Biopsy Puncture Device Based on Visual Monitoring of the Three-Dimensional State of the Puncture Needle

Abstract

The present invention discloses a biopsy puncture device based on three-dimensional state visualization monitoring of a puncture needle, comprising: a robotic arm assembly structure; a guiding and shifting structure fixedly assembled on the robotic arm assembly structure, and the guiding and shifting structure has a shifting kinetic energy output end; a force monitoring structure, the base part of which is fixedly arranged at the shifting kinetic energy output end of the guiding and shifting structure; a transmission and support structure, including an elastic telescopic strut, and a corresponding transmission connection is arranged between an elastic support end of the elastic telescopic strut and the monitoring end of the force monitoring structure; a transmission sleeve seat structure fixedly arranged on the biopsy puncture structure, and a contact connection is respectively maintained between the outer peripheral side part of the transmission sleeve seat structure and the other elastic support end of the transmission and support structure. The problems in the prior art that the visualization degree relying only on a two-dimensional picture during the puncture operation process is not high and there is no effective operation buffering means, resulting in low operation accuracy and the risk of tissue damage are solved.

Description

Technical Field

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

[0002] Currently, biopsy puncture needles are mainly applicable to taking tissue samples and aspirating cells from organ tissues, and are widely used in various pathological examinations, which can effectively improve the accuracy of diagnosis.

[0003] In the prior art, since the puncture needle is likely to damage the organizational structure of the puncture path, the puncture operation has extremely high requirements for the operation precision of the doctor. Therefore, electromagnetic or ultrasonic assisted guidance operations are usually equipped. However, the current assisted guidance images are generally two-dimensional images corresponding to a working surface, and it is difficult to perform three-dimensional visualization of the puncture needle path, resulting in a relatively high risk of tissue damage during the puncture process.

[0004] At the same time, when the puncture operation is performed for a long time, resulting in fatigue operation, it will further exacerbate the impact on the operation precision. Especially when excessive force is applied during orientation adjustment, it is extremely easy to aggravate tissue damage, and there is no effective buffering means for the current puncture needle, and the functionality is relatively single, further increasing the risk of tissue damage during the puncture process. Summary of the Invention

[0005] Therefore, the present invention provides a biopsy puncture device based on three-dimensional state visualization monitoring of a puncture needle to solve the problems in the prior art that the visualization degree of the puncture operation process relying only on two-dimensional images is not high, and there is no effective operation buffering 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:

[0007] A biopsy puncture device based on three-dimensional state visualization monitoring of a puncture needle, comprising:

[0008] A robotic arm assembly structure having an adjustable kinetic energy output end;

[0009] A guiding and shifting structure fixedly assembled on the adjustable kinetic energy output end of the robotic arm assembly structure, and the guiding and shifting structure has four groups of shifting kinetic energy output ends arranged in a rectangular correspondence;

[0010] Four force monitoring structures are provided, and the bases of the four force monitoring structures are respectively fixedly assembled on the four groups of shifting kinetic energy output ends of the guiding and shifting structure in a one-to-one correspondence;

[0011] The transmission support structure includes four groups of elastic telescopic struts. The four groups of elastic telescopic struts are all arranged with two-way elastic support, and one elastic support end of the four groups of elastic telescopic struts is respectively and correspondingly connected in a transmission manner with the monitoring ends of the four groups of force monitoring structures;

[0012] The transmission sleeve seat structure is fixedly arranged on the biopsy puncture structure, and the outer side parts of the transmission sleeve seat structure are respectively kept in contact connection with the other elastic support ends of the four groups of elastic telescopic struts.

[0013] On the basis of the above technical solution, the following further description is made for the present invention:

[0014] As a further solution of the present invention,

[0015] The robotic arm assembly structure includes a robotic arm main body;

[0016] The robotic arm main body has an adjustable kinetic energy output end, and a directional cover seat is arranged in a transmission and assembly manner at the adjustable kinetic energy output end of the robotic arm main body;

[0017] The base part of the guiding and shifting structure is correspondingly fixedly arranged on the inner side part of the directional cover seat.

[0018] As a further solution of the present invention,

[0019] The guiding and shifting structure includes a ball guide rail seat and an adaptive shifting slider;

[0020] Four groups of the ball guide rail seats and four groups of the adaptive shifting sliders are provided. The four groups of ball guide rail seats are correspondingly fixedly arranged in a rectangular shape on the inner side part of the directional cover seat;

[0021] The four groups of adaptive shifting sliders, as the four shifting kinetic energy output ends of the guiding and shifting structure, are respectively and correspondingly slidably assembled on the inner side parts of the four groups of ball guide rail seats.

[0022] As a further solution of the present invention,

[0023] The force monitoring structure is set as a pressure sensor;

[0024] Four groups of the pressure sensors are provided. The base parts of the four groups of pressure sensors are respectively and correspondingly fixedly connected in a transmission manner to the four groups of adaptive shifting sliders.

[0025] As a further solution of the present invention,

[0026] The biopsy puncture structure includes a telescopic driving part and a puncture needle body part that is telescopically assembled on the telescopic driving part;

[0027] The transmission sleeve seat structure includes a locking ring sleeve seat;

[0028] The locking ring sleeve seat is detachably fixedly sleeved on the outer side of the telescopic driving part.

[0029] As a further embodiment of the present invention,

[0030] 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.

[0031] As a further embodiment of the present invention,

[0032] The transmission sleeve structure also includes a transmission contact ball seat;

[0033] 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;

[0034] 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.

[0035] As a further embodiment of the present invention,

[0036] The transmission support structure also includes an elastic contact pressure slot seat;

[0037] 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.

[0038] As a further embodiment of the present invention,

[0039] 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;

[0040] The longitudinal cross-section shape of the adaptive chute corresponding to its extension direction is all hemispherical;

[0041] The four groups of elastic touch-pressure groove seats are respectively connected with the four groups of transmission touch-pressure ball seats in a one-to-one correspondence through the adaptive sliding grooves and are arranged to be laterally limited.

[0042] As a further solution of the present invention, it also includes:

[0043] The guiding and limiting structure includes a first arc-shaped guide rail and a second arc-shaped guide rail;

[0044] The base part of the first arc-shaped guide rail is fixedly assembled on the inner side of one end of the directional cover seat close to the manipulator body, and the base part of the second arc-shaped guide rail is vertically slidably assembled on the arc rail end of the first arc-shaped guide rail;

[0045] One end of the directional cover seat away from the manipulator body is open, and one end of the telescopic driving part away from the puncture needle body part is slidably assembled on the arc rail end of the second arc-shaped guide rail.

[0046] The present invention has the following beneficial effects:

[0047] This device can effectively serve as a controllable directional support base through the manipulator assembly structure, and at the same time can effectively limit the base part of the biopsy puncture structure based on the manipulator assembly structure by using the guiding and limiting structure, thereby ensuring the puncture point stability of the biopsy puncture structure corresponding to the tissue puncture surface. In addition, with the cooperation of the guiding displacement structure, the force monitoring structure, the transmission support structure and the transmission sleeve seat structure, the three-dimensional orientation monitoring of the biopsy puncture structure can be further realized. On the basis of ensuring the smooth orientation adjustment function, the transmission support structure plays an over-orientation buffering function within a specific threshold range for the biopsy puncture structure, significantly enhancing the accuracy and stability of the puncture operation and improving the overall functional practicality. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. The structures, ratios, sizes, etc. shown in this specification are only used to cooperate with the content disclosed in the specification for those who are familiar with this technology to understand and read. Any modification of the structure, change of the proportional relationship or adjustment of the size, without affecting the effects that the present invention can produce and the purposes that can be achieved, should still fall within the scope covered by the technical content disclosed by the present invention.

[0049] Figure 1 It is an overall axonometric structure schematic diagram of the biopsy puncture device based on the three-dimensional state visualization monitoring of the puncture needle provided by the embodiment of the present invention.

[0050] Figure 2 It is a partial assembly structure schematic diagram of the biopsy puncture device based on the three-dimensional state visualization monitoring of the puncture needle provided by the embodiment of the present invention.

[0051] Figure 3 It is for the biopsy puncture device based on the three-dimensional state visualization monitoring of the puncture needle provided by the embodiment of the present invention in Figure 2 The enlarged schematic diagram of the partial structure at A.

[0052] Figure 4 This is a top - view structural schematic diagram of the biopsy puncture structure in the biopsy puncture device for three - dimensional state visual monitoring of the puncture needle according to the embodiment of the present invention when it corresponds to the normal state.

[0053] Figure 5 This is a top - view structural schematic diagram of the biopsy puncture structure in the biopsy puncture device for three - dimensional state visual monitoring of the puncture needle according to the embodiment of the present invention when it corresponds to the inclined state.

[0054] Figure 6 This is one of the side - view structural schematic diagrams of the biopsy puncture structure in the biopsy puncture device for three - dimensional state visual monitoring of the puncture needle according to the embodiment of the present invention when it corresponds to the inclined state.

[0055] Figure 7 This is the second side - view structural schematic diagram of the biopsy puncture structure in the biopsy puncture device for three - dimensional state visual monitoring of the puncture needle according to the embodiment of the present invention when it corresponds to the inclined state.

[0056] In the attached drawings, the list of components represented by each reference numeral is as follows:

[0057] Robotic arm assembly structure 1: Robotic arm main body 11, directional cover base 12;

[0058] Guiding and limiting structure 2: First arc - shaped guide rail 21, second arc - shaped guide rail 22;

[0059] Guiding and shifting structure 3: Ball guide rail seat 31, adaptive shifting slider 32;

[0060] Force monitoring structure 4;

[0061] Transmission and support structure 5: Elastic telescopic strut 51, elastic touch - pressure groove seat 52;

[0062] Transmission sleeve seat structure 6: Locking ring sleeve seat 61, transmission touch - pressure ball seat 62;

[0063] Biopsy puncture structure 7: Telescopic drive part 71, puncture needle body part 72;

[0064] Tissue puncture surface a, puncture point b. Detailed implementation manners

[0065] The following specific embodiments illustrate the implementation manners of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of them. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts belong to the scope of protection of the present invention.

[0066] 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.

[0067] like Figures 1 to 7 As 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:

[0068] 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.

[0069] Please refer to Figure 2 , Figure 6 and Figure 7The 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.

[0070] 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.

[0071] 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.

[0072] The transmission sleeve seat structure 6 includes a locking ring sleeve seat 61 and a transmission contact pressure ball seat 62; wherein, the locking ring sleeve seat 61 is detachably and fixedly sleeved on the outer peripheral side of the telescopic driving part 71; there are four groups of the transmission contact pressure ball seats 62, and the four groups of the transmission contact pressure ball seats 62 are fixedly connected to the outer peripheral side of the locking ring sleeve seat 61, and the four groups of the transmission contact pressure ball seats 62 are arranged in a crosswise alignment, and the four groups of the transmission contact pressure ball seats 62 and the four groups of the elastic contact pressure groove seats 52 are respectively in contact connection, so as to realize that the orientation shift amount of the telescopic driving part 71 is respectively transmitted to the four groups of the elastic contact pressure groove seats 52 through the four groups of the transmission contact pressure ball seats 62, and the change of the resilience value of the elastic telescopic strut 51 is respectively monitored by the four groups of force monitoring structures 4, thereby completing the three-dimensional orientation monitoring process.

[0073] Please refer to Figure 5 and Figure 6 , the specific application process of the above biopsy puncture device based on three-dimensional state visualization monitoring of the puncture needle is as follows:

[0074] When the biopsy puncture structure 7 is controlled to complete the puncture action corresponding to the tissue puncture surface a and further three-dimensional orientation is required based on the determined puncture point b, at this time, the telescopic driving part 71 cooperates with the spherical surface track of the guiding and limiting structure 2 to always perform three-dimensional rotation and orientation with the puncture point b as the axis, so as to ensure the overall operation stability of the telescopic driving part 71 and the puncture needle body 72 during three-dimensional rotation and orientation;

[0075] Meanwhile, when the telescopic driving part 71 is orienting, it drives the four groups of transmission contact pressure ball seats 62 in the transmission sleeve seat structure 6 to shift synchronously. The four groups of elastic contact pressure groove seats 52 in the transmission support structure 5 always keep in contact with the four groups of transmission contact pressure ball seats 62 by means of the resilience performance of the elastic telescopic strut 51. The four groups of transmission contact pressure ball seats 62 drive the four groups of elastic telescopic struts 51 and the force monitoring structure 4 to perform adaptive displacement along the guiding displacement structure 3 by means of the abutting side limiting action, so that the elastic force directions between adjacent two groups of elastic telescopic struts 51 always keep perpendicular to each other, so as to calculate the resultant force direction through the component force directions of adjacent two groups;

[0076] At this time, the four groups of elastic telescopic struts 51 are in an adaptive extended, stationary, or contracted state based on the steering position of the telescopic drive unit 71. The four groups of force monitoring structures 4 respectively monitor the change amount of the resilience of the four groups of elastic telescopic struts 51 in real time. Further, by substituting the elastic coefficient and the predetermined error coefficient of the elastic telescopic struts 51, the length change amount corresponding to each group of elastic telescopic struts 51 is calculated. Thus, the length change amounts of two adjacent groups of elastic telescopic struts 51 are used as components, and the actual displacement direction and displacement amount corresponding to the two adjacent groups of elastic telescopic struts 51 are obtained through vector calculation for the telescopic drive unit 71. Finally, the displacement directions and displacement amounts calculated for each group by the telescopic drive unit 71 are summarized and displayed on the three-dimensional graphic screen, and that's it.

[0077] Although the present invention has been described in detail above with general descriptions and specific embodiments, modifications or improvements can be made to it based on the present invention, which are obvious to those skilled in the art. Therefore, these modifications or improvements made without departing from the spirit of the present invention all fall within the scope of protection required by the present invention.

Claims

1. A biopsy puncture device based on three-dimensional state visualization monitoring of a puncture needle track, characterized in that Comprising: A robotic arm assembly structure having an adjustable kinetic energy output end; A guiding and shifting structure fixedly assembled at the adjustable kinetic energy output end of the robotic arm assembly structure, and the guiding and shifting structure has four sets of shifting kinetic energy output ends arranged in a rectangular correspondence, and the four sets of shifting kinetic energy output ends of the guiding and shifting structure are four sets of adaptive shifting sliders; A force monitoring structure, with four sets provided, and the base parts of the four sets of force monitoring structures are respectively fixedly assembled at the four sets of shifting kinetic energy output ends of the guiding and shifting structure in a one-to-one correspondence; A transmission and support structure, including four sets of elastic telescopic struts, the four sets of elastic telescopic struts are all arranged with two-way elastic support, and one elastic support end of the four sets of elastic telescopic struts is respectively in transmission connection with the monitoring ends of the four sets of force monitoring structures in a one-to-one correspondence; A transmission sleeve seat structure fixedly arranged on the biopsy puncture structure, and there is a butt-joint connection between the outer peripheral side of the transmission sleeve seat structure and the other elastic support ends of the four sets of elastic telescopic struts respectively; The force monitoring structure is set as four sets of pressure sensors, and the base parts of the four sets of pressure sensors are respectively in transmission and fixed on the four sets of adaptive shifting sliders in a one-to-one correspondence; The biopsy puncture structure includes a telescopic driving part; the transmission sleeve seat structure includes a locking ring sleeve seat fixed on the telescopic driving part and four sets of transmission contact ball seats fixed on the locking ring sleeve seat; The four sets of transmission contact ball seats are arranged in a crosswise alignment; One elastic support end of the four sets of elastic telescopic struts is respectively in transmission and assembly connection with the monitoring ends of the four sets of pressure sensors in a one-to-one correspondence, and the other elastic support ends of the four sets of elastic telescopic struts are respectively in butt-joint connection with the four sets of transmission contact ball seats in a one-to-one correspondence.

2. The biopsy puncture device based on three-dimensional state visualization monitoring of a puncture needle track according to claim 1, characterized in that The robotic arm assembly structure includes a robotic arm main body; The robotic arm main body has an adjustable kinetic energy output end, and a directional cover seat is in transmission and assembly on the adjustable kinetic energy output end of the robotic arm main body; The base part of the guiding and shifting structure is correspondingly fixedly arranged on the inner side part of the directional cover seat.

3. The biopsy puncture device based on three-dimensional state visualization monitoring of a puncture needle track according to claim 2, characterized in that The guiding and shifting structure includes a ball guide rail seat; There are four sets of the ball guide rail seat and the adaptive shifting sliders, and the four sets of ball guide rail seats are correspondingly fixedly arranged in a rectangular shape on the inner side part of the directional cover seat; The four sets of adaptive shifting sliders, as the four sets of shifting kinetic energy output ends of the guiding and shifting structure, are respectively in sliding assembly on the inner side parts of the four sets of ball guide rail seats in a one-to-one correspondence.

4. The biopsy puncture device based on three-dimensional state visualization monitoring of a puncture needle track according to claim 2, characterized in that The biopsy puncture structure includes a puncture needle body part telescopically assembled on the telescopic driving part.

5. The biopsy puncture device based on three-dimensional state visualization monitoring of a puncture needle track according to claim 1, characterized in that The transmission support structure further includes an elastic touch pressure groove seat; There are four groups of the elastic touch pressure groove seats, and the four groups of the elastic touch pressure groove seats are respectively and correspondingly fixedly connected to the ends of the four groups of the elastic telescopic struts far from the pressure sensor in a transmission manner, and the four groups of the elastic touch pressure groove seats are respectively and correspondingly kept in abutting connection with the four groups of the transmission touch pressure ball seats.

6. The biopsy puncture device based on three-dimensional state visualization monitoring of a puncture needle track according to claim 5, characterized in that One ends of the four groups of the elastic touch pressure groove seats far from the elastic telescopic struts are all open, and the four groups of the elastic touch pressure groove seats are provided with adaptive sliding grooves corresponding to their openings along the vertical direction of the sliding direction of the adaptive displacement slider; The longitudinal cross-sectional shapes of the adaptive sliding grooves corresponding to their extending directions are all hemispherical; The four groups of the elastic touch pressure groove seats are respectively and correspondingly kept in abutting connection with the four groups of the transmission touch pressure ball seats through the adaptive sliding grooves and are laterally limited.

7. The biopsy puncture device based on three-dimensional state visualization monitoring of a puncture needle track according to claim 4, wherein It further includes: A guiding and limiting structure, including a first arc-shaped guide rail and a second arc-shaped guide rail; The base part of the first arc-shaped guide rail is fixedly assembled on the inner side part of the end of the orientation cover seat close to the robotic arm main body, and the base part of the second arc-shaped guide rail is vertically slidably assembled on the arc rail end of the first arc-shaped guide rail; One end of the orientation cover seat far from the robotic arm main body is open, and one end of the telescopic driving part far from the puncture needle body part is slidably assembled on the arc rail end of the second arc-shaped guide rail.

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