Stereoscopic vision puncture platform with adjustable parameters

Abstract

The invention relates to a parameter-adjustable stereoscopic vision puncture platform, and relates to the field of puncture equipment. The puncture platform comprises a mechanical arm interface flange, a camera light source mounting rack, a binocular camera, a horizontal parameter adjusting assembly, a rotary parameter adjusting assembly, a light source mechanism, a puncture assembly mounting rack, a puncture mechanism, a puncture assembly parameter adjusting mechanism and a laser transmitter. A camera light source parameter adjusting mechanism and a puncture assembly parameter adjusting mechanism are arranged, and a binocular camera, a light source mechanism, a puncture mechanism and the like are matched, so that parameters such as a camera included angle, a camera position, a camera orientation, a light source included angle, a light source position, a light source orientation, a puncture position, a puncture speed and the like can be simulated and adjusted; the optimal three-dimensional vision puncture positioning parameters suitable for the current medical scene can be found out according to the light reflection condition, the visual field range, the in-field light uniformity, the imaging quality and the like, and then the function of guiding further optimization design or multi-scene puncture operation application is achieved.

Description

Technical Field

[0001] The present invention relates to the field of puncture equipment, and in particular to a parameter-adjustable stereoscopic vision puncture platform. Background Art

[0002] Puncture operations are widely used in various fields of modern medicine, such as hair transplantation, neurology, surgery, etc. The benefit of puncture operations is that disease diagnosis and treatment can be more accurate and the treatment effect is better. It is of great significance for the diagnosis and treatment of certain diseases. However, the parameters involved in the robotic puncture process are numerous and mutually coupled. Under the clinical application scenario requirements of stereoscopic vision surgical positioning, how to regulate many parameters and then find the best series of parameter ratios is of vital importance.

[0003] When defining the design parameters of robot puncture in the existing technology, the puncture parameters defined by relevant personnel may not be optimal or accurate enough due to the failure to simulate the puncture environment or insufficient research during the puncture simulation. This may easily lead to unstable or inaccurate key visual recognition results, thereby reducing efficiency and success rate during the operation, and even increasing the risk of medical injuries. Summary of the invention

[0004] Purpose of the invention: In view of the above shortcomings, the present invention provides a stereoscopic vision puncture platform with adjustable parameters to solve the above problems existing in the prior art.

[0005] Technical solution: A parameter-adjustable stereoscopic vision puncture platform, including a robot arm interface flange, a camera light source mounting frame, a binocular camera, a horizontal parameter adjustment component, a rotation parameter adjustment component, a light source mechanism, a puncture component mounting frame, a puncture mechanism, a puncture component parameter adjustment mechanism and a laser transmitter; Among them, the robot arm interface flange is connected to the corresponding suspension platform, the camera light source mounting frame is connected to the robot arm interface flange, the camera light source mounting frame is provided with a binocular camera, the camera light source adjustment mechanism comprises a rotation adjustment component installed between the binocular camera and the camera light source mounting frame for adjusting the angle of the binocular camera, and a horizontal adjustment component installed between the rotation adjustment component and the camera light source mounting frame for adjusting the horizontal position of the binocular camera, the light source mechanism is arranged outside the binocular camera and connected to the horizontal adjustment component for providing light Source, the puncture component mounting frame is installed at a predetermined position on the camera light source mounting frame, the puncture component mounting frame is provided with a puncture mechanism, the puncture component parameter adjustment mechanism is installed between the puncture component mounting frame and the puncture mechanism, and is used to control the rotational movement of the puncture mechanism and drive the puncture mechanism to perform corresponding feeding movement in the puncture direction, the laser emitter is installed at a predetermined position on the camera light source mounting frame, the laser emitter is consistent with the direction of the binocular camera lens, and the intersection position formed by the laser line emitted by the laser emitter and the feeding direction of the puncture mechanism is the simulated puncture point position.

[0006] In a further embodiment, the puncture assembly mounting frame and the camera light source mounting frame are positioned by means of ball screws and are installed and fixed by means of plug screws at different angles to simulate the puncture conditions of the binocular camera and the puncture mechanism at different angles.

[0007] In a further embodiment, the rotation parameter adjustment assembly includes a bearing end seat, a connecting bearing and a camera rotation rocker; Among them, the bearing end seat is connected to the horizontal parameter adjustment component, the connecting bearing is installed in the bearing end seat, the camera rotation rocker is installed between the connecting bearing and the binocular camera and is slidably connected to the predetermined plane of the camera light source mounting frame, so as to rotate the binocular camera in the vertical direction.

[0008] In a further embodiment, the rotation parameter adjustment assembly further includes a rocker arm clamping member, a second positioning hole and a second ball screw; Among them, the rocker arm clamping piece is installed at a predetermined position on the camera light source mounting frame and abuts against the camera rotating rocker arm, which is used to limit the camera rotating rocker arm. The second positioning hole is opened at a predetermined position on the camera light source mounting frame. The second ball screw is installed on the camera rotating rocker arm and is adapted to the second positioning hole, which is used to control the rotation angle of the binocular camera.

[0009] In a further embodiment, the light source mechanism includes a connecting bracket, a bar light source, a light source interface flange, a seat bearing and a light source knob; Among them, the connecting bracket is connected to the horizontal parameter adjustment component, the strip light source is arranged on the inner side of the connecting bracket, light source interface flanges are installed at both ends of the strip light source, a seat bearing is connected between the light source interface flange and the connecting bracket, the light source knob is connected to the light source interface flange, and a square dial is installed between the light source knob and the seat bearing for accurately controlling the rotation angle of the strip light source.

[0010] In a further embodiment, the horizontal parameter adjustment component includes a camera light source parameter adjustment rail, a plurality of camera light source parameter adjustment sliders and a ruler; Among them, a camera light source parameter adjustment rail is installed at a predetermined position on the camera light source mounting frame, a number of camera light source parameter adjustment sliders are slidably set on the camera light source parameter adjustment rail, and a number of camera light source parameter adjustment sliders are respectively connected to the rotation parameter adjustment component and the light source mechanism, and are used to drive the rotation parameter adjustment component and the light source mechanism to adjust the position in the horizontal direction. A ruler is installed at a predetermined position on the camera light source mounting frame, and is used to read and accurately control the moving distance of the rotation parameter adjustment component and the light source mechanism.

[0011] In a further embodiment, the horizontal parameter adjustment assembly further includes a plurality of first positioning holes, a plurality of horizontal positioning connectors and a plurality of first ball screws; Among them, a number of first positioning holes are opened at predetermined positions on the camera light source mounting frame, a number of horizontal positioning connecting parts are connected to predetermined positions on the rotation parameter adjustment component and the light source mechanism, and a first ball screw adapted to the first positioning hole is installed on the horizontal positioning connecting part, which is used to control the position adjustment of the rotation parameter adjustment component and the light source mechanism.

[0012] In a further embodiment, the puncture assembly parameter adjustment mechanism includes a puncture assembly parameter adjustment guide rail, a lead screw guide rail connector, and a rotary stepping motor; Among them, the puncture component parameter adjustment guide rail is installed at a predetermined position on the puncture component mounting frame, the puncture component parameter adjustment guide rail is cooperated with a puncture component parameter adjustment slider, the screw guide rail connector is installed on the puncture component parameter adjustment slider, and the rotary stepping motor is installed between the screw guide rail connector and the puncture mechanism for controlling the rotational movement of the puncture mechanism.

[0013] In a further embodiment, the puncture assembly parameter adjustment mechanism further includes a screw, a feed stepping motor and an anti-backlash nut; Among them, the screw rod is installed through the screw guide rail connecting part, the feed stepper motor is installed at the end of the screw rod, and the end of the screw rod away from the feed stepper motor is installed with an anti-backlash nut. The feed stepper motor drives the puncture mechanism to perform corresponding feeding movement in the puncture direction through the screw rod and the anti-backlash nut, as well as the puncture component adjustment guide rail and the puncture component adjustment slider.

[0014] In a further embodiment, the puncture assembly parameter adjustment mechanism further includes a micro photoelectric sensor and a photoelectric block; Among them, the micro photoelectric sensor is installed at a predetermined position on the puncture assembly mounting frame, and the photoelectric block is installed at a predetermined position on the screw guide rail connector and is arranged corresponding to the micro photoelectric sensor. During operation, when the photoelectric block on the screw guide rail connector just blocks the micro photoelectric sensor, this position is the puncture zero position.

[0015] Beneficial effects: The present invention relates to a stereoscopic vision puncture platform with adjustable parameters. By setting a camera light source parameter adjustment mechanism and a puncture component parameter adjustment mechanism, and cooperating with a binocular camera, a light source mechanism and a puncture mechanism, etc., it is possible to simulate and adjust parameters such as the camera angle, camera position, camera orientation, light source angle, light source position, light source orientation, puncture position, and puncture speed. By studying the effects of visual imaging, such as reflection conditions, field of view, uniformity of light in the field, imaging quality, etc., the optimal stereoscopic vision puncture positioning parameters suitable for the current medical scenario are found, thereby achieving the function of guiding further optimization design or multi-scenario puncture surgery applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0017] Figure 2 It is a structural schematic diagram of the camera light source parameter adjustment mechanism of the present invention.

[0018] Figure 3 It is a schematic cross-sectional structure diagram of the camera light source parameter adjustment mechanism of the present invention.

[0019] Figure 4 for Figure 3 A partial enlarged view of point A in the middle.

[0020] Figure 5 for Figure 3 A partial enlarged view of point B in the middle.

[0021] Figure 6 It is a structural schematic diagram of the light source mechanism of the present invention.

[0022] Figure 7 It is a schematic cross-sectional structural diagram of the light source mechanism of the present invention.

[0023] Figure 8 It is a schematic diagram of the structure of the camera light source mounting frame and the puncture assembly mounting frame of the present invention.

[0024] Fig. 9 It is a structural schematic diagram of the parameter adjustment mechanism of the puncture assembly of the present invention.

[0025] Fig.10 It is a schematic diagram of the overall structure of the present invention from another perspective.

[0026] The reference numerals in the figure are: 1. Robot arm interface flange; 2. Camera light source mounting bracket; 3. Binocular camera; 4. Horizontal parameter adjustment component; 401. Camera light source parameter adjustment guide rail; 402. Camera light source parameter adjustment slider; 403. Ruler; 404. First positioning hole; 405. Horizontal positioning connector; 406. First ball screw; 5. Rotational parameter adjustment component; 501. Bearing end seat; 502. Connecting bearing; 503. Camera rotation rocker; 504. Rocker clamping member; 505. Second positioning hole; 506. Second ball screw; 6. Light source Mechanism; 601, strip light source; 602, light source interface flange; 603, seat bearing; 604, square dial; 605, light source knob; 606, connecting bracket; 7, puncture component mounting bracket; 8, puncture mechanism; 9, puncture component parameter adjustment mechanism; 901, puncture component parameter adjustment guide rail; 902, puncture component parameter adjustment slider; 903, lead screw guide rail connector; 904, lead screw; 905, feed stepper motor; 906, anti-backlash nut; 907, rotation stepper motor; 908, micro photoelectric sensor; 10, laser transmitter. DETAILED DESCRIPTION

[0027] In the following description, a large number of specific details are provided to provide a more thorough understanding of the present invention. However, it is apparent to those skilled in the art that the present invention can be implemented without one or more of these details. In other examples, in order to avoid confusion with the present invention, some technical features well known in the art are not described.

[0028] The applicant believes that when defining the design parameters of robot puncture in the prior art, the puncture parameters defined by relevant personnel may not be optimal or accurate enough due to the failure to simulate the puncture environment or insufficient research during the puncture simulation, which may easily lead to unstable or inaccurate key visual recognition results, thereby reducing efficiency and success rate during the operation, and even increasing the risk of medical injuries.

[0029] To this end, the applicant proposes a stereoscopic vision puncture platform with adjustable parameters, such as Figure 1-Figure 10As shown, it includes a robot arm interface flange 1, a camera light source mounting bracket 2, a binocular camera 3, a horizontal parameter adjustment component 4, a rotation parameter adjustment component 5, a light source mechanism 6, a puncture component mounting bracket 7, a puncture mechanism 8, a puncture component parameter adjustment mechanism 9 and a laser emitter 10.

[0030] Among them, the robot arm interface flange 1 is connected to the robot arm or other suspension platform, the camera light source mounting frame 2 is connected to the robot arm interface flange 1, the binocular camera 3 is set at a predetermined position on the camera light source mounting frame 2, the camera light source parameter adjustment mechanism is installed between the camera light source mounting frame 2 and the binocular camera 3, and is used to rotate and translate the position of the binocular camera 3. The rotation parameter adjustment component 5 is installed between the binocular camera 3 and the camera light source mounting frame 2, and is used to adjust the angle of the binocular camera 3. The horizontal parameter adjustment component 4 is installed between the rotation parameter adjustment component 5 and the camera light source mounting frame 2, and is used to adjust the angle of the binocular camera 3. The binocular camera 3 is adjusted in the horizontal direction. The light source mechanism 6 is arranged on the outside of the binocular camera 3 and connected to the horizontal parameter adjustment component 4 to provide a light source. The puncture component mounting frame 7 is installed at a predetermined position on the camera light source mounting frame 2. The puncture mechanism 8 is arranged at a predetermined position on the puncture component mounting frame 7. The puncture component parameter adjustment mechanism 9 is installed between the puncture component mounting frame 7 and the puncture mechanism 8 to control the rotational movement of the puncture mechanism 8 and drive the puncture mechanism 8 to perform corresponding feeding movement in the puncture direction. The laser transmitter 10 is installed at a predetermined position on the camera light source mounting frame 2.

[0031] In the present application, the overall structure is divided into two components, namely, the camera light source parameter adjustment mechanism and the puncture component parameter adjustment mechanism 9, wherein the camera light source parameter adjustment mechanism has two degrees of freedom, one degree of freedom is horizontal position adjustment, that is, the combination of the binocular camera 3 and the horizontal parameter adjustment component 4, and one degree of freedom is rotation, that is, the combination of the binocular camera 3 and the rotation parameter adjustment component 5. The puncture component parameter adjustment mechanism 9 has two degrees of freedom, one degree of freedom is position adjustment in the puncture direction, and one degree of freedom is rotation along the puncture direction. The present application can be used to simulate the influence of the binocular camera 3 and the light source mechanism 6 on the puncture at different positions and angles. The setting of the puncture component parameter adjustment mechanism 9 enables the puncture mechanism 8 to adjust the puncture feed speed and rotation speed. The robotic arm interface flange 1 installed on the camera light source mounting frame 2 can connect the present application to a platform such as a robotic arm to perform corresponding puncture simulation tests.

[0032] In addition, in the present application, the laser emitter 10 is in the same direction as the lens of the binocular camera 3, and the intersection position formed by the laser line emitted by the laser emitter 10 and the feeding direction of the puncture mechanism 8 is the simulated puncture point position. The puncture component mounting frame 7 and the camera light source mounting frame 2 are positioned by a ball screw, and are installed and fixed with a plug screw at different angles to simulate the puncture conditions of the binocular camera 3 and the puncture mechanism 8 at different angles.

[0033] like Figure 2-Figure 5 As shown, the camera light source adjustment mechanism includes a horizontal adjustment component 4 and a rotation adjustment component 5. The horizontal adjustment component 4 includes a camera light source adjustment guide rail 401, a plurality of camera light source adjustment sliders 402, a ruler 403, a plurality of first positioning holes 404, a plurality of horizontal positioning connectors 405 and a plurality of first ball screws 406. The rotation adjustment component 5 includes a bearing end seat 501, a connecting bearing 502, a camera rotating rocker arm 503, a rocker arm clamping member 504, a second positioning hole 505 and a second ball screw 506.

[0034] Among them, a camera light source parameter adjustment guide rail 401 is installed at a predetermined position on the camera light source mounting frame 2, a number of camera light source parameter adjustment sliders 402 are slidably arranged on the camera light source parameter adjustment guide rail 401, and a number of camera light source parameter adjustment sliders 402 are respectively connected to the rotation parameter adjustment component 5 and the light source mechanism 6, and are used to drive the rotation parameter adjustment component 5 and the light source mechanism 6 to adjust the position in the horizontal direction. A ruler 403 is installed at a predetermined position on the camera light source mounting frame 2, and is used to read and accurately control the moving distance of the rotation parameter adjustment component 5 and the light source mechanism 6. A number of first positioning holes 404 are opened at predetermined positions on the camera light source mounting frame 2, and a number of horizontal positioning connectors 405 are connected at predetermined positions on the rotation parameter adjustment component 5 and the light source mechanism 6. The horizontal positioning connector 405 is equipped with The adapted first wave screw 406 is used to control the position adjustment of the rotation parameter adjustment component 5 and the light source mechanism 6. The bearing end seat 501 is connected to the horizontal parameter adjustment component 4. The connecting bearing 502 is installed in the bearing end seat 501. The camera rotating rocker 503 is installed between the connecting bearing 502 and the binocular camera 3 and is slidably connected to the predetermined plane of the camera light source mounting frame 2, which is used for the binocular camera 3 to rotate in the vertical direction. The rocker clamping member 504 is installed at a predetermined position on the camera light source mounting frame 2 and abuts against the camera rotating rocker 503, which is used to limit the camera rotating rocker 503. The second positioning hole 505 is opened at a predetermined position on the camera light source mounting frame 2. The second wave screw 506 is installed on the camera rotating rocker 503 and is adapted to the second positioning hole 505, which is used to control the rotation angle of the binocular camera 3.

[0035] In the present application, the camera light source adjustment mechanism is installed on the camera light source mounting frame 2, and the binocular camera 3 is connected to the camera light source adjustment slider 402 through the bearing end seat 501 and the connecting bearing 502. The binocular camera 3 can be adjusted in the horizontal direction through the camera light source adjustment guide rail 401 and the camera light source adjustment slider 402, thereby realizing the freedom of the binocular camera 3 in the horizontal direction, and is equipped with a ruler 403 in the horizontal direction. The adjustment position can be read through the ruler 403, so that the horizontal movement of the binocular camera 3 can be accurately controlled. A first positioning hole 404 is designed at a key horizontal position point, and the binocular camera 3 can be quickly positioned and quickly reach the preset position through the cooperation of the first ball screw 406 and the first positioning hole 404, and it is fixed by the horizontal positioning connector 405.

[0036] The binocular camera 3 is installed on the camera light source mounting frame 2 through the camera rotating rocker 503, and the bearing end seat 501 is connected to the camera light source parameter adjustment slider 402. The connecting bearing 502 in the bearing end seat 501 cooperates with the rotating shaft on the interface flange below the binocular camera 3 to realize the rotation of the binocular camera 3 in the vertical direction. A second positioning hole 505 is designed at a key position of the rotation angle of the binocular camera 3. When the camera rotating rocker 503 rotates, the rotation angle of the binocular camera 3 can be quickly positioned by the cooperation of the second ball screw 506 and the second positioning hole 505. The amount of the rotation angle can be controlled by the second ball screw 506 behind the camera rotating rocker 503, and the positioned position is fixed by the rocker clamping piece 504.

[0037] like Figure 6-Figure 7 As shown, the light source mechanism 6 includes a connecting bracket 606 , a strip light source 601 , a light source interface flange 602 , a seat bearing 603 and a light source knob 605 .

[0038] Among them, the connecting bracket 606 is connected to the horizontal parameter adjustment component 4, the strip light source 601 is arranged on the inner side of the connecting bracket 606, light source interface flanges 602 are installed at both ends of the strip light source 601, a seat bearing 603 is connected between the light source interface flange 602 and the connecting bracket 606, the light source knob 605 is connected to the light source interface flange 602, and a square dial 604 is installed between the light source knob 605 and the seat bearing 603 for accurately controlling the rotation angle of the strip light source 601.

[0039] In the present application, both the upper and lower sides of the bar light source 601 have mechanical interfaces. Light source interface flanges 602 are designed on both the upper and lower sides of the bar light source 601, and are connected to the seat bearing 603 through the light source interface flanges 602. A square dial 604 is installed on the upper side of the seat bearing 603. The rotation angle of the bar light source 601 can be accurately controlled by controlling the rotation of the light source knob 605 and cooperating with the square dial 604. The light source interface flange 602 is also connected to the lower side of the bar light source 601. The rotation axis is connected to the light source interface flange 602 to realize the rotational freedom of the bar light source 601 in the vertical direction. The rotation axis cooperates with the seat bearing 603, and the seat bearing 603 is connected to the connecting bracket 606. The rear end of the connecting bracket 606 is connected to the camera light source parameter adjustment slider 402. With the set scale 403, the bar light source 601 can be accurately controlled in the horizontal direction. In addition, a set screw hole is reserved on the light source knob 605 to fix the position after the angle adjustment.

[0040] like Figure 9-10 As shown, the puncture component parameter adjustment mechanism 9 includes a puncture component parameter adjustment guide rail 901, a screw guide rail connector 903, a rotary stepping motor 907, a screw 904, a feed stepping motor 905, an anti-backlash nut 906, a micro photoelectric sensor 908 and a photoelectric block.

[0041] Among them, the puncture component parameter adjustment guide rail 901 is installed at a predetermined position on the puncture component mounting frame 7, and the puncture component parameter adjustment guide rail 901 is cooperated with a puncture component parameter adjustment slider 902, the screw guide rail connector 903 is installed on the puncture component parameter adjustment slider 902, the rotary stepper motor 907 is installed between the screw guide rail connector 903 and the puncture mechanism 8, and is used to control the rotational movement of the puncture mechanism 8, the screw rod 904 is installed through the screw guide rail connector 903, and a feed stepper motor 905 is installed at the end of the screw rod 904, and an anti-backlash nut 906 is installed at the end of the screw rod 904 away from the feed stepper motor 905, and a micro photoelectric sensor 908 is installed at a predetermined position on the puncture component mounting frame 7, and a photoelectric block is installed at a predetermined position on the screw guide rail connector 903 and is arranged corresponding to the micro photoelectric sensor 908.

[0042] In the present application, the puncture component parameter adjustment mechanism 9 is installed on the puncture component mounting frame 7. The connection between the puncture component mounting frame 7 and the camera light source mounting frame 2 can be adjusted at a certain angle, which can be used to simulate the puncture conditions of the binocular camera 3 and the puncture mechanism 8 at different angles. The feeding stepper motor 905 can drive the puncture mechanism 8 to perform corresponding feeding movement in the puncture direction through the lead screw 904 and the anti-backlash nut 906, as well as the puncture component parameter adjustment guide rail 901 and the puncture component parameter adjustment slider 902. A micro photoelectric sensor 908 is installed at the rear of the puncture component mounting frame 7. When working, the photoelectric block on the lead screw guide rail connector 903 blocks the zero position identification photoelectric. When the photoelectric block just blocks the micro photoelectric sensor 908, the position is the puncture zero position, and the rotary stepper motor 907 on the puncture mechanism 8 can be used to control the rotational movement of the puncture component.

[0043] Based on the above technical solution, the specific working process of the present invention is as follows: the present application is connected to the robot arm or other suspension platform through the robot arm interface flange 1, the puncture needle is clamped in the puncture mechanism 8, the laser emitter 10 is turned on and the feeding position of the puncture mechanism 8 is adjusted by the puncture component parameter adjustment mechanism 9. When the laser line emitted by the laser emitter 10 just passes through the needle tip of the puncture needle, the feeding movement of the puncture mechanism 8 is stopped. This position is the puncture position. During the puncture simulation process, the focus position of the binocular camera 3 is adjusted based on the working distance, combined with the actual visual imaging effect, such as reflection conditions and field of view. The angle of the binocular camera 3, the position of the binocular camera 3, the direction of the binocular camera 3, the angle of the strip light source 601, the position of the strip light source 601, the direction of the strip light source 601, the position of the puncture needle, the puncture speed of the puncture needle and other parameters are adjusted for simulation adjustment. When a relatively ideal imaging effect is achieved, each component is locked, and the influence of different parameter changes on puncture is analyzed to find out the better puncture parameters suitable for the current puncture environment, and the adjusted components are directly used, or their parameters are measured to guide the design of components with special fixed parameters.

[0044] As above, although the present invention has been shown and described with reference to specific preferred embodiments, it should not be construed as limiting the present invention itself. Various changes may be made to it in form and detail without departing from the spirit and scope of the present invention defined in the appended claims.

Claims

1. A parameter-adjustable stereoscopic vision puncture platform, characterized in that: include: The interface flange of the robot arm is connected with the corresponding suspension platform; A camera light source mounting frame is connected to the mechanical arm interface flange, and a binocular camera is arranged on the camera light source mounting frame; The camera light source parameter adjustment mechanism comprises a rotation parameter adjustment component installed between the binocular camera and the camera light source mounting frame for adjusting the angle of the binocular camera, and a horizontal parameter adjustment component installed between the rotation parameter adjustment component and the camera light source mounting frame for adjusting the horizontal position of the binocular camera; A light source mechanism, disposed outside the binocular camera and connected to the horizontal parameter adjustment component, for providing a light source; A puncture assembly mounting frame is mounted at a predetermined position on the camera light source mounting frame, and a puncture mechanism is provided on the puncture assembly mounting frame; The puncture assembly parameter adjustment mechanism is installed between the puncture assembly mounting frame and the puncture mechanism, and is used to control the rotational movement of the puncture mechanism and drive the puncture mechanism to perform corresponding feeding movement in the puncture direction; A laser emitter is installed at a predetermined position on the camera light source mounting frame. The laser emitter is in the same direction as the binocular camera lens. The intersection position formed by the laser line emitted by the laser emitter and the feeding direction of the puncture mechanism is the simulated puncture point position.

2. The adjustable parameter stereoscopic vision puncture platform according to claim 1, characterized in that: The puncture assembly mounting frame and the camera light source mounting frame are positioned by means of ball screws and are installed and fixed by means of plug screws at different angles, so as to simulate the puncture conditions of the binocular camera and the puncture mechanism at different angles.

3. The adjustable parameter stereoscopic vision puncture platform according to claim 1, characterized in that: The rotation parameter adjustment component comprises: A bearing end seat connected to the horizontal parameter adjustment component; A connecting bearing is installed in the bearing end seat; The camera rotation rocker arm is installed between the connecting bearing and the binocular camera and is slidably connected to a predetermined plane of the camera light source mounting frame, and is used for rotating the binocular camera in a vertical direction.

4. The adjustable parameter stereoscopic vision puncture platform according to claim 3, characterized in that: The rotation parameter adjustment component also includes: A rocker arm clamping member, installed at a predetermined position on the camera light source mounting frame and abutting against the camera rotating rocker arm, for limiting the camera rotating rocker arm; A second positioning hole is provided at a predetermined position on the camera light source mounting frame; A second screw is installed on the camera rotating rocker and is matched with the second positioning hole, and is used to control the rotation angle of the binocular camera.

5. The adjustable parameter stereoscopic vision puncture platform according to claim 1, characterized in that: The light source mechanism comprises: A connecting bracket connected to the horizontal parameter adjustment component; A strip light source is arranged inside the connecting bracket, light source interface flanges are installed at both ends of the strip light source, and a seat bearing is connected between the light source interface flange and the connecting bracket; A light source knob is connected to the light source interface flange, and a square dial is installed between the light source knob and the seat bearing for accurately controlling the rotation angle of the strip light source.

6. The adjustable parameter stereoscopic vision puncture platform according to claim 1, characterized in that: The horizontal parameter adjustment component comprises: A camera light source parameter adjustment rail is installed at a predetermined position on the camera light source mounting frame; A plurality of camera light source parameter adjustment sliders are slidably arranged on the camera light source parameter adjustment guide rail, and the plurality of camera light source parameter adjustment sliders are respectively connected to the rotation parameter adjustment component and the light source mechanism, and are used to drive the rotation parameter adjustment component and the light source mechanism to adjust their positions in the horizontal direction; A ruler is installed at a predetermined position on the camera light source mounting frame and is used to read and accurately control the moving distance of the rotation parameter adjustment component and the light source mechanism.

7. The adjustable parameter stereoscopic vision puncture platform according to claim 6, characterized in that: The horizontal parameter adjustment component also includes: A plurality of first positioning holes are provided at predetermined positions on the camera light source mounting frame; A plurality of horizontal positioning connectors are connected to predetermined positions on the rotation parameter adjustment component and the light source mechanism. A first ball screw adapted to the first positioning hole is installed on the horizontal positioning connector to control the position adjustment of the rotation parameter adjustment component and the light source mechanism.

8. The adjustable parameter stereoscopic vision puncture platform according to claim 1, characterized in that: The puncture assembly parameter adjustment mechanism comprises: The puncture component parameter adjustment guide rail is installed at a predetermined position on the puncture component mounting frame, and the puncture component parameter adjustment guide rail is provided with a puncture component parameter adjustment slider; A lead screw guide rail connector, mounted on the puncture assembly parameter adjustment slider; A rotary stepping motor is installed between the lead screw guide rail connector and the puncture mechanism and is used to control the rotary motion of the puncture mechanism.

9. The adjustable parameter stereoscopic vision puncture platform according to claim 8, characterized in that: The puncture assembly parameter adjustment mechanism also includes: A lead screw is installed through the lead screw guide rail connector, a feed stepping motor is installed at the end of the lead screw, and an anti-backlash nut is installed at the end of the lead screw away from the feed stepping motor; The feeding stepping motor drives the puncture mechanism to perform corresponding feeding movement in the puncture direction through the lead screw and the anti-backlash nut, as well as the puncture component parameter adjustment guide rail and the puncture component parameter adjustment slider.

10. The adjustable parameter stereoscopic vision puncture platform according to claim 8, characterized in that: The puncture assembly parameter adjustment mechanism also includes: A micro photoelectric sensor is mounted at a predetermined position on the puncture assembly mounting frame; A photoelectric block is installed at a predetermined position on the lead screw guide rail connector and is arranged corresponding to the micro photoelectric sensor; During operation, when the photoelectric block on the lead screw guide rail connector just blocks the micro photoelectric sensor, this position is the puncture zero position.

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