Piercing device and piercing robot

Abstract

The present application provides a kind of puncture device and puncture robot, it is related to medical instrument technical field, including support mechanism, first rotary drive mechanism, second rotary drive mechanism, first linear drive mechanism, second linear drive mechanism and puncture needle execution mechanism, first rotary drive mechanism can drive support mechanism to rotate in first face, second rotary drive mechanism, first linear drive mechanism and second linear drive mechanism are synchronous with support mechanism rotation;Support mechanism includes first support piece and second support piece, and second rotary drive mechanism can drive second support piece to rotate in second face;First linear drive mechanism and second linear drive mechanism can drive puncture needle execution mechanism to move along needle withdrawal direction or needle insertion direction;The present application will separate arrangement puncture needle execution mechanism and drive mechanism, and can comprehensively adjust the puncture angle and puncture position of puncture needle execution mechanism, effectively improve the accuracy and safety under the real-time guidance of CT puncture.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, specifically to a puncture device and a puncture robot. Background Technology

[0002] Soft tissue and organ punctures often require X-ray, B-mode ultrasound, or CT guidance to insert a puncture needle into the lesion to extract cells and tissues before pathological examination.

[0003] In recent years, medical robot technology has begun to be applied to the puncture of soft tissues and organs. It has the advantages of high control precision, stable movement and remote control. However, the existing puncture robots do not fully adjust the position and angle of the puncture needle, which affects the puncture effect. At the same time, the existing puncture robots generally install the drive motor at the end of the puncture mechanism, which results in a large structural size. In addition, the lead screw and slider are mostly made of metal, which will produce image artifacts when CT X-ray scans are irradiated, interfering with the image of the puncture area and affecting the puncture effect. Summary of the Invention

[0004] The purpose of this invention is to provide a puncture device and a puncture robot to solve the above-mentioned technical problems in the prior art; the preferred technical solutions among the many technical solutions provided by this invention can produce many technical effects, as detailed below.

[0005] To achieve the above objectives, the present invention provides the following technical solution:

[0006] The present invention provides a puncture device, comprising a support mechanism, a first rotary drive mechanism, a second rotary drive mechanism, a first linear drive mechanism, a second linear drive mechanism, and a puncture needle actuator, wherein: the first rotary drive mechanism is connected to the support mechanism and can drive the support mechanism to rotate in a first plane; the second rotary drive mechanism, the first linear drive mechanism, and the second linear drive mechanism are all disposed on the support mechanism and rotate synchronously with the support mechanism; the support mechanism includes a first support member and a second support member rotatably disposed on the first support member; the second rotary drive mechanism is connected to the second support member and can drive the second support member to rotate relative to the first support member in a second plane; the puncture needle actuator is movably disposed on the second support member; the first linear drive mechanism is connected to the puncture needle actuator and can drive the puncture needle actuator to move on the second support member along the needle withdrawal direction; the second linear drive mechanism is connected to the puncture needle actuator and can drive the puncture needle actuator to move on the second support member along the needle insertion direction.

[0007] Preferably, the first linear drive mechanism includes a needle withdrawal drive assembly, which includes a needle withdrawal power assembly, a needle withdrawal combination pulley, and a needle withdrawal traction flexible component. The needle withdrawal power assembly is connected to the puncture needle actuator through the needle withdrawal combination pulley and the needle withdrawal traction flexible component. The needle withdrawal power assembly is configured as an electric traction assembly or an elastic energy storage assembly.

[0008] Preferably, the first linear drive mechanism includes a needle withdrawal guide assembly, which includes a needle withdrawal guide rail and a needle withdrawal slider slidably disposed on the needle withdrawal guide rail. The needle withdrawal power assembly is throttle-connected to the needle withdrawal slider and can drive the needle withdrawal slider to move along the needle withdrawal direction. The needle withdrawal combination pulley includes a fixed needle withdrawal pulley group and a movable needle withdrawal pulley group. The fixed needle withdrawal pulley group is disposed on the support mechanism, and the movable needle withdrawal pulley group is disposed on the needle withdrawal slider.

[0009] Preferably, the second linear drive mechanism includes a needle insertion drive assembly, which includes a needle insertion power assembly, a needle insertion combination pulley, and a needle insertion traction flexible member. The needle insertion power assembly is connected to the puncture needle actuator through the needle insertion combination pulley and the needle insertion traction flexible member. The needle insertion power assembly is configured as an electric traction assembly.

[0010] Preferably, the second linear drive mechanism includes a needle guide assembly, which includes a needle guide rail and a needle slider slidably disposed on the needle guide rail. The needle power assembly is throttle-connected to the needle slider and can drive the needle slider to move along the needle insertion direction. The needle combination pulley includes a fixed needle pulley group and a movable needle pulley group. The fixed needle pulley group is disposed on the support mechanism, and the movable needle pulley group is disposed on the needle slider.

[0011] Preferably, the puncture needle actuator includes a puncture slider, a mounting claw assembly, and a puncture needle, and a puncture guide rail is provided on the second support member, wherein: the puncture slider is slidably disposed on the puncture guide rail; the first linear drive mechanism and the second linear drive mechanism are both connected to the puncture slider; the mounting claw assembly is detachably disposed on the puncture slider and clamps the puncture needle.

[0012] Preferably, the second support member is provided with a guide seat, and the guide seat is provided with a guide groove, through which the puncture needle slides.

[0013] Preferably, the second rotation drive mechanism includes an angle drive component and a pitch rotating component. The pitch rotating component is fixedly mounted on the second support and rotates synchronously with the second support. The angle drive component is mounted on the first support and is tractively connected to the pitch rotating component, and can drive the pitch rotating component to rotate within the second plane.

[0014] Preferably, the angle drive assembly includes a transmission belt, a drive wheel, a drive link, and an angle adjustment power assembly. The pitch rotation member is configured as a driven wheel, wherein: the drive wheel is connected to the driven wheel via the transmission belt; the output end of the drive link is eccentrically connected to the drive wheel, and the input end of the drive link is connected to the angle adjustment power assembly.

[0015] The present invention provides a puncture robot, including any of the aforementioned puncture devices.

[0016] The puncture device and puncture robot provided by the present invention have at least the following beneficial effects:

[0017] The puncture device includes a support mechanism, a first rotary drive mechanism, a second rotary drive mechanism, a first linear drive mechanism, a second linear drive mechanism, and a puncture needle actuator. The first rotary drive mechanism, the second rotary drive mechanism, the first linear drive mechanism, and the second linear drive mechanism cooperate with each other to adjust the position and angle of the puncture needle actuator.

[0018] The first rotary drive mechanism is connected to the support mechanism and can drive the support mechanism to rotate in the first plane. The second rotary drive mechanism, the first linear drive mechanism and the second linear drive mechanism are all disposed on the support mechanism and rotate synchronously with the support mechanism. The second rotary drive mechanism is used to adjust the left and right swing angle of the puncture needle actuator.

[0019] The support mechanism includes a first support member and a second support member rotatably mounted on the first support member. The second rotation drive mechanism is connected to the second support member and can drive the second support member to rotate relative to the first support member in a second plane. The puncture needle actuator is movably mounted on the second support member. The second rotation drive mechanism is used to adjust the pitch angle of the puncture needle actuator.

[0020] The first linear drive mechanism is connected to the puncture needle actuator and can drive the puncture needle actuator to move along the needle retraction direction on the second support. The second linear drive mechanism is connected to the puncture needle actuator and can drive the puncture needle actuator to move along the needle insertion direction on the second support. The first linear drive mechanism and the second linear drive mechanism cooperate with each other to enable the puncture needle actuator to stably perform needle insertion and retraction actions, ensuring the puncture effect.

[0021] The present invention, through the cooperation of a first rotary drive mechanism, a second rotary drive mechanism, a first linear drive mechanism, and a second linear drive mechanism, can comprehensively adjust the puncture angle and puncture position of the puncture needle actuator, effectively improving the accuracy and safety of puncture. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a schematic diagram of the puncture device of the present invention;

[0024] Figure 2 This is a schematic diagram of the puncture device of the present invention (excluding the first rotary drive mechanism);

[0025] Figure 3 This is a schematic diagram illustrating the needle insertion and withdrawal principle of the present invention;

[0026] Figure 4 This is a schematic diagram illustrating the needle withdrawal principle of the present invention;

[0027] Figure 5 This is a schematic diagram illustrating the needle insertion principle of the present invention;

[0028] Figure 6 This is a schematic diagram of the structure of the needle insertion drive assembly and the angle drive assembly of the present invention;

[0029] Figure 7 This is a schematic diagram of the structure of the needle withdrawal drive assembly of the present invention;

[0030] Figure 8 This is a schematic diagram of the puncture guide rail and puncture slider of the present invention;

[0031] Figure 9 This is a schematic diagram of the structure of the claw mounting assembly of the present invention;

[0032] Figure 10 This is a schematic diagram of the structure of the guide seat of the present invention;

[0033] Figure 11 This is a schematic diagram of the downward angle state of the present invention;

[0034] Figure 12 This is a schematic diagram of the elevation angle state of the present invention;

[0035] Figure 13 This is a schematic diagram of the puncture needle actuator of the present invention;

[0036] Figure 14 This is a schematic diagram of the angle driving component of the present invention;

[0037] Figure 15 This is a schematic diagram of the puncture robot of the present invention.

[0038] Figure Labels

[0039] 1. Support mechanism; 11. First support member; 12. Second support member; 13. Puncture guide rail; 14. Guide seat; 141. Guide groove; 2. First rotary drive mechanism; 3. Second rotary drive mechanism; 31. Angle drive assembly; 311. Transmission belt; 312. Drive wheel; 313. Drive linkage; 314. Angle adjustment power assembly; 32. Pitch rotating component; 321. Driven wheel; 33. Adjustment guide assembly; 4. First linear drive mechanism; 41. Needle retraction drive assembly; 411. Needle retraction power assembly; 412. Needle retraction combination pulley; 4121. Needle retraction fixed pulley group; 4122 413. Needle retraction pulley assembly; 42. Needle retraction traction flexible component; 43. Needle retraction guide assembly; 44. Needle retraction guide rail; 45. Needle retraction slider; 56. Second linear drive mechanism; 57. Needle insertion drive assembly; 58. Needle insertion power assembly; 59. Needle insertion combination pulley; 50. Needle insertion fixed pulley assembly; 51. Needle insertion moving pulley assembly; 52. Needle insertion traction flexible component; 53. Needle insertion guide assembly; 54. Needle insertion guide rail; 55. Needle insertion slider; 66. Puncture needle actuator; 67. Puncture slider; 68. Mounting claw assembly; 69. Mounting base; 60. Claw; 61. Puncture needle. Detailed Implementation

[0040] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be described in detail below. Obviously, the described embodiments are merely some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other implementation methods obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0041] Example 1:

[0042] This invention provides a puncture device, with reference to Figures 1-15As shown, the puncture device includes a support mechanism 1, a first rotary drive mechanism 2, a second rotary drive mechanism 3, a first linear drive mechanism 4, a second linear drive mechanism 5, and a puncture needle actuator 6.

[0043] The first rotary drive mechanism 2 is connected to the support mechanism 1 and can drive the support mechanism 1 to rotate in the first surface. The second rotary drive mechanism 3, the first linear drive mechanism 4 and the second linear drive mechanism 5 are all mounted on the support mechanism 1 and rotate synchronously with the support mechanism 1.

[0044] The support mechanism 1 includes a first support member 11 and a second support member 12 rotatably disposed on the first support member 11. The second rotation drive mechanism 3 is connected to the second support member 12 and can drive the second support member 12 to rotate relative to the first support member 11 in the second surface.

[0045] The puncture needle actuator 6 is movably mounted on the second support member 12;

[0046] The first linear drive mechanism 4 is connected to the puncture needle actuator 6 and can drive the puncture needle actuator 6 to move along the needle retraction direction on the second support member 12.

[0047] The second linear drive mechanism 5 is connected to the puncture needle actuator 6 and can drive the puncture needle actuator 6 to move along the needle insertion direction on the second support member 12.

[0048] During puncture, the first rotary drive mechanism 2 is activated, driving the support mechanism 1 to rotate to a specified angle. The second rotary drive mechanism 3, the first linear drive mechanism 4, the second linear drive mechanism 5, and the puncture needle actuator 6 rotate synchronously to the specified angle, thereby realizing the adjustment of the left and right swing angle of the puncture needle actuator 6.

[0049] The second rotary drive mechanism 3 is activated, causing the second support member 12 to rotate relative to the first support member 11 to a specified angle, thereby realizing the adjustment of the pitch angle of the puncture needle actuator 6.

[0050] Subsequently, the second linear drive mechanism 5 and the first linear drive mechanism 4 cooperate with each other to perform needle insertion and withdrawal actions, thus completing the puncture.

[0051] In the above process, the first rotary drive mechanism 2, the second rotary drive mechanism 3, the first linear drive mechanism 4 and the second linear drive mechanism 5 cooperate with each other, which not only enables comprehensive adjustment of the angle and position of the puncture needle actuator 6, but also ensures stable needle insertion and withdrawal processes, effectively improving the accuracy and safety of puncture.

[0052] Example 2

[0053] Example 2 is based on Example 1:

[0054] like Figures 3 to 7 As shown, the first linear drive mechanism 4 includes a needle retraction drive assembly 41, which includes a needle retraction power assembly 411, a needle retraction combination pulley 412, and a needle retraction traction flexible member 413. The needle retraction power assembly 411 is used to provide needle retraction power, and the needle retraction traction flexible member 413 adopts a needle retraction traction rope. The needle retraction power assembly 411 is connected to the puncture needle actuator 6 through the needle retraction combination pulley 412 and the needle retraction traction flexible member 413.

[0055] When the needle is withdrawn, the needle withdrawal power component 411 drives the needle withdrawal traction flexible component 413 to move. Under the guidance of the needle withdrawal combination pulley 412, the needle withdrawal traction flexible component 413 drives the puncture needle actuator 6 to move along the needle withdrawal direction to complete the needle withdrawal action.

[0056] Optionally, the needle retraction power assembly 411 is configured as an electric traction assembly.

[0057] Alternatively, such as Figure 7 As shown, the needle retraction power assembly 411 is configured as an elastic energy storage assembly, which includes a constant force coil spring. One end of the constant force coil spring is connected to the needle retraction slider 422, and the constant force coil spring can provide a stable contraction force.

[0058] When the puncture needle actuator 6 inserts the needle, the constant force coil spring undergoes tensile deformation and begins to store force. When the needle retracts, the second linear drive mechanism 5 stops working, and the deformed constant force coil spring provides contraction force. Through the retraction combination pulley 412 and the retraction traction flexible member 413, the retraction slider 422 is pulled to move, thereby driving the puncture needle actuator 6 to perform the retraction action, resulting in a significant needle retraction effect.

[0059] As an optional implementation method, such as Figures 3-5 As shown, the first linear drive mechanism 4 includes a needle retraction guide assembly 42, which includes a needle retraction guide rail 421 and a needle retraction slider 422. The needle retraction slider 422 is adapted to the needle retraction guide rail 421 and is slidably disposed on the needle retraction guide rail 421. The needle retraction power assembly 411 is connected to the needle retraction slider 422 and can drive the needle retraction slider 422 to move along the needle retraction direction.

[0060] The needle withdrawal guide rail 421 and the needle withdrawal slider 422 work together to effectively limit the needle withdrawal traction direction and ensure the needle withdrawal traction effect.

[0061] The needle withdrawal combination pulley 412 includes a fixed needle withdrawal pulley group 4121 and a movable needle withdrawal pulley group 4122. The fixed needle withdrawal pulley group 4121 is mounted on the support mechanism 1, and the movable needle withdrawal pulley group 4122 is mounted on the needle withdrawal slider 422 and moves synchronously with the needle withdrawal slider 422. The needle withdrawal combination pulley 412 has a similar structure to the needle advance combination pulley 512.

[0062] As an optional implementation, the second linear drive mechanism 5 includes a needle insertion drive assembly 51, which includes a needle insertion power assembly 511, a needle insertion combination pulley 512, and a needle insertion traction flexible member 513. The needle insertion power assembly 511 is used to provide needle insertion power, and the needle insertion traction flexible member 513 adopts a needle insertion traction rope. The needle insertion power assembly 511 is connected to the puncture needle actuator 6 through the needle insertion combination pulley 512 and the needle insertion traction flexible member 513.

[0063] Optionally, the needle insertion power unit 511 is configured as an electric traction unit.

[0064] When the needle is inserted, the needle insertion power component 511 is activated, driving the needle insertion traction flexible component 513 to move. Under the guidance of the needle insertion combination pulley 512, the needle insertion traction flexible component 513 drives the puncture needle actuator 6 to move along the needle insertion direction, completing the needle insertion action.

[0065] Both the needle insertion drive assembly 51 and the needle withdrawal drive assembly 41 adopt a pulley drive structure, which not only ensures smooth reciprocating movement of the puncture needle actuator 6, but also allows the needle insertion power assembly 511 and the needle withdrawal power assembly 411 to meet the puncture stroke of the puncture needle assembly with a small stroke, resulting in a stable transmission process and significant puncture effect.

[0066] Meanwhile, the needle insertion combination pulley 512, the needle insertion traction flexible component 513, the needle withdrawal combination pulley 412, and the needle withdrawal traction flexible component 413 are all made of non-metallic materials, which can effectively avoid the problem of the use of metal materials to block radiation, thereby interfering with the image and affecting the imaging quality of the puncture needle and the puncture target lesion, and further improving the puncture effect.

[0067] As an optional implementation method, such as Figures 3-5 As shown, the second linear drive mechanism 5 includes a needle guide assembly 52, which includes a needle guide rail 521 and a needle slider 522. The needle slider 522 is adapted to the needle guide rail 521 and is slidably disposed on the needle guide rail 521. The needle power assembly 511 is connected to the needle slider 522 and can drive the needle slider 522 to move along the needle insertion direction.

[0068] The needle guide rail 521 and the needle slider 522 work together to effectively limit the needle traction direction and ensure the needle traction effect.

[0069] The needle insertion pulley assembly 512 includes a fixed needle insertion pulley assembly 5121 and a movable needle insertion pulley assembly 5122. The fixed needle insertion pulley assembly 5121 includes multiple guide fixed pulleys, which are mounted on the second support member 12 of the support mechanism 1 for guiding the needle insertion traction flexible member 513. The movable needle insertion pulley assembly 5122 includes two movable pulleys, both of which are mounted on the needle insertion slider 522 and move synchronously with the needle insertion slider 522. The output end of the needle insertion power assembly 511 is connected to the needle insertion slider 522.

[0070] In this way, the travel of the needle insertion power component 511 can be amplified by 4 times, that is, the puncture travel of the puncture needle can be satisfied by moving the needle insertion power component 511 by 1 / 4 of its travel.

[0071] As an optional implementation method, such as Figures 8-10 As shown, the puncture needle actuator 6 includes a puncture slider 61, a mounting claw assembly 62, and a puncture needle 63. A puncture guide rail 13 is provided on the second support member 12.

[0072] The puncture slider 61 is adapted to the puncture guide rail 13. The puncture slider 61 is slidably disposed on the puncture guide rail 13. The traction end of the needle insertion traction flexible member 513 is connected to the top of the puncture slider 61, and the traction end of the needle withdrawal traction flexible member 413 is connected to the bottom of the puncture slider 61.

[0073] The puncture guide rail 13 and the puncture slider 61 work together to effectively limit the movement trajectory of the puncture needle actuator 6 during needle insertion and retraction.

[0074] The mounting jaw assembly 62 includes a mounting base 621 and a jaw 622 fixedly mounted on the mounting base 621. The jaw 622 is provided with a clamping cavity that matches the tail end of the puncture needle 63. The clamping installation method makes it easy to install and remove the puncture needle 63.

[0075] The piercing slider 61 is provided with a mounting hole, and the mounting base 621 is provided with an elongated hole at the position corresponding to the mounting hole. The threaded fastener passes through the corresponding mounting hole and the elongated hole, thereby detachably installing the mounting base 621 onto the piercing slider 61. In this way, the installation claw assembly 62 can be quickly installed.

[0076] As an optional implementation, a guide seat 14 is provided on the second support member 12. The guide seat 14 includes a seat body and a block fixedly disposed on the seat body. The seat body is detachably disposed on the second support member 12. The installation structure of the seat body and the second support member 12 is the same as the installation structure of the mounting seat 621 and the puncture slider 61, which enables the quick installation of the guide seat 14.

[0077] A guide groove 141 is provided through the block. The guide groove 141 is slidably engaged with the puncture needle 63. The tip of the puncture needle 63 slides through the guide groove 141. The guide seat 14 mainly plays the role of positioning, support and guidance.

[0078] As an optional implementation method, such as Figures 11-14 As shown, the second rotary drive mechanism 3 includes an angle drive component 31 and a pitch rotation component 32. The pitch rotation component 32 is fixedly mounted on the second support component 12 and rotates synchronously with the second support component 12. The angle drive component 31 is mounted on the first support component 11 and is connected to the pitch rotation component 32 in a transmission manner, and can drive the pitch rotation component 32 to rotate along the second surface.

[0079] The second rotary drive mechanism 3 can adjust the pitch angle of the puncture needle actuator 6 by adjusting the relative angle between the second support member 12 and the first support member 11.

[0080] As an optional implementation, the angle drive assembly 31 includes a transmission belt 311, a drive wheel 312, a drive linkage 313, and an angle adjustment power assembly 314. The pitch rotation member 32 is configured as a driven wheel 321, and the drive wheel 312 is connected to the driven wheel 321 via the transmission belt 311.

[0081] To further ensure the transmission effect, the inner wall of the transmission belt 311 is evenly provided with multiple transmission teeth, and the peripheral walls of the drive wheel 312 and the driven wheel 321 are both provided with tooth grooves that are adapted to the transmission teeth.

[0082] The output end of the drive link 313 is eccentrically connected to the drive wheel 312, and the input end of the drive link 313 is connected to the angle adjustment power assembly 314.

[0083] The angle adjustment power assembly 314 adopts an electric telescopic assembly. The drive link 313 and the drive wheel 312 cooperate with each other to form a cam link mechanism, which can effectively convert the telescopic action of the angle adjustment power assembly 314 into the rotation action of the drive wheel 312, thereby effectively ensuring the pitch angle adjustment effect of the puncture needle actuator 6.

[0084] Furthermore, to ensure the stability of the telescopic movement of the angle adjustment power assembly 314, an adjustment guide assembly 33 is provided, which includes a slide rail fixedly mounted on the first support member 11 and a slide block slidably mounted on the slide rail, with the drive linkage 313 connected to the slide block.

[0085] As an optional implementation, the first rotary drive mechanism 2 is configured as an electric rotary mechanism, and its drive end is fixedly connected to the first support member 11.

[0086] Optionally, the first rotary drive mechanism 2 is an electric rotary drive mechanism, and the end of the first support member 11 is provided with a mounting part that is adapted to the output end of the first rotary drive mechanism 2.

[0087] The first rotary drive mechanism 2 adjusts the left and right swing angle of the puncture needle actuator 6 by adjusting the left and right swing angle of the first support member 11.

[0088] Example 3

[0089] Example 3 is based on Example 2:

[0090] This invention provides a puncture robot, such as Figure 15 As shown, the puncture robot includes the puncture device.

[0091] The puncture robot includes a movable body and a robotic arm. The puncture device is connected to the robotic arm, which has a two-segment structure and four degrees of freedom: three rotational movements in the horizontal direction and one movement in the vertical direction. This allows for the adjustment and positioning of the puncture device's height and horizontal position.

[0092] In the description of this application, it should be understood that the terms "upper", "lower", "inner", "outer", "top", "bottom", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0093] 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 technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" or "several" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0094] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0095] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A puncture device, characterized in that, It includes a support mechanism, a first rotary drive mechanism, a second rotary drive mechanism, a first linear drive mechanism, a second linear drive mechanism, and a puncture needle actuator, wherein: The first rotary drive mechanism is connected to the support mechanism and can drive the support mechanism to rotate in the first surface. The second rotary drive mechanism, the first linear drive mechanism and the second linear drive mechanism are all disposed on the support mechanism and rotate synchronously with the support mechanism. The support mechanism includes a first support member and a second support member rotatably mounted on the first support member. The second rotation drive mechanism is connected to the second support member and can drive the second support member to rotate relative to the first support member in a second surface. The puncture needle actuator is movably mounted on the second support member; The first linear drive mechanism is connected to the puncture needle actuator and can drive the puncture needle actuator to move along the needle retraction direction on the second support member; The second linear drive mechanism is connected to the puncture needle actuator and can drive the puncture needle actuator to move along the needle insertion direction on the second support member; The puncture robot includes a movable body and a robotic arm. The puncture device is connected to the robotic arm. The robotic arm has a two-segment structure and four degrees of freedom of motion: three rotational movements in the horizontal direction and one movement in the vertical direction. It can realize the adjustment and positioning of the height and horizontal position of the puncture device. The first linear drive mechanism includes a needle withdrawal drive assembly, which includes a needle withdrawal power assembly, a needle withdrawal combination pulley, and a needle withdrawal traction flexible component. The needle withdrawal power assembly is connected to the puncture needle actuator through the needle withdrawal combination pulley and the needle withdrawal traction flexible component. The needle withdrawal power assembly is configured as an elastic energy storage assembly. The second linear drive mechanism includes a needle insertion drive assembly, which includes a needle insertion combination pulley and a needle insertion traction flexible component; The needle insertion pulley, the needle insertion traction flexible component, the needle retraction pulley, and the needle retraction traction flexible component are all made of non-metallic materials; The puncture needle actuator includes a puncture slider, a mounting claw assembly, and a puncture needle. A puncture guide rail is provided on the second support member, wherein: the puncture slider is slidably disposed on the puncture guide rail; the traction end of the needle insertion traction flexible member is connected to the top of the puncture slider, and the traction end of the needle withdrawal traction flexible member is connected to the bottom of the puncture slider; the mounting claw assembly is detachably disposed on the puncture slider and clamps the puncture needle.

2. The puncture device according to claim 1, characterized in that, The first linear drive mechanism includes a needle withdrawal guide assembly, which includes a needle withdrawal guide rail and a needle withdrawal slider slidably disposed on the needle withdrawal guide rail. The needle withdrawal power assembly is connected to the needle withdrawal slider and can drive the needle withdrawal slider to move along the needle withdrawal direction. The needle retraction combination pulley includes a fixed needle retraction pulley group and a movable needle retraction pulley group. The fixed needle retraction pulley group is disposed on the support mechanism, and the movable needle retraction pulley group is disposed on the needle retraction slider.

3. The puncture device according to claim 1, characterized in that, The needle insertion drive assembly includes a needle insertion power assembly, which is connected to the puncture needle actuator via the needle insertion combination pulley and the needle insertion traction flexible member. The needle insertion power component is configured as an electric traction component.

4. The puncture device according to claim 3, characterized in that, The second linear drive mechanism includes a needle guide assembly, which includes a needle guide rail and a needle slider slidably disposed on the needle guide rail. The needle power assembly is connected to the needle slider and can drive the needle slider to move along the needle insertion direction. The needle insertion pulley assembly includes a fixed needle insertion pulley group and a movable needle insertion pulley group. The fixed needle insertion pulley group is mounted on the support mechanism, and the movable needle insertion pulley group is mounted on the needle insertion slider.

5. The puncture device according to claim 1, characterized in that, The second support member is provided with a guide seat, and the guide seat is provided with a guide groove, through which the puncture needle slides.

6. The puncture device according to claim 1, characterized in that, The second rotation drive mechanism includes an angle drive component and a pitch rotating component. The pitch rotating component is fixedly mounted on the second support and rotates synchronously with the second support. The angle drive component is mounted on the first support and is pulsatorically connected to the pitch rotating component, and can drive the pitch rotating component to rotate in the second plane.

7. The puncture device according to claim 6, characterized in that, The angle drive assembly includes a transmission belt, a drive wheel, a drive linkage, and an angle adjustment power assembly. The pitch rotation component is configured as a driven wheel, wherein: The drive wheel is connected to the driven wheel via the transmission belt; The output end of the drive link is eccentrically connected to the drive wheel, and the input end of the drive link is connected to the angle adjustment power assembly.

8. A puncture robot, characterized in that, The puncture device includes any one of claims 1-7.

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