Biopsy puncture device based on visual monitoring of three-dimensional state of puncture needle

Abstract

The invention discloses a biopsy puncture device based on visual monitoring of the three-dimensional state of a puncture needle. The biopsy puncture device comprises a mechanical arm assembly structure; the guide displacement structure is fixedly connected and assembled to the mechanical arm assembly structure, and the guide displacement structure is provided with a displacement kinetic energy output end part; the foundation part is fixedly connected to the displacement kinetic energy output end part of the guide displacement structure; the transmission supporting structure comprises an elastic telescopic supporting rod, and one elastic supporting end part of the elastic telescopic supporting rod is in corresponding transmission connection with the monitoring end part of the stress monitoring structure; and the transmission sleeve seat structure is fixedly connected to the biopsy puncture structure, and the peripheral side part of the transmission sleeve seat structure and the other elastic supporting end part of the transmission supporting structure are respectively kept to be connected in an abutting manner. The problems that in the prior art, the puncture surgery process only depends on a two-dimensional picture, the visualization degree is not high, no effective operation buffering means exist, operation accuracy is not high, and the risk of damaging tissue exists are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of biopsy puncture devices, and in particular to a biopsy puncture device based on three-dimensional state visualization monitoring of a puncture needle. Background Art

[0002] At present, biopsy needles are mainly used for biopsy sampling of organ tissues, cell aspiration, etc. They are widely used in various pathological tests and can effectively improve the accuracy of diagnosis.

[0003] In the prior art, since the puncture needle can easily damage the tissue structure along the puncture path, the puncture operation has extremely high requirements on the doctor's operating accuracy. Therefore, it is usually equipped with electromagnetic or ultrasonic assisted guidance operation. However, the current assisted guidance image is generally a two-dimensional picture corresponding to a working surface, which makes it difficult to perform three-dimensional visualization of the puncture needle track, resulting in a high risk of tissue damage during the puncture process.

[0004] At the same time, when the puncture operation is performed for a long time and causes fatigue, it will further aggravate the impact on the operation accuracy, especially when excessive force is applied, which can easily aggravate tissue damage. In addition, the current puncture needle has no effective buffering means and is relatively simple in functionality, which further increases the risk of tissue damage during the puncture process. Summary of the invention

[0005] To this end, the present invention provides a biopsy puncture device based on three-dimensional state visualization monitoring of the puncture needle, so as to solve the problem that the existing technology only relies on two-dimensional images for the puncture operation process, the visualization degree is not high, and there is no effective operation buffer means, resulting in low operation accuracy and the risk of tissue damage.

[0006] In order to achieve the above object, the present invention provides the following technical solutions: A biopsy puncture device based on three-dimensional state visualization monitoring of a puncture needle, comprising: The mechanical arm assembly structure has an adjustable kinetic energy output end; A guide displacement structure, fixedly mounted on the adjustable kinetic energy output end of the mechanical arm assembly structure, and the guide displacement structure has four groups of displacement kinetic energy output ends correspondingly arranged in a rectangular shape; The force monitoring structure is provided with four groups, and the base parts of the four groups of the force monitoring structures are respectively fixedly assembled and arranged on the four groups of displacement kinetic energy output ends of the guide displacement structure in a one-to-one correspondence; The transmission support structure includes four groups of elastic telescopic struts, all of which are bidirectional elastic support arrangements, and one elastic support end of each of the four groups of elastic telescopic struts is connected to the monitoring end of each of the four groups of force monitoring structures in a one-to-one corresponding transmission arrangement; The transmission sleeve structure is fixedly connected to the biopsy puncture structure, and the outer side of the transmission sleeve structure is respectively abutted and connected with the other elastic supporting end portions of the four groups of elastic telescopic support rods.

[0007] On the basis of the above technical solution, the present invention is further described as follows: As a further embodiment of the present invention, The mechanical arm assembly structure includes a mechanical arm body; The mechanical arm body has an adjustable kinetic energy output end, and the adjustable kinetic energy output end transmission assembly of the mechanical arm body is provided with a directional cover seat; The base portion of the guide displacement structure is fixedly arranged correspondingly on the inner side portion of the directional cover seat.

[0008] As a further embodiment of the present invention, The guide displacement structure comprises a ball guide rail seat and an adaptive displacement slider; The ball guide rail seats and the adaptive shifting sliders are each provided with four groups, and the four groups of ball guide rail seats are rectangular and fixedly provided on the inner side of the directional cover seat; The four groups of adaptive displacement sliding blocks as the four groups of displacement kinetic energy output end portions of the guide displacement structure are respectively and one by one slidably assembled on the inner side portions of the four groups of ball guide rail seats.

[0009] As a further embodiment of the present invention, The force monitoring structure is configured as a pressure sensor; The pressure sensors are arranged in four groups, and the base parts of the four groups of pressure sensors are respectively and one by one transmission-fixedly connected to the four groups of adaptive shifting slide blocks.

[0010] As a further embodiment of the present invention, The biopsy puncture structure comprises a telescopic driving part and a puncture needle body part telescopically mounted on the telescopic driving part; The transmission sleeve structure includes a locking ring sleeve; The locking ring sleeve seat is detachably fixedly sleeved on the outer side of the telescopic driving part.

[0011] As a further embodiment of the present invention, One elastic supporting end of the four groups of elastic telescopic struts is connected to the monitoring ends of the four groups of pressure sensors in a one-to-one corresponding transmission assembly, and the other elastic supporting end of the four groups of elastic telescopic struts is connected to the outer side of the locking ring sleeve in abutment.

[0012] As a further embodiment of the present invention, The transmission sleeve structure also includes a transmission contact ball seat; The transmission contact pressure ball seats are provided in four groups, and the four groups of transmission contact pressure ball seats are all fixedly connected to the outer side of the locking ring sleeve, and the four groups of transmission contact pressure ball seats are arranged in a cross-shaped manner; The four groups of transmission contact ball seats and the other elastic supporting end portions of the four groups of elastic telescopic support rods are respectively arranged in a one-to-one correspondence and maintained in abutment connection.

[0013] As a further embodiment of the present invention, The transmission support structure also includes an elastic contact pressure slot seat; The elastic touch-pressure slot seats are provided with four groups, and the four groups of the elastic touch-pressure slot seats are respectively and one by one correspondingly connected to the four groups of elastic telescopic support rods at one end away from the pressure sensor for transmission and fixed connection, and the four groups of the elastic touch-pressure slot seats are respectively and one by one correspondingly connected to the four groups of transmission touch-pressure ball seats for abutment.

[0014] As a further embodiment of the present invention, The four groups of elastic touch-pressure groove seats are all opened at one end away from the elastic telescopic support rod, and the four groups of elastic touch-pressure groove seats are extended along the vertical direction of the sliding direction of the adaptive displacement slider to form adaptive sliding grooves corresponding to the openings; The longitudinal cross-section shape of the adaptive chute corresponding to its extension direction is all hemispherical; The four groups of elastic contact and pressure groove seats are respectively connected with the four groups of transmission contact and pressure ball seats in a one-to-one correspondence through the adaptive sliding grooves and are arranged to be laterally limited.

[0015] As a further solution of the present invention, it also includes: The guide and limit structure comprises a first arc-shaped guide rail and a second arc-shaped guide rail; The base of the first arc-shaped guide rail is fixedly mounted on the inner side of one end of the directional cover seat close to the main body of the mechanical arm, and the base of the second arc-shaped guide rail is vertically slidably mounted on the arc-shaped end of the first arc-shaped guide rail; One end of the directional cover seat away from the mechanical arm body is opened, and one end of the telescopic driving part away from the puncture needle body is slidably assembled on the arc track end of the second arc guide rail.

[0016] The present invention has the following beneficial effects: The device can effectively serve as an adjustable directional support basis through the mechanical arm component structure, and can also use the guide limiting structure to effectively limit the base of the biopsy puncture structure based on the mechanical arm component structure, thereby ensuring the stability of the puncture point of the biopsy puncture structure corresponding to the tissue puncture surface. In addition, the three-dimensional direction adjustment and orientation monitoring of the biopsy puncture structure can be further realized with the help of the guide displacement structure, the force monitoring structure, the transmission support structure and the transmission sleeve structure. On the basis of ensuring the smooth direction adjustment function, the transmission support structure is used to play an excessive direction adjustment buffer function for the biopsy puncture structure within a specific threshold range, which significantly enhances the precision and stability of the puncture operation and improves the overall functional practicality. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the implementation mode of the present invention or the technical solution in the prior art, the drawings required for the implementation mode or the description of the prior art will be briefly introduced below. The structures, proportions, sizes, etc. illustrated in this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read. Any structural modification, change in proportional relationship or adjustment of size should still fall within the scope of the technical contents disclosed in the present invention without affecting the effects and purposes that can be achieved by the present invention.

[0018] Figure 1 A schematic diagram of the overall axonometric structure of a biopsy puncture device based on visual monitoring of the puncture needle's three-dimensional state provided in an embodiment of the present invention.

[0019] Figure 2 A schematic diagram of the partial assembly structure of a biopsy puncture device based on visual monitoring of the puncture needle's three-dimensional state provided in an embodiment of the present invention.

[0020] Figure 3 The biopsy puncture device based on the three-dimensional state visualization monitoring of the puncture needle provided in the embodiment of the present invention is Figure 2 A schematic diagram of the enlarged local structure at point A in the middle.

[0021] Figure 4 A schematic diagram of the top view of the biopsy puncture structure in the biopsy puncture device based on the visual monitoring of the puncture needle's three-dimensional state provided by an embodiment of the present invention when it is in a normal state.

[0022] Figure 5 A schematic diagram of the top view of the structure of the biopsy puncture structure in the biopsy puncture device based on the three-dimensional state visual monitoring of the puncture needle provided in an embodiment of the present invention when it is in an inclined state.

[0023] Figure 6 One of the side structural schematic diagrams when the biopsy puncture structure in the biopsy puncture device based on the three-dimensional state visual monitoring of the puncture needle provided by the embodiment of the present invention is in an inclined state.

[0024] Figure 7 The second schematic diagram of the side view structure when the biopsy puncture structure in the biopsy puncture device based on the three-dimensional state visual monitoring of the puncture needle provided in the embodiment of the present invention is in an inclined state.

[0025] In the accompanying drawings, the components represented by the reference numerals are listed as follows: Mechanical arm assembly structure 1: mechanical arm body 11, directional cover seat 12; Guide and limit structure 2: a first arc guide rail 21 and a second arc guide rail 22; Guide displacement structure 3: ball guide rail seat 31, adaptive displacement slider 32; Force monitoring structure 4; Transmission support structure 5: elastic telescopic support rod 51, elastic contact and pressure groove seat 52; Transmission sleeve seat structure 6: locking ring sleeve seat 61, transmission contact ball seat 62; Biopsy puncture structure 7: telescopic drive part 71, puncture needle body 72; Tissue puncture surface a, puncture point b. DETAILED DESCRIPTION

[0026] The following is a description of the implementation of the present invention by specific embodiments. People familiar with the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0027] The terms such as "upper", "lower", "left", "right", and "middle" used in this specification are only for the convenience of description and are not intended to limit the scope of the invention. Changes or adjustments to their relative relationships should be regarded as within the scope of the invention without substantially changing the technical content.

[0028] like Figures 1 to 7As shown, the embodiment of the present invention provides a biopsy puncture device based on the visual monitoring of the three-dimensional state of the puncture needle, including a mechanical arm assembly structure 1, a guide limiting structure 2, a guide displacement structure 3, a force monitoring structure 4, a transmission support structure 5, a transmission sleeve structure 6 and a biopsy puncture structure 7, which is used to effectively serve as an adjustable directional support base through the mechanical arm assembly structure 1, and at the same time, the guide limiting structure 2 can be used to effectively limit the base of the biopsy puncture structure 7 based on the mechanical arm assembly structure 1, thereby ensuring the stability of the puncture point b of the biopsy puncture structure 7 corresponding to the tissue puncture surface a, and in addition, the three-dimensional direction adjustment and orientation monitoring of the biopsy puncture structure 7 can be further realized by the cooperation of the guide displacement structure 3, the force monitoring structure 4, the transmission support structure 5 and the transmission sleeve structure 6, and on the basis of ensuring the smooth direction adjustment function, the transmission support structure 5 is used to play an excessive direction adjustment buffer function within a specific threshold range for the biopsy puncture structure 7, which significantly improves the precision and stability of the puncture operation. The specific settings are as follows: Please refer to Figure 1 and Figure 2 The robotic arm assembly structure 1 includes a robotic arm body 11, and the robotic arm body 11 has an adjustable kinetic energy output end, and the adjustable kinetic energy output end transmission assembly of the robotic arm body 11 is provided with a directional cover seat 12, which is used to effectively serve as a three-dimensional orientation monitoring and buffer limit assembly basis for the biopsy puncture structure 7 through the directional cover seat 12. At the same time, the positioning drive output by the robotic arm body 11 can effectively drive the directional cover seat 12 to adjust to the desired direction and maintain the positioning state.

[0029] Please refer to Figure 2 , Figure 6 and Figure 7 The guide and limiting structure 2 includes a first arc guide rail 21 and a second arc guide rail 22, and the biopsy puncture structure 7 includes a telescopic driving part 71 and a puncture needle body 72 which is telescopically mounted on the telescopic driving part 71; wherein the base of the first arc guide rail 21 is fixedly mounted on the inner side of one end of the directional cover seat 12 close to the mechanical arm body 11, and the base of the second arc guide rail 22 is vertically slidably mounted on the arc rail end of the first arc guide rail 21; the directional cover seat 12 is away from the mechanical arm body 11. One end is set as an opening; the end of the telescopic driving part 71 away from the puncture needle body 72 is slidably assembled on the arc track end of the second arc guide rail 22; the above-mentioned setting is used to realize that when the puncture needle body 72 forms a puncture point b corresponding to the tissue puncture surface a, the telescopic driving part 71 can always maintain stable rotation and adjustment with the puncture point b as the axis during the three-dimensional adjustment process, and can use the first arc guide rail 21 and the second arc guide rail 22 to cooperate with the adaptive telescopic driving part 7 to limit and maintain the spherical adjustment, thereby improving the overall operation stability.

[0030] Please refer to Figures 2 to 5 The guide displacement structure 3 includes a ball guide rail seat 31 and an adaptive displacement slider 32; wherein, the ball guide rail seat 31 is provided with four groups, and the four groups of ball guide rail seats 31 are rectangularly fixedly arranged on the inner side of the directional cover seat 12, and the inner side of the four groups of ball guide rail seats 31 are all slidably equipped with the adaptive displacement slider 32; the force monitoring structure 4 is configured as a pressure sensor, and the pressure sensor is provided with four groups, and the base parts of the four groups of pressure sensors are respectively and one by one correspondingly transmission-fixedly arranged on the four groups of adaptive displacement sliders 32.

[0031] The transmission support structure 5 includes an elastic telescopic support rod 51 and an elastic touch-pressure groove seat 52; wherein, the elastic telescopic support rod 51 and the elastic touch-pressure groove seat 52 are each provided with four groups, one end of the four groups of the elastic telescopic support rods 51 are respectively and one-to-one correspondingly connected to the monitoring end of the four groups of the pressure sensors for transmission assembly, and the other end of the four groups of the elastic telescopic support rods 51 are fixedly connected to the four groups of the elastic touch-pressure groove seats 52, one end of the elastic touch-pressure groove seat 52 away from the elastic telescopic support rod 51 is open, and the elastic touch-pressure groove seat 52 extends along the vertical direction of the sliding direction of the adaptive shift slider 32 to open an adaptive slide groove corresponding to its opening, and the longitudinal cross-sectional shape of the adaptive slide groove corresponding to its extension direction is a hemispherical setting, so as to serve as a limiting support basis for the transmission sleeve structure 6.

[0032] The transmission sleeve structure 6 includes a locking ring sleeve 61 and a transmission touch-pressure ball seat 62; wherein the locking ring sleeve 61 is detachably fixedly sleeved on the outer side of the telescopic drive part 71; the transmission touch-pressure ball seat 62 is provided with four groups, and the four groups of the transmission touch-pressure ball seats 62 are all fixedly connected to the outer side of the locking ring sleeve 61, and the four groups of the transmission touch-pressure ball seats 62 are cross-arranged, and the four groups of the transmission touch-pressure ball seats 62 are respectively and one by one correspondingly abutted and connected with the four groups of the elastic touch-pressure groove seats 52, so as to realize that the adjustment displacement of the telescopic drive part 71 is transmitted to the four groups of elastic touch-pressure groove seats 52 respectively through the four groups of transmission touch-pressure ball seats 62, and the rebound force value changes of the elastic telescopic support rod 51 are respectively monitored through the four groups of force monitoring structures 4, thereby completing the three-dimensional adjustment direction monitoring process.

[0033] Please refer to Figure 5 and Figure 6 The specific application process of the biopsy puncture device based on the three-dimensional state visualization monitoring of the puncture needle is as follows: When the biopsy puncture structure 7 is manipulated to complete the puncture action corresponding to the tissue puncture surface a, and needs to be further adjusted in three dimensions based on the determined puncture point b, the telescopic drive part 71 cooperates with the spherical track of the guide limit structure 2 to always maintain the three-dimensional rotation adjustment with the puncture point b as the axis, thereby ensuring the overall operational stability of the telescopic drive part 71 and the puncture needle body 72 during the three-dimensional rotation adjustment; At the same time, the telescopic driving part 71 drives the four groups of transmission touch-pressure ball seats 62 in the transmission sleeve structure 6 to shift synchronously when adjusting the direction, and the four groups of elastic touch-pressure groove seats 52 in the transmission support structure 5 always keep in contact with the four groups of transmission touch-pressure ball seats 62 by means of the rebound performance of the elastic telescopic support rods 51. The four groups of transmission touch-pressure ball seats 62 drive the four groups of elastic telescopic support rods 51 and the force monitoring structure 4 to adaptively shift along the guide displacement structure 3 one by one by means of the side limiting effect of the abutment, so that the elastic force directions of the two adjacent groups of elastic telescopic support rods 51 always keep perpendicular to each other, so as to calculate the direction of the resultant force through the force directions of the two adjacent groups. At this time, the four groups of elastic telescopic struts 51 are adaptively extended, stationary or contracted based on the adjustment position of the telescopic driving part 71, and the four groups of force monitoring structures 4 monitor the change in the rebound force of the four groups of elastic telescopic struts 51 in real time, and further substitute the elastic coefficient and the predetermined error coefficient of the elastic telescopic struts 51 to calculate the length change corresponding to each group of elastic telescopic struts 51. Therefore, the length change of two adjacent groups of elastic telescopic struts 51 is used as a component, and the actual displacement direction and displacement amount between the two adjacent groups of elastic telescopic struts 51 corresponding to the telescopic driving part 71 are obtained through vector calculation. Finally, the displacement directions and displacement amounts of each group calculated by the telescopic driving part 71 are calculated and displayed on a three-dimensional graphic screen.

[0034] Although the present invention has been described in detail above by general description and specific embodiments, it is obvious to those skilled in the art that some modifications or improvements can be made to the present invention. Therefore, these modifications or improvements made without departing from the spirit of the present invention all belong to the scope of protection claimed by the present invention.

Claims

1. A biopsy puncture device based on three-dimensional state visualization monitoring of the puncture needle, characterized in that: include: The mechanical arm assembly structure has an adjustable kinetic energy output end; A guide displacement structure, fixedly mounted on the adjustable kinetic energy output end of the mechanical arm assembly structure, and the guide displacement structure has four groups of displacement kinetic energy output ends correspondingly arranged in a rectangular shape; The force monitoring structure is provided with four groups, and the base parts of the four groups of the force monitoring structures are respectively fixedly assembled and arranged on the four groups of displacement kinetic energy output ends of the guide displacement structure in a one-to-one correspondence; The transmission support structure includes four groups of elastic telescopic struts, all of which are bidirectional elastic support arrangements, and one elastic support end of each of the four groups of elastic telescopic struts is connected to the monitoring end of each of the four groups of force monitoring structures in a one-to-one corresponding transmission arrangement; The transmission sleeve structure is fixedly connected to the biopsy puncture structure, and the outer side of the transmission sleeve structure is respectively abutted and connected with the other elastic supporting end portions of the four groups of elastic telescopic support rods.

2. The biopsy puncture device based on three-dimensional state visual monitoring of the puncture needle according to claim 1, characterized in that: The mechanical arm assembly structure includes a mechanical arm body; The mechanical arm body has an adjustable kinetic energy output end, and the adjustable kinetic energy output end transmission assembly of the mechanical arm body is provided with a directional cover seat; The base portion of the guide displacement structure is fixedly arranged correspondingly on the inner side portion of the directional cover seat.

3. The biopsy puncture device based on three-dimensional state visual monitoring of the puncture needle according to claim 2, characterized in that: The guide displacement structure comprises a ball guide rail seat and an adaptive displacement slider; The ball guide rail seats and the adaptive shifting sliders are each provided with four groups, and the four groups of ball guide rail seats are rectangular and fixedly provided on the inner side of the directional cover seat; The four groups of adaptive displacement sliding blocks as the four groups of displacement kinetic energy output end portions of the guide displacement structure are respectively and one by one slidably assembled on the inner side portions of the four groups of ball guide rail seats.

4. The biopsy puncture device based on three-dimensional state visual monitoring of the puncture needle according to claim 3, characterized in that: The force monitoring structure is configured as a pressure sensor; The pressure sensors are arranged in four groups, and the base parts of the four groups of pressure sensors are respectively and one by one transmission-fixedly connected to the four groups of adaptive shifting slide blocks.

5. The biopsy puncture device based on three-dimensional state visual monitoring of the puncture needle according to claim 4, characterized in that: The biopsy puncture structure comprises a telescopic driving part and a puncture needle body part telescopically mounted on the telescopic driving part; The transmission sleeve structure includes a locking ring sleeve; The locking ring sleeve seat is detachably fixedly sleeved on the outer side of the telescopic driving part.

6. The biopsy puncture device based on three-dimensional state visual monitoring of the puncture needle according to claim 5, characterized in that: One elastic supporting end of the four groups of elastic telescopic struts is connected to the monitoring ends of the four groups of pressure sensors in a one-to-one corresponding transmission assembly, and the other elastic supporting end of the four groups of elastic telescopic struts is connected to the outer side of the locking ring sleeve in abutment.

7. The biopsy puncture device based on three-dimensional state visual monitoring of the puncture needle according to claim 6, characterized in that: The transmission sleeve structure also includes a transmission contact ball seat; The transmission contact pressure ball seats are provided in four groups, and the four groups of transmission contact pressure ball seats are all fixedly connected to the outer side of the locking ring sleeve, and the four groups of transmission contact pressure ball seats are arranged in a cross-shaped manner; The four groups of transmission contact ball seats and the other elastic supporting end portions of the four groups of elastic telescopic support rods are respectively arranged in a one-to-one correspondence and maintained in abutment connection.

8. The biopsy puncture device based on three-dimensional state visual monitoring of the puncture needle according to claim 7, characterized in that: The transmission support structure also includes an elastic contact pressure slot seat; The elastic touch-pressure slot seats are provided with four groups, and the four groups of the elastic touch-pressure slot seats are respectively and one by one correspondingly connected to the four groups of elastic telescopic support rods at one end away from the pressure sensor for transmission and fixed connection, and the four groups of the elastic touch-pressure slot seats are respectively and one by one correspondingly connected to the four groups of transmission touch-pressure ball seats for abutment.

9. The biopsy puncture device based on three-dimensional state visual monitoring of the puncture needle according to claim 8, characterized in that: The four groups of elastic touch-pressure groove seats are all opened at one end away from the elastic telescopic support rod, and the four groups of elastic touch-pressure groove seats are extended along the vertical direction of the sliding direction of the adaptive displacement slider to form adaptive sliding grooves corresponding to the openings; The longitudinal cross-section shape of the adaptive chute corresponding to its extension direction is all hemispherical; The four groups of elastic contact and pressure groove seats are respectively connected with the four groups of transmission contact and pressure ball seats in a one-to-one correspondence through the adaptive sliding grooves and are arranged to be laterally limited.

10. The biopsy puncture device based on three-dimensional state visual monitoring of the puncture needle according to claim 5, characterized in that: Also includes: The guide and limit structure comprises a first arc-shaped guide rail and a second arc-shaped guide rail; The base of the first arc-shaped guide rail is fixedly mounted on the inner side of one end of the directional cover seat close to the main body of the mechanical arm, and the base of the second arc-shaped guide rail is vertically slidably mounted on the arc-shaped end of the first arc-shaped guide rail; One end of the directional cover seat away from the mechanical arm body is opened, and one end of the telescopic driving part away from the puncture needle body is slidably assembled on the arc track end of the second arc guide rail.

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