cassette's rotational center with the puncture cannula is difficult. This results in the surgical robot's instruments passing through the cannula at an angle, hindering surgical performance and increasing surgical risk when the cassette rotates. Summary of the Invention

[0004] The present application provides a positioning tool and a method for positioning a slave hand assembly, which solves the problem of inconvenient positioning of the puncture tube at the end of the slave hand assembly of a surgical robot in the related art.

[0005] In a first aspect, the present application provides a positioning tool for positioning a puncture tube of a slave hand assembly, wherein the slave hand assembly includes a mounting seat, a telescopic arm that is telescopic relative to the mounting seat, a puncture tube, and a plurality of instrument boxes, wherein the free end of the telescopic arm is connected to the puncture tube, and the telescopic arm is further configured to rotate relative to the mounting seat, and the plurality of instrument boxes are arranged at intervals around a preset axis, and the plurality of instrument boxes are configured to rotate around the preset axis, and the positioning tool includes:

[0006] A positioning member is configured to be arranged along the preset axis, and the positioning member passes through the central axis of the puncture tube so that the central axis of the puncture tube is located on the preset axis.

[0007] In the positioning tool provided in the present application, a telescopic arm is rotatably connected to a mounting base, allowing the angle between the telescopic arm and the mounting base to be adjusted, thereby changing the orientation of the puncture tube connected to the telescopic arm. Multiple instrument boxes rotate about a predetermined axis so that the center of the multiple instrument boxes is located on the predetermined axis. Positioning members are located on the predetermined axis so that the positioning members are distributed along the predetermined axis. The positioning members are inserted through the puncture tube and located on the central axis of the puncture tube, so that the central axis of the puncture tube is located on the predetermined axis. The puncture tube can be aligned with the center of the multiple instrument boxes, thereby achieving the purpose of positioning the puncture tube and making the positioning process of the puncture tube simple, convenient, and highly accurate. In this way, even if the puncture tube and the predetermined axis around the multiple instrument boxes are misaligned due to assembly accuracy issues in the telescopic arm, the puncture tube can be misaligned by adjusting the angle between the telescopic arm and the mounting base.

[0008] In some embodiments, the positioning member includes a positioning rod, the positioning rod having a first end and a second end, the first end being detachably and movably connected to the mounting seat, the central axis of the positioning rod coinciding with the preset axis, the second end being configured to be passable through the puncture tube, and the central axis of the positioning rod being located on the central axis of the puncture tube, and the positioning rod being configured to be reciprocatingly movable along the preset axis.

[0009] After the positioning is completed, the first end is separated from the mounting seat through the detachable connection between the first end and the mounting seat, so that the positioning tool is separated from the hand assembly.

[0010] In some embodiments, a positioning hole is formed on the mounting seat at a position corresponding to the preset axis, and the first end is inserted into the positioning hole.

[0011] The positioning rod can be more conveniently fixed on the mounting seat by providing the mounting hole.

[0012] In some embodiments, the positioning fixture further includes a positioning sleeve, which is removably disposed within the positioning hole and arranged along the predetermined axis. The first end is inserted into the positioning sleeve, and the outer wall of the first end is in contact with the inner wall of the positioning sleeve. The positioning hole is used to locate the installation position base point, and the positioning sleeve is used to guide the extension direction of the first end and the second end, ensuring that the connection direction of the first end and the second end coincides with the predetermined axis.

[0013] In some embodiments, the positioning sleeve is threadedly connected or snap-fitted to the mounting seat.

[0014] Both the threaded connection and the snap-fit ​​connection can reliably connect the positioning sleeve and the mounting seat.

[0015] In some embodiments, the outer wall of the second end is in contact with the inner wall of the puncture tube.

[0016] The second end of the positioning rod fits against the inner wall of the puncture tube, so that the second end of the positioning rod and the puncture tube are relatively fixed in the radial direction of the puncture tube, which can prevent installation deviation and ensure that the central axis of the puncture tube coincides with the preset axis.

[0017] In some embodiments, the positioning member includes a laser, and the laser is configured to emit a laser line arranged along the preset axis, and the laser line passes through the puncture cylinder and is located on the central axis of the puncture cylinder.

[0018] The positioning part adopts the form of a laser, which makes the installation of the positioning part easier. The laser emission direction of the laser is consistent with the extension direction of the laser body. The laser can be fixed through the positioning hole and the positioning sleeve to ensure that the laser emission line of the laser coincides with the preset axis. The angle of the telescopic arm is adjusted to make the laser line pass through the central axis of the puncture tube.

[0019] In a second aspect, the present application provides a method for positioning a slave hand assembly, which can be applied to the positioning tooling described above, and the method comprises:

[0020] Arranging the positioning member along the preset axis;

[0021] The angle of the telescopic arm is adjusted so that the positioning member passes through the puncture tube, and the positioning member is located on the central axis of the puncture tube.

[0022] In a third aspect, the present application provides a method for positioning a hand assembly, which can be applied to the positioning tooling described above, and the method comprises:

[0023] The first end of the positioning rod is movably connected to the mounting seat, and the central axis of the positioning rod is ensured to be arranged on a preset axis, so that multiple instrument boxes can be wound around the positioning rod;

[0024] The puncture tube is sleeved on the positioning rod, and the angle of the telescopic arm is adjusted so that the central axis of the positioning rod and the central axis of the puncture tube are collinear.

[0025] In some embodiments, after the puncture tube is sleeved on the positioning rod, the method further comprises:

[0026] Moving the positioning rod along the preset axis and away from the puncture tube to disengage the positioning rod from the puncture tube;

[0027] Moving the puncture tube to be misaligned with the positioning rod;

[0028] Separate the first end of the positioning rod from the mounting base.

[0029] In the hand assembly positioning method proposed in the present application, the first end of the positioning rod is installed on the mounting seat and the central axis of the positioning rod is set on a preset axis. By adjusting the telescopic arm to rotate relative to the mounting seat and moving the positioning rod on the preset axis, the puncture tube sets the positioning rod on the positioning rod, so that the central axis of the puncture tube is also located on the preset axis, so that the puncture tube can be aligned with the center around which multiple instrument boxes are arranged. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The above and other objects, features and advantages of the embodiments of the present application will become more readily understood through the following detailed description with reference to the accompanying drawings, in which various embodiments of the present application are illustrated by way of example and not limitation, wherein:

[0031] Figure 1 A schematic diagram of a positioning tool according to an embodiment of the present application;

[0032] Figure 2 This is a schematic diagram of a positioning tool provided on a slave hand assembly according to an embodiment of the present application;

[0033] Figure 3 A schematic diagram of a positioning sleeve of a positioning tool according to an embodiment of the present application;

[0034] Figure 4 A schematic diagram of a telescopic arm of a slave hand assembly according to an embodiment of the present application;

[0035] Figure 5 This is a flowchart of a method for positioning a slave hand component according to an embodiment of the present application.

[0036] Reference numerals:

[0037] 100-mounting seat, 110-positioning hole, 120-adjustment hole, 130-fixing hole,

[0038] 200-telescopic arm, 210-guide part, 220-telescopic part,

[0039] 300-Puncture tube,

[0040] 400-Instrument Box,

[0041] 500-positioning rod, 510-first end, 520-second end,

[0042] 600-Positioning sleeve. DETAILED DESCRIPTION

[0043] The following describes in detail embodiments of the present application, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0044] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0045] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of such features. Throughout the description of this application, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0046] In this application, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection, or communication; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in this application based on specific circumstances.

[0047] In this application, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0048] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0049] The surgical robot's slave hand assembly is the component used to perform surgical operations. It can have multiple instrument cassettes, each corresponding to the same type of surgical instrument. This allows the slave hand assembly to perform multiple surgical maneuvers. Multiple cassettes can be rotated, enabling the slave hand assembly to perform more complex surgical operations. The slave hand assembly also has a puncture tube, through which instruments are inserted into the affected area.

[0050] During assembly of the hand assembly, multiple instrument cassettes must be arranged around the cassette's rotational center, which must be aligned with the puncture cannula. However, due to limitations in assembly precision and component accuracy, alignment of the cassette's rotational center with the puncture cannula is difficult. This results in the surgical robot's instruments passing through the cannula at an angle, hindering surgical performance and increasing surgical risk when the cassette rotates.

[0051] In the slave hand assembly used in the positioning tooling proposed in the embodiments of the present application, a telescopic arm is rotatably connected to a mounting base, allowing the angle between the telescopic arm and the mounting base to be adjusted, thereby changing the orientation of the puncture tube connected to the telescopic arm. Multiple instrument boxes rotate about a predetermined axis so that the center of the multiple instrument boxes is located on the predetermined axis. Positioning members are located on the predetermined axis so that the positioning members are distributed along the predetermined axis. The positioning members are inserted through the puncture tube and located on the central axis of the puncture tube, so that the central axis of the puncture tube is located on the predetermined axis. The puncture tube can be aligned with the center of the multiple instrument boxes, thereby achieving the purpose of positioning the puncture tube and making the positioning process of the puncture tube simple, convenient, and highly accurate. In this way, even if the slave hand assembly cannot align the puncture tube with the predetermined axis around which the multiple instrument boxes are located due to assembly accuracy issues, the puncture tube can be misaligned with the predetermined axis around which the multiple instrument boxes are located by adjusting the angle between the telescopic arm and the mounting base.

[0052] In the hand assembly positioning method proposed in this application, the positioning piece is set on a preset axis. By adjusting the telescopic arm to rotate relative to the mounting seat, the positioning piece is passed through the puncture tube and is located on the central axis of the puncture tube. In this way, the central axis of the puncture tube is also located on the preset axis, so that the puncture tube can be aligned with the center around which multiple instrument boxes are arranged.

[0053] The positioning tooling and the method for positioning the slave hand assembly provided in this application are described in detail below in conjunction with specific embodiments.

[0054] This application proposes a positioning tool, referring to Figures 1 to 2 As shown, the positioning fixture can be used to position the puncture tube 300 of the slave assembly. Wherein, the slave assembly includes a mounting base 100, a telescopic arm 200, a puncture tube 300 and a plurality of instrument boxes 400.

[0055] Mounting base 100 is the foundational component of the slave assembly of this application. Mounting base 100 provides a mounting base for at least some of the other components of the slave assembly and serves to protect at least some of the other components. Mounting base 100 can be made of a metal material, which provides it with superior structural strength, thereby enhancing its durability and reliability. Alternatively, mounting base 100 can be made of a polymer material, providing it with a relatively lightweight structure while maintaining a certain level of structural strength.

[0056] One side of the telescopic arm 200 is movably connected to the mounting base 100, so that the mounting base 100 can support the telescopic arm 200 so that the telescopic arm 200 can be fixedly installed. The other end of the telescopic arm 200 is a free end, and the free end of the telescopic arm 200 can be connected to the puncture tube 300. There are multiple instrument boxes 400, each of which is rotatably connected to the mounting base 100. The multiple instrument boxes 400 are arranged around a preset axis so that each of the multiple instrument boxes 400 can rotate around the preset axis, and the rotation center of the multiple instrument boxes 400 is located on the preset axis. The instrument boxes 400 have surgical instruments, and different surgical instruments can be arranged on the multiple instrument boxes 400. The multiple instrument boxes 400 can be rotated to a working position. The puncture barrel 300 is provided with a puncture cavity. When the instrument box 400 is in the working position, the surgical instruments on the instrument box 400 can be inserted into the puncture cavity of the puncture barrel 300. The puncture barrel 300 can also serve to position the surgical instruments on the instrument box 400. Therefore, when operating the hand assembly, the user can rotate multiple instrument boxes 400 according to the actual surgical needs, so that the instrument box 400 corresponding to the surgical instrument currently in use is in the working position.

[0057] The telescopic arm 200 is configured to be driven to reciprocate relative to the mounting base 100 in the telescopic direction. This allows the puncture tube 300 connected to the telescopic arm 200 to also reciprocate in the telescopic direction, thereby adjusting the position of the puncture tube 300 to a desired location. This allows surgical instruments mounted on the instrument cassette 400 of the puncture tube 300 to reach the desired location. Specifically, the desired location may be a site of an injury on a patient undergoing surgery. If there are multiple sites of injury, the telescopic arm 200 can be reciprocated in the telescopic direction multiple times as needed, allowing the puncture tube 300 to be moved to each of the multiple sites.

[0058] The telescopic arm 200 is also configured to rotate relative to the mounting base 100, so that the orientation of the puncture tube 300 provided on the telescopic arm 200 can be adjusted, thereby adjusting the puncture tube 300 so that one end opening of the puncture cavity of the puncture tube 300 is opposite to the preset axis around which the multiple instrument boxes 400 are arranged.

[0059] The positioning fixture of the present application includes a positioning member, which is arranged along a preset axis so that the positioning member extends along the preset axis and is located on the preset axis. The positioning member is inserted into the puncture tube 300 and is located on the central axis of the puncture tube 300, so that the positioning member is located on both the preset axis and the central axis of the puncture tube 300. In this way, the preset axis coincides with the central axis of the puncture tube 300, so that the central axis of the puncture tube 300 is located on the preset axis. In this way, the central axis of the puncture tube 300 can be aligned with the preset axis, and the puncture tube 300 can be aligned with the rotation center around which the multiple instrument boxes 400 are arranged, thereby achieving the purpose of positioning the puncture tube 300.

[0060] Specifically, the positioning member can be first set on a preset axis, and then the telescopic arm 200 can be adjusted to rotate relative to the mounting base 100 so that the positioning member is located on the central axis of the puncture tube 300 .

[0061] In some embodiments, the positioning member of the present application may be provided to include a positioning rod 500, wherein the positioning rod 500 has a first end 510 and a second end 520, wherein the first end 510 and the second end 520 are opposite ends of the positioning rod 500. The first end 510 of the positioning rod 500 is movably connected to the mounting base 100, and the central axis of the positioning rod 500 can be set as a preset axis, that is, the central axis of the positioning rod 500 is located on the preset axis. The second end 520 of the positioning rod 500 can pass through the middle area around which the multiple instrument boxes 400 are arranged, that is, the multiple instrument boxes 400 can be arranged around the positioning rod 500. The second end 520 of the positioning rod 500 can eventually be inserted into the puncture cavity of the puncture tube 300, and the central axis of the puncture cavity is collinear with the central axis of the positioning rod 500. Correspondingly, the central axis of the puncture cavity of the puncture tube 300 is also located on the preset axis. In this way, the rotation center around which the multiple instrument boxes 400 are arranged and the center of the puncture cavity are all located on the preset axis to be collinear, so that the rotation center is aligned with the center of the puncture cavity.

[0062] When positioning the slave assembly using the positioning fixture of the present application, the first end 510 of the positioning rod 500 can be connected to the mounting base 100, and the second end 520 of the positioning rod 500 can be passed through the rotation center around which the multiple instrument boxes 400 are arranged, so that the central axis of the positioning rod 500 is on a predetermined axis. Then, the adjustable telescopic arm 200 is rotated relative to the mounting base 100 so that one end opening of the puncture cavity of the puncture tube 300 can be opposite to the second end 520 of the positioning rod 500. Then, the positioning rod 500 can be moved on the predetermined axis so that the second end 520 of the positioning rod 500 can be moved toward the puncture cavity of the puncture tube 300, so that the second end 520 of the positioning rod 500 extends into the puncture cavity, and the central axis of the positioning rod 500 is collinear with the central axis of the puncture cavity, so that the center of the puncture cavity can be aligned with the rotation center around which the multiple instrument boxes 400 are arranged.

[0063] After the center of the puncture cavity is aligned with the rotation center around which the multiple instrument boxes 400 are arranged, the positioning rod 500 can be moved in a direction away from the puncture tube 300 to disengage the positioning rod 500 from the puncture cavity, and then the telescopic arm 200 is controlled to move in the telescopic direction to misalign the puncture tube 300 and the positioning rod 500. In this way, the puncture tube 300 and the positioning rod 500 will not interfere with each other on the preset axis, and the positioning rod 500 can be easily removed from the mounting base 100.

[0064] Therefore, the process of positioning the slave hand assembly by the positioning tool of the present application is simple and convenient. Even if the center of the puncture cavity of the slave hand assembly cannot be aligned with the rotation center around which the multiple instrument boxes 400 are arranged due to assembly accuracy problems during the assembly process, by adjusting the telescopic arm 200 to rotate relative to the mounting base 100, the second end 520 of the positioning rod 500 is passed through the puncture cavity, and the center of the puncture cavity can be aligned with the rotation center around which the multiple instrument boxes 400 are arranged.

[0065] In some embodiments, reference Figure 3 As shown, in order to make the positioning rod 500 of the present application more convenient to be connected with the mounting base 100 of the slave hand assembly, a positioning hole 110 can be provided on the mounting base 100 of the slave hand assembly, and the central axis of the positioning hole 110 is also located on the preset axis, thereby, the positioning hole 110 can be aligned with the rotation center around which the multiple instrument boxes 400 are arranged. The first end 510 of the positioning rod 500 can be inserted into the positioning hole 110 of the mounting base 100, and the outer dimensions of the first end 510 of the positioning rod 500 can be set to match the hole size of the positioning hole 110, so that when the first end 510 of the positioning rod 500 is located in the positioning hole 110, the outer wall of the first end 510 of the positioning rod 500 can contact the inner wall of the positioning hole 110, so that the positioning hole 110 can serve to limit the positioning rod 500, so that the central axis of the positioning rod 500 can be maintained on the preset axis.

[0066] In addition, the positioning hole 110 of the mounting base 100 can also be used to set the circuit structure in the hand assembly, and the circuit structure can pass through the positioning hole 110 and be connected to the instrument box 400.

[0067] In some embodiments, reference Figure 3 As shown, in order to make the connection between the positioning rod 500 of the present application and the mounting base 100 more stable and reliable, the positioning tool of the present application can also be provided with a positioning sleeve 600. The positioning sleeve 600 is detachably arranged in the positioning hole 110, and the positioning sleeve 600 is arranged along a preset axis. The first end 510 of the positioning rod 500 is inserted into the positioning sleeve 600, so that the first end 510 of the positioning rod 500 is fixed to the mounting base 100 through the positioning sleeve 600. Specifically, the positioning sleeve 600 can be inserted into the positioning hole 110, and the positioning sleeve 600 can also be provided with an open hole structure. The first end 510 of the positioning rod 500 can be inserted into the open hole of the positioning sleeve 600, so that the positioning rod 500 is fixed in the positioning sleeve 600. It should be understood that since the positioning hole 110 on the mounting base 100 can also be used to install the circuit structure of the slave assembly, the aperture of the positioning hole 110 can be set relatively large to facilitate the installation of the circuit structure.

[0068] The inner diameter of the opening on the positioning sleeve 600 can be set to be smaller than the inner diameter of the positioning hole 110. Accordingly, the outer diameter of the positioning rod 500 does not need to be set too large, thereby reducing the outer diameter of the positioning rod 500, making the structure of the positioning rod 500 more compact and lighter, so as to facilitate the disassembly and assembly of the positioning rod 500 from the positioning sleeve 600.

[0069] In some embodiments, the positioning sleeve 600 of the present application can be fixed to the mounting base 100 by a threaded connection, so that the positioning sleeve 600 and the mounting base 100 are detachably connected. Specifically, corresponding screw holes can be provided on the positioning sleeve 600 and the mounting base 100, and bolts can be screwed into the corresponding screw holes of the positioning sleeve 600 and the mounting base 100, so that the bolts fix the positioning sleeve 600 to the mounting base 100. Of course, in other embodiments, the positioning sleeve 600 and the mounting base 100 can also be connected by a latch, which can also make the positioning sleeve 600 and the mounting base 100 detachably connected.

[0070] In some embodiments, when the first end 510 of the positioning rod 500 of the present application is located within the positioning sleeve 600, the outer wall of the first end 510 of the positioning rod 500 can be configured to abut against the inner wall of the opening of the positioning sleeve 600. In this way, the inner wall of the opening of the positioning sleeve 600 can serve to limit the first end 510 of the positioning rod 500, thereby ensuring that the central axis of the positioning rod 500 is collinear with the central axis of the opening of the positioning sleeve 600. The outer wall of the second end 520 of the positioning rod 500 can be configured to abut against the inner wall of the puncture cavity of the puncture cylinder 300. In this way, the inner wall of the puncture cavity of the puncture cylinder 300 can serve to limit the second end 520 of the positioning rod 500, thereby ensuring that the central axis of the positioning rod 500 is collinear with the central axis of the puncture cavity of the puncture cylinder 300.

[0071] In some embodiments, the positioning member of the present application may be configured to include a laser, which is configured to emit a laser line. The laser line emitted by the laser is located on a preset axis, so that the laser line can pass through the rotation center around which the multiple instrument boxes 400 are arranged. The laser line emitted by the laser can also pass through the puncture tube 300 and is located on the central axis of the puncture tube 300. In this way, the laser line can be simultaneously located on the preset axis and the central axis of the puncture tube 300, so that the central axis of the puncture tube 300 is aligned with the preset axis, thereby aligning the puncture tube 300 with the rotation center around which the multiple instrument boxes 400 are arranged.

[0072] Specifically, the laser can be controlled to emit a laser line on a preset axis, and then the telescopic arm 200 is adjusted to rotate relative to the mounting base 100 so that the laser line passes through the puncture tube 300 and is located on the central axis of the puncture tube 300.

[0073] In some embodiments, reference Figure 4As shown, to enable the telescopic arm 200 in the slave hand assembly to rotate relative to the base to adjust the orientation of the puncture cartridge 300, the telescopic arm 200 may include a guide portion 210 and a telescopic portion 220. The guide portion 210 is configured to guide the telescopic portion 220 in the telescopic direction. Specifically, the guide portion 210 limits the movement direction of the telescopic portion 220, so that the telescopic portion 220 can only move in the telescopic direction relative to the guide portion 210. This prevents the telescopic portion 220 from deviating from the telescopic direction during movement, thereby preventing the puncture cartridge 300 connected to the telescopic portion 220 from reaching the designated position. As a result, when the telescopic portion 220 moves relative to the guide portion 210, the puncture cartridge 300 can accurately reach the designated position.

[0074] The guide portion 210 is rotatably connected to the mounting base 100, allowing for adjustment of the angle between the guide portion 210 and the mounting base 100. Specifically, the extension direction of the guide portion 210 can be adjusted. The telescopic portion 220 is connected to the guide portion 210 so that when the guide portion 210 rotates relative to the mounting base 100, the telescopic portion 220 can also rotate relative to the mounting base 100. This allows for adjustment of the angle between the telescopic portion 220 and the mounting base 100, and thus also allows for adjustment of the extension direction of the telescopic portion 220. When the telescopic portion 220 rotates with the guide portion 210, the orientation of the end of the telescopic portion 220 that is connected to the puncture cartridge 300 can be changed. In this way, when the slave hand assembly is affected by the assembly accuracy and preparation accuracy and the puncture cavity of the puncture tube 300 cannot be aligned with the rotation center around which the multiple instrument boxes 400 are arranged, the guide part 210 can be rotated to rotate the puncture cavity until it is aligned with the rotation center around which the multiple instrument boxes 400 are arranged. In this way, there is no need to reassemble the slave hand assembly, thereby making the assembly efficiency of the slave hand assembly of the present application higher.

[0075] In some embodiments, reference Figure 4 As shown, to enable the guide portion 210 of the present application to be rotatably connected to the mounting base 100, the telescopic arm 200 may also include a fixing member. The guide portion 210 may include an adjustment hole 120. The adjustment hole 120 on the guide portion 210 is a curved hole structure and extends along the rotational direction of the guide portion 210. The fixing member is inserted through the adjustment hole 120 of the guide portion 210 and fixed to the mounting base 100, thereby securing the guide portion 210 to the mounting base 100.

[0076] When the fixing member is pre-fixed to the guide portion 210 and the mounting base 100, the guide portion 210 can be rotated by applying a force to the guide portion 210. Specifically, the adjustment hole 120 can be an arc-shaped hole, and the guide portion 210 can rotate around the fixing member, and can rotate up to the point where the fixing member and the inner walls of the adjustment hole 120 abut against each other. Once the guide portion 210 is rotated into position, the fixing member can be tightened to the guide portion 210 and the mounting base 100, thereby fixing the guide portion 210 relative to each other and fixing the telescopic angle in the telescopic direction.

[0077] The number of adjustment holes 120 on the guide portion 210 can be multiple, and the line connecting the multiple adjustment holes 120 can form a ring. Accordingly, the number of fixing members can be multiple, and the multiple fixing members can pass through the multiple adjustment holes 120 and be fixed to the mounting base 100, thereby making the fixed connection between the guide portion 210 and the mounting base 100 more stable and reliable. The guide portion 210 can also be provided with fixing holes 130, and the fixing holes 130 are surrounded by the multiple adjustment holes 120. Fixing members connected to the mounting base 100 can also be passed through the fixing holes 130, thereby making the connection between the guide portion 210 and the mounting base 100 more reliable.

[0078] The present application also proposes a method for positioning a hand assembly, referring to Figure 5 As shown, the positioning method can be applied to the positioning tool mentioned above, and is used to align the puncture cylinder 300 in the hand assembly with the rotation center around which the multiple instrument boxes 400 are arranged. The method includes the following steps:

[0079] S100, movably connecting the first end of the positioning rod to the mounting seat, and ensuring that the central axis of the positioning rod is set on a preset axis, so that multiple instrument boxes can be wound around the positioning rod.

[0080] The first end 510 of the positioning rod 500 is movably connected to the mounting base 100, allowing the positioning rod 500 to be fixed to the mounting base 100 and movable along a predetermined axis. The positioning rod 500 is disposed through the rotation centers of the multiple instrument boxes 400, allowing the multiple instrument boxes 400 to be mounted around the positioning rod 500, so that the central axis of the positioning rod 500 is located on the predetermined axis.

[0081] S200: Sleeve the puncture tube on the positioning rod, and adjust the angle of the telescopic arm so that the second end of the positioning rod passes through the puncture cavity of the puncture tube, and the central axis of the positioning rod is collinear with the central axis of the puncture cavity.

[0082] Specifically, after the first end 510 of the positioning rod 500 is movably connected to the mounting base 100, the central axis of the positioning rod 500 can be located on the preset axis. Subsequently, the telescopic arm 200 can be adjusted to rotate relative to the mounting base 100, so that the puncture tube 300 can be sleeved on the positioning rod 500, and the second end 520 of the positioning rod 500 can be inserted into the puncture cavity of the puncture tube 300. In this way, the central axis of the positioning rod 500 is collinear with the central axis of the puncture cavity, so that the central axis of the puncture cavity of the puncture tube 300 is also located on the preset axis, and the puncture cavity can be aligned with the rotation center around which the multiple instrument boxes 400 are arranged.

[0083] In some embodiments, reference Figure 5 As shown, the slave hand assembly positioning method of the present application also includes:

[0084] S300, moving the positioning rod along a preset axis and in a direction away from the puncture tube to disengage the positioning rod from the puncture cavity;

[0085] S400, moving the puncture tube to be misaligned with the positioning rod;

[0086] S500, separate the first end of the positioning rod from the mounting base.

[0087] By moving the positioning rod 500 in a direction away from the puncture tube 300, the positioning rod 500 can be separated from the puncture tube 300. At this time, the puncture cavity of the puncture tube 300 can still remain aligned with the rotation center around which the multiple instrument boxes 400 are arranged. The telescopic arm 200 and the mounting base 100 can be fixed relative to each other in the rotation direction of the telescopic arm 200, so that the telescopic arm 200 can no longer rotate relative to the mounting base 100, thereby maintaining the puncture cavity of the puncture tube 300 aligned with the rotation center around which the multiple instrument boxes 400 are arranged. Subsequently, the telescopic arm 200 can be driven to move relative to the mounting base 100 in the telescopic direction, causing the puncture tube 300 to be misaligned with the second end 520 of the positioning rod 500. In this way, the puncture tube 300 and the positioning rod 500 no longer interfere with each other, and the positioning rod 500 can be moved along the predetermined axis until it is disassembled from the mounting base 100. This completes the positioning of the hand assembly.

[0088] Finally, it should be noted that the above implementation modes are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned implementation modes, ordinary technicians in this field should understand that they can still modify the technical solutions described in the aforementioned implementation modes, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the implementation modes of the present application.

Claims

1. A positioning tool for positioning a puncture tube (300) of a slave hand assembly, wherein the slave hand assembly comprises a mounting seat (100), a telescopic arm (200) that is telescopic relative to the mounting seat, a puncture tube (300) and a plurality of instrument boxes (400), wherein the free end of the telescopic arm (200) is connected to the puncture tube (300), the telescopic arm (200) is further configured to be rotatable relative to the mounting seat (100), the plurality of instrument boxes (400) are arranged at intervals around a preset axis, and the plurality of instrument boxes (400) are configured to be rotatable around the preset axis, characterized in that: The positioning tooling includes: A positioning member, the positioning member being configured to be arranged along the preset axis, and the positioning member passing through the central axis of the puncture tube (300) so that the central axis of the puncture tube (300) is located on the preset axis; The positioning member includes a positioning rod (500), the positioning rod (500) having a first end (510) and a second end (520), the first end (510) being detachably and movably connected to the mounting seat (100), the central axis of the positioning rod (500) coinciding with the preset axis, the second end (520) being configured to be capable of being passed through the puncture tube (300), and the central axis of the positioning rod (500) being located on the central axis of the puncture tube (300), and the positioning rod (500) being configured to be capable of reciprocating movement along the preset axis.

2. The positioning tool according to claim 1, characterized in that: A positioning hole (110) is provided on the mounting seat (100) at a position corresponding to the preset axis, and the first end (510) is inserted into the positioning hole (110).

3. The positioning tool according to claim 2, characterized in that: The positioning tool further includes a positioning sleeve (600), which is detachably arranged in the positioning hole (110), and the positioning sleeve (600) is arranged along the preset axis, the first end (510) is passed through the positioning sleeve (600), and the outer wall of the first end (510) is in contact with the inner wall of the positioning sleeve (600).

4. The positioning tool according to claim 3, characterized in that: The positioning sleeve (600) is threadedly connected or snap-fitted to the mounting seat (100).

5. The positioning tool according to claim 1, characterized in that: The outer wall of the second end (520) is in contact with the inner wall of the puncture tube (300).

6. The positioning tool according to claim 1, characterized in that: The positioning member comprises a laser, and the laser is configured to emit a laser line arranged along the preset axis, the laser line passing through the puncture cylinder (300) and being located on the central axis of the puncture cylinder (300).

7. A method for positioning a hand assembly, applied to the positioning tool as claimed in any one of claims 1 to 6, characterized in that: include: The first end (510) of the positioning rod (500) is movably connected to the mounting seat (100), and the central axis of the positioning rod (500) is ensured to be arranged on a preset axis, so that a plurality of instrument boxes (400) can be arranged around the positioning rod (500); The puncture tube (300) is sleeved on the positioning rod (500), and the angle of the telescopic arm is adjusted so that the central axis of the positioning rod (500) is collinear with the central axis of the puncture tube (300).

8. The method for positioning a slave hand assembly according to claim 7, wherein: After the puncture tube (300) is sleeved on the positioning rod (500), the method further includes: The positioning rod (500) is moved along the preset axis and in a direction away from the puncture tube (300) so that the positioning rod (500) is disengaged from the puncture tube (300); Moving the puncture cylinder (300) to be misaligned with the positioning rod (500); The first end (510) of the positioning rod (500) is separated from the mounting seat (100).

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