Intelligent puncture device and surgical robot

Abstract

The present invention relates to the field of medical device technology, and specifically discloses an intelligent puncture device and a surgical robot, wherein the intelligent puncture device includes a mounting base, a puncture assembly, and a drive assembly; the puncture assembly is movably arranged on the mounting base along an extension direction; the puncture assembly has a sensing head; the drive assembly is arranged on the mounting base; the driving end of the drive assembly is connected to the puncture assembly, and the drive assembly is communicatively connected to the sensing head. The present invention can realize the automation of the movement of the puncture assembly, and its puncture accuracy is high and the puncture process is controllable, thereby replacing the doctor's handheld puncture and avoiding the problem of greater tissue damage caused by handheld puncture. The sensing head can sense the type of the part to be punctured and is communicatively connected to the drive assembly, so that according to the sensing information of the sensing head during the puncture process, the drive stroke, driving force and driving mode of the drive assembly to the puncture assembly can be adjusted to meet the puncture requirements of different depths and types of parts to be punctured.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to an intelligent puncture device and a surgical robot. Background Art

[0002] The laparoscopic surgical robot combines minimally invasive surgical techniques with robotic technology. It not only addresses the shortcomings of traditional minimally invasive surgery but also accelerates its evolution. The laparoscopic surgical robot extends the reach of surgeons, enabling minimally invasive, precise, and dexterous surgical procedures.

[0003] Currently, laparoscopic surgery requires the use of a trocar to establish a passage for surgical instruments to enter and exit the surgical site. In existing techniques, surgeons must manually puncture with a handheld trocar, and the puncture depth must be determined based on experience. This leads to uncontrollable punctures, poor guidance, and significant tissue damage. Summary of the Invention

[0004] The purpose of the present invention is to provide an intelligent puncture device and a surgical robot to solve the problem in the prior art that manual puncture requires a handheld puncture device, the depth of which needs to be judged based on experience, resulting in an uncontrollable puncture process, poor puncture guidance and great damage to tissues.

[0005] To achieve the above object, the present invention adopts the following technical solutions:

[0006] In one aspect, the present invention provides an intelligent puncture device, comprising:

[0007] Install the base;

[0008] A puncture assembly is movably disposed on the mounting base along an extension direction; the puncture assembly has a sensing head, the sensing head is used to puncture a part to be punctured and sense the type of the part to be punctured;

[0009] A driving assembly is provided on the mounting base; a driving end of the driving assembly is connected to the puncture assembly for driving the puncture assembly to move along the extension direction, and the driving assembly is communicatively connected to the sensing head.

[0010] As an optional solution to the above-mentioned intelligent puncture device, the puncture assembly includes a puncture sleeve rod and a puncture inner core, one end of the puncture sleeve rod is connected to the driving end of the driving assembly, and the other end of the puncture sleeve rod is sleeved outside the puncture inner core to form the sensing head; part of the puncture inner core can pass through the puncture sleeve rod to puncture the part to be punctured, and the puncture inner core, the part to be punctured and the puncture sleeve rod can form an induction circuit.

[0011] As an optional solution of the above-mentioned intelligent puncture device, the puncture assembly further includes an insulating sleeve, which is arranged between the puncture inner core and the puncture sleeve rod.

[0012] As an optional solution to the above-mentioned intelligent puncture device, the puncture inner core has a conical electrode surface, the insulating sleeve has an annular insulating surface, and the puncture sleeve rod has an annular electrode surface. The conical electrode surface, the annular insulating surface and the annular electrode surface are arranged adjacent to each other in sequence and with a smooth transition.

[0013] As an optional solution to the above-mentioned intelligent puncture device, the puncture assembly also includes a first wire and a second wire, one end of the first wire is connected to the puncture inner core, and the other end of the first wire passes through the inside of the puncture sleeve to the outside world away from one side of the puncture inner core; the second wire is connected to the other end of the puncture sleeve away from the puncture inner core.

[0014] As an optional solution to the above-mentioned intelligent puncture device, the driving assembly includes a driving motor, a rotating sleeve and a movable sleeve. The rotating sleeve is rotatably arranged on the mounting base, and the movable sleeve is fixedly connected to the puncture assembly; the movable sleeve is arranged in the rotating sleeve and is transmission-connected to the rotating sleeve; the driving end of the driving motor is transmission-connected to the rotating sleeve, for driving the rotating sleeve to rotate so as to drive the movable sleeve to move along the extension direction; the driving motor is communicatively connected to the sensing head.

[0015] As an optional solution of the above-mentioned intelligent puncture device, the rotating sleeve is provided with a spiral groove along the extending direction, and the movable sleeve is provided with a protrusion protruding in the radial direction, and the protrusion is slidably arranged in the spiral groove.

[0016] As an optional solution of the above-mentioned intelligent puncture device, the rotating sleeve is provided with a gear portion protruding in the radial direction, and the rotating sleeve is transmission-connected to the driving motor via the gear portion.

[0017] As an optional solution of the above-mentioned intelligent puncture device, the driving component can drive the puncture component to vibrate back and forth along the extension direction.

[0018] On the other hand, the present invention provides a surgical robot, including the intelligent puncture device as described above, wherein the surgical robot includes a robot body and an instrument arm provided on the robot body, and the mounting base is provided on the instrument arm; the drive assembly is communicatively connected to the sensing head and the robot body.

[0019] The beneficial effects of the present invention are:

[0020] The intelligent puncture device includes a mounting base, a puncture assembly and a drive assembly. The puncture assembly is movably arranged on the mounting base along the extension direction. The puncture assembly has a sensing head, which is used to puncture the part to be punctured and sense the type of the part to be punctured. At the same time, the drive assembly is arranged on the mounting base, and the driving end of the drive assembly is connected to the puncture assembly for driving the puncture assembly to move along the extension direction. The drive assembly is communicatively connected to the sensing head, so that the puncture assembly is driven by the drive assembly, which can realize the automation of the movement of the puncture assembly, and has high puncture accuracy and controllable puncture process, thereby replacing the doctor's hand-held puncture and avoiding the problem of greater tissue damage caused by hand-held puncture. Among them, the sensing head can sense the type of the part to be punctured and is communicatively connected to the drive assembly, so that according to the sensing information of the sensing head during the puncture process, the drive stroke, driving force and driving mode of the puncture assembly can be adjusted by the drive assembly to meet the puncture requirements of different depths and types of parts to be punctured. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 A schematic structural diagram of the intelligent puncture device provided in an embodiment of the present invention;

[0022] Figure 2 Schematic diagram of the local structure of the intelligent puncture device provided in an embodiment of the present invention Figure 1 ;

[0023] Figure 3 A partial cross-sectional view of the intelligent puncture device provided in an embodiment of the present invention Figure 1 ;

[0024] Figure 4 Schematic diagram of the local structure of the intelligent puncture device provided in an embodiment of the present invention Figure 2 ;

[0025] Figure 5 A partial cross-sectional view of the intelligent puncture device provided in an embodiment of the present invention Figure 2 .

[0026] In the picture:

[0027] 1. Mounting base; 2. Puncture assembly; 21. Sensing head; 22. Puncture sleeve; 221. Annular electrode surface; 23. Puncture inner core; 231. Conical electrode surface; 24. Insulation sleeve; 241. Annular insulating surface; 25. First conductor; 26. Second conductor; 3. Drive assembly; 31. Rotating sleeve; 311. Spiral groove; 312. Gear portion; 32. Moving sleeve; 321. Protrusion. DETAILED DESCRIPTION

[0028] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0029] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and are not intended to indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance. Among them, the terms "first position" and "second position" are two different positions, and the first feature being "above", "above" and "above" the second feature includes the first feature being directly above and obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature includes the first feature being directly below and obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0030] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0031] The following describes embodiments of the present invention in detail. 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 intended only to explain the present invention and are not to be construed as limiting the present invention.

[0032] like Figures 1 to 5 As shown, this embodiment provides an intelligent puncture device for puncturing a site to be punctured.

[0033] The intelligent puncture device comprises a mounting base 1, a puncture assembly 2, and a drive assembly 3. The puncture assembly 2 is movably mounted on the mounting base 1 along an extension direction. The puncture assembly 2 includes a sensing head 21 for puncturing the site to be punctured and sensing the type of the site to be punctured. The drive assembly 3 is mounted on the mounting base 1. The driving end of the drive assembly 3 is connected to the puncture assembly 2 and is used to drive the puncture assembly 2 along the extension direction. The drive assembly 3 is communicatively connected to the sensing head 21. Thus, the drive assembly 3 drives the puncture assembly 2, automating the movement of the puncture assembly 2. This provides high puncture accuracy and a controllable puncture process, thereby replacing manual puncture by a doctor and avoiding the significant tissue damage caused by manual puncture. The sensing head 21 senses the type of site to be punctured and is communicatively connected to the drive assembly 3. Based on the information sensed by the sensing head 21 during the puncture process, the drive assembly 3 can adjust the driving stroke, driving force, and driving mode of the puncture assembly 2 to meet the needs of puncturing sites of different depths and types.

[0034] At the same time, the driving component 3 can drive the puncture component 2 to vibrate back and forth along the extension direction, replacing direct push with reciprocating vibration movement, thereby reducing the difficulty of puncturing the puncture site by the puncture component 2 and reducing the damage to the puncture site. After the type of the puncture site is sensed by the sensing head 21, the driving component 3 can adjust the amplitude and frequency of the reciprocating vibration accordingly to achieve intelligent puncture.

[0035] like Figures 1 to 3 As shown, the puncture assembly 2 includes a puncture sleeve rod 22 and a puncture core 23. One end of the puncture sleeve rod 22 is connected to the driving end of the driving assembly 3, and the other end of the puncture sleeve rod 22 is sleeved on the outside of the puncture core 23 to form a sensing head 21. Part of the puncture core 23 can pass through the puncture sleeve rod 22 to puncture the part to be punctured, and the puncture core 23, the part to be punctured and the puncture sleeve rod 22 can form an induction loop, so that according to the resistance of the part to be punctured detected in the induction loop, the type of the part to be punctured can be judged, so that the driving stroke, driving force and driving mode of the puncture assembly 2 by the driving assembly 3 are adjusted according to the type of the part to be punctured, thereby realizing intelligent feedback and intelligent puncture. At the same time, when the induction loop is disconnected, it can be judged that the puncture core 23 of the puncture assembly 2 has penetrated the part to be punctured.

[0036] like Figure 3 、 Figure 4 and Figure 5As shown, the puncture assembly 2 further includes a first wire 25 and a second wire 26. One end of the first wire 25 is connected to the puncture inner core 23, and the other end of the first wire 25 passes through the inside of the puncture sleeve 22 to the outside world away from the side of the puncture inner core 23. The second wire 26 is connected to the other end of the puncture sleeve 22 away from the puncture inner core 23, so that the first wire 25 and the second wire 26 can be connected to the external circuit equipment to realize the closure of the induction loop, and the first wire 25 and the second wire 26 will not interfere with the puncture of the puncture part by the puncture assembly 2.

[0037] like Figure 2 and Figure 3 As shown, the puncture assembly 2 also includes an insulating sleeve 24, which is disposed between the puncture core 23 and the puncture shaft 22 to insulate the puncture core 23 and the puncture shaft 22, thereby preventing the puncture core 23 and the puncture shaft 22 from directly contacting each other and causing a short circuit. Specifically, the puncture core 23 has a conical electrode surface 231, the insulating sleeve 24 has an annular insulating surface 241, and the puncture shaft 22 has an annular electrode surface 221. The conical electrode surface 231, the annular insulating surface 241, and the annular electrode surface 221 are arranged adjacent to each other in a smooth transition. Therefore, when the puncture assembly 2 punctures the area to be punctured, the conical electrode surface 231, the annular insulating surface 241, and the annular electrode surface 221 can smoothly pass through the area to be punctured in sequence, thereby reducing damage to the area to be punctured.

[0038] like Figure 4 and Figure 5 As shown, the driving assembly 3 includes a driving motor, a rotating sleeve 31 and a movable sleeve 32. The rotating sleeve 31 is rotatably arranged on the mounting base 1, and the movable sleeve 32 is fixedly connected to the puncture assembly 2. The movable sleeve 32 is sleeved in the rotating sleeve 31 and is transmission-connected to the rotating sleeve 31. The driving end of the driving motor is transmission-connected to the rotating sleeve 31, and is used to drive the rotating sleeve 31 to rotate to drive the movable sleeve 32 to move along the extension direction, so that the movable sleeve 32 drives the puncture assembly 2 to move along the extension direction to achieve puncture of the puncture site. The driving motor is communicatively connected to the sensing head 21, so that the driving motor can adjust the rotation direction, number of rotations and rotation rate according to the feedback of the sensing head 21, thereby adjusting the amplitude and frequency of the reciprocating vibration of the puncture assembly 2.

[0039] Specifically, the rotating sleeve 31 is provided with a spiral groove 311 along the extension direction, and the movable sleeve 32 is provided with a protrusion 321 protruding radially. The protrusion 321 is slidably arranged in the spiral groove 311. Therefore, during the rotation of the rotating sleeve 31, the groove wall of the spiral groove 311 can abut and drive the protrusion 321 to move along the extension direction, thereby achieving movement of the movable sleeve 32 and the puncture assembly 2 in the extension direction. Among them, the rotating sleeve 31 is provided with a gear portion 312 protruding radially. The rotating sleeve 31 is connected to the drive motor through the gear portion 312. Therefore, the gear portion 312 can enable the rotating sleeve 31 and the drive motor to be geared to each other, so as to accurately control the rotation angle of the rotating sleeve 31, thereby improving the puncture accuracy of the puncture assembly 2.

[0040] This embodiment also provides a surgical robot, including an intelligent puncture device as described above, the surgical robot including a robot body and an instrument arm provided on the robot body, the mounting base 1 is provided on the instrument arm, and the drive component 3 is communicatively connected to the sensing head 21 and the robot body, so that the intelligent puncture device can be installed on the surgical robot, so that the intelligent puncture device is controlled by the surgical robot to realize the automation of the puncture process of the puncture site, the puncture accuracy is high, the puncture process is controllable, manpower is saved, and the problem of greater tissue damage caused by hand-held puncture is avoided, wherein the sensing head 21 can sense the type of the site to be punctured, and is communicatively connected to the drive component 3 and the robot body, so that according to the sensing information of the sensing head 21 during the puncture process, the drive component 3 can adjust the driving stroke, driving force and driving mode of the puncture component 2 to meet the puncture requirements of different depths and types of sites to be punctured.

[0041] Obviously, the above embodiments of the present invention are merely examples for the purpose of clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Those skilled in the art will appreciate that other variations or modifications can be made based on the above description. It is not necessary and impossible to enumerate all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the claims of the present invention.

Claims

1. An intelligent puncture device, characterized in that: include: Installing the base (1); A puncture assembly (2), the puncture assembly (2) being movably arranged on the mounting base (1) along an extension direction; the puncture assembly (2) having a sensing head (21), the sensing head (21) being used to puncture a part to be punctured and sense the type of the part to be punctured; A drive assembly (3), the drive assembly (3) being arranged on the mounting base (1); a drive end of the drive assembly (3) being connected to the puncture assembly (2) for driving the puncture assembly (2) to move along the extension direction, and the drive assembly (3) being communicatively connected to the sensing head (21); The puncture assembly (2) comprises a puncture sleeve rod (22) and a puncture inner core (23); one end of the puncture sleeve rod (22) is connected to the driving end of the driving assembly (3), and the other end of the puncture sleeve rod (22) is sleeved outside the puncture inner core (23) to form the sensing head (21); a portion of the puncture inner core (23) can pass through the puncture sleeve rod (22) to puncture the part to be punctured, and the puncture inner core (23), the part to be punctured and the puncture sleeve rod (22) can form an induction circuit for detecting the resistance of the part to be punctured.

2. The intelligent puncture device according to claim 1, characterized in that: The puncture assembly (2) further comprises an insulating sleeve (24), wherein the insulating sleeve (24) is sleeved between the puncture inner core (23) and the puncture sleeve rod (22).

3. The intelligent puncture device according to claim 2, characterized in that: The puncture inner core (23) has a conical electrode surface (231), the insulating sleeve (24) has an annular insulating surface (241), and the puncture sleeve rod (22) has an annular electrode surface (221). The conical electrode surface (231), the annular insulating surface (241), and the annular electrode surface (221) are arranged adjacent to each other in sequence and with a smooth transition.

4. The intelligent puncture device according to claim 1, characterized in that: The puncture assembly (2) further comprises a first conductive wire (25) and a second conductive wire (26), wherein one end of the first conductive wire (25) is connected to the puncture inner core (23), and the other end of the first conductive wire (25) passes through the interior of the puncture sleeve (22) to the outside world away from the puncture inner core (23); and the second conductive wire (26) is connected to the other end of the puncture sleeve (22) away from the puncture inner core (23).

5. The intelligent puncture device according to claim 1, characterized in that: The driving assembly (3) comprises a driving motor, a rotating sleeve (31) and a movable sleeve (32); the rotating sleeve (31) is rotatably mounted on the mounting base (1); the movable sleeve (32) is fixedly connected to the puncture assembly (2); the movable sleeve (32) is sleeved in the rotating sleeve (31) and is transmission-connected to the rotating sleeve (31); the driving end of the driving motor is transmission-connected to the rotating sleeve (31) and is used to drive the rotating sleeve (31) to rotate so as to drive the movable sleeve (32) to move along the extension direction; the driving motor is communicatively connected to the sensing head (21).

6. The intelligent puncture device according to claim 5, characterized in that: The rotating sleeve (31) is provided with a spiral groove (311) along the extending direction, and the movable sleeve (32) is provided with a protruding portion (321) protruding in the radial direction, and the protruding portion (321) is slidably arranged in the spiral groove (311).

7. The intelligent puncture device according to claim 5, characterized in that: The rotating sleeve (31) is provided with a gear portion (312) protruding in the radial direction, and the rotating sleeve (31) is transmission-connected to the driving motor via the gear portion (312).

8. The intelligent puncture device according to any one of claims 1 to 7, characterized in that: The driving component (3) can drive the puncture component (2) to vibrate back and forth along the extension direction.

9. A surgical robot, characterized in that: The intelligent puncture device comprises the intelligent puncture device according to any one of claims 1 to 8, wherein the surgical robot comprises a robot body and an instrument arm provided on the robot body, the mounting base (1) is provided on the instrument arm; and the drive assembly (3) is communicatively connected to the sensing head (21) and the robot body.

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