A puncture instrument positioning device

Abstract

The present invention discloses a puncture instrument positioning device, which belongs to the field of medical devices, and includes: a platform support; a telescopic rod pivotally connected to the platform support; the telescopic rod is pivotally connected to another telescopic rod around a second pivot axis, the second pivot axis is respectively perpendicular to the central axis of the two connected telescopic rods, and the two connected telescopic rods constitute a push rod group; an adapter, including a second positioning part and a second connecting part pivotally connected, the second positioning part is pivotally connected to the two telescopic rods around a second pivot axis; an end actuator is pivotally connected to the second connecting parts of at least two adapters, and the telescopic rod drives the end actuator to rotate in the sagittal plane, the coronal plane and the horizontal plane when the telescopic rod is extended and retracted; a limiter is arranged between at most one telescopic rod and one adapter, and the limiter limits the circumferential rotation of the end actuator around the corresponding second pivot axis when the telescopic rod moves. Through the above arrangement, the present invention can flexibly control the position and posture of the end actuator in space by adjusting the axial length of the telescopic rod.

Description

Technical Field

[0001] The present invention belongs to the technical field of medical devices, and particularly relates to a positioning device for a puncture instrument. Background Art

[0002] When a doctor takes a sample through biopsy puncture, it is necessary to manually determine the sampling position through real-time medical images. Therefore, there is a problem of inaccurate positioning. Combining a robot with medical images can effectively avoid the problem of inaccurate positioning. In orthopedic clinics, sometimes it is necessary to implant a component into a patient's bone, and often an external force is used to strike and push the component to be implanted. During the above process, the implantation direction of the component will change under the action of the external force, thus affecting the treatment effect that the treatment plan should have.

[0003] Therefore, a device that can flexibly adjust the spatial position and posture of the connected puncture instrument is designed, and this device is specifically a positioning device for a puncture instrument. Summary of the Invention

[0004] In order to overcome the problems raised in the background art, the present invention adopts the following technical solutions:

[0005] A positioning device for a puncture instrument, comprising: a platform support; a push rod, including a telescopic rod, a first positioning part and a first connecting part, the first connecting part and the first positioning part are respectively pivotally connected to both ends of the telescopic rod around the axis of the telescopic rod, the first positioning part is pivotally connected to the platform support around a first pivot axis, the first connecting part is pivotally connected to the first connecting part of another push rod around a second pivot axis, and two connected push rods form a push rod group. When the push rod group moves, the axes of the two first pivot axes are always parallel; the platform support is connected with at least two groups of push rod groups, and the first pivot axes of adjacent push rod groups are parallel to each other.

[0006] Further, the platform support includes a fixed part and a moving part, the fixed part and the moving part are pivotally connected around a third pivot axis, the axis of the third pivot axis is perpendicular to the axis of the first pivot axis, the first positioning part of at least one push rod group is pivotally connected to the fixed part through the first pivot axis, the plane where the axes of the two telescopic rods in the push rod group are located is always perpendicular to the first pivot axis, the first positioning parts of other push rod groups are pivotally connected to the moving part, and when the moving part rotates around the third pivot axis, it drives the push rod to rotate around the third pivot axis; the second pivot axis restricts the circumferential rotation of the push rod, so that the first pivot axis and the second pivot axis are always parallel.

[0007] Further, the third pivot axis is connected with a limiting ring, and the limiting ring restricts the reciprocating movement of the fixed part and the moving part in the axial direction of the third pivot axis.

[0008] Further, it further includes an adapter and an end effector. The adapter includes a second positioning part and a second connecting part. The second positioning part is hinged to the two telescopic rods around the second pivot shaft, and the number of adapters is at least two. When the telescopic rod rotates around the first pivot shaft or the third pivot shaft, it drives the projections of the adapter and the adjacent adapter to approach or move away from each other on the horizontal plane. When the telescopic rod rotates around the third pivot shaft, it drives the projections of the adapter and the adjacent adapter to approach or move away from each other on the sagittal plane. The end effector is pivotally connected to the second connecting parts of at least two adapters. The telescopic rod can drive the two adapters to reciprocate along the axial direction of the telescopic rod during telescoping, and at the same time make the two adapters approach or move away from each other on the horizontal plane. The two adapters drive the end effector to move on the sagittal plane, coronal plane and horizontal plane under the drive of the telescopic rod.

[0009] Further, a fourth pivot shaft is provided between the second positioning part and the second connecting part, and the second positioning part and the second connecting part are pivotally connected around the fourth pivot shaft. The adapter further includes a fifth pivot shaft passing through the second connecting part and the end effector, and the second connecting part and the end effector are pivotally connected around the fifth pivot shaft. When the telescopic rod reciprocates along its own central axis, the end effector rotates around the fourth pivot shaft and the fifth pivot shaft. This enables the second positioning part to rotate relative to the connecting part when driven by a single telescopic rod, preventing the end effector from moving beyond the limit position.

[0010] Further, it further includes a limiting member, which is arranged between at most one telescopic rod and an adapter. When the telescopic rod moves, the limiting member restricts the circumferential rotation of the end effector around the corresponding second pivot shaft.

[0011] Further, a guide rail is provided on the side wall of the end connector facing away from the platform support. A slider is slidably connected along the setting direction of the guide rail. A plurality of elastic clamping members are arranged in an array on the side wall of the slider facing away from the platform support, and the elastic clamping members form a clamping channel. It is convenient for disassembly and assembly and can clamp puncture needles or other surgical instruments with different outer diameters.

[0012] Further, the slider is connected with a calibration frame, and a plurality of calibration members are arranged in an array on the calibration frame.

[0013] Further, an installation structure is provided on the platform support, and the installation structure is an installation groove or an installation hole.

[0014] Further, the push rod group can move to an initial position. When the push rod group is in the initial position, the plane where the axes of the two telescopic rods in the push rod group are located is perpendicular to the first pivot shaft, and the first pivot shaft is parallel to the second pivot shaft when the push rod group is in the initial position.

[0015] Furthermore, the central axes of the two telescopic rods constituting the push rod group are in an intersection plane. The push rod group can move to an initial position. When all the push rod groups are in the initial position, the intersection planes of adjacent push rod groups are parallel. When any one of the push rod groups deviates from the initial position, all the intersection planes are not parallel.

[0016] Furthermore, the first pivot shaft is perpendicular to the central axis of the corresponding telescopic rod. When the two telescopic rods are rotationally connected through the second pivot shaft, the second pivot shaft is parallel to the first pivot shaft and restricts the circumferential movement and radial movement of the telescopic rod, thereby limiting the telescopic rod to prevent it from moving other than axially.

[0017] Alternatively, different from the above solution, there is no fifth pivot shaft with restricted axial and radial movements penetrating through the end effector. Instead, a sixth pivot shaft is provided between the second connecting portion and the end effector, and the adapter rotates around the sixth pivot shaft; the end effector is provided with a travel hole and a connection hole penetrating through it. The travel hole is an oblong hole, and the connection hole is a round hole. Each travel hole is connected to one sixth pivot shaft, and the travel hole restricts the axial movement of the sixth pivot shaft; each connection hole is connected to one sixth pivot shaft, and the connection hole restricts the axial movement and radial movement of the sixth pivot shaft.

[0018] Furthermore, the central axes of the two telescopic rods constituting the push rod group are in an intersection plane, and the adjacent intersection planes are always parallel to each other. When any one of the telescopic rods moves, it drives the end effector to rotate around the central axes of the travel hole and the connection hole.

[0019] Alternatively, different from the above solution, the platform support is not provided with a fixed part and a moving part that are pivotally connected to each other. Instead, the device further includes an end effector hinged to the two adapters; the platform support is provided with at least two universal joints, and the universal joints are pivotally connected to the telescopic rods one by one. Specifically, one end of the universal joint is pivotally connected to the first pivot shaft around the axis of the first pivot shaft, and the other end of the universal joint is pivotally connected to the first positioning part around the axis of the telescopic rod; when the push rod group is in the initial position, the first pivot shaft is parallel to the second pivot shaft; when the push rod group deviates from the initial position, the first pivot shaft is not parallel to the second pivot shaft; when the telescopic rod connecting the universal joint expands and contracts, it rotates around its own axial, radial, and circumferential directions. When the two push rods form a push rod group, the second pivot shaft restricts the circumferential movement of the two push rods that are pivotally connected, and the adapter drives the end effector to move under the drive of the push rod.

[0020] Advantages of the present invention:

[0021] The adapter can be driven to rotate or move linearly in the horizontal plane, or rotate or move linearly in the sagittal plane only by controlling the telescopic variables of one or more telescopic rods, and then the end effector is connected through two adapters, so that the end effector can move linearly or rotate in the sagittal plane, coronal plane and horizontal plane; finally, the spatial posture of the puncture instrument can be flexibly adjusted and positioned by controlling the six-degree-of-freedom motion of the end effector in space and the connection between the end effector and the puncture instrument. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative labor. Among them:

[0023] Figure 1 This is a schematic structural diagram of Example 1 of the present invention when the adapter is not assembled and the push rod assembly is in the initial position;

[0024] Figure 2 for Figure 1 Schematic diagram of the structure when it leaves the initial position;

[0025] Figure 3 for Figure 1 Schematic diagram of the structure when assembling the adapter;

[0026] Figure 4 It is a schematic structural diagram of the transfer member, the second pivot shaft and the limit member when they are assembled in Embodiment 1 of the present invention;

[0027] Figure 5 for Figure 3 Schematic diagram of the structure when assembling the end effector;

[0028] Figure 6 It is a schematic diagram of the structure after the slider and the calibration part are assembled;

[0029] Figure 7 It is a structural schematic diagram of the end effector;

[0030] Figure 8 This is a schematic diagram of the overall structure of Embodiment 1 of the present invention;

[0031] Figure 9 for Figure 8 Schematic diagram of the structure of the end effector when it performs linear motion in the sagittal plane and the horizontal plane;

[0032] Figure 10 for Figure 8 Schematic diagram of the structure of the end effector when it rotates in the sagittal plane;

[0033] Figure 11 is Figure 8 a schematic structural diagram when the end effector rotates in the coronal plane;

[0034] Figure 12 is Figure 8 a schematic structural diagram when the end effector moves linearly in the coronal plane and the horizontal plane;

[0035] Figure 13 is a schematic overall structural diagram of Embodiment 2;

[0036] Figure 14 is a schematic overall structural diagram of Embodiment 3;

[0037] Figure 15 is Figure 14 a schematic cross-sectional structural diagram of;

[0038] In the figure, 1, platform support; 11, fixed part; 12, moving part; 13, first pivot shaft; 14, third pivot shaft; 15, universal joint; 2, push rod group; 21, push rod; 210, telescopic rod; 211, first positioning part; 212, first connecting part; 213, second pivot shaft; 214, sixth pivot shaft; 3, adapter; 31, second positioning part; 32, second connecting part; 33, fourth pivot shaft; 34, fifth pivot shaft; 4, end effector; 41, stroke hole; 42, connecting hole; 43, guide rail; 44, slider; 441, elastic clamping member; 442, clamping channel; 45, calibration frame; 451, calibration member; 5, limiting member. Specific Embodiments

[0039] The technical solutions in the embodiments of the present invention are clearly and completely described below through specific specific embodiments. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific implementation manners. Without conflict, the following embodiments and the features in the embodiments can be combined with each other. Based on the embodiments in the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts belong to the scope of protection of the present invention.

[0040] Embodiment 1

[0041] A puncture instrument positioning device, such as Figure 1-12As shown in the figure, it includes: a platform support 1; a push rod 21, which includes a telescopic rod 210, a first positioning part 211 and a first connecting part 212. The first connecting part 212 and the first positioning part 211 are respectively pivotally connected to both ends of the telescopic rod 210 around the axial direction of the telescopic rod 210. The first positioning part 211 is pivotally connected to the platform support 1 around the first pivot axis 13, and the first connecting part 212 is pivotally connected to the first connecting part 212 of another push rod 21 around the second pivot axis 213. When the push rod group 2 formed by two connected push rods 21 moves, the axes of the two first pivot axes 13 are always parallel; the platform support 1 is connected with at least two push rod groups 2, and the first pivot axes 13 of adjacent push rod groups 2 are parallel to each other.

[0042] A more preferred embodiment is, as Figure 1-12 shown in the figure, the platform support 1 includes a fixed part 11 and a moving part 12. The fixed part 11 and the moving part 12 are pivotally connected around the third pivot axis 14. The axis of the third pivot axis 14 is perpendicular to the axis of the first pivot axis 13. The first positioning part 211 of at least one push rod group 2 is pivotally connected to the fixed part 11 through the first pivot axis 13. The plane where the axes of the two telescopic rods 210 in the push rod group 2 are located is always perpendicular to the first pivot axis 13. The first positioning part 211 of other push rod groups 2 is pivotally connected to the moving part 12. When the moving part 12 rotates around the third pivot axis 14, it drives the push rod 21 to rotate around the third pivot axis 14; the second pivot axis 213 restricts the circumferential rotation of the push rod 21, so that the first pivot axis 13 and the second pivot axis 213 are always parallel.

[0043] A more preferred embodiment is, as Figure 1-12 shown in the figure, the third pivot axis 14 is connected with a limiting ring, and the limiting ring restricts the reciprocating movement of the fixed part 11 and the moving part 12 in the axial direction of the third pivot axis 14. The positioning device further includes an adapter 3 and an end effector 4. The adapter 3 includes a second positioning part 31 and a second connecting part 32. The second positioning part 31 is pivotally connected to the two telescopic rods 210 around the second pivot axis 213. The number of the adapters 3 is at least two; when the telescopic rod 210 rotates around the first pivot axis 13 or the third pivot axis 14, it drives the projections of the adapter 3 and the adjacent adapter 3 to approach or move away from each other on the horizontal plane; when the telescopic rod 210 rotates around the third pivot axis 14, it drives the projections of the adapter 3 and the adjacent adapter 3 to approach or move away from each other in the sagittal plane. The end effector 4 is pivotally connected to the second connecting parts 32 of at least two adapters 3. The telescopic rod 210 can drive the two adapters 3 to reciprocate along the axial direction of the telescopic rod 210 when telescoping, and at the same time make the two adapters 3 approach or move away from each other on the horizontal plane. The two adapters 3 drive the end effector 4 to move in the sagittal plane, coronal plane and horizontal plane under the drive of the telescopic rod 210.

[0044] A more preferred embodiment is, as Figure 1-12As shown, a pivot shaft four 33 is provided between the positioning part two 31 and the connecting part two 32, and the positioning part two 31 and the connecting part two 32 are pivotally connected around the pivot shaft four 33; the adapter 3 further includes a pivot shaft five 34 passing through the connecting part two 32 and the end effector 4, and the connecting part two 32 and the end effector 4 are pivotally connected around the pivot shaft five 34; when the telescopic rod 210 reciprocates along its own central axis, the end effector 4 rotates around the pivot shaft four 33 and the pivot shaft five 34. This enables the positioning part two 31 to rotate relative to the connecting part when driven by a single telescopic rod 210, preventing the end effector 4 from moving beyond the limit position.

[0045] A more preferred embodiment is, as Figure 1-12 shown, the positioning device further includes a limiting member 5, and the limiting member 5 is arranged between at most one telescopic rod 210 and an adapter 3. When the telescopic rod 210 moves, the limiting member 5 restricts the circumferential rotation of the end effector 4 around the corresponding pivot shaft two 213. A guide rail 43 is arranged on the side wall of the end connecting member facing away from the platform support 1, and a slider 44 is slidably connected along the arrangement direction of the guide rail 43. A plurality of elastic clamping members 441 are arranged in an array on the side wall of the slider 44 facing away from the platform support 1, and the elastic clamping members 441 form a clamping channel 442. It is convenient for disassembly and assembly and can clamp puncture needles or other surgical instruments with different outer diameters.

[0046] A more preferred embodiment is, as Figure 1-12 shown, the slider 44 is connected with a calibration frame 45, and a plurality of calibration members 451 are arranged in an array on the calibration frame 45.

[0047] A more preferred embodiment is, as Figure 1-12 shown, an installation structure is arranged on the platform support 1, and the installation structure is an installation groove or an installation hole.

[0048] A more preferred embodiment is, as Figure 1-12 shown, the push rod group 2 can move to an initial position. When the push rod group 2 is in the initial position, the plane where the axes of the two telescopic rods 210 in the push rod group 2 are located is perpendicular to the pivot shaft one 13, and when the push rod group 2 is in the initial position, the pivot shaft one 13 is parallel to the pivot shaft two 213.

[0049] A more preferred embodiment is, as Figure 1-12 shown, the central axes of the two telescopic rods 210 constituting the push rod group 2 are in an intersection plane. The push rod group 2 can move to an initial position. When all the push rod groups 2 are in the initial position, the intersection planes of adjacent two push rod groups 2 are parallel. When any push rod group 2 deviates from the initial position, all the intersection planes are not parallel.

[0050] A more preferred embodiment is, as Figure 1-12As shown in the figure, the pivot shaft 13 is perpendicular to the central axis of the corresponding telescopic rod 210. When the two telescopic rods 210 are rotatably connected by the pivot shaft 213, the pivot shaft 213 is parallel to the pivot shaft 13 and restricts the circumferential movement and radial movement of the telescopic rod 210, limits the telescopic rod 210, and prevents the telescopic rod 210 from moving other than the axial movement.

[0051] Embodiment 2

[0052] A puncture instrument positioning device, as Figure 13 shown, includes: a platform support 1; a push rod 21, including a telescopic rod 210, a first positioning portion 211 and a first connecting portion 212. The first connecting portion 212 and the first positioning portion 211 are respectively pivotally connected to both ends of the telescopic rod 210 around the axial direction of the telescopic rod 210. The first positioning portion 211 is pivotally connected to the platform support 1 around the pivot shaft 13, and the first connecting portion 212 is pivotally connected to the first connecting portion 212 of another push rod 21 around the pivot shaft 213. In this embodiment, the two push rods 21 are not connected in series by the same pivot shaft 213, but each pivotally connected to the adapter 3 around a pivot shaft 213, and the two pivot shafts 213 are parallel to each other. The two push rods 21 connected by the adapter 3 form a push rod group 2. When the push rod group 2 moves, the axes of the two pivot shafts 13 are always parallel; the platform support 1 is connected with at least two groups of push rod groups 2, and the pivot shafts 13 of adjacent push rod groups 2 are parallel to each other. The adapter 3 in this embodiment also includes a second positioning portion 31 and a second connecting portion 32, and the pivot shaft 213 is pivotally connected to the second positioning portion 31.

[0053] Different from Embodiment 1, as Figure 13 shown, there is no pivot shaft 534 that is restricted in axial movement and radial movement penetrating through the end effector 4. Instead, a pivot shaft 214 is provided between the second connecting portion 32 and the end effector 4, and the adapter 3 rotates around the pivot shaft 214; the end effector 4 is penetrated with a travel hole 41 and a connection hole 42. The travel hole 41 is an oblong hole, and the connection hole 42 is a round hole. Each travel hole 41 is connected with a pivot shaft 214, and the travel hole 41 restricts the axial movement of the pivot shaft 214; each connection hole 42 is connected with a pivot shaft 214, and the connection hole 42 restricts the axial movement and radial movement of the pivot shaft 214.

[0054] The central axes of the two telescopic rods 210 that make up the push rod group 2 are in an intersection plane, and adjacent intersection planes are always parallel to each other. When any telescopic rod 210 moves, it drives the end effector 4 to rotate around the central axes of the stroke hole 41 and the connection hole 42. The connection method between the push rod group 2 and the platform support 1 in this embodiment is more single. The movement of the end effector 4 in the sagittal plane is realized by pushing the pivot shaft six 214 to move in the stroke hole 41 through the push rod 21. Therefore, it has better system stability; at the same time, due to the reduction of the number of accessories, this positioning device also has better interchangeability.

[0055] Embodiment 3

[0056] A puncture instrument positioning device, as Figure 14-15 shown, includes: a platform support 1; a push rod 21, including a telescopic rod 210, a first positioning part 211 and a first connecting part 212. The first connecting part 212 and the first positioning part 211 are respectively pivotally connected to both ends of the telescopic rod 210 around the axial direction of the telescopic rod 210. The first positioning part 211 is pivotally connected to the platform support 1 around the first pivot shaft 13, and the first connecting part 212 is pivotally connected to the first connecting part 212 of another push rod 21 around the second pivot shaft 213. Two connected push rods 21 form a push rod group 2. When the push rod group 2 moves, the axes of the two first pivot shafts 13 are always parallel; the platform support 1 is connected with at least two push rod groups 2, and the first pivot shafts 13 of adjacent push rod groups 2 are parallel to each other.

[0057] Different from Embodiment 1 and Embodiment 2, the platform support 1 is not provided with a fixed part 11 and a moving part 12 that are pivotally connected to each other. Instead, this device further includes an end effector 4 that is pivotally connected to two adapter parts 3; the platform support 1 is provided with at least two universal joints 15, and the universal joints 15 are respectively pivotally connected to the telescopic rods 210 in a one-to-one correspondence. Specifically, one end of the universal joint 15 is pivotally connected to the first pivot shaft 13 around the axis of the first pivot shaft 13, and the other end of the universal joint 15 is pivotally connected to the first positioning part 211 around the axis of the telescopic rod 210; when the push rod group 2 is in the initial position, the first pivot shaft 13 is parallel to the second pivot shaft 213; when the push rod group 2 is out of the initial position, the first pivot shaft 13 is not parallel to the second pivot shaft 213; when the telescopic rod 210 connecting the universal joint 15 expands and contracts, it rotates around its own axial, radial and circumferential directions. When two push rods 21 form a push rod group 2, the second pivot shaft 213 restricts the circumferential movement of the two push rods 21 that are pivotally connected, and the adapter part 3 drives the end effector 4 to move under the drive of the push rod 21.

Claims

1. A puncture instrument positioning device, characterized in that: include: Platform support (1); The push rod (21) comprises a telescopic rod (210), a positioning portion 1 (211) and a connecting portion 1 (212); the connecting portion 1 (212) and the positioning portion 1 (211) are respectively connected to the two ends of the telescopic rod (210) by pivoting around the axial direction of the telescopic rod (210); the positioning portion 1 (211) is hinged to the platform support (1) around a pivot axis 1 (13); the connecting portion 1 (212) is hinged to the connecting portion 1 (212) of another push rod (21) around a pivot axis 2 (213); the two connected push rods (21) constitute a push rod group (2); the push rod group (2) is operated When the platform support (1) moves, the axes of the two pivot axes (13) are always parallel; the platform support (1) is connected to at least two push rod groups (2), and the pivot axes (13) of adjacent push rod groups (2) are parallel to each other; the platform support (1) comprises a fixed part (11) and a moving part (12), the fixed part (11) and the moving part (12) are pivotally connected around a pivot axis (14), the axis of the pivot axis (14) is perpendicular to the axis of the pivot axis (13), and a positioning part (211) of at least one push rod group (2) is connected to the fixed part (11) through the pivot axis (1 3) is hinged, the plane where the axes of the two telescopic rods (210) in the push rod group (2) are located is always perpendicular to the pivot axis 1 (13), and the positioning part 1 (211) of the other push rod group (2) is hinged to the moving part (12), and when the moving part (12) rotates around the pivot axis 3 (14), it drives the push rod (21) to rotate around the pivot axis 3 (14); the pivot axis 2 (213) constrains the circumferential rotation of the push rod (21), so that the pivot axis 1 (13) and the pivot axis 2 (213) are always parallel; it also includes a conversion member (3) and an end actuator (4), the rotation The connecting member (3) comprises a second positioning portion (31) and a second connecting portion (32); the second positioning portion (31) is hingedly connected to the two telescopic rods (210) around the second pivot axis (213); the number of the adapter (3) is at least two; when the telescopic rod (210) rotates around the first pivot axis (13) or the third pivot axis (14), the projections of the adapter (3) and the adjacent adapter (3) are driven to approach or move away on the horizontal plane; when the telescopic rod (210) rotates around the third pivot axis (14), the projections of the adapter (3) and the adjacent adapter (3) are driven to approach or move away on the sagittal plane; The end effector (4) is pivotally connected to the second connection part (32) of at least two of the adapters (3); the telescopic rod (210) can drive the two adapters (3) to reciprocate along the axial direction of the telescopic rod (210) when telescopic, and at the same time make the two adapters (3) approach or move away from each other on a horizontal plane; the two adapters (3) drive the end effector (4) to move on a sagittal plane, a coronal plane and a horizontal plane under the drive of the telescopic rod (210).

2. A puncture instrument positioning device according to claim 1, characterized in that: The push rod assembly (2) can be moved to an initial position. When the push rod assembly (2) is in the initial position, the plane where the axes of the two telescopic rods (210) in the push rod assembly (2) are located is perpendicular to the first pivot axis (13), and when the push rod assembly (2) is in the initial position, the first pivot axis (13) is parallel to the second pivot axis (213).

3. A puncture instrument positioning device according to claim 1, characterized in that: A pivot shaft four (33) is provided between the positioning portion two (31) and the connecting portion two (32), and the positioning portion two (31) and the connecting portion two (32) are pivotally connected around the pivot shaft four (33); the adapter (3) also includes a pivot shaft five (34) that passes through the connecting portion two (32) and the end actuator (4), and the connecting portion two (32) and the end actuator (4) are pivotally connected around the pivot shaft five (34); when the telescopic rod (210) reciprocates along its own central axis, the end actuator (4) rotates around the pivot shaft four (33) and the pivot shaft five (34).

4. A puncture instrument positioning device according to claim 3, characterized in that: The invention also comprises a limit member (5), wherein the limit member (5) is arranged between at most one telescopic rod (210) and one adapter (3), and when the telescopic rod (210) moves, the limit member (5) limits the circumferential rotation of the end actuator (4) around the corresponding second pivot axis (213).

5. A puncture instrument positioning device according to claim 2, characterized in that: It also includes an adapter (3), the adapter (3) including a second positioning portion (31) and a second connecting portion (32), the second positioning portion (31) being hingedly connected to the two telescopic rods (210) around the second pivot axis (213), and the number of the adapters (3) is at least two.

6. A puncture instrument positioning device according to claim 5, characterized in that: The platform support (1) further comprises an end effector (4) hinged to the two adapters (3); the platform support (1) is provided with a universal joint (15), one end of the universal joint (15) is pivotally connected to the pivot shaft (13) around the axis of the pivot shaft (13), and the other end of the universal joint (15) is pivotally connected to the positioning portion (211) around the axis of the telescopic rod (210); when the push rod assembly (2) is in the initial position, the pivot shaft (13) is parallel to the pivot shaft (213). When the push rod group (2) is out of the initial position, the pivot axis 1 (13) and the pivot axis 2 (213) are not parallel; when the telescopic rod (210) connected to the universal joint (15) is telescopic, it rotates around its own axial, radial and circumferential directions; when the two push rods (21) constitute the push rod group (2), the pivot axis 2 (213) limits the circumferential movement of the two pivotally connected push rods (21); and the adapter (3) drives the end actuator (4) to move under the drive of the push rod (21).

7. A puncture instrument positioning device according to claim 6, characterized in that: The device also includes an end actuator (4); the central axes of the two telescopic rods (210) constituting the push rod group (2) are located in an intersection plane, the adjacent intersection planes are always parallel to each other and the intersection plane is always perpendicular to the pivot axis 1 (13), when any of the telescopic rods (210) moves, the adapter (3) is driven to rotate around the pivot axis 1 (13); when the push rod group (2) is in or out of the initial position, the pivot axis 1 (13) is parallel to the pivot axis 2 (213); a pivot axis 6 (214) is provided between the connecting portion 2 (32) and the end actuator (4), and the adapter (3) rotates around the pivot axis 6 (214); a travel hole (41) and a connecting hole (42) are provided through the end actuator (4), the travel hole (41) is a waist hole, and the connecting hole (42) is a round hole, each of the travel holes (41) is connected to one of the pivot axes Six (214), the travel hole (41) limits the axial movement of the pivot shaft six (214); each of the connecting holes (42) is connected to a pivot shaft six (214), and the connecting hole (42) limits the axial movement and radial movement of the pivot shaft six (214). The end actuator (4) is slidably connected to the connecting portion two (32) of at least one of the adapters (3) through the travel hole (41), and the end actuator (4) is hinged to the connecting portion two (32) of the other adapter (3) through the connecting hole (42). When the telescopic rod (210) is extended or retracted, the two adapters (3) are driven to reciprocate in the travel direction of the travel hole (41), and at the same time, the projections of the two adapters (3) on the horizontal plane are moved closer or farther away. Driven by the telescopic rod (210), the two adapters (3) drive the end actuator (4) to move in the sagittal plane, the coronal plane and the horizontal plane.

8. A puncture instrument positioning device according to claim 2, characterized in that: A guide rail (43) is arranged on the side wall of the end connecting member away from the platform support (1), and a slider (44) is slidably connected along the setting direction of the guide rail (43). A plurality of elastic clamping members (441) are arranged in an array on the side wall of the slider (44) away from the platform support (1), and a clamping channel (442) is arranged through the plurality of elastic clamping members (441).

Images