Automatic puncture robot for percutaneous nephroscopic surgery

Abstract

The present invention relates to an automatic puncture robot for percutaneous nephroscopic surgery in the technical field of medical auxiliary equipment, comprising: a medical imaging CT machine, a support frame is installed on the medical imaging CT machine, a CT machine tool is installed on the support frame; a bottom frame is fixedly installed on the CT machine tool; a flip mechanism is installed in the bottom frame, a flip frame is arranged at one end of the flip mechanism, and an opening for the flip frame to move is opened at one end of the bottom frame. The present invention forms an automatic puncture robot mechanism that integrates a translation mechanism in the X-axis, Y-axis, and Z-axis directions and a rotation mechanism in the X-axis, Y-axis, and Z-axis directions, so that it has 6 degrees of freedom, can realize the function of autonomous needle insertion, has a wide range of motion, a large stroke, and a free angle, and realizes the needs of various motion postures of the puncture needle. The operation program and structure of the overall structure are relatively simple, and it is easy to operate and install.

Description

Technical Field

[0001] The invention relates to the technical field of medical auxiliary equipment, and in particular discloses an automatic puncture robot for percutaneous nephroscopic surgery. Background Art

[0002] Percutaneous nephrolithotomy, commonly known as "punch lithotripsy", is a procedure that involves making an incision of about 0.5 cm on the patient's waist, establishing a stone removal channel, inserting a nephroscope, and crushing the stones using lithotripsy equipment such as ultrasound, pneumatic ballistics, or holmium laser. It is suitable for symptoms such as large kidney stones and upper ureteral stones. It has become the main treatment method for kidney stones and upper ureteral stones together with ureteroscopy and extracorporeal shock wave lithotripsy, and can save kidney stones from surgical intervention. When existing doctors perform puncture surgery on patients, they use medical imaging guidance such as CT and X-ray machines to locate the puncture point on the body surface, and then perform the puncture surgery manually based on their own experience. For doctors who are not experienced enough, the direction of the needle will be adjusted under the guidance of X-rays until the target position is reached during the puncture process. At this time, they rely too much on the doctor's clinical experience and cannot accurately judge whether the best puncture point has been reached. This not only causes great surgical risks, but also requires repeated adjustments and verifications through medical imaging equipment such as CT until the target position is reached, which exposes patients and medical staff to X-rays for a long time, causing unnecessary radiation damage to medical staff, and the puncture efficiency is low.

[0003] In order to solve the problem of unnecessary surgical risks, the automatic puncture robot for percutaneous nephroscopic surgery in the market uses robots to replace doctors in performing surgical operations manually, and has a certain market share.

[0004] After searching, the patent with publication number CN208552018U discloses a robot-assisted puncture device, a medical image acquisition device for acquiring the lesion image and soft tissue image of the puncture object and sending them to the main control device; a main control device for processing the lesion image and soft tissue image of the puncture object sent by the medical image acquisition device to obtain the planned puncture path, and controlling the puncture execution device to move along the puncture path to achieve automatic puncture, the main control device is respectively connected to the medical image acquisition device and the puncture execution device by signal; the puncture execution device includes a puncture needle and a puncture power assembly that drives the puncture needle to move. The device can realize automatic puncture of lesions, improve puncture efficiency, and reduce radiation hazards to medical staff.

[0005] Based on the above search and in combination with the prior art, it is found that although the prior art uses a puncture robot to replace the doctor's manual operation to solve the problem of unnecessary surgical risks, the motion range of the entire puncture robot is relatively limited, and it is unable to achieve adjustment operations at more angles. The operating procedures and structure of the overall structure are relatively complex, making it difficult to install. Therefore, an automatic puncture robot for percutaneous nephroscopic surgery is proposed to improve the above problems. Summary of the invention

[0006] In view of the above-mentioned prior art, the technical problem to be solved by the present invention is that the movement range of the entire puncture robot is relatively limited and adjustment operations at more angles cannot be achieved.

[0007] In order to solve the above problems, the present invention provides an automatic puncture robot for percutaneous nephroscopic surgery, comprising:

[0008] A medical imaging CT machine, wherein a support frame is installed on the medical imaging CT machine, and a CT machine bed is installed on the support frame;

[0009] A bottom frame, the bottom frame is fixedly mounted on the CT machine tool;

[0010] A turning mechanism, wherein the turning mechanism is installed in the bottom frame, a turning frame is provided at one end of the turning mechanism, and an opening for the turning frame to move is provided at one end of the bottom frame;

[0011] An X-axis moving platform, wherein the X-axis moving platform is installed on the turning frame;

[0012] A Y-axis mobile platform, wherein the Y-axis mobile platform is mounted on the mobile end of the X-axis mobile platform, and a mobile frame is fixedly mounted on the mobile end of the Y-axis mobile platform;

[0013] A Z-axis mobile platform, one end of the mobile frame is provided with a first X-axis rotation mechanism for driving the Z-axis mobile platform to rotate, and a second X-axis rotation mechanism is fixedly installed on the mobile end of the Z-axis mobile platform;

[0014] A mounting frame, the mounting frame being fixedly mounted on a rotating end of the second X-axis rotating mechanism;

[0015] A mounting frame is fixed to the bottom of the mounting frame, and a first mounting hole is provided in the middle position of both ends of the mounting frame, the inner walls of the first mounting holes are rotatably connected to a rotating shaft through a bearing, a rotating motor for driving the rotating shaft to rotate is fixedly installed on the outer wall of one end of the mounting frame, a needle seat is fixedly installed between one ends of the two rotating shafts, and the needle seat is provided with cloth needle holes distributed at equal distances, the tops of the cloth needle holes are fixed with limiting rings, and puncture needles are inserted into the cloth needle holes and the limiting rings, and a locking assembly is provided in the middle of the cloth needle holes.

[0016] Through the above technical scheme: the entire puncture robot forms an automatic puncture robot mechanism that integrates translation mechanisms in the X-axis, Y-axis, and Z-axis directions and rotation mechanisms in the X-axis, Y-axis, and Z-axis directions, which can realize the operation process of autonomous needle insertion, with a wide range of motion, a large stroke, and free angles, and can meet the needs of various motion postures of the puncture needle.

[0017] The utility model is further configured such that the locking assembly includes a connecting hole opened in the middle position of the cloth needle hole, and a threaded hole is penetrated through one end of the connecting hole and one end of one of the rotating shafts, a threaded rod is screwed on the inner wall of the threaded hole, one end of the threaded rod is rotatably connected to a clamping rubber seat for locking the puncture needle, and the clamping rubber seat is located in the connecting hole.

[0018] Through the above technical solution: fixed operation of different puncture needles is achieved, which is convenient for autonomous needle insertion operation.

[0019] The utility model is further configured that the cloth needle holes all pass through the center of the needle seat, and the diameters of the cloth needle holes gradually decrease.

[0020] Through the above technical solution, it is convenient to place different puncture needles to form an installation structure for multiple groups of puncture needles.

[0021] The utility model is further configured as follows: the flipping mechanism includes a first cylinder fixedly mounted on the inner wall of the other end of the bottom frame, and a movable platform is fixedly mounted on the piston end of the first cylinder, rack plates are fixed at both ends of one side of the movable platform, a roller is rotatably connected to the inner wall of the opening, and the flipping frame is fixed on the roller, and first tooth grooves are equidistantly distributed in a ring shape at both ends of the outer wall of the roller, and the first tooth grooves are meshed with the rack plate.

[0022] Through the above technical solution: the entire robot structure has the function of directly flipping out of the CT machine, which is convenient for patients to enter and exit the CT machine, and can fine-tune the angle of the entire robot structure, so that the puncture needle has a rotation adjustment function in the Z-axis direction.

[0023] The utility model is further configured that both sides of the bottom of the movable platform are provided with slide grooves, and the bottom inner wall of the bottom frame is fixedly installed with a first slide rail clamped in the slide groove.

[0024] Through the above technical solution: the stable performance of the movable table movement can be ensured, so that the first tooth groove is fully engaged with the rack plate.

[0025] The utility model is further configured that the X-axis moving platform, the Y-axis moving platform and the Z-axis moving platform are all driven by motors and screws to respectively realize movement in the X-axis, Y-axis and Z-axis directions.

[0026] The utility model is further configured such that the first X-axis rotating mechanism includes a second mounting hole opened at one end of the moving frame, and the inner wall of the second mounting hole is rotatably connected to a rotating rod through a bearing, a rotating disk is fixed to one end of the rotating rod, and the Z-axis moving platform is fixedly mounted on the rotating disk, a gear is fixed to one side of the outer wall of the rotating rod, and a rack rack is meshed with the outer wall of the gear, and a second cylinder for driving the rack rack to move is fixedly mounted on the outer wall of the moving frame near the corner.

[0027] Through the above technical solution: the rotating rod, the rotating disk, and the Z-axis moving platform can be driven to rotate, thereby driving the puncture needle to perform rotation adjustment in the X-axis direction.

[0028] The utility model is further configured that the second slide rails are fixed to the top and bottom of the outer wall of the movable frame near the corner, and the sliders slidably arranged on the second slide rails are fixed to the top and bottom of the rack frame.

[0029] Through the above technical solution: the stable performance of the rack frame during movement is guaranteed, so that the rack frame and the gear are fully meshed.

[0030] The utility model is further configured as follows: the second X-axis rotating mechanism includes a lifting platform fixedly mounted on the moving end of the Z-axis moving platform, and a mounting groove is provided on one side of the lifting platform, a bearing sleeve is installed on one end of the inner wall of the mounting groove, a rotating table is installed on the inner wall of the bearing sleeve, a mounting frame is fixedly mounted on one side of the rotating table, and a second tooth groove distributed in an annular shape with equal distances is provided on one side of the outer wall of the rotating table, a through opening connected to the mounting groove is penetrated through the lifting platform, and an L-shaped rack is inserted on the inner wall of the through opening, the L-shaped rack is meshed with the second tooth groove, a top groove is provided in the middle position of the top of the lifting platform, and a third cylinder for driving the L-shaped rack to move is fixedly installed on the inner wall of the top groove.

[0031] Through the above technical solution: the puncture needle can be adjusted by micro-rotation in the X-axis direction, so that the puncture needle can move more accurately along the puncture path, and more angle adjustment operations can be achieved.

[0032] The utility model is further configured to include:

[0033] A main control device for receiving the puncture object obtained by the medical image CT machine, the main control device is installed on the support frame, the main control device can perform image processing according to the puncture object sent by the medical image CT machine to obtain the planned puncture path, the main control device is used to control the X-axis moving platform, the Y-axis moving platform, the Z-axis moving platform, the flip mechanism, the first X-axis rotating mechanism, the second X-axis rotating mechanism and the rotating motor to operate, and control the puncture needle to move along the puncture path.

[0034] Through the above technical solution: the positioning operation of the puncture object can be carried out, and the entire puncture robot can be controlled to operate autonomously.

[0035] In summary, after adopting the above structure, the present invention has the following advantages compared with the prior art:

[0036] 1. The above-mentioned flipping mechanism, flipping frame, X-axis moving platform, Y-axis moving platform, Z-axis moving platform, first X-axis rotating mechanism, second X-axis rotating mechanism, rotating motor, etc. are used to form the entire automatic puncture robot structure for percutaneous nephroscopic surgery, and can drive the movable table and the rack plate to move under the action of the first cylinder in the flipping mechanism, and drive the roller and the flipping frame to rotate in coordination with the meshing action of the rack plate and the first tooth groove. On the one hand, the entire robot structure has the function of directly flipping out of the CT machine tool, which is convenient for patients to enter and exit the CT machine tool. On the other hand, the angle of the entire robot structure can be fine-adjusted, so that the puncture needle has a rotation adjustment function in the Z-axis direction, which preliminarily changes the motion range of the entire puncture robot.

[0037] 2. The above-mentioned flip mechanism, X-axis mobile platform, Y-axis mobile platform, Z-axis mobile platform, first X-axis rotation mechanism and rotary motor can enable the entire puncture robot to form an automatic puncture robot mechanism that integrates translation mechanisms in the X-axis, Y-axis and Z-axis directions and rotation mechanisms in the X-axis, Y-axis and Z-axis directions, so that it has 6 degrees of freedom, can realize the operation process of autonomous needle insertion, has a wide range of motion, a large stroke, and free angles, can realize the needs of various motion postures of the puncture needle, and the operating procedures and structure of the overall structure are relatively simple, which is easy to operate and install.

[0038] 3. The above-mentioned second X-axis rotation mechanism can provide further fine-tuning function in the X-axis direction, so that the puncture needle can move more accurately along the puncture path and achieve adjustment operations at more angles.

[0039] 4. The above-mentioned mounting frame, needle holder, cloth needle hole and locking assembly are used, and multiple cloth needle holes with different diameters are used to place different puncture needles to form an installation structure for multiple groups of puncture needles. The position of the clamping rubber holder in the connecting hole and the cloth needle hole can be adjusted under the action of the inner threaded rod of the locking assembly to realize the fixing operation of different puncture needles and facilitate the autonomous needle insertion operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 It is a schematic diagram of the three-dimensional structure of the automatic puncture robot for percutaneous nephroscopic surgery of the present invention;

[0041] Figure 2 It is a front view of the automatic puncture robot for percutaneous nephroscopic surgery of the present invention;

[0042] Figure 3It is a schematic diagram of the opening and moving frame structure of the automatic puncture robot for percutaneous nephroscopic surgery of the present invention;

[0043] Figure 4 It is a schematic diagram of the structure of the flipping mechanism of the automatic puncture robot for percutaneous nephroscopic surgery of the present invention;

[0044] Figure 5 It is a schematic diagram of the structure of the Z-axis moving platform and the mounting frame of the automatic puncture robot for percutaneous nephroscopic surgery of the present invention;

[0045] Figure 6 It is a schematic diagram of the structure of the first X-axis rotation mechanism of the automatic puncture robot for percutaneous nephroscopic surgery of the present invention;

[0046] Figure 7 It is a schematic diagram of the structure of the lifting platform and the mounting frame of the automatic puncture robot for percutaneous nephroscopic surgery of the present invention;

[0047] Figure 8 A cross-sectional view of a lifting platform of the automatic puncture robot for percutaneous nephroscopic surgery of the present invention;

[0048] Fig. 9 It is the explosion schematic diagram of Figure 8;

[0049] Fig.10 It is an exploded schematic diagram of the installation frame of the automatic puncture robot for percutaneous nephroscopic surgery of the present invention;

[0050] Fig.11 This is a cross-sectional view of the needle holder of the automatic puncture robot for percutaneous nephroscopic surgery according to the present invention.

[0051] Description of the numbers in the figure:

[0052] 1. Medical imaging CT machine; 2. Main control equipment; 3. Bottom frame; 4. Support frame; 5. CT machine tool; 6. Turning frame; 7. X-axis moving platform; 8. Y-axis moving platform; 9. Z-axis moving platform; 10. Turning mechanism; 1001. First cylinder; 1002. First slide rail; 1003. Movable table; 1004. Rack plate; 1005. Roller; 1006. First tooth groove; 11. Opening; 12. Moving frame; 13. First X-axis rotating mechanism; 1301. Rotating rod; 1302. Gear; 1303. Second cylinder; 1304. Rack Frame; 1305, rotating disk; 1306, second slide rail; 14, second X-axis rotating mechanism; 1401, lifting platform; 1402, third cylinder; 1403, L-shaped rack; 1404, bearing sleeve; 1405, rotating table; 1406, top groove; 1407, through port; 1408, mounting groove; 1409, second tooth groove; 15, mounting frame; 16, mounting frame; 17, rotating motor; 18, puncture needle; 19, needle seat; 20, rotating shaft; 21, threaded rod; 22, clamping rubber seat; 23, threaded hole; 24, cloth needle hole; 25, limit ring. DETAILED DESCRIPTION

[0053] The technical solution of the present application is further described in detail below in combination with two specific implementation methods.

[0054] The embodiments of the present application are described in detail below, and examples of the embodiments 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 only used to explain the present application, and cannot be understood as limiting the present application.

[0055] In the description of the present application, it should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are 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.

[0056] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", and "set" should be understood in a broad sense, for example, they can be fixedly connected or set, or detachably connected or set, or integrally connected or set. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0057] The first implementation method:

[0058] The present invention provides an automatic puncture robot for percutaneous nephroscopic surgery. Figure 1-Figure 11 ,include:

[0059] A medical imaging CT machine 1, on which a support frame 4 is mounted, and on which a CT machine tool 5 is mounted;

[0060] A bottom frame 3, which is fixedly mounted on a CT machine tool 5;

[0061] A turning mechanism 10 is installed in the bottom frame 3. A turning frame 6 is provided at one end of the turning mechanism 10. An opening 11 for the turning frame 6 to move is provided at one end of the bottom frame 3.

[0062] X-axis moving platform 7, the X-axis moving platform 7 is installed on the turning frame 6;

[0063] A Y-axis mobile platform 8, the Y-axis mobile platform 8 is installed at the mobile end of the X-axis mobile platform 7, and a mobile frame 12 is fixedly installed at the mobile end of the Y-axis mobile platform 8;

[0064] The Z-axis mobile platform 9, one end of the mobile frame 12 is provided with a first X-axis rotating mechanism 13 that drives the Z-axis mobile platform 9 to rotate, and the mobile end of the Z-axis mobile platform 9 is fixedly installed with a second X-axis rotating mechanism 14, and the X-axis mobile platform 7, the Y-axis mobile platform 8 and the Z-axis mobile platform 9 are all driven by motors and screws to realize the movement in the X-axis, Y-axis and Z-axis directions respectively;

[0065] A mounting frame 15, the mounting frame 15 is fixedly mounted on the rotating end of the second X-axis rotating mechanism 14;

[0066] A mounting frame 16 is fixed to the bottom of the mounting frame 15, and first mounting holes are provided at the middle positions of both ends of the mounting frame 16, and the inner walls of the first mounting holes are rotatably connected with a rotating shaft 20 through a bearing, and a rotating motor 17 for driving the rotating shaft 20 to rotate is fixedly installed on the outer wall of one end of the mounting frame 16, and a needle seat 19 is fixedly installed between one ends of the two rotating shafts 20, and the needle seat 19 is provided with cloth needle holes 24 distributed at equal distances, and the tops of the cloth needle holes 24 are fixed with limit rings 25, and the insides of the cloth needle holes 24 and the limit rings 25 are interspersed with puncture needles 18, and a locking assembly is provided in the middle position of the cloth needle holes 24, and the locking assembly includes a connecting hole provided in the middle position of the cloth needle hole 24, and one end of the connecting hole and one end of one of the rotating shafts 20 are penetrated by a threaded hole 23, and a threaded rod 21 is screwed on the inner wall of the threaded hole 23, and one end of the threaded rod 21 is rotatably connected to a locking member for locking. The clamping rubber seat 22 of the fixed puncture needle 18 is arranged, and the clamping rubber seat 22 is located in the connecting hole. The cloth needle hole 24 passes through the center of the needle seat 19, and the diameter of the cloth needle hole 24 gradually decreases. A plurality of cloth needle holes 24 with different diameters can be used to place different puncture needles 18 to form a mounting structure for multiple groups of puncture needles 18, and the position of the clamping rubber seat 22 in the connecting hole and the cloth needle hole 24 can be adjusted under the action of the inner threaded rod 21 of the locking assembly to realize the fixing operation of different puncture needles 18, which is convenient for the autonomous needle insertion operation, and enables the entire puncture robot to form an automatic puncture robot mechanism integrating the translation mechanism in the X-axis, Y-axis and Z-axis directions and the rotation mechanism in the X-axis, Y-axis and Z-axis directions, so that it has 6 degrees of freedom, can realize the operation process of autonomous needle insertion, has a wide range of motion, a large stroke and free angles, and can realize the needs of various motion postures of the puncture needle 18.

[0067] In the present invention, the first X-axis rotating mechanism 13 includes a second mounting hole opened at one end of the moving frame 12, and the inner wall of the second mounting hole is rotatably connected to a rotating rod 1301 through a bearing, a rotating disk 1305 is fixed to one end of the rotating rod 1301, and the Z-axis moving platform 9 is fixedly installed on the rotating disk 1305, a gear 1302 is fixed to one side of the outer wall of the rotating rod 1301, and a rack rack 1304 is meshed with the outer wall of the gear 1302, a second cylinder 1303 for driving the rack rack 1304 to move is fixedly installed on the outer wall of the moving frame 12 near the corner, and a second slide rail 1306 is fixed to the top and bottom of the outer wall of the moving frame 12 near the corner, and a slider slidably arranged on the second slide rail 1306 is fixed to the top and bottom of the rack rack 1304, such as Figure 3 , Figure 5 and Figure 6As shown, the above-mentioned first X-axis rotating mechanism 13 can drive the rack 1304 to move under the action of the second cylinder 1303, and the meshing action of the rack 1304 and the gear 1302 can drive the rotating rod 1301, the rotating disk 1305, and the Z-axis moving platform 9 to rotate, thereby driving the puncture needle 18 to rotate and adjust in the X-axis direction.

[0068] In the present invention, the second X-axis rotating mechanism 14 includes a lifting platform 1401 fixedly mounted on the moving end of the Z-axis moving platform 9, and a mounting groove 1408 is provided on one side of the lifting platform 1401, a bearing sleeve 1404 is installed on one end of the inner wall of the mounting groove 1408, a rotating platform 1405 is installed on the inner wall of the bearing sleeve 1404, a mounting frame 15 is fixedly mounted on one side of the rotating platform 1405, and a second tooth groove 1409 distributed in an annular shape with equal distances is provided on one side of the outer wall of the rotating platform 1405, a through-port 1407 communicating with the mounting groove 1408 is provided through the lifting platform 1401, and an L-shaped rack 1403 is inserted into the inner wall of the through-port 1407, and the L-shaped rack 1403 is meshed with the second tooth groove 1409, a top groove 1406 is provided in the middle position of the top of the lifting platform 1401, and a third cylinder 1402 for driving the L-shaped rack 1403 to move is fixedly installed on the inner wall of the top groove 1406, such as Figure 2 , Figure 5 , Figure 7 , Figure 8 and Fig. 9 As shown, the above-mentioned second X-axis rotating mechanism 14 can drive the L-shaped rack 1403 to rise and fall under the action of the third cylinder 1402, and the meshing action of the L-shaped rack 1403 and the second tooth groove 1409 can drive the rotating table 1405 and the mounting frame 15 to rotate, thereby driving the puncture needle 18 to perform micro-rotation adjustment in the X-axis direction, so that the puncture needle 18 can move along the puncture path more accurately and realize adjustment operations at more angles.

[0069] The present invention also includes:

[0070] A main control device 2 for receiving the puncture object obtained by the medical image CT machine 1, the main control device 2 is installed on the support frame 4, the main control device 2 can perform image processing according to the puncture object sent by the medical image CT machine 1, and obtain the planned puncture path, the main control device 2 is used to control the X-axis moving platform 7, the Y-axis moving platform 8, the Z-axis moving platform 9, the flip mechanism 10, the first X-axis rotating mechanism 13, the second X-axis rotating mechanism 14 and the rotating motor 17 to operate, and control the puncture needle 18 to move along the puncture path, such as Figure 1 As shown, the main control device 2 mentioned above can cooperate with the medical imaging CT machine 1 to perform the positioning operation of the puncture object and control the entire puncture robot to operate autonomously.

[0071] Second implementation method:

[0072] This embodiment adds the following structure based on the embodiment 1, referring to Figure 3 and Figure 4 , specifically configured as follows: the flip mechanism 10 includes a first cylinder 1001 fixedly mounted on the inner wall of the other end of the bottom frame 3, and a movable platform 1003 is fixedly mounted on the piston end of the first cylinder 1001, rack plates 1004 are fixed on both ends of one side of the movable platform 1003, a roller 1005 is rotatably connected to the inner wall of the opening 11, and the flip frame 6 is fixed on the roller 1005, and first tooth grooves 1006 distributed in an annular manner with equal distances are opened on both ends of the outer wall of the roller 1005, and the first tooth grooves 1006 are meshed with the rack plate 1004, and sliding grooves are opened on both sides of the bottom of the movable platform 1003, and the bottom inner wall of the bottom frame 3 is fixed A first slide rail 1002 is installed which is clamped in the slide groove. The above-mentioned flipping mechanism 10 is adopted. Under the action of the first cylinder 1001, the movable table 1003 and the rack plate 1004 can be driven to move. The meshing action of the rack plate 1004 and the first tooth groove 1006 drives the roller 1005 and the flip frame 6 to rotate. On the one hand, the entire robot structure has the function of directly flipping out of the CT machine tool 5, which is convenient for patients to enter and exit the CT machine tool 5. On the other hand, the angle of the entire robot structure can be fine-tuned, so that the puncture needle 18 has a rotation adjustment function in the Z-axis direction, which preliminarily changes the motion range of the entire puncture robot.

[0073] In summary, the working principle of the present invention is as follows: when in use, the turning mechanism 10, the turning frame 6, the X-axis moving platform 7, the Y-axis moving platform 8, the Z-axis moving platform 9, the first X-axis rotating mechanism 13, the second X-axis rotating mechanism 14, the rotating motor 17, etc. are used to form the entire automatic puncture robot structure for percutaneous nephroscopic surgery, and a plurality of cloth needle holes 24 with different diameters are used to place different puncture needles 18 to form a mounting structure for multiple groups of puncture needles 18, and the clamping rubber seat 22 can be adjusted under the action of the inner threaded rod 21 of the locking assembly to connect The positions of the holes and the needle holes 24 are adjusted to realize the fixing operation of different puncture needles 18; then, the movable table 1003 and the rack plate 1004 can be driven to move under the action of the first cylinder 1001 in the flip mechanism 10, and the meshing action of the rack plate 1004 and the first tooth groove 1006 can drive the roller 1005 and the flip frame 6 to rotate, and after the flip frame 6 rotates counterclockwise by 90 degrees, the patient enters the CT machine bed 5; then, the medical imaging CT machine 1 is used to obtain the puncture object of the patient's kidney, and the puncture object is sent to the main control device 2 for imaging. The planned puncture path is obtained by processing, and then the flip frame 6 is placed above the patient through the resetting effect of the flip mechanism 10. At this time, the main control device 2 controls the X-axis moving platform 7, the Y-axis moving platform 8, the Z-axis moving platform 9, the flip mechanism 10, the first X-axis rotating mechanism 13, the second X-axis rotating mechanism 14 and the rotating motor 17 to operate, and controls the puncture needle 18 to move along the puncture path, that is, the flip mechanism 10 is used to fine-tune the angle of the entire robot structure, so that the puncture needle 18 is rotated in the Z-axis direction, and the X-axis moving platform 7, the Y-axis moving platform 8, the Z-axis moving platform 9, the flip mechanism 10, the first X-axis rotating mechanism 13, the second X-axis rotating mechanism 14 and the rotating motor 17 are used to operate, and the puncture needle 18 is controlled to move along the puncture path. The platform 7, the Y-axis mobile platform 8, and the Z-axis mobile platform 9 adjust the lateral and longitudinal positions of the robot structure, so that the puncture needle 18 can translate in the X-axis, Y-axis, and Z-axis directions. The first X-axis rotation mechanism 13, the second X-axis rotation mechanism 14, and the rotary motor 17 are also used to drive the robot structure to rotate in the X-axis and Y-axis directions, so that the puncture needle 18 can also be adjusted to rotate in the X-axis and Y-axis directions. The entire puncture robot and the puncture needle 18 have 6 degrees of freedom, realizing the operation process of autonomous needle insertion and the needs of adjusting various motion postures.

[0074] In view of current practical needs, the above-mentioned implementation mode adopted in this application is not limited to the scope of protection. Various changes made within the knowledge scope of technical personnel in this field without departing from the concept of this application still fall within the scope of protection of the present invention.

Claims

1. An automatic puncture robot for percutaneous nephroscopic surgery, characterized in that: include: A medical imaging CT machine (1), wherein a support frame (4) is mounted on the medical imaging CT machine (1), and a CT machine bed (5) is mounted on the support frame (4); A bottom frame (3), the bottom frame (3) being fixedly mounted on the CT machine tool (5); A turning mechanism (10), the turning mechanism (10) being installed in the bottom frame (3), a turning frame (6) being provided at one end of the turning mechanism (10), and an opening (11) for the turning frame (6) to move is provided at one end of the bottom frame (3); An X-axis moving platform (7), wherein the X-axis moving platform (7) is mounted on the turning frame (6); A Y-axis mobile platform (8), wherein the Y-axis mobile platform (8) is mounted on the mobile end of the X-axis mobile platform (7), and a mobile frame (12) is fixedly mounted on the mobile end of the Y-axis mobile platform (8); A Z-axis mobile platform (9), one end of the mobile frame (12) is provided with a first X-axis rotation mechanism (13) for driving the Z-axis mobile platform (9) to rotate, and a second X-axis rotation mechanism (14) is fixedly installed on the mobile end of the Z-axis mobile platform (9); A mounting frame (15), the mounting frame (15) being fixedly mounted on a rotating end of the second X-axis rotating mechanism (14); A mounting frame (16) is fixed to the bottom of the mounting frame (15), and first mounting holes are provided at the middle positions of both ends of the mounting frame (16), and the inner walls of the first mounting holes are rotatably connected to a rotating shaft (20) via a bearing, and a rotating motor (17) for driving the rotating shaft (20) to rotate is fixedly installed on the outer wall of one end of the mounting frame (16), and a needle seat (19) is fixedly installed between one ends of the two rotating shafts (20), and the needle seat (19) is provided with cloth needle holes (24) distributed at equal distances, and the tops of the cloth needle holes (24) are fixed with limit rings (25), and a puncture needle (18) is inserted into the cloth needle holes (24) and the limit rings (25), and a locking assembly is provided in the middle of the cloth needle holes (24).

2. The automatic puncture robot for percutaneous nephroscopic surgery according to claim 1, characterized in that: The locking assembly comprises a connecting hole formed in the middle of the needle hole (24), and a threaded hole (23) is formed through one end of the connecting hole and one end of one of the rotating shafts (20), a threaded rod (21) is threadedly connected to the inner wall of the threaded hole (23), and one end of the threaded rod (21) is rotatably connected to a clamping rubber seat (22) for locking the puncture needle (18), and the clamping rubber seat (22) is located in the connecting hole.

3. The automatic puncture robot for percutaneous nephroscopic surgery according to claim 2, characterized in that: The cloth needle holes (24) all pass through the center of the needle seat (19), and the diameter of the cloth needle holes (24) gradually decreases.

4. The automatic puncture robot for percutaneous nephroscopic surgery according to claim 3, characterized in that: The turning mechanism (10) comprises a first cylinder (1001) fixedly mounted on the inner wall of the other end of the bottom frame (3), and a movable platform (1003) is fixedly mounted on the piston end of the first cylinder (1001), rack plates (1004) are fixedly mounted on both ends of one side of the movable platform (1003), a roller (1005) is rotatably connected to the inner wall of the opening (11), and the turning frame (6) is fixed on the roller (1005), and first tooth grooves (1006) are equidistantly distributed in an annular shape at both ends of the outer wall of the roller (1005), and the first tooth grooves (1006) are meshed with the rack plate (1004).

5. The automatic puncture robot for percutaneous nephroscopic surgery according to claim 4, characterized in that: Slide grooves are provided on both sides of the bottom of the movable platform (1003), and a first slide rail (1002) is fixedly mounted on the inner wall of the bottom of the bottom frame (3) and is engaged in the slide grooves.

6. The automatic puncture robot for percutaneous nephroscopic surgery according to claim 5, characterized in that: The X-axis moving platform (7), the Y-axis moving platform (8) and the Z-axis moving platform (9) are all driven by motors and screws to respectively achieve movement in the X-axis, Y-axis and Z-axis directions.

7. The automatic puncture robot for percutaneous nephroscopic surgery according to claim 6, characterized in that: The first X-axis rotating mechanism (13) comprises a second mounting hole opened at one end of the moving frame (12), and the inner wall of the second mounting hole is rotatably connected to a rotating rod (1301) via a bearing, a rotating disk (1305) is fixed to one end of the rotating rod (1301), and the Z-axis moving platform (9) is fixedly mounted on the rotating disk (1305), a gear (1302) is fixed to one side of the outer wall of the rotating rod (1301), and a rack rack (1304) is meshed with the outer wall of the gear (1302), and a second cylinder (1303) for driving the rack rack (1304) to move is fixedly mounted on the outer wall of the moving frame (12) near the corner.

8. The automatic puncture robot for percutaneous nephroscopic surgery according to claim 7, characterized in that: The top and bottom of the outer wall of the movable frame (12) near the corner are both fixed with a second slide rail (1306), and the top and bottom of the rack frame (1304) are both fixed with a slider slidably arranged on the second slide rail (1306).

9. The automatic puncture robot for percutaneous nephroscopic surgery according to claim 8, characterized in that: The second X-axis rotating mechanism (14) comprises a lifting platform (1401) fixedly mounted on the moving end of the Z-axis moving platform (9), and a mounting groove (1408) is provided on one side of the lifting platform (1401), a bearing sleeve (1404) is installed on one end of the inner wall of the mounting groove (1408), a rotating platform (1405) is installed on the inner wall of the bearing sleeve (1404), a mounting frame (15) is fixedly mounted on one side of the rotating platform (1405), and a ring-shaped distribution of equidistant bearings is provided on one side of the outer wall of the rotating platform (1405). The lifting platform (1401) is provided with a through opening (1407) which is connected to the mounting groove (1408), and an L-shaped rack (1403) is inserted into the inner wall of the through opening (1407), and the L-shaped rack (1403) is meshed with the second tooth groove (1409). A top groove (1406) is provided in the middle of the top of the lifting platform (1401), and a third cylinder (1402) is fixedly installed on the inner wall of the top groove (1406) for driving the L-shaped rack (1403) to move.

10. The automatic puncture robot for percutaneous nephroscopic surgery according to claim 9, characterized in that: Also includes: A main control device (2) for receiving the puncture object acquired by the medical imaging CT machine (1), the main control device (2) being mounted on a support frame (4), the main control device (2) being capable of performing image processing according to the puncture object sent by the medical imaging CT machine (1) to obtain a planned puncture path, the main control device (2) being used to control the operation of an X-axis moving platform (7), a Y-axis moving platform (8), a Z-axis moving platform (9), a flipping mechanism (10), a first X-axis rotating mechanism (13), a second X-axis rotating mechanism (14) and a rotating motor (17), and controlling the puncture needle (18) to move along the puncture path.

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