Puncture device and puncture robot

Abstract

The invention discloses a puncture device and a puncture robot. The puncture device comprises a needle mounting seat, a puncture needle, a first driving mechanism and a second driving mechanism. The puncture needle is installed on the needle installation base, the first driving mechanism is connected with the first end of the needle installation base and can drive the first end to move, and the second driving mechanism is connected with the second end of the needle installation base and can drive the second end to move. A first driving mechanism and a second driving mechanism are designed and are directly connected with a needle mounting base with a puncture needle, the two driving mechanisms jointly achieve movement and rotation of the puncture needle, and when the first driving mechanism and the second driving mechanism move in the same direction, the puncture needle transversely moves; when the first driving mechanism and the second driving mechanism move in the opposite directions, the puncture needle rotates, inclines and changes the direction, so that the puncture needle can translate or rotate independently and can translate and incline at the same time, and higher movement precision can be achieved.

Description

Technical Field

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

[0002] Puncture surgery is a minimally invasive technique. By using a puncture needle to penetrate human tissues or cavities and reach inside the human body, treatment of lesions or sampling for diagnosis can be carried out. Therefore, the puncture needle needs to accurately puncture the lesion or the target position, so as to better perform steps such as lesion sampling or injection of therapeutic drugs. Before puncture, it is necessary to adjust the orientation and position of the puncture needle to find the most suitable angle and direction to penetrate human tissues. In the prior art, the driving mechanism connected to the puncture needle cannot accurately move and rotate the puncture needle, so that it moves to the target position and angle. Summary of the Invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. For this purpose, the present invention provides a puncture device capable of improving the movement accuracy of the puncture needle.

[0004] The present invention also provides a puncture robot having the above-mentioned puncture device.

[0005] According to an embodiment of the first aspect of the present invention, the puncture device includes a needle mounting base, a puncture needle, a first driving mechanism, and a second driving mechanism. The puncture needle is mounted on the needle mounting base. The first driving mechanism is connected to the first end of the needle mounting base and can drive the first end to move. The second driving mechanism is connected to the second end of the needle mounting base and can drive the second end to move. The first driving mechanism and the second driving mechanism can drive the first end and the second end to move synchronously, so that the puncture needle moves horizontally; the first driving mechanism and the second driving mechanism can also drive the first end to move relative to the second end, so that the puncture needle rotates, thereby changing the orientation of the puncture needle.

[0006] The puncture device according to the embodiments of the present invention has at least the following beneficial effects: In the prior art, to achieve the movement and rotation of the puncture needle, a linkage mechanism is often set up, and the moving end of the linkage mechanism is connected to the puncture needle. Such a design cannot achieve the translation or rotation of the puncture needle alone, and the movement accuracy is relatively low. The puncture device according to the embodiments of the present invention designs a first driving mechanism and a second driving mechanism, and both mechanisms are directly connected to the needle mounting seat with the puncture needle. The two driving mechanisms jointly achieve the movement and rotation of the puncture needle. The specific principle is as follows: When the first driving mechanism and the second driving mechanism move in the same direction, the puncture needle performs lateral translation. When the first driving mechanism and the second driving mechanism move in opposite directions, or a single mechanism moves, or move in the same direction with different speeds, the puncture needle rotates and tilts and changes its orientation. Therefore, the puncture needle can be translated or rotated alone, or translated and tilted simultaneously, and can have higher movement accuracy.

[0007] According to some embodiments of the present invention, both the first driving mechanism and the second driving mechanism are lead screw modules. The first driving mechanism includes a first lead screw, and the second driving mechanism includes a second lead screw. The first lead screw and the second lead screw are the same in thread direction and pitch. When the puncture needle performs lateral translation, the first lead screw and the second lead screw rotate in the same direction and at the same speed. When the puncture needle rotates, the first lead screw and the second lead screw rotate in opposite directions; or, only one of the first lead screw and the second lead screw rotates; or, the first lead screw and the second lead screw rotate in the same direction but at different speeds.

[0008] According to some embodiments of the present invention, the puncture device further includes a bottom case. The first driving mechanism further includes a first motor, a first limiting rod, and a first connecting piece. The first lead screw and the first limiting rod are parallel to each other. Both ends of the first limiting rod are fixedly installed on the bottom case. One end of the first lead screw is rotatably connected to the bottom case, and the other end is connected to the first motor. Both the first lead screw and the first limiting rod pass through the first connecting piece, and the first connecting piece is rotatably connected to the first end. The first motor is used to drive the first lead screw to rotate around its own axis, so that the first connecting piece drives the first end to move along the axis of the first lead screw.

[0009] According to some embodiments of the present invention, the puncture device further includes a bottom case. The second driving mechanism further includes a second motor, a second limiting rod, and a second connecting rod. The second lead screw is parallel to the second limiting rod. Both ends of the second limiting rod are fixedly installed on the bottom case. One end of the second lead screw is rotatably connected to the bottom case, and the other end is connected to the second motor. Both the second lead screw and the second limiting rod pass through the second connecting member, and the second connecting member is rotatably connected to the second end. The second motor is configured to drive the second lead screw to rotate about its own axis, so that the second connecting member drives the second end to move along the axis of the second lead screw.

[0010] According to some embodiments of the present invention, the first driving mechanism is rotatably connected to the first end, the second driving mechanism is rotatably connected to the second end, and the needle mounting seat includes a fixing plate and a sliding block. The first end is disposed on the fixing plate, and the fixing plate is provided with a sliding groove. The second end is disposed on the sliding block, and the sliding block is slidably connected to the sliding groove. The sliding direction of the sliding block is the extension direction of the line connecting the first end and the second end.

[0011] According to some embodiments of the present invention, the puncture device includes a feeding mechanism. The feeding mechanism is disposed on the needle mounting seat, and the feeding mechanism is connected to the puncture needle. The feeding mechanism is configured to drive the puncture needle to move along its own axial direction.

[0012] According to some embodiments of the present invention, the feeding mechanism includes a driving member, a gear, a first rack, and a second rack. The axial direction of the puncture needle is the first direction. Both the first rack and the second rack extend along the first direction. The first rack is fixedly installed on the needle mounting seat. The second rack is disposed opposite to and parallel to the first rack. The second rack is fixedly connected to the puncture needle. The gear meshes with the first rack and the second rack. The driving member is configured to drive the gear to move along the first direction, so that the gear rotates, thereby causing the second rack and the puncture needle to move along the first direction.

[0013] According to some embodiments of the present invention, the puncture device further includes a first sensor and a second sensor. The first sensor and the second sensor are spaced apart along the first direction in the needle mounting seat. The puncture device further includes an induction member. The gear and the induction member can move synchronously. When the gear is at the uppermost end in the first direction, the induction member triggers the first sensor. When the gear is at the lowermost end in the first direction, the induction member triggers the second sensor.

[0014] According to some embodiments of the present invention, the puncture device further includes a detection component and a bottom case. The detection component and the needle mounting seat are jointly mounted on the bottom case. The detection component is used to detect and identify a target and image it, so that the puncture needle punctures the target according to the image. The axial direction of the puncture needle is the first direction, and the detection direction of the detection component is the second direction. The first direction intersects with the second direction and the included angle is an acute angle.

[0015] The puncture robot according to the second aspect embodiment of the present invention includes the puncture device according to any one of the first aspect embodiments and a robotic arm. The puncture device is mounted at the end of the robotic arm.

[0016] The puncture robot according to the embodiments of the present invention has at least the following beneficial effects: In the puncture device of the embodiments of the present invention, by designing the first driving mechanism and the second driving mechanism, and directly connecting both mechanisms to the needle mounting seat with the puncture needle, the two driving mechanisms jointly realize the movement and rotation of the puncture needle. By adjusting the driving direction and driving speed of the first driving mechanism and the second driving mechanism, the lateral movement and inclination of the puncture needle can be realized. Therefore, it can have higher movement accuracy. For the puncture robot using this puncture device, by arranging the puncture device at the end of the robotic arm, the movement range of the puncture needle can be further increased, and its flexibility and applicable scenarios can be further improved.

[0017] The additional aspects and advantages of the present invention will be partially given in the following description, partially become apparent from the following description, or be understood through the practice of the present invention. Description of the Drawings

[0018] The following further describes the present invention in conjunction with the drawings and embodiments, where: Figure 1 is a perspective view of the puncture device in an embodiment of the present invention; Figure 2 is a top view of the puncture device in an embodiment of the present invention; Figure 3 is an exploded view of the puncture device in an embodiment of the present invention; Figure 4 is a partial top view of the puncture device in an embodiment of the present invention; Figure 5 is a perspective view of the feeding mechanism of the puncture device in an embodiment of the present invention; Figure 6 is a top view of the feeding mechanism of the puncture device in an embodiment of the present invention; Figure 7 is a partial exploded view of the puncture device in an embodiment of the present invention.

[0019] Reference numerals: puncturing device 100, needle mounting base 101, puncturing needle 102, bottom case 103, detection assembly 104, first end 301, second end 302, sliding groove 303, sliding block 304, first driving mechanism 305, first lead screw 306, first motor 307, first limiting rod 308, first connecting member 309, second driving mechanism 310, second lead screw 311, second motor 312, second limiting rod 313, second connecting member 314, feeding mechanism 315, fixing plate 316, driving member 401, gear 402, first rack 403, second rack 404, first sensor 405, second sensor 406, sensing member 407, flange seat 701, knob 702, fixing pin 703, positioning pin 704. Detailed implementation manners

[0020] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and are only used to explain the present invention and should not be construed as a limitation to the present invention.

[0021] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by terms such as up, down, front, back, left, right, etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present invention.

[0022] In the description of the present invention, the meaning of several is more than one, and the meaning of multiple is more than two. Understandings such as greater than, less than, exceeding, etc. do not include the present number, and understandings such as above, below, within, etc. include the present number. If the first and second are described only for the purpose of distinguishing technical features, they should not be construed as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features or implicitly indicating the sequence of the indicated technical features.

[0023] In the description of the present invention, unless otherwise clearly defined, words such as setting, installing, connecting, etc. should be understood in a broad sense. Those skilled in the art can reasonably determine the specific meanings of the above words in the present invention in combination with the specific content of the technical solution.

[0024] In the description of the present invention, the description with reference to terms such as "one embodiment", "some embodiments", "schematic embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0025] Referring to Figures 1 to 3 , according to an embodiment of the first aspect of the present invention, the puncture device 100 includes a needle mounting base 101, a puncture needle 102, a first driving mechanism 305, and a second driving mechanism 310. The puncture needle 102 is mounted on the needle mounting base 101. The first driving mechanism 305 is connected to the first end 301 of the needle mounting base 101 and can drive the first end 301 to move. The second driving mechanism 310 is connected to the second end 302 of the needle mounting base 101 and can drive the second end 302 to move. The first driving mechanism 305 and the second driving mechanism 310 can drive the first end 301 and the second end 302 to move synchronously so that the puncture needle 102 moves laterally; the first driving mechanism 305 and the second driving mechanism 310 can also drive the first end 301 to move relative to the second end 302 so that the puncture needle 102 rotates, thereby changing the orientation of the puncture needle 102. In the prior art, to achieve the movement and rotation of the puncture needle 102, a linkage mechanism is often set, and the moving end of the linkage mechanism is connected to the puncture needle 102. Such a design cannot achieve the translation or rotation of the puncture needle 102 alone, and the movement accuracy is relatively low. In the puncture device 100 of the embodiment of the present invention, by designing the first driving mechanism 305 and the second driving mechanism 310 and directly connecting both mechanisms to the needle mounting base 101 with the puncture needle 102, the two driving mechanisms jointly achieve the movement and rotation of the puncture needle 102. The specific principle is as follows: when the first driving mechanism 305 and the second driving mechanism 310 move in the same direction, the puncture needle 102 moves laterally. When the first driving mechanism 305 and the second driving mechanism 310 move in opposite directions, or a single mechanism moves, or move at different speeds in the same direction, the puncture needle 102 rotates and tilts and changes its orientation. Therefore, the puncture needle 102 can be translated or rotated alone, or it can be translated and tilted simultaneously, and higher movement accuracy can be achieved.

[0026] It should be noted that the lateral movement of the puncture needle 102 described in the text refers to the movement of the puncture needle 102 on the plane where its own axis is located, and any movement other than the movement along its own axis is completed by the feeding mechanism 315 described below. Further, referring to Figure 2 and Figure 4, in some embodiments of the present invention, the first driving mechanism 305 and the second driving mechanism 310 are arranged to drive the puncture needle 102 to move horizontally perpendicular to its own axis, that is, to move in a third direction perpendicular to the first direction. In this way, the puncture needle 102 can have the maximum displacement distance in the radial direction and has better applicability. When the puncture needle 102 moves horizontally, the first end 301 and the second end 302 move synchronously, so the orientation of the puncture needle 102 remains unchanged. When the relative positions of the first end 301 and the second end 302 change, the orientation of the puncture needle 102 changes, that is, it rotates.

[0027] Reference Figure 3 and Figure 4 , in some embodiments of the present invention, both the first driving mechanism 305 and the second driving mechanism 310 are lead screw modules. The first driving mechanism 305 includes a first lead screw 306, and the second driving mechanism 310 includes a second lead screw 311. The first lead screw 306 and the second lead screw 311 are the same in thread direction and pitch. When the puncture needle 102 moves horizontally, the first lead screw 306 and the second lead screw 311 rotate in the same direction and at the same speed. When the puncture needle 102 rotates, the first lead screw 306 and the second lead screw 311 rotate in opposite directions; alternatively, only one of the first lead screw 306 and the second lead screw 311 rotates; alternatively, the first lead screw 306 and the second lead screw 311 rotate in the same direction but at different speeds. The lead screw module has high motion accuracy and is more stable, and can achieve a micron-level positioning accuracy. Using it to drive the puncture needle 102 can enable the puncture needle 102 to reach the target position more accurately and improve the accuracy. And, as described above, the double lead screw structure can seamlessly switch between the horizontal movement and rotation modes of the puncture needle 102, and can make the puncture needle 102 tilt while moving along the extension direction of the lead screw by controlling the rotation direction and speed of the lead screw. It can also achieve a small-angle tilt or a simple horizontal movement. The motion modes are diverse, the motion logic is simple and easy to control, and only the speed and direction of the lead screw need to be controlled. And the lead screw transmission itself has the characteristic of friction self-locking. After stopping the drive, the friction force can prevent the needle mounting seat 101 from moving accidentally, improving the structural stability without the need to set up an additional braking device. It should be noted that, in some embodiments of the present invention, the first driving mechanism 305 and the second driving mechanism 310 can also use a gear-rack transmission or a cylinder transmission, etc., or choose to use a lead screw module for one driving mechanism and choose other transmission modules for the other according to the usage requirements. The selection methods are diverse. The core principle is to control the first end 301 and the second end 302 to move synchronously or change their relative positions, so as to make the needle mounting seat 101 move and realize the horizontal movement or rotation and orientation change of the puncture needle 102 mounted on the needle mounting seat 101.

[0028] Reference Figures 1 to 4, in some embodiments of the present invention, the puncture device 100 further includes a bottom case 103, and the first driving mechanism 305 further includes a first motor 307, a first limiting rod 308, and a first connecting member 309. The first lead screw 306 is parallel to the first limiting rod 308. Both ends of the first limiting rod 308 are fixedly installed on the bottom case 103. One end of the first lead screw 306 is rotatably connected to the bottom case 103, and the other end is connected to the first motor 307. Both the first lead screw 306 and the first limiting rod 308 pass through the first connecting member 309, and the first connecting member 309 is rotatably connected to the first end 301. The first motor 307 is used to drive the first lead screw 306 to rotate around its own axis, so that the first connecting member 309 drives the first end 301 to move along the axis of the first lead screw 306. The specific principle is as follows: The first motor 307 drives one end of the first lead screw 306 to rotate. Since the first connecting member 309 is threadedly connected to the first lead screw 306, the first connecting member 309 and the first lead screw 306 rotate relative to each other. Also, because the first limiting rod 308 also passes through the first connecting member 309 and the first limiting rod 308 is fixed in the bottom case 103 to limit the rotation of the first connecting member 309, the first connecting member 309 moves along the axis direction of the first lead screw 306, thereby driving the first end 301 to move along the axis of the first lead screw 306. Since the first connecting member 309 is rotatably connected to the first end 301, the first end 301 can tilt relative to the first connecting member 309 when moving. In this way, the movement of the first connecting member 309 does not affect the rotation of the first end 301, so that the rotation of the needle mounting seat 101 and the puncture needle 102 can be better realized. Such a design is relatively stable in structure and not prone to failure. The parallel arrangement of the first limiting rod 308 and the first lead screw 306 can also effectively utilize the space inside the bottom case 103. Further, referring to Figure 3 and Figure 4 , in some embodiments of the present invention, the first motor 307 is also parallel to the first lead screw 306 and the first limiting rod 308, and the power end of the first motor 307 is connected to the first lead screw 306 through a pulley and belt transmission module. In this way, the transmission direction can be changed, so that the first motor 307 can also be placed inside the bottom case 103, making the structure more compact and improving the space utilization rate.

[0029] Referring to Figures 1 to 4, in some embodiments of the present invention, the puncture device 100 further includes a bottom case 103. The second driving mechanism 310 further includes a second motor 312, a second limiting rod 313, and a second connecting rod. The second lead screw 311 is parallel to the second limiting rod 313. Both ends of the second limiting rod 313 are fixedly installed on the bottom case 103. One end of the second lead screw 311 is rotatably connected to the bottom case 103, and the other end is connected to the second motor 312. Both the second lead screw 311 and the second limiting rod 313 pass through the second connecting member 314, and the second connecting member 314 is rotatably connected to the second end 302. The second motor 312 is used to drive the second lead screw 311 to rotate around its own axis, so that the second connecting member 314 drives the second end 302 to move along the axis of the second lead screw 311. The transmission principle of the second driving mechanism 310 and the first driving mechanism 305 is the same. That is, the second lead screw 311 is threadedly connected to the second connecting member 314, and a second limiting rod 313 is passed through the second connecting member 314 so that it can only move relative to the second lead screw 311, thereby driving the second end 302 to move along the axis of the second lead screw 311. And the second motor 312 and the second lead screw 311 are also connected by a pulley and belt transmission structure, so that the second motor 312 can be placed in the bottom case 103, improving the compactness of the structure and the space utilization rate.

[0030] Reference Figure 1 and Figure 3 , in some embodiments of the present invention, the first driving mechanism 305 is rotatably connected to the first end 301, the second driving mechanism 310 is rotatably connected to the second end 302, and the needle mounting seat 101 includes a fixing plate 316 and a sliding block 304. The first end 301 is disposed on the fixing plate 316, and the fixing plate 316 is provided with a sliding groove 303. The second end 302 is disposed on the sliding block 304, and the sliding block 304 is slidably connected to the sliding groove 303. The sliding direction of the sliding block 304 is the extension direction of the line connecting the first end 301 and the second end 302. Reference Figure 3 and Figure 4, in some embodiments of the present invention, the first driving mechanism 305 and the second driving mechanism 310 are relatively fixed in position. Therefore, when the needle mounting base 101 and the puncture needle 102 are translated together, the distance between the first end 301 and the second end 302 is also relatively fixed. When the needle mounting base 101 rotates, the first end 301 is mounted on the first lead screw 306, and the second end 302 is mounted on the second lead screw 311. The distance between the first end 301 and the second end 302 will become longer. Therefore, in order to enable the needle mounting base 101 to tilt and rotate better, the bottom plate of the needle mounting base 101 is divided into a fixed plate 316 and a sliding block 304, and the second end 302 is arranged on the sliding block 304. In this way, when the needle mounting base 101 rotates, the sliding block 304 can slide out relative to the sliding groove 303, so as to adapt to the change in the distance between the first end 301 and the second end 302. Such a design can make the rotation of the needle mounting base 101 smoother. It should be noted that, in some embodiments of the present invention, two sliding blocks 304 can be arranged at both ends of the fixed plate 316, and both the first end 301 and the second end 302 are arranged on the sliding block 304, and the newly added sliding block 304 is arranged Figure 3 opposite to the sliding block 304 shown in the figure. In this way, when the needle mounting base 101 tilts, the two sliding blocks 304 will slide from their respective sliding grooves 303 according to the forces they receive, further improving the smoothness of the movement of the needle mounting base 101.

[0031] Reference Figure 1 , Figure 3 , Figure 5 and Figure 6 , in some embodiments of the present invention, the puncture device 100 includes a feeding mechanism 315. The feeding mechanism 315 is arranged on the needle mounting base 101. The feeding mechanism 315 is connected to the puncture needle 102 and is used to drive the puncture needle 102 to move along its own axial direction. The first driving mechanism 305 and the second driving mechanism 310 are responsible for changing the position and orientation of the puncture needle 102, while the feeding mechanism 315 can control the depth of the puncture needle 102, so as to perform puncture. Thus, the position of the puncture needle 102 in three-dimensional space can be determined for better surgical treatment. Setting a separate feeding mechanism 315 can make the puncture process more accurate. Specifically, after determining the specific position and orientation of the needle tip of the puncture needle 102 through the first driving mechanism 305 and the second driving mechanism 310, the feeding mechanism 315 can be used to control its penetration into the human body alone to improve the surgical quality.

[0032] Reference Figure 4 and Figure 5, in some embodiments of the present invention, the feeding mechanism 315 includes a driving member 401, a gear 402, a first rack 403, and a second rack 404. The axial direction of the puncture needle 102 is the first direction. Both the first rack 403 and the second rack 404 extend along the first direction. The first rack 403 is fixedly installed on the needle mounting seat 101. The second rack 404 is arranged opposite to and parallel to the first rack 403. The second rack 404 is fixedly connected to the puncture needle 102. The gear 402 meshes with the first rack 403 and the second rack 404. The driving member 401 is used to drive the gear 402 to move along the first direction, so that the gear 402 rotates, and thus the second rack 404 and the puncture needle 102 move along the first direction. The specific principle is as follows: The driving member 401 drives the gear 402 to move along the first direction. Since the gear 402 meshes with the first rack 403 and the second rack 404, the gear 402 will also rotate. Also, because the first rack 403 is fixedly installed on the needle mounting seat 101, the gear 402 will move along the first rack 403, and at the same time drive the second rack 404 meshing with it to move, so that the puncture needle 102 moves along its own axial direction. The transmission mode of the gear 402 and the rack has a relatively stable motion state, and it is not easy to loosen after stopping driving, which improves the stability of the puncture needle 102. And the first rack 403 and the second rack 404 cooperate together to increase the movement stroke of the puncture needle 102. For example, referring to Figure 6 , when the gear 402 moves downward by one tooth relative to the first rack 403, the second rack 404 will also move downward by a distance of one tooth relative to the gear 402. Therefore, when the gear 402 rotates one tooth, the puncture needle 102 can move a distance of two teeth, achieving the technical effect of doubling the speed and increasing the range, and improving the traveling speed of the puncture needle 102. Further, referring to Figure 6 , in some embodiments of the present invention, the lengths of the first rack 403 and the second rack 404 are the same. When the puncture needle 102 is in the illustrated state, the gear 402 meshes with the upper end of the first rack 403 and the lower end of the second rack 404. When the gear 402 moves downward to the lower end of the first rack 403, the gear 402 will also mesh with the upper end of the second rack 404, that is, the puncture needle 102 travels the sum of the lengths of the first rack 403 and the second rack 404, achieving the effect of doubling the travel and increasing the maximum puncture depth of the puncture needle 102.

[0033] It should be noted that referring to Figure 5 and Figure 6, in some embodiments of the present invention, the driving member 401 specifically includes a motor and a set of lead screw modules. The lead screw of the lead screw module is rotatably connected to the central axis of the gear 402, and the motor drives the lead screw module to move in the first direction, thereby driving the central axis of the gear 402 to move in the first direction. The basic principle of the lead screw module is similar to that of the first driving mechanism 305 and the second driving mechanism 310, and it is also composed of a connecting member, a lead screw, and a limiting rod. Further, referring to Figure 6 , the motor is also connected to the lead screw module through a pulley and a belt drive structure, so that the motor can also be placed in the needle mounting seat 101. In addition, referring to Figure 1 , both the needle mounting seat 101 and the bottom case 103 are provided with a plurality of covers, and Figure 4 and Figure 6 both show the structure of the cover plate and other structures, which are partial structure schematic diagrams, in order to better display the driving mechanism and the feeding mechanism 315.

[0034] Referring to Figure 5 and Figure 6 , in some embodiments of the present invention, the puncture device 100 further includes a first sensor 405 and a second sensor 406. The first sensor 405 and the second sensor 406 are spaced apart in the first direction within the needle mounting seat 101. The puncture device 100 further includes an induction member 407. The gear 402 and the induction member 407 can move synchronously. When the gear 402 is at the uppermost end in the first direction, the induction member 407 triggers the first sensor 405. When the gear 402 is at the lowermost end in the first direction, the induction member 407 triggers the second sensor 406. It should be noted that Figure 6 the state shown is the state when the gear 402 is at the uppermost end in the first direction. Since the second rack 404 is fixedly connected to the puncture needle 102, setting two sensors can provide a more intuitive connection to the depth state of the puncture needle 102 at this time. And when the gear 402 is at the highest or lowest point, since the induction member 407 triggers the sensor, it is possible to prevent the gear 402 and the puncture needle 102 connected thereto from being too high or too low and causing equipment damage.

[0035] Referring to Figure 1 and Figure 2, in some embodiments of the present invention, the puncture device 100 further includes a detection component 104 and a bottom shell 103. The detection component 104 and the needle mounting seat 101 are jointly mounted on the bottom shell 103. The detection component 104 is used to detect and identify the target and image it, so that the puncture needle 102 punctures the target according to the image. The axial direction of the puncture needle 102 is the first direction, and the detection direction of the detection component 104 is the second direction. The first direction intersects the second direction at an acute angle. The detection component 104 and the needle mounting seat 101 are jointly mounted on the bottom shell 103, which can integrate the detection step and the puncture step in the same device, and make the axial direction of the puncture needle 102 intersect with the detection direction at an acute angle, so that after the detection component 104 detects and identifies the target, the puncture needle 102 can respond more quickly and puncture towards the target point. In some embodiments of the present invention, the detection component 104 is an ultrasonic probe sensing module, which has a six-axis force sensor, that is Figure 2 The lower end part of the detection component 104 shown. The detection direction refers to the direction indicated by the central axis of the sensor. Ultrasonic detection can form an ultrasonic image to facilitate better finding the location of structures such as lesions, so as to perform better surgery.

[0036] The puncture robot according to the second aspect embodiment of the present invention includes the puncture device 100 in any one of the first aspect embodiments and a robotic arm (not shown in the figure). The puncture device 100 is mounted at the end of the robotic arm. The puncture device 100 of the embodiment of the present invention, by designing the first driving mechanism 305 and the second driving mechanism 310, and directly connecting both mechanisms to the needle mounting seat 101 with the puncture needle 102, the two driving mechanisms jointly realize the movement and rotation of the puncture needle 102. By adjusting the driving direction and driving rate of the first driving mechanism 305 and the second driving mechanism 310, the lateral movement and inclination of the puncture needle 102 can be realized. Therefore, it can have higher movement accuracy. The puncture robot using the puncture device 100 can further increase the movement range of the puncture needle 102 by arranging the puncture device 100 at the end of the robotic arm, and further improve its flexibility and applicable scenarios.

[0037] It should be noted that, with reference to Figure 7, in some embodiments of the present invention, the puncture device 100 is detachably connected to the robotic arm. Specifically, the puncture device 100 further includes a flange base 701, a knob 702, a fixing pin 703, and a positioning pin 704. The flange base 701 is detachably mounted on the bottom case 103 through the knob 702 and the fixing pin 703. The positioning pin 704 can enable the flange base 701 to be more accurately mounted on the back of the bottom case 103 and prevent it from loosening. The flange surface of the flange base 701 is used to connect the end of the robotic arm, so that the robotic arm is connected to the puncture device 100. Such a design can make the disassembly and assembly of the puncture device 100 more convenient, and can be adapted to different types of robotic arms or other devices, having better applicability.

[0038] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Various changes can be made without departing from the spirit of the present invention within the knowledge scope of those of ordinary skill in the art. In addition, the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict.

Claims

1. A puncture device, characterized in that: include: Needle mount; A puncture needle is mounted on the needle mounting seat; A first driving mechanism connected to the first end of the needle mounting seat and capable of driving the first end to move; a second driving mechanism connected to the second end of the needle mounting seat and capable of driving the second end to move; The first driving mechanism and the second driving mechanism can drive the first end and the second end to move synchronously so that the puncture needle moves laterally; the first driving mechanism and the second driving mechanism can also drive the first end to move relative to the second end so that the puncture needle rotates, thereby changing the direction of the puncture needle.

2. The puncture device according to claim 1, characterized in that: The first drive mechanism and the second drive mechanism are both screw rod modules, the first drive mechanism includes a first screw rod, the second drive mechanism includes a second screw rod, and the first screw rod and the second screw rod are the same in thread direction and pitch; When the puncture needle moves laterally, the first screw rod and the second screw rod rotate in the same direction and at the same speed; When the puncture needle rotates, the first screw rod and the second screw rod rotate in opposite directions; or, only one of the first screw rod and the second screw rod rotates; Alternatively, the first screw and the second screw rotate in the same direction but at different speeds.

3. The puncture device according to claim 2, characterized in that: The puncture device also includes a bottom shell; The first driving mechanism also includes a first motor, a first limiting rod and a first connecting member; The first screw rod and the first limiting rod are parallel to each other, both ends of the first limiting rod are fixedly mounted on the bottom shell, one end of the first screw rod is rotatably connected to the bottom shell, and the other end is connected to the first motor, the first screw rod and the first limiting rod are both passed through the first connecting member, and the first connecting member is rotatably connected to the first end; The first motor is used to drive the first screw rod to rotate around its own axis, so that the first connecting member drives the first end to move along the axis of the first screw rod.

4. The puncture device according to claim 2, characterized in that: The puncture device also includes a bottom shell; The second driving mechanism further includes a second motor, a second limiting rod and a second connecting rod; The second screw rod and the second limiting rod are parallel to each other, both ends of the second limiting rod are fixedly mounted on the bottom shell, one end of the second screw rod is rotatably connected to the bottom shell, and the other end is connected to the second motor, the second screw rod and the second limiting rod are both passed through the second connecting member, and the second connecting member is rotatably connected to the second end; The second motor is used to drive the second screw rod to rotate around its own axis, so that the second connecting member drives the second end to move along the axis of the second screw rod.

5. The puncture device according to claim 2, characterized in that: The first drive mechanism is rotatably connected to the first end, the second drive mechanism is rotatably connected to the second end, and the needle mounting seat comprises: A fixed plate, wherein the first end is disposed on the fixed plate, and the fixed plate is provided with a sliding groove; A sliding block, the second end is arranged on the sliding block, the sliding block is slidably connected to the sliding groove, and the sliding direction of the sliding block is the extending direction of the line connecting the first end and the second end.

6. The puncture device according to claim 1, characterized in that: The puncture device comprises a feeding mechanism, which is arranged on the needle mounting seat, connected to the puncture needle, and used to drive the puncture needle to move along its own axial direction.

7. The puncture device according to claim 6, characterized in that: The feeding mechanism includes a driving member, a gear, a first rack, and a second rack; The axial direction of the puncture needle is the first direction, the first rack and the second rack both extend along the first direction, the first rack is fixedly mounted on the needle mounting seat, the second rack is arranged opposite to the first rack and parallel to each other, the second rack is fixedly connected to the puncture needle, the gear is meshed with the first rack and the second rack, and the driving member is used to drive the gear to move along the first direction so that the gear rotates, thereby moving the second rack and the puncture needle along the first direction.

8. The puncture device according to claim 7, characterized in that: The puncture device also includes a first sensor and a second sensor, and the first sensor and the second sensor are distributed in the needle mounting seat at intervals along the first direction. The puncture device also includes a sensing member, and the gear and the sensing member can move synchronously. When the gear is located at the uppermost end in the first direction, the sensing member triggers the first sensor, and when the gear is located at the lowermost end in the first direction, the sensing member triggers the second sensor.

9. The puncture device according to claim 1, characterized in that: The puncture device further comprises a detection assembly and a bottom shell, wherein the detection assembly and the needle mounting seat are mounted on the bottom shell together, and the detection assembly is used to detect and identify the target point and to form an image, so that the puncture needle can puncture the target point according to the image; The axial direction of the puncture needle is a first direction, the detection direction of the detection assembly is a second direction, and the first direction intersects with the second direction and the included angle is an acute angle.

10. A puncture robot, characterized in that: It comprises a puncture device as described in any one of claims 1 to 9 and a mechanical arm, wherein the puncture device is installed at the end of the mechanical arm.

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