Puncture robot

Abstract

The invention provides a puncture robot and relates to the technical field of medical instruments.The puncture robot comprises an X platform and a Y platform, the X platform comprises a first guide rail and a second guide rail which extend in the X direction, the first guide rail is provided with a first guide face deviating from the X platform, and the second guide rail is provided with a second guide face deviating from the X platform; the first guide face and the second guide face are perpendicular to each other and form an embedded area, and the Y platform is embedded in the embedded area and is in sliding fit with the first guide face and the second guide face. The puncture robot is small in height size and convenient to store and use, and the use experience of a patient is improved.

Description

Technical Field

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

[0002] Bone and soft tissue tumors are diseases that seriously endanger human health and life. In recent years, the incidence rate has been gradually increasing, and the age of onset has been gradually decreasing. Early detection, correct diagnosis, and timely treatment have an important impact on the prognosis. With the continuous improvement of examination means and methods, the diagnostic accuracy rate has also been gradually increasing. However, there is still a large proportion of tumors that do not have typical imaging features, and the diagnosis is relatively difficult. Correct diagnosis requires the combination of clinical, imaging, and pathology. Among them, pathological diagnosis plays a key role in the selection of treatment plans, and percutaneous biopsy is the main way to obtain pathological diagnosis.

[0003] In addition, in the treatment of tumors, especially liver tumors, microwave ablation therapy, as a local thermal ablation technique, has been widely used in various solid tumors, especially liver cancer, in recent years. The short-term and long-term effects of using microwave ablation to treat small liver cancer can be comparable to those of surgery. It is a green treatment method with both safety and definite curative effect. Microwave ablation surgery has small trauma, high safety, fast recovery, few complications, can be repeated, and can protect the organ function of patients to the greatest extent. Elderly patients who cannot accept conventional surgical operations, postoperative recurrence patients, and middle and late-stage patients can also accept microwave ablation. Patients with residual tumors or tumor recurrence after microwave ablation can continue to undergo microwave ablation surgery until the tumor is completely ablated.

[0004] In addition, the treatment in neurosurgery can also use a robotic system.

[0005] In the above clinical scenarios, it is necessary to use a puncture needle or an ablation needle to perform precise puncture on patients. For tumors with a relatively large volume, multiple ablation needles often need to be punctured in place and then perform microwave ablation surgery synchronously. Currently, doctors generally need to perform puncture manually under the image guidance of ultrasound, magnetic resonance imaging (MRI), or computed tomography (CT) in clinical practice. This makes doctors suffer a certain dose of radiation during the puncture process. At the same time, the puncture success rate and puncture accuracy also pose extremely high requirements on the doctor's technology, which to a certain extent limits the clinical use of related technologies. The percutaneous puncture robot system emerging in recent years can effectively solve the problem of puncture positioning.

[0006] However, in the existing puncture robots, the height dimension of the combined structure of the X platform and the Y platform is the superposition of the height dimensions of the X platform and the Y platform. Each platform is independently provided with a controller, which makes the number and volume of electronic components on each platform relatively large, thus increasing the size of the puncture robot, making it inconvenient for storage. At the same time, it restricts the placement position and posture of the robot on the patient, and the puncture robot is prone to interference with the CT aperture. The large-sized puncture robot will also cause an increase in the mass of the robot, and placing it on the patient may cause discomfort to the patient. Summary of the Invention

[0007] The purpose of the present invention is to provide a puncture robot with a relatively small height dimension, which is convenient for storage and use, and improves the patient's experience.

[0008] To achieve the above purpose, the present invention provides the following technical solutions:

[0009] The present invention provides a puncture robot, including an X platform and a Y platform. The X platform includes a first guide rail and a second guide rail both extending along the X direction. The first guide rail has a first guiding surface facing away from the X platform, and the second guide rail has a second guiding surface facing away from the X platform. The first guiding surface and the second guiding surface are perpendicular to each other and form an embedded area. The Y platform is embedded in the embedded area and is slidably matched with the first guiding surface and the second guiding surface.

[0010] Furthermore, the X platform further includes a controller group. A first PCB adapter board is provided on one side of the Y platform close to the controller group. Both the Y platform and the controller group are electrically connected to the first PCB adapter board.

[0011] Furthermore, the X platform includes an X base and an X power module;

[0012] One side of the X base is installed with the first guide rail, and the other side of the X base is installed with the second guide rail. The height of the second guide rail is higher than the height of the first guide rail;

[0013] The controller group and the X power module are installed on the side of the X base where the second guide rail is installed. The X power module is electrically connected to the controller group.

[0014] Furthermore, the X platform further includes an X grating scale, an X positive opto-coupler, and an X negative opto-coupler all installed on the X base. The X grating scale extends along the X direction. The X positive opto-coupler and the X negative opto-coupler are arranged oppositely along the X direction and both the X positive opto-coupler and the X negative opto-coupler are electrically connected to the controller group.

[0015] Furthermore, the Y platform includes a Y base, a first slider, a second slider, a Y positive opto-coupler, and a Y negative opto-coupler;

[0016] The first slider is mounted on the Y base and is in sliding fit with the first guide rail, and the second slider is mounted on the Y base and is in sliding fit with the second guide rail;

[0017] The Y positive optocoupler and the Y negative optocoupler are oppositely arranged along the Y direction on the top surface of the Y base and are both electrically connected to the first PCB adapter board. A wire harness slot is provided on the Y base, with two ends respectively extending to the Y positive optocoupler and the Y negative optocoupler;

[0018] The first PCB adapter board is located on one side of the Y base close to the controller group.

[0019] Further, the wire harness slot includes a first cross-section and / or a second cross-section. Both the first cross-section and the second cross-section have a width dimension along the X direction and a depth dimension along the Z direction;

[0020] The first cross-section is rectangular. The width dimension of the first cross-section is smaller than the wire harness diameter, and the depth dimension is larger than the wire harness diameter;

[0021] The second cross-section is arranged with a variable diameter along the Z direction. The width dimension of the second cross-section near the slot opening is smaller than the wire harness diameter, and the width dimension away from the slot opening is larger than the wire harness diameter. The depth dimension of the second cross-section is greater than or equal to the wire harness diameter.

[0022] Further, the Y platform further includes an optocoupler wire buckle. The optocoupler wire buckle is mounted on the side wall of the Y base close to the first PCB adapter board. The optocoupler wire buckle is recessed with an inner slot and an outer slot. One of the inner slot and the outer slot is used to accommodate the wire harness of the Y positive optocoupler extending towards the first PCB adapter board, and the other is used to accommodate the wire harness of the Y negative optocoupler extending towards the first PCB adapter board.

[0023] Further, the Y platform further includes a Y grating scale, a guide rail assembly, a Y power module, and an X grating scale reader head;

[0024] The Y grating scale and the guide rail assembly are both mounted on the surface of the Y base facing away from the X platform, and both the Y grating scale and the guide rail assembly extend along the Y direction;

[0025] The Y power module is mounted on the Y base, and the power output end is arranged close to the first PCB adapter board;

[0026] The X grating scale reader head is mounted on the Y base and faces the X grating scale on the X platform.

[0027] Further, the puncture robot further includes a rotating platform that is slidably engaged with the Y platform in the Y direction. A second PCB adapter board is provided on one side of the rotating platform close to the controller group. Both the rotating platform and the first PCB adapter board are electrically connected to the second PCB adapter board.

[0028] Further, the rotating platform includes a sliding seat, a Y grating head, a rotating platform base, and a power mechanism;

[0029] The sliding seat is slidably engaged with the Y platform in the Y direction. The Y grating head is mounted on the sliding seat and faces the Y grating on the Y platform.

[0030] The power mechanism is mounted on the sliding seat. The rotating platform base is connected to the power mechanism. Both the rotating platform base and the power mechanism are used to connect to the output interface component to drive the output interface component to move.

[0031] The puncture robot provided by the present invention can produce the following beneficial effects:

[0032] In the puncture robot provided by the present invention, the first guiding surface of the first guide rail facing away from the X platform and the second guiding surface of the second guide rail facing away from the X platform are vertically arranged. Not only can higher use stiffness be obtained, but also an embedded area for installing the Y platform can be formed. After the Y platform is installed, the height dimension of the combined structure of the X platform and the Y platform is smaller than the superposition of the height dimensions of the X platform and the Y platform. Thus, the height dimension of the entire puncture robot can be reduced, which is convenient for storage, effectively prevents interference between the puncture robot and the CT aperture, and improves the patient's use experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the specific embodiments or the prior art. Obviously, the following drawings are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0034] Figure 1 It is a schematic diagram of the puncture robot provided by the embodiment of the present invention during use;

[0035] Figure 2 It is a height comparison diagram between the existing puncture robot and the puncture robot provided by the embodiment of the present invention;

[0036] Figure 3 It is a three-dimensional structure diagram of the X platform, the Y platform, and the sliding seat in cooperation provided by the embodiment of the present invention;

[0037] Figure 4Exploded view of the X platform when installing the first slider provided by the embodiment of the present invention;

[0038] Figure 5 Three-dimensional structure schematic diagram of the X platform when installing the first slider provided by the embodiment of the present invention Figure 1 ;

[0039] Figure 6 Three-dimensional structure schematic diagram of the X platform when installing the first slider provided by the embodiment of the present invention Figure 2 ;

[0040] Figure 7 Three-dimensional structure schematic diagram of the X base provided by the embodiment of the present invention Figure 1 ;

[0041] Figure 8 Three-dimensional structure schematic diagram of the X base provided by the embodiment of the present invention Figure 2 ;

[0042] Figure 9 Three-dimensional structure schematic diagram of the Y platform and the sliding seat in cooperation provided by the embodiment of the present invention;

[0043] Figure 10 Exploded view of the Y platform and the sliding seat in cooperation provided by the embodiment of the present invention

[0044] Figure 11 Three-dimensional structure schematic diagram of the Y base provided by the embodiment of the present invention Figure 1 ;

[0045] Figure 12 Partial three-dimensional structure schematic diagram of the Y base provided by the embodiment of the present invention;

[0046] Figure 13 Comparison diagram of the first cross-section and the wire harness cross-section provided by the embodiment of the present invention;

[0047] Figure 14 Schematic diagram of the wire harness being installed in the first cross-section provided by the embodiment of the present invention;

[0048] Figure 15 Comparison diagram of the second cross-section and the wire harness cross-section provided by Embodiment 1 of the present invention;

[0049] Figure 16 Schematic diagram of the wire harness being installed in the second cross-section provided by Embodiment 1 of the present invention;

[0050] Figure 17 Comparison diagram of the second cross-section and the wire harness cross-section provided by Embodiment 2 of the present invention;

[0051] Figure 18 Schematic diagram of the wire harness being installed in the second cross-section provided by Embodiment 2 of the present invention;

[0052] Figure 19 It is a comparison diagram of the second cross-section and the cross-section of the wire harness provided in the third embodiment of the present invention;

[0053] Figure 20 It is a schematic diagram when the wire harness provided in the third embodiment of the present invention is installed in the second cross-section;

[0054] Figure 21 It is a distribution state diagram of the wire harnesses led out by the Y positive optocoupler and the Y negative optocoupler when the Y base provided in the embodiment of the present invention does not install the optocoupler wire buckle;

[0055] Figure 22 It is the distribution state of the wire harnesses led out by the Y positive optocoupler and the Y negative optocoupler when the Y base provided in the embodiment of the present invention installs the optocoupler wire buckle Figure 1 ;

[0056] Figure 23 It is a three-dimensional structure schematic diagram of the optocoupler wire buckle provided in the embodiment of the present invention;

[0057] Figure 24 It is the distribution state of the wire harnesses led out by the Y positive optocoupler and the Y negative optocoupler when the Y base provided in the embodiment of the present invention installs the optocoupler wire buckle Figure 2 ;

[0058] Figure 25 It is a three-dimensional structure schematic of the Y base provided in the embodiment of the present invention Figure 2 ;

[0059] Figure 26 It is an exploded view of the puncture robot provided in the embodiment of the present invention;

[0060] Figure 27 It is a three-dimensional structure schematic diagram of the rotating platform provided in the embodiment of the present invention;

[0061] Figure 28 It is a simplified diagram of the motion model of the connecting rod and hinge in the two rotating joint modules and the connecting rod assembly provided in the embodiment of the present invention;

[0062] Figure 29 It is a three-dimensional structure schematic diagram of the output interface component provided in the embodiment of the present invention;

[0063] Figure 30 It is a simplified diagram of the motion model of the rotating platform provided in the embodiment of the present invention;

[0064] Figure 31 It is a simplified diagram of the motion model when the output interface component cooperates with the rotating platform provided in the embodiment of the present invention;

[0065] Figure 32 It is a three-dimensional structure schematic of the sliding seat provided in the embodiment of the present invention Figure 1;

[0066] Figure 33 3D structure schematic diagram of the sliding seat provided by the embodiment of the present invention Figure 2 。

[0067] Icon: 1 - X platform; 11 - first guide rail; 111 - first guiding surface; 12 - second guide rail; 121 - second guiding surface; 13 - embedded area; 14 - controller group; 15 - X base; 151 - positioning end face; 152 - stepped hole; 153 - X negative opto-coupler mounting position; 154 - X power module mounting position; 155 - X positive opto-coupler mounting position; 156 - first guide rail mounting position; 157 - second guide rail mounting position; 158 - controller group mounting position; 159 - X grating ruler mounting position; 16 - X grating ruler; 17 - X positive opto-coupler; 18 - X negative opto-coupler; 19 - X power module; 2 - Y platform; 21 - first PCB adapter board; 22 - Y base; 221 - wire harness slot; 222 - guide rail mounting position; 223 - Y negative opto-coupler mounting position; 224 - Y grating ruler mounting position; 225 - Y positive opto-coupler mounting position; 226 - opto-coupler wire buckle mounting position; 227 - first PCB adapter board mounting position; 228 - X grating ruler reader head mounting position; 229 - first slider mounting seat; 2210 - second slider mounting seat; 23 - first slider; 24 - second slider; 25 - Y positive opto-coupler; 26 - Y negative opto-coupler; 27 - opto-coupler wire buckle; 271 - inner card slot; 272 - outer card slot; 28 - Y grating ruler; 29 - guide rail assembly; 210 - Y power module; 2011 - X grating ruler reader head; 2012 - X positive opto-coupler trigger board; 2013 - X negative opto-coupler trigger board; 3 - rotating platform; 31 - second PCB adapter board; 32 - sliding seat; 321 - Y positive opto-coupler trigger board; 322 - Y negative opto-coupler trigger board; 33 - Y grating ruler reader head; 34 - rotating platform base; 341 - fixed-end hinge; 35 - power mechanism; 351 - first right connecting rod; 352 - first left connecting rod; 353 - second right connecting rod; 354 - second left connecting rod; 355 - right power hinge; 356 - left power hinge; 357 - connecting rod output hinge; 358 - left opto-coupler; 359 - rotating joint module; 3510 - movable-end hinge; 36 - fixed rod; 37 - left virtual connecting rod; 38 - right virtual connecting rod; 4 - output interface component; 41 - fixed-end bracket; 42 - movable-end bracket; 43 - mounting base; 44 - fixed-end rotating hinge; 45 - movable-end rotating hinge; 46 - linear motion pair; 5 - wire harness. Detailed implementation manners

[0068] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0069] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying 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 therefore should not be construed as a limitation to the present invention. In addition, the terms "first", "second", and "third" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0070] In the description of the present invention, it should be noted that unless otherwise clearly specified and limited, the terms "installation", "connection", and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0071] The following will describe in detail the specific embodiments of the present invention with reference to the accompanying drawings. It should be understood that the specific embodiments described here are only for the purpose of illustrating and explaining the present invention, and are not used to limit the present invention.

[0072] An embodiment of the first aspect of the present invention provides a puncture robot, including an X platform 1 and a Y platform 2. The X platform 1 includes a first guide rail 11 and a second guide rail 12 both extending along the X direction. The first guide rail 11 has a first guide surface 111 facing away from the X platform 1, and the second guide rail 12 has a second guide surface 121 facing away from the X platform 1. The first guide surface 111 and the second guide surface 121 are perpendicular to each other and form an embedded area 13. The Y platform 2 is embedded in the embedded area 13 and is slidably engaged with the first guide surface 111 and the second guide surface 121.

[0073] Figure 1The figure shows a schematic diagram of the puncture robot during use. The puncture robot is placed and fixed on the patient and enters the CT aperture along with the CT moving bed for scanning. Therefore, if the size of the puncture robot is too large, it will cause inconvenience in storage, occupy more operating room space, and also limit the placement position and posture of the puncture robot on the patient. It may even interfere with the CT aperture and cause serious consequences. In addition, a large size will lead to an increase in the mass of the robot, and placing it on the patient may cause discomfort to the patient.

[0074] For reference as needed Figure 2 , Figure 2 In the left side of [], it is a schematic side structure diagram of the puncture robot in the prior art. The height dimension of the combined structure of the X platform and the Y platform is the superposition of the height dimensions of the X platform and the Y platform. Therefore, its height dimension is relatively large. In the puncture robot provided by the above embodiment, as Figure 3 shown, the first guiding surface 111 and the second guiding surface 121 are perpendicularly arranged, and an embedded area 13 is formed therebetween. The Y platform 2 can be installed in the embedded area 13. The height dimension of the combined structure of the X platform 1 and the Y platform 2 is smaller than the superposition of the height dimensions of the X platform 1 and the Y platform 2, and even only equal to the height dimension of the X platform 1, reducing the height dimension of the puncture robot. Compared with the existing puncture robot, the height is reduced by the size of h, which is convenient for storage, effectively prevents the puncture robot from interfering with the CT aperture, and improves the patient's use experience.

[0075] In addition, the perpendicular arrangement of the first guiding surface 111 and the second guiding surface 121 can be understood as the first guide rail 11 being horizontally arranged and the second guide rail 12 being vertically arranged. In this way, the first guide rail 11 and the second guide rail 12 can strengthen the restriction on the Y platform 2 in the Y plane and the Z plane, obtain higher use stiffness, and ensure the accuracy of the Y platform 2 moving along the X direction.

[0076] The following specifically describes the structure of the X platform 1:

[0077] In some embodiments, as Figure 4 and Figure 5 shown, the X platform 1 further includes a controller group 14, and the controller group 14 is used to control the power source and electronic components in the entire puncture robot.

[0078] Specifically, all the electronic component wire harnesses of the X platform 1 can be connected to the circuit board of the controller group 14; the controller group 14 is connected to the Y platform 2 through a motion wire harness to achieve communication and power supply, and the Y platform 2 is further connected to the rotary platform 3 through a motion wire harness to achieve communication and power supply. In the above embodiment, the drivers of each platform are integrated on the X platform 1, which can reduce the number and volume of electronic components on the Y platform 2 and the rotary platform 3, so as to achieve the purpose of reducing the sizes of the Y platform 2 and the rotary platform 3.

[0079] The controller group 14 can be installed on one side of the X platform 1, facilitating the routing of the harnesses of each platform and not interfering with the movement of the Y platform 2 and the rotating platform 3.

[0080] In some embodiments, the X platform 1 includes an X base 15 and an X power module 19, where:

[0081] The X base 15 is in a frame shape. As Figure 4 shown, a first guide rail 11 is installed on the upper surface of the right side of the X base 15, and a second guide rail 12 is installed on the side surface of the left side of the X base 15. The height of the second guide rail 12 is higher than that of the first guide rail 11.

[0082] As Figure 5 and Figure 6 shown, both the controller group 14 and the X power module 19 are installed on the side of the X base 15 where the second guide rail 12 is installed. The X power module 19 is electrically connected to the controller group 14.

[0083] In the above X platform 1, the X power module 19 and the controller group 14 are located on the same side of the X base 15, without considering the orientation of the harnesses led out by the X power module 19 and the problem that the led-out harnesses will not interfere with the Y platform 2.

[0084] Among them, the controller group 14 can extend towards the side facing the upper surface of the X base 15 as Figure 5 shown, and the X power module 19 can be arranged on the lower surface of the X base 15 as Figure 6 shown, making the structure of the X platform 1 more compact.

[0085] Of course, the above upper surface and lower surface are relative to the Figure 3 position placed in. In actual use, the above upper surface can be set facing the human body, and the above lower surface can be set facing away from the human body.

[0086] In some embodiments, as Figure 4 shown, the X platform 1 further includes an X grating scale 16, an X positive opto - coupler 17, and an X negative opto - coupler 18, all of which are installed on the X base 15. The X grating scale 16 extends along the X direction, the X positive opto - coupler 17 and the X negative opto - coupler 18 are arranged oppositely along the X direction, and both the X positive opto - coupler 17 and the X negative opto - coupler 18 are electrically connected to the controller group 14.

[0087] The X grating scale 16 can be used in cooperation with the X grating scale reader head 2011 on the Y platform 2 to read the moving distance of the Y platform 2. The X positive opto - coupler 17 and the X negative opto - coupler 18 can cooperate with the X positive opto - coupler trigger board 2012 and the X negative opto - coupler trigger board 2013 on the Y platform 2 respectively to detect whether the Y platform 2 reaches the limit position along the X direction.

[0088] Specifically, as Figure 4As shown, the X scale 16 can be installed on the side of the X base 15 where the second guide rail 12 is installed, and more specifically, it can be installed on the upper surface of the X base 15. The X positive optocoupler 17 and the X negative optocoupler 18 can be installed on the side of the X base 15 where the second guide rail 12 is installed, and more specifically, they can be installed on the lower surface of the X base 15.

[0089] It should be noted that the X power module 19 may include a motor and a lead screw nut mechanism connected to the motor. The lead screw in the lead screw nut is connected to the power output shaft of the motor, and the nut is connected to the Y platform 2 to achieve power transmission.

[0090] The transmission principle of the above lead screw nut mechanism is a well-known technology. To save space, it will not be described in detail here.

[0091] According to Figure 7 and Figure 8 The installation positions of each structure on the X base 15 will be specifically described:

[0092] As Figure 7 shown, one side of the X base 15 is provided with a positioning end face 151 and a stepped hole 152, which are used for the entire puncture robot to be installed in place on the outer shell. There are also an X negative optocoupler installation position 153, an X power module installation position 154, and an X positive optocoupler installation position 155. As Figure 8 shown, the other side of the X base 15 is provided with a first guide rail installation position 156, a second guide rail installation position 157, a controller group installation position 158, and an X scale installation position 159.

[0093] The structure of the Y platform 2 will be specifically described below:

[0094] As Figure 3 、 Figure 9 and Figure 10 shown, a first PCB adapter board 21 is provided on one side of the Y platform 2 close to the controller group 14. Both the Y platform 2 and the controller group 14 are electrically connected to the first PCB adapter board 21.

[0095] In the above embodiment, the driver of the Y platform 2 is placed in the controller group 14 at the X platform 1. Only a smaller-sized first PCB adapter board 21 needs to be set at the Y platform 2 to move with the Y platform 2. Specifically, the component wire harness on the Y platform 2 is plugged into the first PCB adapter board 21, and then the first PCB adapter board 21 is connected to the controller group 14 through a wire harness to achieve power supply and communication.

[0096] In some embodiments, as Figures 9 to 11 shown, the Y platform 2 includes a Y base 22, a Y positive optocoupler 25, and a Y negative optocoupler 26, where:

[0097] The Y positive optocoupler 25 and the Y negative optocoupler 26 are oppositely arranged along the Y direction on the top surface of the Y base 22 and are both electrically connected to the first PCB adapter board 21. A wire harness slot 221 is provided on the Y base 22, with two ends respectively extending to the Y positive optocoupler 25 and the Y negative optocoupler 26.

[0098] The first PCB adapter board 21 is located on the side of the Y base 22 close to the controller group 14, so as to facilitate the connection of the first PCB adapter board 21 and the controller group 14 by a circuit.

[0099] Among them, the Y positive optocoupler 25 and the Y negative optocoupler 26 can cooperate with the Y positive optocoupler trigger board 321 and the Y negative optocoupler trigger board 322 on the rotating platform 3 respectively to detect whether the rotating platform 3 reaches the limit position along the Y direction.

[0100] After the Y positive optocoupler 25 and the Y negative optocoupler 26 are installed, since the wire harness 5 connected to the two needs to be inserted into the first PCB adapter board 21, in order to facilitate the integration of the entire platform and ensure that there is no interference during the movement of the Y platform 2, the wire harness 5 needs to be fixed. As Figure 12 shown, the wire harness can be embedded in the wire harness slot 221. There is no need to use external wire harness buckles or adhesives to fix the wire harness 5, realizing the reliable integration of electronic components and wire harnesses.

[0101] In some embodiments, the wire harness slot 221 includes a first cross-section or a second cross-section, and can also include both the first cross-section and the second cross-section. Both the first cross-section and the second cross-section have a width dimension along the X direction and a depth dimension along the Z direction, where:

[0102] As Figure 13 shown, the first cross-section is rectangular, the width dimension L1 of the first cross-section is less than the wire harness diameter D, and the depth dimension H1 is greater than the wire harness diameter. As Figure 14 shown, when the wire harness is pressed into the wire harness slot 221, the cross-section of the wire harness will elastically deform in the wire harness slot 221 and be clamped tightly. And since the depth dimension H1 of the wire harness slot 221 ≥ D, the entire wire harness will be clamped tightly in the wire harness slot 221. The wire harness slot 221 formed by this kind of cross-section has a relatively simple structure, but there is a certain assembly stress in the wire harness slot 221 after the wire harness is assembled, which may cause the plastic outer skin of the wire harness to age prematurely.

[0103] The second cross-section is arranged with a variable diameter along the Z direction. The width dimension of the second cross-section near the slot mouth is less than the wire harness diameter D, the width dimension of the second cross-section far from the slot mouth is greater than the wire harness diameter D, and the depth dimension of the second cross-section is greater than or equal to the wire harness diameter D. Thus, during assembly, only the wire harness needs to be forced across the slot mouth so that the wire harness elastically deforms and enters the bottom of the slot. After entering the bottom, it will be stuck by the slot mouth of the slot and the original elastic deformation of the wire harness will recover, and there will be no elastic deformation after assembly.

[0104] According to the diameter-changing method of the second cross-section, it can be divided into the following three embodiments:

[0105] Embodiment 1

[0106] In the first embodiment, as Figure 15 and Figure 16 shown, the width dimension L2 of the second cross-section near the notch side is smaller than the wire harness diameter D, the width dimension L3 of the side away from the notch is larger than the wire harness diameter D, the depth dimension H2 of the second cross-section is greater than or equal to the wire harness diameter D. The second cross-section adopts a diameter-changing method with bilateral diameter change on both the left and right sides, and the diameter-changing part is a hypotenuse extending in a straight line.

[0107] After the wire harness is placed in the wire harness slot 221, it can be stuck in the wire harness slot 221 without deforming itself.

[0108] Embodiment 2

[0109] In the second embodiment, as Figure 17 and Figure 18 shown, the width dimension L5 of the second cross-section near the notch side is smaller than the wire harness diameter D, the width dimension L4 of the side away from the notch is larger than the wire harness diameter D, the depth dimension H3 of the second cross-section is greater than or equal to the wire harness diameter D. The second cross-section adopts a diameter-changing method with bilateral diameter change on both the left and right sides, and the diameter-changing part is an arc edge extending in an arc shape.

[0110] After the wire harness is placed in the wire harness slot 221, it can be stuck in the wire harness slot 221 without deforming itself, and because the diameter-changing part adopts an arc edge, it can better fit with the outer surface of the wire harness, and the wire harness connection is more stable.

[0111] Embodiment 3

[0112] In the third embodiment, as Figure 19 and Figure 20 shown, the width dimension L7 of the second cross-section near the notch side is smaller than the wire harness diameter D, the width dimension L6 of the side away from the notch is larger than the wire harness diameter D, the depth dimension H4 of the second cross-section is greater than or equal to the wire harness diameter D. The second cross-section adopts a diameter-changing method with unilateral diameter change on the left side, and the diameter-changing part is a hypotenuse extending in a straight line.

[0113] After the wire harness is placed in the wire harness slot 221, it can be stuck in the wire harness slot 221 without deforming itself. Compared with Embodiment 1 and Embodiment 2, it is more convenient for processing.

[0114] To facilitate the installation of the wire harness and ensure that the wire harness is fixed in the wire harness slot 221 after installation, the wire harness slot 221 is discontinuously distributed with the first cross-section and the second cross-sections in the three embodiments in the entire length direction, rather than using one cross-section throughout the entire length direction.

[0115] As Figure 21 shown, after the Y - positive optocoupler 25 and the Y - negative optocoupler 26 are installed, the wire harnesses are inserted into the corresponding connectors of the first PCB adapter board 21. For the purpose of installing and removing the wire harnesses at these two places, a certain length is reserved for the wire harnesses led out by the Y - positive optocoupler 25 and the Y - negative optocoupler 26. Since the wire harnesses are flexible, the two wire harnesses will have uncertainty in space and may interfere with the Y - direction movement of the rotating platform 3 on the Y - platform 2. Therefore, in some embodiments, the Y - platform 2 further includes an optocoupler wire clip 27.

[0116] Specifically, as Figures 22 to 24 shown, the optocoupler wire clip 27 is installed on the side wall of the Y - base 22 close to the first PCB adapter board 21. The optocoupler wire clip 27 is recessed with an inner card slot 271 and an outer card slot 272. The inner card slot 271 is used to accommodate the wire harness of the Y - negative optocoupler 26 extending towards the first PCB adapter board 21, and the outer card slot 272 is located outside the inner card slot 271. The outer card slot 272 is used to accommodate the wire harness of the Y - positive optocoupler 25 extending towards the first PCB adapter board 21.

[0117] Specifically, the inner card slot 271 and the outer card slot 272 are designed as right - angled card slots, and the right - angled part is curved in an arc shape. Designing the inner card slot 271 and the outer card slot 272 as right - angled card slots instead of straight - arranged card slots can accommodate more redundant wire harnesses led out by the Y - positive optocoupler 25 and the Y - negative optocoupler 26 in the smallest size case.

[0118] The cross - sectional shape of the inner card slot 271 and the outer card slot 272 can be designed to be similar to the cross - sectional shape of the wire harness card slot 221 for fixing the wire harnesses.

[0119] During installation, first, the wire harnesses led out by the Y - positive optocoupler 25 and Y are loaded into the outer card slot 272, and the wire harness led out by the Y - negative optocoupler 26 is loaded into the inner card slot 271. Then, screws are used to lock the optocoupler wire clip 27 to the Y - base 22 through the connection holes on the optocoupler wire clip 27. If the wire harnesses need to be disassembled, just remove the optocoupler wire clip 27 and pull out the two wire harnesses from the outer card slot 272 and the inner card slot 271, so that the two wire harnesses are in the state of Figure 21 shown, and then the two wire harnesses can be pulled out from the first PCB adapter board 21.

[0120] In some embodiments, as Figure 4 shown, the Y - platform 2 further includes a first slider 23 and a second slider 24. The first slider 23 is installed on the lower surface of the Y - base 22 and is slidably matched with the first guide rail 11, and the second slider 24 is installed on the side surface of the Y - base 22 and is slidably matched with the second guide rail 12. Both the first slider 23 and the second slider 24 can be configured in multiple numbers.

[0121] In some embodiments, as Figure 9 andFigure 10 As shown in the figure, the Y platform 2 further includes a Y scale 28, a guide rail assembly 29, a Y power module 210, and an X scale reader head 2011, where:

[0122] Both the Y scale 28 and the guide rail assembly 29 are installed on the surface of the Y base 22 facing away from the X platform 1. Both the Y scale 28 and the guide rail assembly 29 extend along the Y direction. The guide rail assembly 29 may include two guide rails extending along the Y direction, and the Y scale 28 is disposed close to one of the guide rails;

[0123] The Y power module 210 is installed on the Y base 22 and the power output end is close to the first PCB adapter board 21, facilitating the connection of the motor in the Y power module 210 to the first PCB adapter board 21 through a wire harness;

[0124] The X scale reader head 2011 is installed on the Y base 22 and faces the X scale 16 on the X platform 1. The X scale reader head 2011 is used to read the moving distance of the Y platform 2.

[0125] It should be noted that the structure of the Y power module 210 may be similar to that of the X power module 19, including a motor and a lead screw nut mechanism connected to the motor. The principle of driving the rotating platform 3 to move is the same as that of the X power module 19 driving the Y platform 2 to move. For the sake of brevity, it will not be described in detail here.

[0126] In some embodiments, as Figure 25 shown, the Y platform 2 further includes an X positive optocoupler trigger board 2012 for triggering the X positive optocoupler 17 and an X negative optocoupler trigger board 2013 for triggering the X negative optocoupler 18.

[0127] According to Figure 16 and Figure 25 the installation positions of each structure on the Y base 22 will be specifically described:

[0128] As Figure 25 shown, one side of the Y base 22 is provided with a guide rail installation position 222, a Y negative optocoupler installation position 223, a Y scale installation position 224, a Y positive optocoupler installation position 225, an optocoupler wire buckle installation position 226, a first PCB adapter board installation position 227, and an X scale reader head installation position 228. As Figure 16 shown, the other side of the Y base 22 is provided with a first slider mounting seat 229 and a second slider mounting seat 2210.

[0129] In summary, when the X platform 1 moves, the X scale head 2011 reads the linear position data of the X scale 16, so that the system can know the positions of the Y platform 2 and the rotary platform 3 in the X direction. The two extreme positions of the movement of the X platform are: the X negative opto-coupler trigger board 2013 triggers the X negative opto-coupler 18 installed at the X negative opto-coupler installation position 153, which is the negative extreme position of the X platform 1; the X positive opto-coupler trigger board 2012 triggers the X positive opto-coupler 17 installed at the X positive opto-coupler installation position 155, which is the positive extreme position of the X platform 1.

[0130] In some embodiments, such as Figure 26 and Figure 27 shown, the puncture robot further includes a rotary platform 3 that is slidably engaged with the Y platform 2 in the Y direction. A second PCB adapter board 31 is provided on one side of the rotary platform 3 close to the controller group 14. Both the rotary platform 3 and the first PCB adapter board 21 are electrically connected to the second PCB adapter board 31.

[0131] In the above embodiments, the driver of the rotary platform 3 is placed in the controller group 14 at the X platform 1. Only a smaller-sized second PCB adapter board 31 needs to be provided at the rotary platform 3 to move together with the rotary platform 3. Specifically, the component wire harnesses on the rotary platform 3 are plugged into the second PCB adapter board 31, and then the second PCB adapter board 31 is connected to the first PCB adapter board 21 through a wire harness to achieve power supply and communication.

[0132] The following specifically describes the specific structure of the rotary platform 3 and the principle of the rotary platform 3 driving the output interface component 4 to move:

[0133] In some embodiments, the rotary platform 3 includes a sliding seat 32, a Y scale head 33, a rotary platform base 34, and a power mechanism 35, where:

[0134] Such as Figure 9 shown, the sliding seat 32 is slidably engaged with the Y platform 2 in the Y direction. The Y scale head 33 is installed on the sliding seat 32 and faces the Y scale 28 on the Y platform 2;

[0135] Such as Figure 27 shown, the power mechanism 35 is installed on the sliding seat 32. The rotary platform base 34 is connected to the power mechanism 35. Both the rotary platform base 34 and the power mechanism 35 are used to connect to the output interface component 4 to drive the output interface component 4 to move.

[0136] Therefore, when the Y platform moves, the Y scale head 33 reads the linear position data of the Y scale 28, so that the system knows the position of the rotary platform 3 in the Y direction. The two limit positions of the movement of the Y platform 2 are: when the Y negative opto-coupler trigger board 322 triggers the Y negative opto-coupler 26, it is the negative limit position of the Y platform 2; when the Y positive opto-coupler trigger board 321 triggers the Y positive opto-coupler 25, it is the positive limit position of the Y platform 2.

[0137] Specifically, as Figure 27 shown, the power mechanism 35 includes a connecting rod assembly, a left opto-coupler 358, a right opto-coupler, and a rotary joint module 359. The connecting rod assembly includes a first right connecting rod 351, a first left connecting rod 352, a second right connecting rod 353, and a second left connecting rod 354; one end of the second left connecting rod 354 is connected to the rotary joint module 359, and the other end is hinged to one end of the first left connecting rod 352 through a hinge. The other end of the first left connecting rod 352 is hinged to one end of the first right connecting rod 351. The other end of the first right connecting rod 351 is hinged to one end of the second right connecting rod 353, and the other end of the second right connecting rod 353 is connected to the rotary joint module 359.

[0138] The entire rotary platform 3 is based on the rotary platform base 34. The two rotary joint modules 359 and the connecting rods and hinges in the connecting rod assembly are simplified as Figure 28 shown. Through the forward and reverse rotational movements of the left and right rotary joint modules 359, the two connecting rods, namely the second right connecting rod 353 and the second left connecting rod 354, are driven to rotate forward and backward respectively with the two rotary joint modules 359 as the rotation center points, and the rotational power is transmitted to the two hinges, namely the right power hinge 355 and the left power hinge 356. Then, the right power hinge 355 and the left power hinge 356 transmit the power to the first right connecting rod 351 and the first left connecting rod 352 respectively. The first right connecting rod 351 and the first left connecting rod 352 rotate forward and backward with the right power hinge 355 and the left power hinge 356 as the rotation centers respectively, and the power acts together at the connecting rod output hinge 357, so as to realize the movement of the connecting rod output hinge 357 in the X and Y directions on the plane.

[0139] The connection line of the mounting holes of the two rotary joint modules 359 on the rotary platform base 34 forms a fixed rod 36. The movement of the second left connecting rod 354 and the first left connecting rod 352 constitutes a left virtual connecting rod 37 with a changing side length. Similarly, the movement of the second right connecting rod 353 and the first right connecting rod 351 constitutes a right virtual connecting rod 38 with a changing side length. The fixed rod 36, the left virtual connecting rod 37, and the right virtual connecting rod 38 form a planar triangle with the fixed rod 36 as the fixed side length and the side lengths of the left virtual connecting rod 37 and the right virtual connecting rod 38 changing. Its output is reflected in the linear movement of the intersection connecting rod output hinge 357 of the left virtual connecting rod 37 and the right virtual connecting rod 38 in the X and Y planes.

[0140] Specifically, as Figure 29 shown, the output interface component 4 includes a fixed-end bracket 41, a movable-end bracket 42, and a mounting base 43. The fixed-end bracket 41 is hinged to the mounting base 43 through a hinge. The movable-end bracket 42 is located above the fixed-end bracket 41 and is hinged to the mounting base 43 through a hinge. One end of the mounting base 43 hinged to the movable-end bracket 42 has a sliding freedom degree relative to the end hinged to the fixed-end bracket 41.

[0141] Among them, the mounting base 43 can be used for extended applications, such as installing a guiding mechanism for guiding during surgeries such as puncture, microwave ablation, cryoablation, and neurosurgical needle insertion. Installing a guiding and power mechanism can achieve automatic guiding and automatic needle insertion.

[0142] The simplified motion model of the entire rotary platform 3 is as Figure 30 shown. The entire rotary platform realizes linear movement in the X and Y directions of space through the drive of the X and Y platforms; the two rotary joint modules 359 drive the second right connecting rod 353, the second left connecting rod 354, the first right connecting rod 351, and the first left connecting rod 352 on both sides to achieve the X and Y movement in the plane of the connecting rod output hinge 357 and the movable-end hinge 3510. Among them, as Figure 27 shown, the movable-end hinge 3510 and the fixed-end hinge 341 are Y-direction rotary pairs.

[0143] Figure 31For the simplified motion model of installing the output interface component 4 on the rotating platform 3, after initializing the two rotating joint modules 359 of the rotating platform to the zero position and then performing combined rotational motion. For example, if the upper rotating joint module 359 rotates clockwise and the lower rotating joint module 359 rotates counterclockwise at the same speed, the connecting rod output hinge 357 moves in the negative Y direction of the plane, which will drive the entire movable end hinge 3510 and the movable end rotating hinge 45 to move in the negative Y direction, while the fixed end hinge 341 and the fixed end rotating hinge 44 do not move in the Y direction. Since the relative distance between the movable end rotating hinge 45 and the linear motion pair 46 remains unchanged, at this time, the linear motion pair 46 will be driven by the movable end rotating hinge 45 to move in the negative Y direction, and the linear motion pair 46 will generate a relative linear motion with the mounting base 43, thereby finally realizing the clockwise rotational motion of the mounting base 43 around the X axis of the fixed end rotating hinge 44. Similarly, the counterclockwise rotational motion can also be realized. If the two rotating joint modules 359 of the rotating platform are initialized to the zero position and then both the upper and lower rotating joint modules 359 rotate clockwise, the connecting rod output hinge 357 can be made to move in the negative X direction. At this time, the movable end rotating hinge 45 generates a relative rotational motion in the Y direction at the movable end hinge 3510 relative to the connecting rod output hinge 357, and the fixed end rotating hinge 44 also generates a relative rotational motion relative to the rotating platform base 34, while the linear motion pair 46 generates a relative linear motion with the mounting base 43. At this time, the rotational motion of the mounting base 43 relative to the rotating platform base 34 around the Y axis can be realized at the fixed end hinge 341.

[0144] In some embodiments, as Figure 32 and 33 shown, a Y positive opto-coupler trigger plate 321 and a Y negative opto-coupler trigger plate 322 are provided on the sliding seat 32. When the Y negative opto-coupler trigger plate 322 triggers the Y negative opto-coupler 26, the Y platform 2 reaches the negative limit position; when the Y positive opto-coupler trigger plate 321 triggers the Y positive opto-coupler 25, the Y platform 2 reaches the positive limit position.

[0145] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A puncture robot, characterized in that, It includes an X platform (1) and a Y platform (2). The X platform (1) includes a first guide rail (11) and a second guide rail (12) both extending along the X direction. The first guide rail (11) has a first guiding surface (111) facing away from the X platform (1), and the second guide rail (12) has a second guiding surface (121) facing away from the X platform (1). The first guiding surface (111) and the second guiding surface (121) are perpendicular to each other and form an embedded area (13). The Y platform (2) is embedded in the embedded area (13) and is in sliding fit with the first guiding surface (111) and the second guiding surface (121).

2. The puncture robot according to claim 1, characterized in that, The X platform (1) further includes a controller group (14). On one side of the Y platform (2) close to the controller group (14), there is a first PCB adapter board (21). Both the Y platform (2) and the controller group (14) are electrically connected to the first PCB adapter board (21).

3. The puncture robot according to claim 2, characterized in that, The X platform (1) includes an X base (15) and an X power module (19); One side of the X base (15) is installed with the first guide rail (11), and the other side of the X base (15) is installed with the second guide rail (12). The height of the second guide rail (12) is higher than the height of the first guide rail (11); Both the controller group (14) and the X power module (19) are installed on the side of the X base (15) where the second guide rail (12) is installed. The X power module (19) is electrically connected to the controller group (14).

4. The puncture robot according to claim 3, characterized in that, The X platform (1) further includes an X grating scale (16), an X positive optocoupler (17), and an X negative optocoupler (18) all installed on the X base (15). The X grating scale (16) extends along the X direction. The X positive optocoupler (17) and the X negative optocoupler (18) are arranged oppositely along the X direction and both the X positive optocoupler (17) and the X negative optocoupler (18) are electrically connected to the controller group (14).

5. The puncture robot according to claim 2, characterized in that, The Y platform (2) includes a Y base (22), a first slider (23), a second slider (24), a Y positive optocoupler (25), and a Y negative optocoupler (26); The first slider (23) is installed on the Y base (22) and is in sliding fit with the first guide rail (11). The second slider (24) is installed on the Y base (22) and is in sliding fit with the second guide rail (12); The Y positive optocoupler (25) and the Y negative optocoupler (26) are arranged oppositely along the Y direction on the top surface of the Y base (22) and are both electrically connected to the first PCB adapter board (21). On the Y base (22), there is a wire harness slot (221) with two ends respectively extending to the Y positive optocoupler (25) and the Y negative optocoupler (26); The first PCB adapter board (21) is located on the side of the Y base (22) close to the controller group (14).

6. The puncture robot according to claim 5, characterized in that, The wire harness slot (221) includes a first cross-section and / or a second cross-section. Both the first cross-section and the second cross-section have a width dimension along the X direction and a depth dimension along the Z direction; The first cross-section is rectangular, and the width dimension of the first cross-section is smaller than the diameter of the wire harness, while the depth dimension is larger than the diameter of the wire harness. The second cross-section is arranged with a variable diameter along the Z direction. The width dimension of the second cross-section near the notch side is smaller than the diameter of the wire harness, and the width dimension of the second cross-section far from the notch side is larger than the diameter of the wire harness. The depth dimension of the second cross-section is greater than or equal to the diameter of the wire harness.

7. The puncture robot according to claim 5, characterized in that, The Y platform (2) further includes an optocoupler wire buckle (27). The optocoupler wire buckle (27) is installed on the side wall of the Y base (22) close to the first PCB adapter board (21). The optocoupler wire buckle (27) is recessed with an inner card slot (271) and an outer card slot (272). One of the inner card slot (271) and the outer card slot (272) is used to accommodate the wire harness of the Y positive optocoupler (25) extending towards the first PCB adapter board (21), and the other is used to accommodate the wire harness of the Y negative optocoupler (26) extending towards the first PCB adapter board (21).

8. The puncture robot according to claim 5, characterized in that, The Y platform (2) further includes a Y grating scale (28), a guide rail assembly (29), a Y power module (210), and an X grating scale reader head (2011). Both the Y grating scale (28) and the guide rail assembly (29) are installed on the surface of the Y base (22) facing away from the X platform (1), and both the Y grating scale (28) and the guide rail assembly (29) extend along the Y direction. The Y power module (210) is installed on the Y base (22) and the power output end is arranged close to the first PCB adapter board (21). The X grating scale reader head (2011) is installed on the Y base (22) and faces the X grating scale (16) on the X platform (1).

9. The puncture robot according to claim 2, characterized in that, The puncture robot further includes a rotating platform (3) that is slidably matched with the Y platform (2) along the Y direction. A second PCB adapter board (31) is provided on one side of the rotating platform (3) close to the controller group (14). Both the rotating platform (3) and the first PCB adapter board (21) are electrically connected to the second PCB adapter board (31).

10. The puncture robot according to claim 9, characterized in that, The rotating platform (3) includes a sliding seat (32), a Y grating scale reader head (33), a rotating platform base (34), and a power mechanism (35). The sliding seat (32) is slidably matched with the Y platform (2) along the Y direction. The Y grating scale reader head (33) is installed on the sliding seat (32) and faces the Y grating scale (28) on the Y platform (2). The power mechanism (35) is installed on the sliding seat (32). The rotating platform base (34) is connected to the power mechanism (35). Both the rotating platform base (34) and the power mechanism (35) are used to be connected to the output interface component (4) to drive the output interface component (4) to move.

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