A robotic system for aligning slender tools

Abstract

The present invention discloses a robotic system for aligning slender tools. A first swing arm and a second swing arm are both swingably arranged relative to a base, with the swing planes of the first swing arm and the second swing arm being parallel to each other. A first clamp is connected to the first swing arm via a first linear drive mechanism, which is used to drive the first clamp to move along the extension direction of the first swing arm. A second clamp is connected to the second swing arm via a second linear drive mechanism, which is used to drive the second clamp to move along the extension direction of the second swing arm. At least a portion of the surface of the ball joint is spherical, and the ball joint has a through hole for the slender tool to pass through. The first clamp and the second clamp clamp the ball joint. The robotic system of the present invention has a more compact structure, allowing operators to flexibly operate in more confined environments, thereby improving the maneuverability and ease of use of the equipment.

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 requiring needle insertion include vaccinations, blood / fluid sampling, regional anesthesia, tissue biopsy, catheterization, cryoablation, electrolytic ablation, brachytherapy, neurosurgery, deep brain stimulation, and various minimally invasive surgeries (MIS).

[0003] Several methods are currently used to insert a needle into a patient during these surgical procedures. One method involves the surgeon manually placing one end of the needle on the patient's skin and repeatedly tilting the other end based on real-time imaging data to establish alignment between the needle and the target. However, this method is susceptible to human error and can expose patients and surgical staff to excessive X-ray radiation, posing a potential health hazard. Another approach involves automating the surgical procedure, using medical instrument systems such as robotic arms (robots) to simulate manual surgical procedures.

[0004] Chinese invention patent application publication number CN107334509A discloses a system and method for aligning an elongated tool with an occluded target. The alignment system controls an adjustment mechanism based on positional data of the target and the percutaneous insertion point to adjust the angular orientation of the elongated tool relative to the percutaneous insertion point, thereby aligning the longitudinal axis of the elongated tool with the target and the percutaneous insertion point. This method reduces surgical complexity, improves surgical efficiency, and reduces the risk of long-term exposure to radiation (such as X-rays) for both patients and surgical personnel. The alignment system used in this method includes an adjustment mechanism, which includes a ring-shaped base, multiple arms (a first arm, a second arm, and a third arm), and a ring-shaped lifting platform. The lifting platform is connected to the base through three arms, and the three arms are correspondingly provided with three motors. The lifting platform is provided with a support structure, and 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 tilt angle of the three arms by controlling the three motors to adjust the height and tilt angle of the lifting platform, thereby adjusting the elongated tool to a suitable height and tilt angle to align the insertion path.

[0005] However, the above solution 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 at 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] Other types of alignment systems exist in the prior art, such as those that utilize linear drive mechanisms to achieve linear motion in two directions within a plane to adjust the position and angle of a slender tool. However, these alignment systems still require a lot of space. Summary of the Invention

[0007] To solve the above technical problems, the present invention provides a robot system for aligning slender tools, thereby improving the alignment efficiency of the robot system, reducing costs, and reducing 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 clamping member, a second clamping member, and a ball joint;

[0009] 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;

[0010] The first clamping member is connected to the first swing arm via 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 via 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;

[0011] At least a portion of the surface of the ball joint is spherical, 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.

[0012] With the above technical solution, the swinging of the first and second swing arms can significantly and efficiently adjust the positions of the first and second clamping members, thereby significantly improving adjustment efficiency compared to existing technologies. Furthermore, since both the first and second swing arms swing relative to the base, the drive mechanisms (motors) for the first and second swing arms can be integrated at the base, and the drive mechanisms (motors) for the first and second linear drive mechanisms can also be arranged near the base. In other words, all drive mechanisms can be integrated at and near the base, thereby improving integration, facilitating wiring, and reducing the size of the entire robot system. Therefore, the above technical solution simultaneously achieves the technical objectives of improving adjustment efficiency and reducing occupied space.

[0013] Furthermore, 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;

[0014] The drive motor and the first guide rail are both fixed to the first swing arm. The drive motor drives the gear mounting seat to move along the first guide rail via the screw-nut mechanism. The gear mounting seat is rotatably provided with a connecting shaft. 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 either side 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 to the first swing arm, and the second guide rail and the first rack are respectively located on either side of the gear mounting seat. The clamping member mounting seat is slidably provided on the first swing arm via 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 identical to that of 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 rotates while meshing with the first rack as the gear mounting seat moves. 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 movement speed of the second rack (clamp mounting seat) relative to the first rack (first swing arm) is twice the movement 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 providing 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 more 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. It is only necessary to loosen the fixed connection between the second gear and the connecting shaft, and rotate the second gear alone to adjust the (initial) stroke of the second rack. After adjustment, the second gear and the connecting shaft are fixed, which is conducive to the rapid adjustment of the stroke of the second rack.

[0015] Furthermore, it also includes a nut fixing seat and a ball hinge 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 hinge mechanism; the ball hinge 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 hinge 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 hinge mechanism can allow the gear mounting seat to run smoothly on the first guide rail, avoiding jamming or damage to the screw nut mechanism.

[0016] 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 bracket; the first clamping jaw and the second clamping jaw are both hinged to the mounting bracket, 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 portion of the third connecting rod is fixedly connected to the actuator, the compression spring is disposed between the actuator and the mounting bracket, and the compression spring is located on the side of the actuator facing away from the third connecting rod; the mounting bracket has an L-shaped slot, the wider end of the L-shaped slot is further away from the third connecting rod than the narrower end, and the actuator has a protrusion that extends into the L-shaped slot. The second clamping member also adopts the same structure as the first clamping member. The use of this type of clamping member can achieve rapid 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 so that the protrusion abuts the step of the L-shaped groove to keep the first jaw and the second jaw in the 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 existing technology. In particular, the first clamping member and the second clamping member both have a clamping spherical surface corresponding to the ball joint.

[0017] Preferably, the mounting frame comprises an upper frame and a lower frame, the upper and lower frames being secured together by fasteners. The first connecting rod, the second connecting rod, the third connecting rod, the actuator, and the compression spring are all located between the upper and lower frames. Using such a mounting frame simplifies assembly of the entire clamp. Preferably, the actuator has a handle that protrudes from the mounting frame. The handle facilitates operation by an operator.

[0018] Furthermore, the base is provided with a limiter for limiting the swing range of the first and second swing arms. Preferably, the base is also provided with two position sensors, each for detecting the swing position of the first and second swing arms. Preferably, the first and second swing arms are both fixedly connected to a drive gear.

[0019] Compared with the prior art, the present invention has the following beneficial effects.

[0020] 1. The driving mechanism for the first swing arm and the second swing arm is embedded in the base, making the appearance and structure of the device more compact. The driving mechanisms of the first linear drive mechanism and the second linear drive mechanism can also be arranged close to the base, allowing operators to operate flexibly in a narrower environment, thereby improving the maneuverability and ease of use of the device.

[0021] 2. Through the combination of rotation and telescopic motion of the first swing arm and the second swing arm, the ball joint clamped in the first clamping member and the second clamping member can be adjusted in multiple degrees of freedom, allowing the slender tool to be flexibly positioned in three-dimensional space, which can better adapt to different surgical scenarios, especially when facing complex anatomical structures or deep target locations, reducing interference with surrounding tissues during the surgical process, and at the same time expanding the adjustment range of the slender tool so that it can adapt to different patients and different lesions.

[0022] 3. The linear drive mechanism is used to achieve double stroke, 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 conducive to improving the user's operating experience and convenience.

[0023] 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

[0024] Figure 1 is a schematic perspective view of a robot system of the present invention;

[0025] Figure 2 is a rear view of the robot system of the present invention;

[0026] Figure 3is a front view of the robot system of the present invention;

[0027] Figure 4 is a three-dimensional schematic diagram of a first linear drive mechanism;

[0028] Figure 5 is an exploded schematic diagram of the first linear drive mechanism;

[0029] Figure 6 is a three-dimensional schematic diagram of the first clamping member (in a clamping state);

[0030] Figure 7 is a three-dimensional schematic diagram of the first clamping member (in an open state);

[0031] Figure 8 is a schematic diagram of the connection of components of the first clamping member;

[0032] Figure 9 Schematic diagram of the first clamping member.

[0033] 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 sphere 6.9, housing 6.10, second clamping member 7, ball joint 8, through hole 8.1, limit member 9, position sensor 10. DETAILED DESCRIPTION

[0034] The present invention is further described in detail below with reference to the accompanying drawings.

[0035] See also Figures 1-9 , a robot system for aligning slender tools, 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;

[0036] 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 spaced apart, 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;

[0037] The first clamping member 6 is connected to the first swing arm 2 via a first linear drive mechanism 4, which 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 a second linear drive mechanism 5, which is used to drive the second clamping member 7 to move along the extension direction of the second swing arm 3;

[0038] At least part of the surface of the ball joint 8 is spherical and has a through hole 8.1 for a slender tool (not shown) to pass through. The first clamping member 6 holds the ball joint 8 and is rotatable relative to the first clamping member 6. The second clamping member 7 also holds the ball joint 8 and is rotatable 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 is prior art and may employ the ball joint disclosed in Chinese invention patent application publication number CN107334509A. Its through hole 8.1 can both hold the elongated tool and allow the elongated tool to move relative to the ball joint 8, thereby (under the action of an external force) inserting the elongated tool into the patient's body. (The diameter of through hole 8.1 is slightly smaller than the outer diameter of the elongated tool. When the elongated tool is inserted into through hole 8.1, the friction between the elongated tool and the ball joint 8 maintains a constant relative position in the absence of an external force. When the external force pushing the elongated tool exceeds the friction between the two, the elongated tool can move along through hole 8.1 relative to the ball joint 8. The ball joint 8 may be made of a material having a certain degree of elasticity.)

[0039] 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 base 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 base 4.8, a first guide rail 4.9, and a second guide rail 4.10;

[0040] 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; a first rack 4.6 meshing with the first gear 4.4 is provided on the first swing arm 2, and a second rack 4.7 meshing with the second gear 4.5 is provided on the clamping member mounting seat 4.8; 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 employs a structure identical to that of the first linear drive mechanism 4. This linear drive mechanism offers three key advantages: First, as the gear mounting base 4.3 moves along the first guide rail 4.9, the first gear 4.4 rotates in engagement with the first rack 4.6 as the gear mounting base 4.3 moves. The first gear 4.4 drives the second gear 4.5 to rotate synchronously via the connecting shaft 4.11, and the second gear 4.5 meshes with the second rack 4.7. Consequently, the speed at which the second rack 4.7 (clamp mounting base 4.8) moves relative to the first rack 4.6 (first swing arm 2) is twice the speed at which the gear mounting base 4.3 moves relative to the first rack 4.6 (first swing arm 2). This results in a more compact linear drive mechanism and improved adjustment efficiency. On the other hand, by providing two synchronously rotating first and second gears 4.4 and 4.5, the first rack 4.6 and the second guide rail 4.10 are located on either side of the gear mounting base 4.3 (first guide rail 4.9), respectively. This allows the center of gravity of the entire linear drive mechanism 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 usage. On the other hand, by providing the first and second gears 4.4 and 4.5, it is easy to adjust the stroke of the second rack 4.7. When the travel of the second rack 4.7 needs to be adjusted, there is no need to remove the gears or racks. Instead, the fixed connection between the second gear 4.5 and the connecting shaft 4.11 need only be loosened, 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 can be fixed to the connecting shaft 4.11, which facilitates rapid adjustment of the stroke of the second rack 4.7. Those skilled in the art will appreciate that other forms of linear drive mechanisms may also be used, such as a screw-nut mechanism, a belt mechanism, a linear motor, etc. The gear mounting seat 4.3 and the clamping member mounting seat 4.8 can have various structural forms, as long as they can facilitate the installation of related parts.

[0041] 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 is 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, the nut fixing seat 4.12 and the nut fixing seat 4.12 can perform a certain relative movement, 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 in 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 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.

[0042] In a preferred embodiment, the first clamping member 6 includes 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 actuator 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, and 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 portion of the third connecting rod 6.5 is fixedly connected to the actuator 6.6. A compression spring 6.7 is interposed between the actuator 6.6 and the mounting bracket 6.8. Its ends abut the actuator 6.6 and the mounting bracket 6.8, respectively. The compression spring 6.7 is located on the side of the actuator 6.6 facing away from the third connecting rod 6.5. The mounting bracket 6.8 has an L-shaped slot 6.8.3, which is a stepped slot. The wider end of the L-shaped slot 6.8.3 is further away from the third connecting rod 6.5 than the narrower end. The actuator 6.6 has a protrusion 6.6.1 that extends into the L-shaped slot 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 actuator 6.6 backward, and the actuator 6.6 drives the third connecting rod 6.5 to move backward. The third connecting rod 6.5 drives the first connecting rod 6.3 and the second connecting rod 6.4 to move, thereby causing the first clamping jaw 6.1 and the second clamping jaw 6.2 to open. The first clamping jaw 6.1 and the second clamping jaw 6.2 are opened to release the ball joint 8, and then the actuator 6.6 is rotated to a certain angle so that the protrusion 6.6.1 abuts 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 to the existing technology. When the ball joint 8 needs to be clamped, the actuator 6.6 is rotated a certain angle. When the protrusion 6.6.1 disengages 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. The third connecting rod 6.5 pushes the first connecting rod 6.3 and the second connecting rod 6.4 to move, causing the first clamping jaw 6.1 and the second clamping jaw 6.2 to clamp. The first clamping jaw 6.1 and the second clamping jaw 6.2 each 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.

[0043] Preferably, the mounting frame 6.8 comprises an upper frame 6.8.1 and a lower frame 6.8.2, which are secured together by fasteners (screws, etc.). 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 and lower frames 6.8.1 and 6.8.2. Using this mounting frame 6.8 simplifies assembly of the entire clamping member. Preferably, the actuator 6.6 has a handle 6.6.2 that protrudes from the mounting frame 6.8. This handle 6.6.2 facilitates operation of the actuator 6.6 by the operator. To enhance the aesthetics of the first clamping member 6, the mounting frame 6.8 is further provided with a housing 6.10.

[0044] The first clamping jaw 6.1 and the second clamping jaw 6.2 are axially symmetrically arranged with respect to the compression spring 6.7, the first connecting rod 6.3 and the second connecting rod 6.4 are axially symmetrically arranged with respect to the compression spring 6.7, and the third connecting rod 6.5 is also axially symmetrically arranged with respect to the compression spring 6.7.

[0045] Among them, the base 1 is provided with a limiter 9 for limiting the swing range of the first swing arm 2 and the second swing arm 3, and the limiter 9 is used to limit the swing limit position. Preferably, the base 1 is also provided with two position sensors 10, 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 to a drive gear (not shown), and the driving mechanism inside the base 1 drives the drive 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 know that other methods can also be used to achieve the swing of the first swing arm 2 and the second swing arm 3.

[0046] The working principle of the robotic 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. 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. Then, by adjusting the swing position of the first swing arm 2 and the second swing arm 3, and adjusting the position of the first clamping member 6 and the second clamping member 7 through the first linear drive mechanism 4 and the second linear drive mechanism 5, 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.

[0047] The swinging of the first swing arm 2 and the second swing arm 3 of the present invention can significantly and efficiently adjust the positions of the first clamping member 6 and the second clamping member 7, thereby significantly improving the adjustment efficiency compared to 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 a position close to the base 1. In other words, all drive mechanisms can be integrated at the base 1 and its vicinity, thereby improving the integration level, facilitating wiring, and reducing the size of the entire robot system. Therefore, the above technical solution simultaneously achieves the technical objectives of improving adjustment efficiency and reducing occupied space.

[0048] The embodiments of the present invention are described above in conjunction with the accompanying drawings. The embodiments of the present invention and the features thereof may be combined with each other unless there is any conflict. The present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Under the guidance of the present invention, those skilled in the art may devise various forms without departing from the spirit of the present invention and the scope of protection of the claims. All of these forms fall within the scope of protection of the present invention.

Claims

1. A robotic system for aligning elongated tools, 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 spaced apart, 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 swing arm (2) and the second swing arm (3) are both fixedly connected to a driving gear, and a driving mechanism inside the base (1) drives the driving gear to rotate and drive the first swing arm (2) and the second swing arm (3); 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 spherical, 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 elongated tools 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 driving motor (4.1) and the first guide rail (4.9) are both fixed to the first swing arm (2); the driving motor (4.1) drives the gear mounting seat (4.3) to move along the first guide rail (4.9) via 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 provided 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 provided on the first swing arm (2) via 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 a structure completely identical to that of the first linear drive mechanism (4).

3. A robotic system for aligning elongated tools according to claim 2, characterized in that: It also includes a nut fixing seat (4.12) and a ball hinge mechanism (4.13), wherein 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 via the ball hinge mechanism (4.13); the ball hinge 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 elongated tools 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), and 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 third connecting rod (6.5) 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 provided 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) facing 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 further away from the third connecting rod (6.5) than the narrower end, 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) has a structure identical to that of the first clamping member (6).

5. A robotic system for aligning elongated tools 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 elongated tools 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 elongated tools 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 elongated tools 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 elongated tools according to claim 1, characterized in that: 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.

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