Robot system for aligning slender tools

Abstract

The invention discloses a robot system for aligning slender tools, a first swing arm and a second swing arm are both arranged in a swing mode relative to a base, and the swing plane of the first swing arm and the swing plane of the second swing arm are parallel to each other; the first clamping piece is connected to the first swing arm through a first linear driving mechanism, and the first linear driving mechanism is used for driving the first clamping piece to move in the extending direction of the first swing arm; the second clamping piece is connected to the second swing arm through a second linear driving mechanism, and the second linear driving mechanism is used for driving the second clamping piece to move in the extending direction of the second swing arm; at least part of the surface of the ball joint is a spherical surface, and the ball joint is provided with a through hole for a slender tool to pass through; and a ball joint is clamped by the first clamping piece and the second clamping piece. The robot system is more compact in structure, an operator is allowed to flexibly operate in a narrower environment, and therefore the maneuverability and usability of equipment are improved.

Description

Technical Field

[0001] The invention relates to a robot system for aligning slender tools, belonging to the technical field of medical equipment. Background Art

[0002] Many surgical procedures involve the percutaneous insertion of a needle into a patient's body for biopsy and drug delivery, including placing the needle tip into a lesion, organ, or blood vessel in the body to perform a medical procedure. Examples of surgical procedures that require the insertion of a needle include vaccination, blood / fluid sampling, regional anesthesia, tissue biopsy, catheterization, cryoablation, electrolytic ablation, brachytherapy, neurosurgery, deep brain stimulation, and various minimally invasive surgeries (MIS).

[0003] There are currently several methods for inserting a needle into a patient during the above-mentioned surgical procedure. One is for the surgeon to manually perform the process by placing one end of the needle on the patient's skin and repeatedly tilting the other end of the needle based on real-time imaging data to establish alignment between the needle and the target. However, this method is susceptible to human error, and patients and surgical personnel may be exposed to excessive X-ray radiation, posing a potential human hazard. Another method has also proposed surgical automation, introducing medical device systems such as robotic arms (robots) to simulate manual surgical procedures.

[0004] The Chinese invention patent application with publication number CN107334509A discloses a system and method for aligning a slender tool with an occluded target, wherein the alignment system controls an adjustment mechanism based on the position data of the target and the percutaneous surface insertion point to adjust the angular orientation of the slender tool relative to the percutaneous surface insertion point so as to align the longitudinal axis of the slender tool with the target and the percutaneous surface insertion point. The method reduces the complexity of the operation to a certain extent, improves the efficiency of the operation, and reduces the hazards of long-term exposure of patients and surgical personnel to radiation environments (such as X-rays, etc.). The alignment system used in the method includes an adjustment mechanism, which includes an annular base, multiple arms (a first arm, a second arm, and a third arm) and an annular lifting platform, the lifting platform is connected to the base through three arms, the three arms are correspondingly provided with three motors, the lifting platform is provided with a support structure, a ball joint connection is provided at the center of the support structure, the ball joint connection includes a hole for holding the surgical elongated tool and allows the sliding movement of the surgical elongated tool; the control system adjusts the length and inclination angle of the three arms by controlling the three motors to adjust the height and inclination angle of the lifting platform, thereby adjusting the elongated tool to a suitable height and inclination angle to align the insertion path.

[0005] However, the above scheme has some problems in actual use: 1. The adjustment range of the slender tool is small, which cannot meet the multi-degree-of-freedom adjustment of the slender tool and the special angle requirements of the slender tool, affecting the flexibility and accuracy of the surgical operation; 2. The adjustment method of the three motors coupled with each other is relatively complicated, costly, and the adjustment efficiency is not high; 3. The slender tool is roughly located in the center of the alignment system, which requires the entire alignment system to be very close to the patient, occupies a large space, and easily interferes with the use of other medical equipment.

[0006] In addition, there are other types of alignment systems in the prior art, such as using a linear drive mechanism to achieve linear motion in two directions in a plane, thereby adjusting the position and angle of the slender tool. However, this type of alignment system still has the problem of occupying a large space. Summary of the invention

[0007] In order to solve the above technical problems, the present invention provides a robot system for aligning slender tools, so as to improve the alignment efficiency of the robot system, reduce costs, and reduce the space occupied by the equipment. The specific technical solution is as follows.

[0008] A robotic system for aligning an elongated tool comprises a base, a first swing arm, a second swing arm, a first linear drive mechanism, a second linear drive mechanism, a first clamp, a second clamp, and a ball joint; The first swing arm and the second swing arm are both swingably arranged relative to the base, and the first swing arm and the second swing arm are spaced apart, and the swing plane of the first swing arm and the swing plane of the second swing arm are parallel to each other; The first clamping member is connected to the first swing arm through the first linear drive mechanism, and the first linear drive mechanism is used to drive the first clamping member to move along the extension direction of the first swing arm; the second clamping member is connected to the second swing arm through the second linear drive mechanism, and the second linear drive mechanism is used to drive the second clamping member to move along the extension direction of the second swing arm; At least a portion of the surface of the ball joint is a spherical surface, and the ball joint has a through hole for the elongated tool to pass through; the first clamping member clamps the ball joint, and the ball joint can rotate relative to the first clamping member; the second clamping member also clamps the ball joint, and the ball joint can rotate relative to the second clamping member.

[0009] By adopting the above technical solution, the swinging of the first swing arm and the second swing arm can greatly and efficiently adjust the positions of the first clamp and the second clamp, thereby significantly improving the adjustment efficiency compared with the prior art; at the same time, the first swing arm and the second swing arm both swing relative to the base, so the driving mechanisms (motors) of the first swing arm and the second swing arm can be integrated at the base, and the driving mechanisms (motors) of the first linear drive mechanism and the second linear drive mechanism can also be arranged at positions close to the base, that is, all driving mechanisms can be integrated at the base and its vicinity, thereby improving the integration, facilitating wiring, and reducing the volume of the entire robot system. Therefore, the above technical solution simultaneously achieves the technical purpose of improving the adjustment efficiency and reducing the occupied space.

[0010] Further, the first linear drive mechanism includes a drive motor, a screw nut mechanism, a gear mounting seat, a first gear, a second gear, a first rack, a second rack, a clamping member mounting seat, a first guide rail, and a second guide rail; The driving motor and the first guide rail are both fixed to the first swing arm, and the driving motor drives the gear mounting seat to move along the first guide rail through the screw nut mechanism; the gear mounting seat is rotatably provided with a connecting shaft, and the first gear and the second gear are both fixedly provided on the connecting shaft, and the first gear and the second gear are respectively located on both sides of the gear mounting seat; the first swing arm is provided with the first rack meshing with the first gear, and the clamping member mounting seat is provided with the second rack meshing with the second gear; the second guide rail is fixedly provided on the first swing arm, and the second guide rail and the first rack are respectively located on both sides of the gear mounting seat, and the clamping member mounting seat is slidably provided on the first swing arm through the second guide rail, and the first clamp is fixedly provided on the clamping member mounting seat. The second linear drive mechanism adopts a structure that is exactly the same as the first linear drive mechanism. The use of such a linear drive mechanism has three main advantages: on the one hand, when the gear mounting seat moves along the first guide rail, the first gear meshes with the first rack and rotates as the gear mounting seat moves, and the first gear drives the second gear to rotate synchronously through the connecting shaft, and the second gear meshes with the second rack. Therefore, the moving speed of the second rack (clamp mounting seat) relative to the first rack (first swing arm) is twice the moving speed of the gear mounting seat relative to the first rack (first swing arm), making the structure of the linear drive mechanism relatively compact and the adjustment efficiency high. On the other hand, by setting two synchronously rotating first and second gears, the first rack and the second guide rail are respectively located on both sides of the gear mounting seat (first guide rail), so that the center of gravity of the entire linear drive mechanism tends to be closer to the center of the drive motor, making the layout of the linear drive mechanism more reasonable and compact, and reducing space occupancy. On the other hand, it is convenient to adjust the stroke of the second rack. When the moving stroke of the second rack needs to be adjusted, there is no need to remove the gear or rack. Only the fixed connection between the second gear and the connecting shaft needs to be loosened, and the (initial) stroke of the second rack can be adjusted by rotating the second gear alone. After adjustment, the second gear and the connecting shaft can be fixed, which is conducive to realizing rapid adjustment of the stroke of the second rack.

[0011] Furthermore, it also includes a nut fixing seat and a ball joint mechanism, the nut of the screw nut mechanism is fixed to the nut fixing seat, and the nut fixing seat and the gear mounting seat are connected through the ball joint mechanism; the ball joint mechanism includes: a bolt, an inner ball sleeve and an outer ball sleeve, the bolt passes through the nut fixing seat and the gear mounting seat, the inner ball sleeve is sleeved on the bolt, the outer ball sleeve is sleeved on the inner ball sleeve and fixed to the gear mounting seat, and the inner ball sleeve and the outer ball sleeve are spherically matched. The use of such a ball joint mechanism is conducive to simplifying the assembly of the nut fixing seat and the nut fixing seat; when the drive motor is installed on the first swing arm, even if the axial direction of the screw of the screw nut mechanism is not strictly consistent with the axial direction of the first guide rail, the ball joint mechanism can allow the gear mounting seat to run smoothly on the first guide rail to avoid jamming or damage to the screw nut mechanism.

[0012] Furthermore, the first clamping member includes a first clamping jaw, a second clamping jaw, a first connecting rod, a second connecting rod, a third connecting rod, an actuator, a compression spring and a mounting frame; the first clamping jaw and the second clamping jaw are both hinged to the mounting frame, one end of the first clamping jaw is hinged to one end of the first connecting rod, the other end of the first connecting rod is hinged to one end of the third connecting rod, one end of the second clamping jaw is hinged to one end of the second connecting rod, the other end of the second connecting rod is hinged to the other end of the third connecting rod, the middle part of the third connecting rod is fixedly connected to the actuator, the compression spring is arranged between the actuator and the mounting frame, and the compression spring is located on the side of the actuator away from the third connecting rod; the mounting frame has an L-shaped groove, the wider end of the L-shaped groove is farther away from the third connecting rod than the narrower end, and the actuator has a protrusion, and the protrusion extends into the L-shaped groove. The second clamping member also adopts the same structure as the first clamping member. This type of clamping member can realize quick clamping and release of the ball joint. When performing relevant surgical operations, the slender tool can be inserted into the patient's body by adjusting the spatial position of the slender tool to the planned path using the first swing arm and the second swing arm. At this time, if other medical equipment is needed, the robot system needs to be evacuated. The first clamping member and the second clamping member of the present application can open the first jaw and the second jaw to release the ball joint by pulling the actuator backward, and then rotate the actuator to a certain angle to allow the protrusion to abut against the step of the L-shaped groove to keep the first jaw and the second jaw in an open state; therefore, only one operator is needed to simply and reliably open the first clamping member and the second clamping member, and then evacuate the entire robot system from the operating table, which greatly simplifies the evacuation process compared to the prior art. Wherein, the first jaw and the second jaw both have a clamping spherical surface corresponding to the ball joint.

[0013] Preferably, the mounting frame includes an upper frame and a lower frame, the upper frame and the lower frame are fixed together by fasteners, and the first connecting rod, the second connecting rod, the third connecting rod, the actuator, and the compression spring are all located between the upper frame and the lower frame. The use of such a mounting frame is conducive to simplifying the assembly of the entire clamp. Preferably, the actuator has a handle portion, and the handle portion protrudes from the mounting frame. The handle portion is convenient for an operator to operate.

[0014] Furthermore, the base is provided with a limiter for limiting the swing range of the first swing arm and the second swing arm. Preferably, the base is also provided with two position sensors, and the two position sensors are used to detect the swing positions of the first swing arm and the second swing arm respectively. Preferably, the first swing arm and the second swing arm are both fixedly connected with a driving gear.

[0015] Compared with the prior art, the present invention has the following beneficial effects.

[0016] 1. The driving mechanism for driving the first swing arm and the second swing arm is embedded in the base, making the appearance structure of the equipment more compact. The driving mechanisms of the first linear driving mechanism and the second linear driving mechanism can also be arranged close to the base, allowing the operator to operate flexibly in a narrower environment, thereby improving the maneuverability and ease of use of the equipment.

[0017] 2. Through the combination of rotation and telescopic movement of the first swing arm and the second swing arm, the ball joint clamped in the first clamp and the second clamp can be adjusted in multiple degrees of freedom, allowing the slender tool to be flexibly positioned in three-dimensional space, and can better adapt to different surgical scenarios, especially in the case of complex anatomical structures or deep target locations, reducing the interference of the surgical process on surrounding tissues, and at the same time expanding the adjustment range of the slender tool so that it can adapt to different patients and different lesions.

[0018] 3. The stroke is doubled by a linear drive mechanism, so that the first swing arm structure and the second swing arm structure can obtain a long stroke extension and higher adjustment efficiency under the condition of compact structure, which is beneficial to improving the user's operating experience and convenience.

[0019] 4. The first clamping member and the second clamping member can realize quick clamping and releasing of the ball joint, which simplifies the operation process of the operator. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 is a three-dimensional schematic diagram of a robot system of the present invention; Figure 2 is a rear view of the robot system of the present invention; Figure 3 is a front view of the robot system of the present invention; Figure 4 is a three-dimensional schematic diagram of a first linear drive mechanism; Figure 5 is an exploded schematic diagram of a first linear drive mechanism; Figure 6 is a three-dimensional schematic diagram of the first clamping member (in a clamping state); Figure 7 is a three-dimensional schematic diagram of the first clamping member (in an open state); Figure 8 is a schematic diagram of the connection of components of the first clamping member; Fig. 9 Schematic diagram of the first clamping member.

[0021] In the figure: base 1, first swing arm 2, second swing arm 3, first linear drive mechanism 4, drive motor 4.1, screw nut mechanism 4.2, nut 4.2.1, screw 4.2.2, gear mounting seat 4.3, first gear 4.4, second gear 4.5, first rack 4.6, second rack 4.7, clamping member mounting seat 4.8, first guide rail 4.9, second guide rail 4.10, connecting shaft 4.11, nut fixing seat 4.12, ball joint mechanism 4.13, bolt 4.13.1, inner ball sleeve 4.13.2, outer Ball sleeve 4.13.3, second linear drive mechanism 5, first clamping member 6, first clamping jaw 6.1, second clamping jaw 6.2, first connecting rod 6.3, second connecting rod 6.4, third connecting rod 6.5, actuator 6.6, protrusion 6.6.1, handle portion 6.6.2, compression spring 6.7, mounting frame 6.8, upper frame 6.8.1, lower frame 6.8.2, L-shaped groove 6.8.3, clamping spherical surface 6.9, housing 6.10, second clamping member 7, ball joint 8, through hole 8.1, limit member 9, position sensor 10. DETAILED DESCRIPTION

[0022] The present invention is further described in detail below in conjunction with the accompanying drawings.

[0023] See also Figure 1-Figure 9 , a robot system for aligning a slender tool, comprising a base 1, a first swing arm 2, a second swing arm 3, a first linear drive mechanism 4, a second linear drive mechanism 5, a first clamping member 6, a second clamping member 7 and a ball joint 8; The first swing arm 2 and the second swing arm 3 are both swingably arranged relative to the base 1, and the first swing arm 2 and the second swing arm 3 are arranged at intervals, and the swing plane of the first swing arm 2 and the swing plane of the second swing arm 3 are parallel to each other; The first clamping member 6 is connected to the first swing arm 2 through a first linear drive mechanism 4, and the first linear drive mechanism 4 is used to drive the first clamping member 6 to move along the extension direction of the first swing arm 2; the second clamping member 7 is connected to the second swing arm 3 through a second linear drive mechanism 5, and the second linear drive mechanism 5 is used to drive the second clamping member 7 to move along the extension direction of the second swing arm 3; At least part of the surface of the ball joint 8 is spherical, and the ball joint 8 has a through hole 8.1 for a slender tool (not shown) to pass through; the first clamping member 6 clamps the ball joint 8, and the ball joint 8 can rotate relative to the first clamping member 6; the second clamping member 7 also clamps the ball joint 8, and the ball joint 8 can rotate relative to the second clamping member 7. The slender tool is a medical tool such as a needle or a tube. The ball joint 8 belongs to the prior art, and the ball joint disclosed in the Chinese invention patent application with publication number CN107334509A can be used. Its through hole 8.1 can not only clamp the slender tool, but also allow the slender tool to move relative to the ball joint 8 so that the slender tool can be inserted into the patient's body (wherein, the diameter of the through hole 8.1 is slightly smaller than the outer diameter of the slender tool. When the slender tool is inserted into the through hole 8.1, the slender tool and the ball joint 8 can maintain the relative position relationship unchanged by the friction between the two in the absence of external force. When the external force pushing the slender tool is greater than the friction between the two, the slender tool can move along the through hole 8.1 relative to the ball joint 8; the ball joint 8 can be made of a material with a certain elasticity).

[0024] In a preferred embodiment, the first linear drive mechanism 4 includes a drive motor 4.1, a screw nut mechanism 4.2, a gear mounting seat 4.3, a first gear 4.4, a second gear 4.5, a first rack 4.6, a second rack 4.7, a clamping member mounting seat 4.8, a first guide rail 4.9, and a second guide rail 4.10; The driving motor 4.1 and the first guide rail 4.9 are both fixed to the first swing arm 2, and the driving motor 4.1 drives the gear mounting seat 4.3 to move along the first guide rail 4.9 through the screw nut mechanism 4.2; the gear mounting seat 4.3 is rotatably provided with a connecting shaft 4.11, and the first gear 4.4 and the second gear 4.5 are both fixedly provided on the connecting shaft 4.11, and the first gear 4.4 and the second gear 4.5 are respectively located on both sides of the gear mounting seat 4.3; the first swing arm 2 is provided with a first rack 4.6 meshing with the first gear 4.4, and the clamping member mounting seat 4.8 is provided with a second rack 4.7 meshing with the second gear 4.5; the second guide rail 4.10 is fixedly provided on the first swing arm 2, and the second guide rail 4.10 and the first rack 4.6 are respectively located on both sides of the gear mounting seat 4.3, the clamping member mounting seat 4.8 is slidably provided on the first swing arm 2 through the second guide rail 4.10, and the first clamping member 6 is fixedly provided on the clamping member mounting seat 4.8. The second linear drive mechanism 5 adopts the same structure as the first linear drive mechanism 4. The use of such a linear drive mechanism has three main advantages: on the one hand, when the gear mounting seat 4.3 moves along the first guide rail 4.9, the first gear 4.4 rotates while meshing with the first rack 4.6 as the gear mounting seat 4.3 moves, and the first gear 4.4 drives the second gear 4.5 to rotate synchronously through the connecting shaft 4.11, and the second gear 4.5 meshes with the second rack 4.7, so the moving speed of the second rack 4.7 (clamping member mounting seat 4.8) relative to the first rack 4.6 (first swing arm 2) is twice the moving speed of the gear mounting seat 4.3 relative to the first rack 4.6 (first swing arm 2), making the structure of the linear drive mechanism relatively compact and the adjustment efficiency high. On the other hand, by setting two synchronously rotating first gears 4.4 and second gears 4.5, the first rack 4.6 and the second guide rail 4.10 are respectively located on both sides of the gear mounting seat 4.3 (first guide rail 4.9), so that the center of gravity of the entire linear drive mechanism tends to be closer to the center of the drive motor 4.1, making the layout of the linear drive mechanism more reasonable and compact, and reducing space occupancy. On the other hand, by setting the first gear 4.4 and the second gear 4.5, it is convenient to adjust the stroke of the second rack 4.7. When it is necessary to adjust the moving stroke of the second rack 4.7, there is no need to remove the gear or rack. It is only necessary to loosen the fixed connection between the second gear 4.5 and the connecting shaft 4.11, and the (initial) stroke of the second rack 4.7 can be adjusted by rotating the second gear 4.5 alone. After adjustment, the second gear 4.5 is fixed to the connecting shaft 4.11, which is conducive to realizing the rapid adjustment of the stroke of the second rack 4.7. Those skilled in the art are aware that other forms of linear drive mechanisms can also be used, such as screw nut mechanisms, belt mechanisms, linear motors, etc. The gear mounting seat 4.3 and the clamping member mounting seat 4.8 may have various structural forms, as long as they can facilitate the installation of related parts.

[0025] Further preferably, the first linear drive mechanism 4 also includes a nut fixing seat 4.12 and a ball joint mechanism 4.13, the nut 4.2.1 of the screw nut mechanism 4.2 is fixed to the nut fixing seat 4.12, and the nut fixing seat 4.12 and the gear mounting seat 4.3 are connected through the ball joint mechanism 4.13; the ball joint mechanism 4.13 includes: a bolt 4.13.1, an inner ball sleeve 4.13.2 and an outer ball sleeve 4.13.3, the bolt 4.13.1 passes through the nut fixing seat 4.12 and the gear mounting seat 4.3, the inner ball sleeve 4.13.2 is sleeved on the bolt 4.13.1, the outer ball sleeve 4.13.3 is sleeved on the inner ball sleeve 4.13.2 and fixed to the gear mounting seat 4.3, and the inner ball sleeve 4.13.2 and the outer ball sleeve 4.13.3 are spherically matched. By adopting such a ball joint mechanism 4.13, a certain relative movement can be performed between the nut fixing seat 4.12 and the nut fixing seat 4.12, which is conducive to simplifying the assembly of the nut fixing seat 4.12 and the nut fixing seat 4.12; when the drive motor 4.1 is installed on the first swing arm 2, even if the axial direction of the screw 4.2.2 of the screw nut mechanism 4.2 is not strictly consistent with the axial direction of the first guide rail 4.9, the ball joint mechanism 4.13 can also allow the gear mounting seat 4.3 to run smoothly on the first guide rail 4.9, avoiding jamming or damage to the screw nut mechanism 4.2, and further improving the reliability of the linear drive mechanism.

[0026] In a preferred embodiment, the first clamping member 6 comprises a first clamping jaw 6.1, a second clamping jaw 6.2, a first connecting rod 6.3, a second connecting rod 6.4, a third connecting rod 6.5, an actuating member 6.6, a compression spring 6.7 and a mounting frame 6.8; the first clamping jaw 6.1 and the second clamping jaw 6.2 are both hinged to the mounting frame 6.8, one end of the first clamping jaw 6.1 is hinged to one end of the first connecting rod 6.3, the other end of the first connecting rod 6.3 is hinged to one end of the third connecting rod 6.5, one end of the second clamping jaw 6.2 is hinged to one end of the second connecting rod 6.4, the other end of the second connecting rod 6.4 is hinged to the other end of the third connecting rod 6.5, The middle part of the third connecting rod 6.5 is fixedly connected to the actuating member 6.6, and a compression spring 6.7 is arranged between the actuating member 6.6 and the mounting bracket 6.8, and the two ends of the compression spring 6.7 are respectively in contact with the actuating member 6.6 and the mounting bracket 6.8, and the compression spring 6.7 is located on the side of the actuating member 6.6 away from the third connecting rod 6.5; the mounting bracket 6.8 has an L-shaped groove 6.8.3, which is also a step-shaped groove, and the wider end of the L-shaped groove 6.8.3 is farther away from the third connecting rod 6.5 than the narrower end, and the actuating member 6.6 has a protrusion 6.6.1, and the protrusion 6.6.1 extends into the L-shaped groove 6.8.3. The second clamping member 7 also adopts the same structure as the first clamping member 6. The use of this type of clamping member can achieve rapid clamping and release of the ball joint 8. When performing relevant surgical operations, the spatial position of the slender tool can be adjusted to the planned path using the first swing arm 2 and the second swing arm 3, and the slender tool can be inserted into the patient's body. At this time, if other medical equipment is needed, the robot system needs to be evacuated; the existing technology often has the problem of difficulty in quickly releasing the slender tool. The first clamping member 6 and the second clamping member 7 of the present application pull the actuating member 6.6 backward, and the actuating member 6.6 drives the third connecting rod 6.5 to move backward, and the third connecting rod 6.5 drives the first connecting rod 6.3 and the second connecting rod 6.4 to move, so that the first clamping jaw 6.1 and the second clamping jaw 6.2 produce an opening action, and the first clamping jaw 6.1 and the second clamping jaw 6.2 are opened to release the ball joint 8, and then the actuating member 6.6 is rotated at a certain angle to make the protrusion 6.6.1 abut against the step of the L-shaped groove 6.8.3 to keep the first clamping jaw 6.1 and the second clamping jaw 6.2 in the open state; therefore, only one operator is needed to simply and reliably open the first clamping member 6 and the second clamping member 7, and then evacuate the entire robot system from the operating table, which greatly simplifies the evacuation process compared with the prior art. When the ball joint 8 needs to be clamped, the actuator 6.6 is rotated to a certain angle, and when the protrusion 6.6.1 is separated from the step of the L-shaped groove 6.8.3, the actuator 6.6 moves forward under the push of the compression spring 6.7, and the third connecting rod 6.5 pushes the first connecting rod 6.3 and the second connecting rod 6.4 to move, so that the first clamping jaw 6.1 and the second clamping jaw 6.2 produce a clamping action. The first clamping jaw 6.1 and the second clamping jaw 6.2 both have a clamping spherical surface 6.9 corresponding to the ball joint 8.The actuating member 6.6 may be a connecting rod or a sleeve or other structures, whichever is convenient for the operator to operate.

[0027] Preferably, the mounting frame 6.8 includes an upper frame 6.8.1 and a lower frame 6.8.2, the upper frame 6.8.1 and the lower frame 6.8.2 are fixed together by fasteners (screws, etc.), and the first connecting rod 6.3, the second connecting rod 6.4, the third connecting rod 6.5, the actuator 6.6, and the compression spring 6.7 are all located between the upper frame 6.8.1 and the lower frame 6.8.2. The use of such a mounting frame 6.8 is conducive to simplifying the assembly of the entire clamping member. Preferably, the actuator 6.6 has a handle portion 6.6.2, and the handle portion 6.6.2 protrudes from the mounting frame 6.8. The handle portion 6.6.2 facilitates the operator to operate the actuator 6.6. In order to improve the first clamping member 6 for a more beautiful appearance, a shell 6.10 is also provided on the outside of the mounting frame 6.8.

[0028] The first clamping jaw 6.1 and the second clamping jaw 6.2 are symmetrically arranged about the axial direction of the compression spring 6.7, the first connecting rod 6.3 and the second connecting rod 6.4 are symmetrically arranged about the axial direction of the compression spring 6.7, and the third connecting rod 6.5 is also symmetrically arranged about the axial direction of the compression spring 6.7.

[0029] Among them, a limiter 9 for limiting the swing range of the first swing arm 2 and the second swing arm 3 is provided on the base 1, and the limiter 9 is used to limit the swing limit position. Preferably, two position sensors 10 are also provided on the base 1, and the two position sensors 10 are used to detect the swing positions of the first swing arm 2 and the second swing arm 3 respectively. The position sensors 10 belong to the prior art and are not described here. Preferably, the first swing arm 2 and the second swing arm 3 are fixedly connected with a driving gear (not shown), and the driving mechanism inside the base 1 drives the driving gear to rotate to drive the first swing arm 2 and the second swing arm 3 to swing. Of course, those skilled in the art are aware that other methods can also be used to achieve the swing of the first swing arm 2 and the second swing arm 3.

[0030] The working principle of the robot system is as follows: first, the slender tool is passed through the two ball joints 8, and the two ball joints 8 are clamped respectively by the first clamping member 6 and the second clamping member 7, and the insertion path of the slender tool (including parameters such as spatial position and orientation) is formulated according to the external imaging technology and control system, and then the swing position of the first swing arm 2 and the second swing arm 3 is adjusted, and the position of the first clamping member 6 and the second clamping member 7 is adjusted by the first linear drive mechanism 4 and the second linear drive mechanism 5, so that the slender tool is aligned with the set insertion path; finally, while keeping the first clamping member 6 and the second clamping member 7 stationary, the slender tool is inserted into the patient's body under the action of other external forces.

[0031] The swing of the first swing arm 2 and the second swing arm 3 of the present invention can greatly and efficiently adjust the positions of the first clamp 6 and the second clamp 7, thereby significantly improving the adjustment efficiency compared with the prior art; at the same time, the first swing arm 2 and the second swing arm 3 both swing relative to the base 1, so the drive mechanisms (motors) of the first swing arm 2 and the second swing arm 3 can be integrated at the base 1, and the drive mechanisms (motors) of the first linear drive mechanism 4 and the second linear drive mechanism 5 can also be arranged at positions close to the base 1, that is, all drive mechanisms can be integrated in the base 1 and its vicinity, thereby improving the integration, facilitating wiring, and reducing the volume of the entire robot system. Therefore, the above technical solution simultaneously achieves the technical purpose of improving the adjustment efficiency and reducing the occupied space.

[0032] The embodiments of the present invention are described above in conjunction with the accompanying drawings. In the absence of conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other. The present invention is not limited to the above-mentioned specific implementations, which are merely illustrative and not restrictive. Under the enlightenment of the present invention, those skilled in the art can also make many forms without departing from the scope of protection of the present invention and the claims, all of which belong to the protection scope of the present invention.

Claims

1. A robotic system for aligning an elongated tool, characterized in that: It comprises a base (1), a first swing arm (2), a second swing arm (3), a first linear drive mechanism (4), a second linear drive mechanism (5), a first clamping member (6), a second clamping member (7) and a ball joint (8); The first swing arm (2) and the second swing arm (3) are both swingably arranged relative to the base (1), and the first swing arm (2) and the second swing arm (3) are arranged at an interval, and the swing plane of the first swing arm (2) and the swing plane of the second swing arm (3) are parallel to each other; The first clamping member (6) is connected to the first swing arm (2) via the first linear drive mechanism (4), and the first linear drive mechanism (4) is used to drive the first clamping member (6) to move along the extension direction of the first swing arm (2); the second clamping member (7) is connected to the second swing arm (3) via the second linear drive mechanism (5), and the second linear drive mechanism (5) is used to drive the second clamping member (7) to move along the extension direction of the second swing arm (3); At least part of the surface of the ball joint (8) is a spherical surface, and the ball joint (8) has a through hole for the elongated tool to pass through; the first clamping member (6) clamps the ball joint (8), and the ball joint (8) can rotate relative to the first clamping member (6); the second clamping member (7) also clamps the ball joint (8), and the ball joint (8) can rotate relative to the second clamping member (7).

2. A robotic system for aligning an elongated tool according to claim 1, characterized in that: The first linear drive mechanism (4) comprises a drive motor (4.1), a screw nut mechanism (4.2), a gear mounting seat (4.3), a first gear (4.4), a second gear (4.5), a first rack (4.6), a second rack (4.7), a clamping member mounting seat (4.8), a first guide rail (4.9), and a second guide rail (4.10); The drive motor (4.1) and the first guide rail (4.9) are both fixed to the first swing arm (2); the drive motor (4.1) drives the gear mounting seat (4.3) to move along the first guide rail (4.9) through the screw nut mechanism (4.2); the gear mounting seat (4.3) is rotatably provided with a connecting shaft (4.11); the first gear (4.4) and the second gear (4.5) are both fixedly provided on the connecting shaft (4.11), and the first gear (4.4) and the second gear (4.5) are respectively located on both sides of the gear mounting seat (4.3); The first rack (4.6) is provided to mesh with the first gear (4.4), and the second rack (4.7) is provided on the clamping member mounting seat (4.8) to mesh with the second gear (4.5); the second guide rail (4.10) is fixedly arranged on the first swing arm (2), the second guide rail (4.10) and the first rack (4.6) are respectively located on both sides of the gear mounting seat (4.3), the clamping member mounting seat (4.8) is slidably arranged on the first swing arm (2) through the second guide rail (4.10), and the first clamping member (6) is fixedly arranged on the clamping member mounting seat (4.8); The second linear drive mechanism (5) adopts a structure completely identical to that of the first linear drive mechanism (4).

3. A robotic system for aligning an elongated tool according to claim 2, characterized in that: It also includes a nut fixing seat (4.12) and a ball joint mechanism (4.13); the nut (4.2.1) of the screw nut mechanism (4.2) is fixed to the nut fixing seat (4.12); the nut fixing seat (4.12) and the gear mounting seat (4.3) are connected via the ball joint mechanism (4.13); the ball joint mechanism (4.13) includes: a bolt (4.13.1), an inner ball sleeve (4.13.2) and an outer ball sleeve (4.13.3). 13.3), the bolt (4.13.1) passes through the nut fixing seat (4.12) and the gear mounting seat (4.3), the inner ball sleeve (4.13.2) is sleeved on the bolt (4.13.1), the outer ball sleeve (4.13.3) is sleeved on the inner ball sleeve (4.13.2) and fixed to the gear mounting seat (4.3), and the inner ball sleeve (4.13.2) and the outer ball sleeve (4.13.3) are spherically matched.

4. A robotic system for aligning an elongated tool according to claim 1, characterized in that: The first clamping member (6) comprises a first clamping jaw (6.1), a second clamping jaw (6.2), a first connecting rod (6.3), a second connecting rod (6.4), a third connecting rod (6.5), an actuating member (6.6), a compression spring (6.7) and a mounting frame (6.8); the first clamping jaw (6.1) and the second clamping jaw (6.2) are both hinged to the mounting frame (6.8), one end of the first clamping jaw (6.1) is hinged to one end of the first connecting rod (6.3), the other end of the first connecting rod (6.3) is hinged to one end of the third connecting rod (6.5), one end of the second clamping jaw (6.2) is hinged to one end of the second connecting rod (6.4), the other end of the second connecting rod (6.4) is hinged to one end of the third connecting rod (6.5), The first end of the mounting frame (6.8) is hinged to the other end of the third connecting rod (6.5); the middle part of the third connecting rod (6.5) is fixedly connected to the actuating member (6.6); the compression spring (6.7) is arranged between the actuating member (6.6) and the mounting frame (6.8); the compression spring (6.7) is located on the side of the actuating member (6.6) away from the third connecting rod (6.5); the mounting frame (6.8) has an L-shaped groove (6.8.3); the wider end of the L-shaped groove (6.8.3) is farther away from the third connecting rod (6.5) than the narrower end; the actuating member (6.6) has a protrusion (6.6.1); the protrusion (6.6.1) extends into the L-shaped groove (6.8.3); The second clamping member (7) has a structure completely identical to that of the first clamping member (6).

5. A robotic system for aligning an elongated tool according to claim 4, characterized in that: The first clamping jaw (6.1) and the second clamping jaw (6.2) both have a clamping spherical surface (6.9) corresponding to the ball joint (8).

6. A robotic system for aligning an elongated tool according to claim 4, characterized in that: The mounting frame (6.8) comprises an upper frame (6.8.1) and a lower frame (6.8.2), wherein the upper frame (6.8.1) and the lower frame (6.8.2) are fixed together by fasteners, and the first connecting rod (6.3), the second connecting rod (6.4), the third connecting rod (6.5), the actuator (6.6), and the compression spring (6.7) are all located on the upper frame ( 6.8.1) and the lower frame (6.8.2).

7. A robotic system for aligning an elongated tool according to claim 4, characterized in that: The actuating member (6.6) has a handle portion (6.6.2), and the handle portion (6.6.2) protrudes from the mounting frame (6.8).

8. A robotic system for aligning an elongated tool according to claim 1, characterized in that: The base (1) is provided with a limiting member (9) for limiting the swing range of the first swing arm (2) and the second swing arm (3).

9. A robotic system for aligning an elongated tool according to claim 1, characterized in that: Two position sensors (10) are also arranged on the base (1), and the two position sensors (10) are used to detect the swinging positions of the first swing arm (2) and the second swing arm (3), respectively.

10. A robotic system for aligning an elongated tool according to claim 1, characterized in that: The first swing arm (2) and the second swing arm (3) are both fixedly connected to a driving gear.

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