Puncture surgery robot

Abstract

The invention belongs to the technical field of medical instruments and discloses a puncture surgical robot which comprises a robot body, a puncture structure is arranged at the top of the robot body, a mounting groove is formed in the robot body, a motor is fixedly mounted in the mounting groove, the output end of the motor is fixedly connected with a first threaded rod, and a first protection plate is arranged on the outer surface of the first threaded rod. The outer side of the first transmission wheel is in transmission connection with a belt, the inner wall of the side, away from the first transmission wheel, of the belt is in transmission connection with a second transmission wheel, and the middle of the second transmission wheel is fixedly connected with a second threaded rod. Through movement of the first protection plate and the second protection plate, protection on the two sides of the puncture structure is facilitated, and the puncture structure is supported and fixed through the elastic clamping block, so that in the puncture process, position deviation caused by mistaken touch of the instrument arm is prevented, operation errors caused by mistaken touch are reduced, and the operation effect is improved.

Description

Technical Field

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

[0002] The puncture robot is a branch of medical surgical robots. It is an emerging puncture navigation technology that integrates computer technology, imaging technology and robotics technology. The puncture robot is a medical robot dedicated to minimally invasive surgery. It is generally composed of a robotic arm, an imaging device, a spatial positioning system, a workstation and corresponding software. The operation process of the puncture robot generally follows the three principles of "perception / reasoning / operation", namely the three stages of modeling, planning and execution.

[0003] In the prior art, after the operation begins, the instrument arm automatically moves to perform puncture. When the instrument arm is touched, the position is easily shifted, which may lead to operational errors and affect the effect of the operation. Summary of the invention

[0004] The present invention aims at the problem in the prior art that after the operation starts, the instrument arm automatically moves to perform puncture, and when the instrument arm is touched, the position is easily shifted, which leads to operational errors and affects the effect of the operation. The present invention proposes the following technical solution: a puncture surgical robot, including a body, a puncture structure is arranged on the top of the body, a mounting groove is opened inside the body, a motor is fixedly installed inside the mounting groove, a first threaded rod is fixedly connected to the output end of the motor, a first protective plate is arranged on the outer surface of the first threaded rod, a first transmission wheel is fixedly connected to one end of the first threaded rod close to the motor, a belt is transmission-connected to the outer side of the first transmission wheel, a second transmission wheel is transmission-connected to the inner wall of the side of the belt away from the first transmission wheel, a second threaded rod is fixedly connected to the middle part of the second transmission wheel, a second protective plate is arranged on the outer side of the second threaded rod, threaded grooves are opened inside the bottom ends of the first protective plate and the second protective plate, and the first The threaded rod and the second threaded rod are threadedly connected to the thread groove respectively, and a through hole is provided in the middle of the first protective plate and the second protective plate and at the top of the thread groove, and grooves are provided on both sides of the through hole, and a first electric push rod is fixedly installed on the inner wall of the groove located on the right side, one end of the first electric push rod is fixedly connected to the movable plate, a fixing groove is provided on one side of the movable plate, and the second electric push rod is fixedly installed inside the fixing groove, and one end of the second electric push rod is fixedly connected to the connecting plate, and the first protective plate and the second protective plate are fixedly connected to the limiting block on both sides, and the inner wall of the mounting groove is provided with a limiting groove, and the limiting block is slidably connected to the limiting groove, and the first protective plate and the second protective plate are provided with a first slide groove on the opposite side, and a second slide groove is provided on one side of the connecting plate, and a slider is slidably connected to the inner wall of the first slide groove, and one side of the slider is fixedly connected to the mounting block, and one side of the mounting block is rotatably connected to a telescopic column, and one end of the telescopic column is hinged with an elastic block.

[0005] As a preferred embodiment of the above technical solution, a protective cover is provided on the top of the body and at the top of the mounting groove, a handle is fixedly installed on one side of the protective cover and at the top of the body, the first protective plate and the second protective plate are located on both sides of the inside of the mounting groove, the bottom of the second threaded rod is rotatably connected to the inner wall of the bottom of the mounting groove, the first threaded rod and the second threaded rod extend upward away from one end of the motor to the top of the mounting groove, and the first transmission wheel, the second transmission wheel and the belt are all located at the bottom of the first protective plate and the second protective plate.

[0006] As a preferred embodiment of the above technical solution, one end of the first threaded rod and the second threaded rod extends through the through hole to the top of the first protective plate and the second protective plate, the first electric push rod is located on both sides of the first threaded rod and the second threaded rod, the telescopic end of the first electric push rod passes through the right groove and extends to the inside of the left groove, the movable plate is located inside the left groove, and both sides of it are slidably connected to the inner wall of the left groove, there are two first electric push rods, and they are located on the side of the movable plate close to the inner wall of the left groove.

[0007] As a preferred embodiment of the above technical solution, there are four mounting blocks, telescopic columns and elastic card blocks. The mounting blocks, telescopic columns and spring card blocks are relatively staggered between the first protective plate and the second protective plate. The shape of the elastic card block is arc-shaped. First magnetic blocks are provided on the upper and lower sides of the mounting block. One side of the first magnetic block is fixedly connected to the first protective plate and one side of the second protective plate. A limiting device is provided inside the mounting block.

[0008] As a preferred embodiment of the above technical solution, the first slide groove is arranged corresponding to the second slide groove, the slider is slidably connected to the second slide groove, a first movable opening is opened on one side of the fixed groove, the connecting plate is located at the first movable opening, the second electric push rod is located at both ends of the connecting block, second movable openings are opened on the upper and lower sides of the first movable opening, and a second magnetic block is arranged inside the second movable opening.

[0009] As a preferred embodiment of the above technical solution, the second magnetic block is arranged corresponding to the first magnetic block, a connecting block is fixedly connected to the opposite side of the first magnetic block, one end of the connecting block extends into the fixed groove and is fixedly connected to the second electric push rod, the first magnetic block is symmetrically arranged with respect to the center of the first slide groove, and the second magnetic block is symmetrically arranged with respect to the center of the second slide groove.

[0010] As a preferred embodiment of the above technical solution, the limiting device includes a turning knob, a rotating rod is fixedly connected to one side of the turning knob, a movable plate is threadedly connected to the outer surface of the rotating rod, both ends of the movable plate are hinged with the rotating plates, a third magnetic block is hinged at one end of the rotating plate away from the movable plate, and both ends of the movable plate are movably connected to the limiting rod.

[0011] As a preferred embodiment of the above technical solution, a movable groove is opened on one side of the mounting block, the turning knob is located at the top of one side of the mounting block and is located on one side of the telescopic column, the rotating rod passes through one side of the mounting block and extends into the movable groove, and its bottom is rotatably connected to the inner wall of the movable groove, the rotating rod is located in the middle of the movable plate, the limit rods are located on both sides of the rotating rod, and they are fixedly installed inside the movable groove.

[0012] As a preferred embodiment of the above technical solution, the third magnetic block is located inside the movable groove, and one side of the third magnetic block is slidably connected to the movable groove. The third magnetic block is magnetically connected to the first magnetic block and the second magnetic block, and the third magnetic block is symmetrically arranged around the center of the movable groove.

[0013] The beneficial effects of the present invention are: 1. The present invention facilitates protection on both sides of the puncture structure by moving the first protective plate and the second protective plate, and uses elastic blocks to support and fix the puncture structure, thereby preventing the position of the instrument arm from being accidentally touched during the puncture process, thereby reducing operational errors caused by accidental touches and improving the effect of the surgery; 2. The present invention can facilitate the fixing of the telescopic column and the elastic block after moving and adjusting the position by limiting the mounting block, thereby facilitating the fixing of the puncture structure, improving the stability of the puncture structure, facilitating the puncture efficiency, and facilitating use. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 What is shown is a schematic diagram of the overall structure of the embodiment; Figure 2 What is shown is the internal structure diagram of the installation slot of the embodiment; Figure 3 The structure diagram of the embodiment after the first protective plate and the second protective plate are moved is shown; Figure 4 Shown is a side view of a first protective plate and a second protective plate of an embodiment; Figure 5 Shown is a structural diagram of the first protective plate of the embodiment; Figure 6 The internal structure diagram of the first protective plate of the embodiment is shown; Figure 7 Shown is a structural diagram of the first protective plate and the movable plate of the embodiment; Figure 8 What is shown is the internal structure diagram of the fixing groove of the embodiment; Fig. 9 Shown is a structural diagram of a limiting device according to an embodiment.

[0015] In the figure: 1. body; 2. puncture structure; 3. motor; 4. first threaded rod; 5. first protective plate; 6. first transmission wheel; 7. belt; 8. second transmission wheel; 9. second threaded rod; 10. second protective plate; 11. thread groove; 12. first electric push rod; 13. movable plate; 14. second electric push rod; 15. connecting plate; 16. limit block; 17. first slide groove; 18. second slide groove; 19. slider; 20. mounting block; 21. telescopic column; 22. elastic block; 23. first magnetic block; 24. second magnetic block; 25. connecting block; 26. knob; 27. rotating rod; 28. movable plate; 29. ​​rotating plate; 30. third magnetic block; 31. limit rod. DETAILED DESCRIPTION

[0016] In order to make the purpose, technical solution and advantages of the embodiments of the present invention more clear, the technical solution of the present invention will be clearly and completely described below in conjunction with the embodiments.

[0017] The present invention provides a puncture surgery robot, such as Figure 1-9 As shown, it includes a body 1, a puncture structure 2 is arranged on the top of the body 1, a mounting groove is opened inside the body 1, a motor 3 is fixedly installed inside the mounting groove, a first threaded rod 4 is fixedly connected to the output end of the motor 3, a first protective plate 5 is arranged on the outer surface of the first threaded rod 4, a first transmission wheel 6 is fixedly connected to the end of the first threaded rod 4 close to the motor 3, a belt 7 is transmission-connected to the outer side of the first transmission wheel 6, a second transmission wheel 8 is transmission-connected to the inner wall of the belt 7 away from the first transmission wheel 6, a second threaded rod 9 is fixedly connected to the middle of the second transmission wheel 8, a second protective plate 10 is arranged on the outer side of the second threaded rod 9, a thread groove 11 is opened inside the bottom ends of the first protective plate 5 and the second protective plate 10, the first threaded rod 4 and the second threaded rod 9 are threadedly connected to the thread groove 11 respectively, and a through hole is opened in the middle of the first protective plate 5 and the second protective plate 10 and located at the top of the thread groove 11. Grooves are provided on both sides of the through hole, and a first electric push rod 12 is fixedly installed on the inner wall of the groove on the right side, one end of the first electric push rod 12 is fixedly connected to a moving plate 13, a fixed groove is provided on one side of the moving plate 13, a second electric push rod 14 is fixedly installed inside the fixed groove, one end of the second electric push rod 14 is fixedly connected to a connecting plate 15, both sides of the first protective plate 5 and the second protective plate 10 are fixedly connected with a limiting block 16, a limiting groove is provided on the inner wall of the installation groove, the limiting block 16 is slidably connected to the limiting groove, a first slide groove 17 is provided on the opposite side of the first protective plate 5 and the second protective plate 10, a second slide groove 18 is provided on one side of the connecting plate 15, a slider 19 is slidably connected to the inner wall of the first slide groove 17, a mounting block 20 is fixedly connected to one side of the slider 19, a telescopic column 21 is rotatably connected to one side of the mounting block 20, and an elastic card block 22 is hinged at one end of the telescopic column 21.

[0018] The puncture structure 2 facilitates automatic movement for puncture, and the installation groove facilitates the installation of the motor 3. When the first protective plate 5 and the second protective plate 10 are not in use, they are stored and protected through the installation groove, thereby increasing the service life of the first protective plate 5 and the second protective plate 10. The motor 3 is started to drive the first threaded rod 4 and the first transmission wheel 6 to rotate. The first threaded rod 4, the second threaded rod 9 and the thread groove 11 are threadedly connected. Under the transmission action of the belt 7, the second transmission wheel 8 and the second threaded rod 9 are driven to rotate, and the first protective plate 5 and the second protective plate 10 are connected through the through hole. At the same time, it moves toward the top of the body 1, and drives the limit block 16 to move inside the limit slot, and the first protective plate 5 and the second protective plate 10 are used to protect and block both sides of the puncture structure 2. When the first protective plate 5 and the second protective plate 10 move to the top of the body 1, the limit block 16 moves to the top of the limit slot, so that the mounting block 20, the telescopic column 21 and the elastic card block 22 move to both sides of the puncture structure 2, stop the rotation of the motor 3, and push the mounting block 20 to move inside the first slide slot 17, so that the mounting block 20 drives the telescopic column 21 and the elastic card block 22 according to the puncture structure 2 is adjusted, after the adjustment is completed, the telescopic column 21 and the elastic block 22 are rotated to adjust the angle of the telescopic column 21 and the elastic block 22, the telescopic column 21 is pulled to drive the elastic block 22 to move, and the puncture structure 2 is fixed by the elastic block 22. When it is necessary to puncture different parts, the elastic block 22 no longer fixes the puncture structure 2, and the position of the puncture structure 2 is adjusted. The first electric push rod 12 pushes one end of the moving plate 13 to move out of the groove, and the second electric push rod 14 is started to push the connecting plate 15 to move outside the fixed groove. The length of the first protective plate 5 and the second protective plate 10 is lengthened to improve the protection of the puncture structure 2 after it moves. When the connecting plate 15 is located outside the fixed groove, the first slide groove 17 corresponds to the second slide groove 18, so that it is convenient for the mounting block 20 to move from the first slide groove 17 to the inside of the second slide groove 18, and it is convenient to drive the telescopic column 21 and the elastic block 22 to move, so that the elastic block 22 can support and fix the puncture structure 2 at different positions, so as to improve the stability of the puncture structure 2 and prevent the puncture structure 2 from being accidentally touched during puncture, resulting in position movement, which affects the effect of the operation.

[0019] like Figure 2 , Figure 4 As shown, a protective cover is provided on the top of the body 1 and at the top of the mounting groove, a handle is fixedly installed on one side of the protective cover and at the top of the body 1, the first protective plate 5 and the second protective plate 10 are located on both sides inside the mounting groove, the bottom of the second threaded rod 9 is rotatably connected to the inner wall of the bottom of the mounting groove, the first threaded rod 4 and the second threaded rod 9 extend upward to the top of the mounting groove away from one end of the motor 3, and the first transmission wheel 6, the second transmission wheel 8 and the belt 7 are all located at the bottom of the first protective plate 5 and the second protective plate 10.

[0020] The protective cover is convenient for placing the first protective plate 5 and the second protective plate 10 inside the installation groove, and the first protective plate 5 and the second protective plate 10 are stored and protected to prevent them from being damaged when not in use, thereby affecting the protective function of the first protective plate 5 and the second protective plate 10. Since the first transmission wheel 6, the second transmission wheel 8 and the belt 7 are all located at the bottom of the first protective plate 5 and the second protective plate 10, the first threaded rod 4 and the first transmission wheel 6 are driven to rotate by the motor 3, and the second transmission wheel 8 drives the second threaded rod 9 to rotate through the transmission action of the belt 7, so that the bottom end of the second threaded rod 9 rotates on the inner wall of the bottom of the installation groove, and is threadedly connected to the first threaded rod 4 and the second threaded rod 9 through the thread groove 11. The limit block 16 moves in the limit groove, so that the first protective plate 5 can move along the first threaded rod 4 and the second protective plate 10 and move upward along the second threaded rod 9, so as to maintain the stability of movement.

[0021] like Figure 4-6 As shown, one end of the first threaded rod 4 and the second threaded rod 9 extend through the through hole to the top of the first protective plate 5 and the second protective plate 10, the first electric push rod 12 is located on both sides of the first threaded rod 4 and the second threaded rod 9, the telescopic end of the first electric push rod 12 passes through the right groove and extends to the inside of the left groove, the movable plate 13 is located inside the left groove, and both sides thereof are slidably connected to the inner wall of the left groove, there are two first electric push rods 12, and they are located on the side of the movable plate 13 close to the inner wall of the left groove.

[0022] The through hole facilitates the first protective plate 5 and the second protective plate 10 to move upward along the first threaded rod 4 and the second threaded rod 9, and the two first electric push rods 12 on one side of the movable plate 13 facilitate the moving plate 13 to move out of the groove, so that the movable plate 13 remains stable during movement, and the movable plate 13 moves out of the groove along the inner wall of the groove, thereby increasing the length of the first protective plate 5 and the second protective plate 10, and facilitating the movement of the mounting block 20 according to the position of the puncture structure 2, so that the telescopic column 21 and the elastic block 22 fix and support the puncture structure 2, thereby improving the stability of the puncture structure 2.

[0023] like Figure 4-5 As shown, there are four mounting blocks 20, telescopic columns 21 and elastic blocks 22. The mounting blocks 20, telescopic columns 21 and spring blocks are located between the first protective plate 5 and the second protective plate 10 and are relatively staggered. The elastic block 22 is in an arc shape. First magnetic blocks 23 are provided on both the upper and lower sides of the mounting block 20. One side of the first magnetic block 23 is fixedly connected to one side of the first protective plate 5 and the second protective plate 10. A limiting device is provided inside the mounting block 20.

[0024] By means of the staggered mounting blocks 20, telescopic columns 21 and elastic blocks 22, when the first protective plate 5 and the second protective plate 10 move upward at the same time, there will be no obstruction between the telescopic columns 21 and the elastic blocks 22. Thus, when the first protective plate 5 and the second protective plate 10 move to the top of the body 1 and are located on both sides of the puncture structure 2, the relatively staggered telescopic columns 21 and the elastic blocks 22 can fix different positions. By means of the first magnetic blocks 23 on the upper and lower sides of the mounting block 20, it is convenient for the mounting block 20 to drive the telescopic columns 21 and the elastic blocks 22 to move to the appropriate positions. The limiting device and the first magnetic block 23 are used to limit and fix the mounting block 20 to prevent the mounting block 20 from driving the telescopic columns 21 and the elastic blocks 22 to move, thereby affecting the support and fixation of the puncture structure 2.

[0025] like Figure 5-8 As shown, the first slide groove 17 is arranged corresponding to the second slide groove 18, the slider 19 is slidably connected to the second slide groove 18, a first movable opening is opened on one side of the fixed groove, the connecting plate 15 is located at the first movable opening, the second electric push rod 14 is located at both ends of the connecting block 25, and second movable openings are opened on the upper and lower sides of the first movable opening, and a second magnetic block 24 is arranged inside the second movable opening, the second magnetic block 24 is arranged corresponding to the first magnetic block 23, and a connecting block 25 is fixedly connected to the opposite side of the first magnetic block 23, one end of the connecting block 25 extends to the inside of the fixed groove and is fixedly connected to the second electric push rod 14, the first magnetic block 23 is symmetrically arranged with the center of the first slide groove 17, and the second magnetic block 24 is symmetrically arranged with the center of the second slide groove 18.

[0026] The second electric push rod 14 is started to push the connecting plate 15 to move to the outside of the first movable opening, so that the first slide groove 17 is opposite to the second slide groove 18 on the side of the connecting block 25, so that the slider 19 can move from the first slide groove 17 to the inside of the second slide groove 18, thereby facilitating the installation block 20 to drive the telescopic column 21 and the elastic block 22 to move. When the second electric push rod 14 connects the plate 15 and moves, it drives the connecting block 25 and the second magnetic block 24 to move, so that one side of the second magnetic block 24 moves to the outside of the movable plate 13 through the second movable opening. Therefore, when the slider 19 on one side of the installation block 20 moves to the inside of the second slide groove 18 with the telescopic column 21 and the elastic block 22, the position of the installation block 20 can be limited by the limiting device and the second magnetic block 24, so that the position of the installation block 20 on the side of the second slide groove 18 is fixed, which is convenient for fixing the puncture structure 2.

[0027] like Figure 5 , Fig. 9 As shown, the limiting device includes a turning knob 26, a rotating rod 27 is fixedly connected to one side of the turning knob 26, a movable plate 28 is threadedly connected to the outer surface of the rotating rod 27, rotating plates 29 are hinged at both ends of the movable plate 28, a third magnetic block 30 is hinged at one end of the rotating plate 29 away from the movable plate 28, and limiting rods 31 are movably connected to both ends of the movable plate 28.

[0028] The rotating rod 27 is driven to rotate by rotating the knob 26, so that the rotating rod 27 drives the movable plate 28 to rotate. Since both ends of the movable plate 28 are movably connected to the limit rod 31, under the limiting action of the limit rod 31, the movable plate 28 moves to one side along the rotating rod 27, so that the rotating plate 29 rotates, squeezing the third magnetic block 30, so that the third magnetic block 30 moves to both sides of the mounting block 20 and is magnetically connected to the first magnetic block 23 or the second magnetic block 24, so that the position of the mounting block 20 is fixed, thereby preventing the mounting block 20 from moving and affecting the fixing effect of the telescopic column 21 and the elastic block 22.

[0029] like Figure 5 , Figure 7 , Fig. 9 As shown, a movable groove is opened on one side of the mounting block 20, the knob 26 is located at the top of one side of the mounting block 20 and is located on one side of the telescopic column 21, the rotating rod 27 passes through one side of the mounting block 20 and extends to the inside of the movable groove, and its bottom is rotatably connected to the inner wall of the movable groove, the rotating rod 27 is located in the middle of the movable plate 28, the limiting rods 31 are located on both sides of the rotating rod 27, and are fixedly installed inside the movable groove, the third magnetic block 30 is located inside the movable groove, and one side of it is slidably connected to the movable groove, the third magnetic block 30 is magnetically connected to the first magnetic block 23 and the second magnetic block 24, and the third magnetic block 30 is symmetrically arranged around the center of the movable groove.

[0030] Since the knob 26 is located at the top of one side of the mounting block 20 and is located on one side of the telescopic column 21, it is convenient to rotate the knob 26 to rotate the rotating rod 27 on the inner wall of the movable groove. The limiting rod 31 is conveniently installed through the movable groove, so that the movable plate 28 can move along the rotating rod 27. Under the rotation and squeezing action of the rotating plate 29, the third magnetic block 30 moves along the inside of the movable groove to the outside of the mounting block 20. When one end of the third magnetic block 30 moves to the outside of the mounting block 20 and is magnetically connected to the first magnetic block 23 or the second magnetic block 24, the position of the mounting block 20 is limited at this time, thereby facilitating the fixing of the positions of the telescopic column 21 and the elastic block 22, further improving the stability of the puncture structure 2, and facilitating the puncture operation.

[0031] Working principle: when in use, the position of the puncture structure 2 is adjusted according to the puncture site. After the adjustment is completed, the protective cover is opened, and the motor 3 is started to drive the first threaded rod 4 and the first transmission wheel 6 to rotate. Under the transmission action of the belt 7, the second transmission wheel 8 and the second threaded rod 9 are driven to rotate, and the first threaded rod 4 and the second threaded rod 9 are threadedly connected through the thread groove 11, so that the first protective plate 5 and the second protective plate 10 move upward along the first threaded rod 4 and the second threaded rod 9, and at the same time, the limit block 16 moves upward along the limit groove. When the first protective plate 5 and the second protective plate 10 move to the top of the body 1 through the through hole, the limit block 16 moves to the top of the limit groove, so that the first protective plate 5 and the second protective plate 10 move to both sides of the puncture structure 2, and then the mounting block 20 is moved so that the slider 19 moves inside the first slide groove 17, and the mounting block 20 drives the telescopic column 21 and the elastic block 22 to move close to both sides of the puncture structure 2, and the telescopic column 21 and the elastic block 22 are rotated to pull the telescopic column 21 to extend. The elastic card block 22 fixes the puncture structure 2, and then punctures through the puncture structure 2. When it is necessary to puncture different parts, the telescopic column 21 and the elastic card block 22 are rotated so that the elastic card block 22 no longer fixes the puncture structure 2, and the angle of the puncture structure 2 is adjusted to correspond to the position where puncture is required. The first electric push rod 12 is started to push the movable plate 13 to move, so that one end of the movable plate 13 moves out of the groove to the side of the first protective plate 5 and the second protective plate 10, and then the second electric push rod 14 is started to push the connecting plate 15 to move to the side of the movable plate 13, so that the second slide groove 18 corresponds to the first slide groove 17, and the sliding block 19 is moved from the first slide groove 17 to the inside of the second slide groove 18 by moving the mounting block 20, so that the telescopic column 21 and the elastic card block 22 are moved to both sides of the puncture structure 2, and then the telescopic column 21 and the elastic card block 22 are rotated, and the elastic card block 22 is driven by the telescopic column 21 to move to the puncture structure 2 for fixing, so that the puncture structure 2 is protected and fixed during puncture.

[0032] When the mounting block 20 drives the telescopic column 21 and the elastic block 22 to move to the appropriate position, and the elastic block 22 fixes the puncture structure 2, the rotating knob 26 drives the rotating rod 27 to rotate. Through the limiting action of the limiting rod 31, the movable plate 28 rotates along the rotating rod 27, so that the rotating plate 29 rotates and squeezes the third magnetic block 30 to move, so that one end of the third magnetic block 30 moves out of the movable groove. One end of the third magnetic block 30 is magnetically connected to the first magnetic block 23, and the position of the mounting block 20 on one side of the first slide groove 17 is fixed. When the second electric push rod 14 pushes the connecting plate 15 to move to the side of the movable plate 13, the second magnetic block 24 is driven to move through the connecting block 25. When the slider 19 moves from the first slot 17 to the inside of the second slot 18, the mounting block 20 moves to the side of the second slot 18, and then the rotating knob 26 is turned to drive the rotating rod 27 to rotate. Through the limiting action of the limiting rod 31, the movable plate 28 rotates along the rotating rod 27, so that the rotating plate 29 rotates and squeezes the third magnetic block 30 to move, so that one end of the third magnetic block 30 can be magnetically connected to the first magnetic block 23, and the mounting block 20 located on the side of the second slot 18 is fixed, so that the telescopic column 21 and the elastic block 22 are fixed after the moving position, so as to improve the stability of the support and fixation of the puncture structure 2.

[0033] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them.

Claims

1. A puncture surgery robot, comprising a body (1), characterized in that: The top of the machine body (1) is provided with a piercing structure (2). The machine body (1) is provided with a mounting groove inside. A motor (3) is fixedly installed inside the mounting groove. A first threaded rod (4) is fixedly connected to the output end of the motor (3). A first protective plate (5) is provided on the outer surface of the first threaded rod (4). A first transmission wheel (6) is fixedly connected to the end of the first threaded rod (4) close to the motor (3). A belt (7) is transmission-connected to the outer side of the first transmission wheel (6). A second transmission wheel (8) is transmission-connected to the inner wall of the belt (7) away from the first transmission wheel (6). A second threaded rod (9) is fixedly connected to the middle of the second transmission wheel (8). A second protective plate (10) is provided on the outer side of the second threaded rod (9). A threaded groove (11) is provided inside the bottom ends of the first protective plate (5) and the second protective plate (10). The first threaded rod (4) and the second threaded rod (9) are respectively threadedly connected to the threaded groove (11). A through hole is provided in the middle of the first protective plate (5) and the second protective plate (10) and located at the top of the threaded groove (11). Grooves are provided on both sides of the through hole, a first electric push rod (12) is fixedly installed on the inner wall of the groove on the right side, one end of the first electric push rod (12) is fixedly connected to a moving plate (13), one side of the moving plate (13) is provided with a fixing groove, a second electric push rod (14) is fixedly installed inside the fixing groove, one end of the second electric push rod (14) is fixedly connected to a connecting plate (15), both sides of the first protective plate (5) and the second protective plate (10) are fixedly connected to a limiting block (16), the inner wall of the installation groove is provided with a fixing groove A limit groove is provided, the limit block (16) is slidably connected to the limit groove, a first slide groove (17) is provided on the opposite side of the first protective plate (5) and the second protective plate (10), a second slide groove (18) is provided on one side of the connecting plate (15), a slider (19) is slidably connected to the inner wall of the first slide groove (17), a mounting block (20) is fixedly connected to one side of the slider (19), a telescopic column (21) is rotatably connected to one side of the mounting block (20), and an elastic clamping block (22) is hinged at one end of the telescopic column (21).

2. A puncture surgery robot according to claim 1, characterized in that: A protective cover is provided on the top of the body (1) and located at the top of the installation groove. A handle is fixedly installed on one side of the protective cover and located at the top of the body (1). The first protective plate (5) and the second protective plate (10) are located on both sides of the inside of the installation groove. The bottom of the second threaded rod (9) is rotatably connected to the inner wall of the bottom of the installation groove. The first threaded rod (4) and the second threaded rod (9) extend upward from one end of the motor (3) to the top of the installation groove. The first transmission wheel (6), the second transmission wheel (8) and the belt (7) are all located at the bottom of the first protective plate (5) and the second protective plate (10).

3. The puncture surgery robot according to claim 1, characterized in that: One end of the first threaded rod (4) and the second threaded rod (9) passes through the through hole to extend to the top of the first protective plate (5) and the second protective plate (10); the first electric push rod (12) is located on both sides of the first threaded rod (4) and the second threaded rod (9); the telescopic end of the first electric push rod (12) passes through the right groove and extends to the inside of the left groove; the movable plate (13) is located inside the left groove, and both sides thereof are slidably connected to the inner wall of the left groove; there are two first electric push rods (12), and they are located on the side of the movable plate (13) close to the inner wall of the left groove.

4. The puncture surgery robot according to claim 1, characterized in that: There are four mounting blocks (20), telescopic columns (21) and elastic clamping blocks (22). The mounting blocks (20), telescopic columns (21) and spring clamping blocks are arranged between the first protective plate (5) and the second protective plate (10) in a relatively staggered manner. The elastic clamping blocks (22) are in an arc shape. First magnetic blocks (23) are arranged on both upper and lower sides of the mounting block (20). One side of the first magnetic block (23) is fixedly connected to one side of the first protective plate (5) and the second protective plate (10). A limiting device is arranged inside the mounting block (20).

5. The puncture surgery robot according to claim 1, characterized in that: The first slide groove (17) and the second slide groove (18) are arranged correspondingly, the sliding block (19) is slidably connected to the second slide groove (18), a first movable opening is opened on one side of the fixed groove, the connecting plate (15) is located at the first movable opening, the second electric push rod (14) is located at both ends of the connecting block (25), second movable openings are opened on both upper and lower sides of the first movable opening, and a second magnetic block (24) is arranged inside the second movable opening.

6. The puncture surgery robot according to claim 5, characterized in that: The second magnetic block (24) is arranged corresponding to the first magnetic block (23); a connecting block (25) is fixedly connected to an opposite side of the first magnetic block (23); one end of the connecting block (25) extends into the interior of the fixed groove and is fixedly connected to the second electric push rod (14); the first magnetic block (23) is symmetrically arranged around the center of the first slide groove (17); and the second magnetic block (24) is symmetrically arranged around the center of the second slide groove (18).

7. The puncture surgery robot according to claim 4, characterized in that: The limiting device comprises a rotating knob (26), one side of the rotating knob (26) is fixedly connected to a rotating rod (27), the outer surface of the rotating rod (27) is threadedly connected to a movable plate (28), both ends of the movable plate (28) are hinged to rotating plates (29), one end of the rotating plate (29) away from the movable plate (28) is hinged to a third magnetic block (30), and both ends of the movable plate (28) are movably connected to the limiting rods (31).

8. The puncture surgery robot according to claim 7, characterized in that: A movable groove is formed on one side of the mounting block (20); the knob (26) is located at the top of one side of the mounting block (20) and is located on one side of the telescopic column (21); the rotating rod (27) passes through one side of the mounting block (20) and extends into the movable groove, and its bottom is rotatably connected to the inner wall of the movable groove; the rotating rod (27) is located in the middle of the movable plate (28); and the limiting rods (31) are located on both sides of the rotating rod (27) and are fixedly mounted inside the movable groove.

9. The puncture surgery robot according to claim 7, characterized in that: The third magnetic block (30) is located inside the movable groove, and one side of the third magnetic block (30) is slidably connected to the movable groove. The third magnetic block (30) is magnetically connected to the first magnetic block (23) and the second magnetic block (24). The third magnetic block (30) is symmetrically arranged around the center of the movable groove.

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