Clamping and releasing assembly, puncture needle, puncture device and puncture surgical robot

Abstract

The embodiment of the invention provides a clamping and releasing assembly, a puncture needle, a puncture device and a puncture surgery robot. The puncture device comprises the clamping and releasing assembly, the puncture needle and a driving assembly. The clamping and releasing assembly comprises a first clamping jaw; the puncture needle comprises a needle body, a clamping part and a limiting part, the needle body and the limiting part are both arranged on the clamping part, and the first clamping jaw is clamped on the clamping part; the driving assembly is connected with the first clamping jaw and drives the clamping and releasing assembly to move so as to drive the puncture needle to move in the axial direction of the clamping and releasing assembly. Wherein the limiting part comprises a first limiting piece and a second limiting piece, and the first limiting piece and the second limiting piece are arranged at an interval in the axial direction of the puncture needle and have a first distance in the axial direction of the puncture needle; the clamping size of the clamping space of the first clamping jaw comprises a first size; when the clamping size is the first size, a gap exists between the first clamping jaw and the clamping part, the first clamping jaw is limited between the first limiting piece and the second limiting piece, and the first distance is larger than the size of the first clamping jaw in the axial direction of the puncture needle.

Description

Technical Field

[0001] This specification relates to the technical field of medical devices, and particularly to a clamping and releasing assembly, a puncture needle, a puncture device and a puncture surgical robot. Background Art

[0002] A puncture surgical robot is a relatively advanced surgical method. During a puncture operation, the puncture surgical robot performs a puncture operation by clamping a target instrument (such as a puncture needle, etc.) through a clamping mechanism. However, currently, in existing puncture surgical robots, the clamping of the puncture needle is a rigid clamping. This design requires the patient to hold their breath throughout the puncture process and requires the puncture operation to be completed within one respiratory cycle. Otherwise, there is a risk that the patient may be rigidly cut by the puncture needle due to respiratory movement. Therefore, in order to effectively eliminate the risk brought by the patient's respiratory movement and improve the success rate and safety of the puncture operation, it is necessary to provide a clamping and releasing assembly, a puncture needle, a puncture device and a puncture surgical robot. Summary of the Invention

[0003] One or more embodiments of this specification provide a clamping and releasing assembly. The clamping and releasing assembly includes a first clamping jaw, which is used to clamp a target instrument. The clamping size of the clamping space of the first clamping jaw is variable, and the clamping size at least includes a first size and a second size; the second size is smaller than the first size; when the clamping size of the clamping space of the first clamping jaw is the first size, there is a gap between the first clamping jaw and the target instrument; when the clamping size of the clamping space of the first clamping jaw is the second size, the first clamping jaw clamps the target instrument.

[0004] According to the clamping and releasing assembly described in the embodiments of this specification, the clamping size of the clamping space of the first clamping jaw of the clamping and releasing assembly is variable. It can not only enable the first clamping jaw to clamp the target instrument to drive the target instrument to perform a puncture operation, but also enable there to be a gap between the first clamping jaw and the target instrument, so that the target instrument can move limitedly within the clamping space of the first clamping jaw, thereby realizing the rigid separation of the target instrument and the clamping and releasing assembly, eliminating the risk brought by the patient's respiratory movement during the puncture operation, and improving the safety and success rate of the puncture operation.

[0005] One or more embodiments of the present specification provide a puncture needle, which includes a needle body, a clamping portion and a limiting portion, wherein the needle body and the limiting portion are both arranged on the clamping portion, the clamping portion is used to be clamped by a first clamping jaw of a clamp release assembly, and the limiting portion includes a first limiting member and a second limiting member, the first limiting member and the second limiting member are spaced apart along the axial direction of the puncture needle, and there is a first distance between the first limiting member and the second limiting member in the axial direction of the puncture needle; when the clamping size of the clamping space of the first clamping jaw is a first size, there is a gap between the first clamping jaw and the clamping portion, the first clamping jaw can be limited between the first limiting member and the second limiting member, and the first distance is greater than the axial size of the first clamping jaw along the axial direction of the puncture needle.

[0006] According to the puncture needle described in the embodiment of this specification, the clamping part can enable the puncture needle to be stably clamped to ensure that the needle body can stably and accurately perform the puncture operation; the limiting part can limit the puncture needle in its axial direction to avoid the puncture needle from moving significantly in the clamping space of the first clamp when the first clamp is in a semi-released state, thereby improving the safety of the puncture operation.

[0007] One or more embodiments of the present specification provide a puncture device, which includes the aforementioned clamp-release assembly, the aforementioned puncture needle and a drive assembly; the clamp-release assembly includes a first clamping jaw; the puncture needle includes a needle body, a clamping portion and a limiting portion, the needle body and the limiting portion are both arranged on the clamping portion, and the first clamping jaw is clamped on the clamping portion; the drive assembly is connected to the first clamping jaw, and the drive assembly drives the clamp-release assembly to move, so as to drive the puncture needle to move along the axial direction of the puncture needle.

[0008] According to the puncture device described in the embodiment of this specification, the drive assembly can drive the clamp release assembly to move, thereby driving the puncture needle clamped in the first clamping jaw to move along its axial direction, thereby realizing the needle insertion operation or needle withdrawal operation of the puncture needle.

[0009] One or more embodiments of the present specification provide a puncture surgical robot, wherein the puncture surgical robot includes the aforementioned puncture device.

[0010] According to the puncture surgery robot described in the embodiment of this specification, the puncture surgery robot can realize breakpoint continuous puncture, which can effectively ensure the safety of the patient during the puncture surgery and improve the puncture efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] This specification will be further described in the form of exemplary embodiments, which will be described in detail by the accompanying drawings. These embodiments are not restrictive, and in these embodiments, the same number represents the same structure, wherein:

[0012] Figure 1 is a schematic structural view of a puncture device according to some embodiments of this specification;

[0013] Figure 2A is a schematic structural view of a puncture needle according to some embodiments of this specification;

[0014] Figure 2B is a schematic structural view of a puncture needle according to some other embodiments of this specification;

[0015] Figure 3A is a schematic structural view of a clamping and releasing assembly cooperating with a puncture needle according to some embodiments of this specification;

[0016] Figure 3B is Figure 3A a sectional view taken along line A-A in

[0017] Figure 3C is Figure 3A a sectional view taken along line B-B in

[0018] Figure 3D is Figure 3C a sectional view taken along line C-C in

[0019] Figure 4A is a schematic structural view of a clamping and releasing assembly cooperating with a puncture needle according to some other embodiments of this specification;

[0020] Figure 4B is Figure 4A a sectional view taken along line A-A in

[0021] Figure 4C is Figure 4A a sectional view taken along line B-B in

[0022] Figure 5A is a schematic structural view of a clamping and releasing assembly cooperating with a puncture needle according to some further embodiments of this specification;

[0023] Figure 5B is Figure 5A a sectional view taken along line A-A in

[0024] Figure 5C is Figure 5A a sectional view taken along line B-B in

[0025] Figure 6 is a schematic structural view of a clamping and releasing assembly according to some embodiments of this specification;

[0026] Figure 7A is a schematic structural view of the clamping and releasing assembly after removing the first connecting member according to some embodiments of this specification;

[0027] Figure 7B Schematic structural diagram of the clamping and releasing assembly after removing the first connecting member as shown in some embodiments of this specification;

[0028] Figure 8 Schematic structural diagram of the first jaw (partial) as shown in some embodiments of this specification;

[0029] Figure 9A Schematic structural diagram of the cooperation between the needle guide and the jaw as shown in some embodiments of this specification;

[0030] Figure 9B is Figure 9A Cross-sectional view taken at G-G in

[0031] Figure 10A Schematic structural diagram of the cooperation between the needle guide and the jaw as shown in some other embodiments of this specification;

[0032] Figure 10B is Figure 10A Cross-sectional view taken at G-G in

[0033] Figure 11A Schematic structural diagram of the cooperation between the needle guide and the jaw as shown in some further embodiments of this specification;

[0034] Figure 11B is Figure 11A Cross-sectional view taken at G-G in

[0035] Figure 12 Schematic structural diagram of the puncture device as shown in some other embodiments of this specification;

[0036] Figure 13 Schematic structural diagram of the puncture device as shown in some further embodiments of this specification;

[0037] Figure 14 Cross-sectional view of the puncture device as shown in some embodiments of this specification;

[0038] Figure 15A Schematic application diagram of the local anesthesia indication mechanism as shown in some embodiments of this specification;

[0039] Figure 15B Schematic application diagram of the local anesthesia indication mechanism as shown in some other embodiments of this specification;

[0040] Figure 16 Schematic application scenario diagram of the puncture surgical robot as shown in some embodiments of this specification. Detailed implementation manners

[0041] To more clearly illustrate the technical solutions of the embodiments of this specification, the following will briefly introduce the accompanying drawings required for the description of the embodiments. Obviously, the accompanying drawings in the following description are only some examples or embodiments of this specification. For those of ordinary skill in the art, without creative efforts, this specification can also be applied to other similar scenarios based on these drawings. Unless obvious from the language context or otherwise stated, the same reference numerals in the figures represent the same structure or operation.

[0042] It should be understood that the "system", "device", "unit" and / or "module" used herein is a way to distinguish different components, elements, parts, portions or assemblies at different levels. However, if other words can achieve the same purpose, the said words can be replaced by other expressions.

[0043] As shown in this specification and the claims, unless the context clearly indicates an exceptional situation, words such as "a", "an", "one" and / or "the" do not specifically refer to the singular and may also include the plural. Generally speaking, the terms "comprising" and "including" only indicate the inclusion of the clearly identified steps and elements, and these steps and elements do not constitute an exclusive list. The method or device may also include other steps or elements.

[0044] Percutaneous surgery involves inserting a target instrument (such as a puncture needle) into a patient's body to complete a biopsy or resection of a lesion. Traditional percutaneous surgeries are all blind punctures, where the operator completes the percutaneous surgery without precisely knowing the location of the lesion based on clinical experience. This method generally has a low success rate, is likely to cause multiple injuries to the patient, and places high requirements on the operator performing the percutaneous surgery. The use of a percutaneous surgery robot can greatly improve the success rate of percutaneous surgery and the efficiency of percutaneous surgery. To meet the requirements of safety and effectiveness, the current percutaneous surgery robots all use rigid clamping for the target instrument. When puncturing, it requires the patient to hold their breath all the time and requires the puncture operation to be completed within one respiratory cycle. Otherwise, there is a risk that the patient will be rigidly cut by the puncture needle due to respiratory movement. At the same time, the operation requirements for the operator are still relatively high.

[0045] Based on this, some embodiments of this specification provide a clamping and releasing assembly, a puncture needle, a puncture device, and a puncture surgical robot. The clamping and releasing assembly includes a first clamping jaw, and the size of the clamping space of the first clamping jaw is variable, such that the clamping and releasing assembly can perform clamping, semi-releasing, or full-releasing operations on the puncture needle. When the puncture needle is in the clamped state, the puncture needle can perform a puncture operation driven by the clamping and releasing assembly. When the puncture needle is in the semi-released state, the puncture needle can move limitedly within the clamping space of the first clamping jaw. When the puncture needle is in the full-released state, the puncture needle can be disengaged from the clamping and releasing assembly. By combining the use of the puncture device and the puncture surgical robot to control the clamping and releasing assembly and the second clamping jaw to re-clamp the puncture needle after releasing it, continuous puncture at breakpoints under medical image guidance can be realized, effectively eliminating the risks brought by the patient's respiratory movement and improving the success rate and safety of the puncture surgery.

[0046] Some embodiments of this specification provide a clamping and releasing assembly, as Figure 1 , Figures 3A - 8 shown, the clamping and releasing assembly 12 includes a first clamping jaw 121. The first clamping jaw 121 is used for clamping a target instrument. The clamping size of the clamping space of the first clamping jaw 121 is variable. The clamping size includes at least a first size and a second size, and the second size is smaller than the first size. When the clamping size of the clamping space of the first clamping jaw 121 is the first size, there is a gap between the first clamping jaw 121 and the target instrument. When the clamping size of the clamping space of the first clamping jaw 121 is the second size, the first clamping jaw 121 clamps the target instrument.

[0047] In some embodiments, the clamping size of the clamping space of the first clamping jaw 121 further includes a third size, and the third size is larger than the first size. When the clamping size of the clamping space of the first clamping jaw 121 is the third size, the target instrument can be disengaged from the first clamping jaw 121.

[0048] The clamping and releasing assembly 12 refers to the main structure for performing clamping and releasing operations. The clamping and releasing operation refers to operations such as clamping, semi-releasing, or full-releasing the target instrument by the clamping and releasing assembly 12. It can be understood that the clamping and releasing operation at least includes a clamping operation, a semi-releasing operation, and a full-releasing operation. Among them, the clamping operation refers to the operation of clamping the target instrument by the first clamping jaw 121. The semi-releasing operation refers to the operation where the first clamping jaw 121 releases the target instrument, but the target instrument cannot be disengaged from the first clamping jaw 121. The full-releasing operation refers to the operation where the first clamping jaw 121 releases the target instrument so that the target instrument can be disengaged from the first clamping jaw 121.

[0049] The first jaw 121 is a structure of the clamping and releasing assembly 12 for clamping the target instrument. The structural shape of the first jaw 121 is adapted to the structural shape of the target instrument to facilitate clamping of the target instrument. By way of example only, when the target instrument is cylindrical, at least part of the structure of the first jaw 121 can be an arc adapted to the cylindrical contour of the target instrument.

[0050] The target instrument refers to the relevant instruments required for a puncture operation. In some embodiments, the target instrument can be determined according to the purpose of the puncture operation. For example, the target instrument can include, but is not limited to, a puncture needle, an ablation needle, a biopsy needle, etc. For more information about the clamping and releasing assembly, reference can be made to the relevant descriptions in the following text.

[0051] In some embodiments of the present specification, the clamping dimension of the clamping space of the first jaw of the clamping and releasing assembly is variable, which can not only enable the first jaw to clamp the target instrument to drive the target instrument to perform a puncture operation; but also allow there to be a gap between the first jaw and the target instrument, so that the target instrument can move limitedly within the clamping space of the first jaw, thereby realizing the rigid separation of the target instrument and the clamping and releasing assembly, eliminating the risk brought by the patient's respiratory movement during the puncture operation, and improving the safety and success rate of the puncture operation.

[0052] Some embodiments of the present specification provide a puncture needle, as Figures 1 - 7B shown, the puncture needle 11 includes a needle body 111, a clamping portion 112, and a limiting portion 113. The needle body 111 and the limiting portion 113 are both provided on the clamping portion 112. The clamping portion 112 is used to be clamped by the first jaw 121 of the clamping and releasing assembly 12. The limiting portion 113 includes a first limiting member 1131 and a second limiting member 1132. The first limiting member 1131 and the second limiting member 1132 are arranged at intervals along the axial direction of the puncture needle 11, and there is a first distance between the first limiting member 1131 and the second limiting member 1132 in the axial direction of the puncture needle 11. In some embodiments, when the clamping dimension of the clamping space of the first jaw 121 is a first dimension, there is a gap between the first jaw 121 and the clamping portion 112, and the first jaw 121 can be limited between the first limiting member 1131 and the second limiting member 1132, and the first distance is greater than the dimension of the first jaw 121 along the axial direction of the puncture needle 11.

[0053] The puncture needle 11 refers to the main structure for performing the needle insertion operation or the needle withdrawal operation. The needle insertion operation refers to the operation in which the puncture depth of the puncture needle 11 in the patient's body gradually increases. The needle withdrawal operation refers to the operation in which the puncture depth of the puncture needle 11 in the patient's body gradually decreases. In some embodiments, the axial direction of the puncture needle 11 can be passed through Figure 1Indicated by the arrow X in FIG. When the puncture needle 11 (such as the needle body 111) moves downward along the direction of the arrow X, the puncture needle 11 performs the needle insertion operation. When the puncture needle 11 (such as the needle body 111) moves upward along the direction of the arrow X, the puncture needle 11 performs the needle withdrawal operation.

[0054] The needle body 111 refers to a structure for implementing the puncture needle 11 to puncture the patient's body. The clamping portion 112 refers to a structure for the puncture needle 11 to be clamped by the first clamping jaw 121. The limiting portion 113 refers to a structure for limiting the axial movement of the clamping portion 112 along the puncture needle 11 in the clamping space of the first clamping jaw 121. In some embodiments, as Figures 2A - 2B As shown, the limiting part 113 includes a first limiting member 1131 and a second limiting member 1132, and the first limiting member 1131 and the second limiting member 1132 are arranged at intervals along the axial direction of the puncture needle 11, and there is a first distance D1 between the first limiting member 1131 and the second limiting member 1132 in the axial direction of the puncture needle 11. The first limiting member 1131 and the second limiting member 1132 are structures for limiting the first clamping jaw 121 in the axial direction of the puncture needle 11. The first distance D1 refers to the interval distance between the first limiting member 1131 and the second limiting member 1132 of the limiting part 113 of the puncture needle 11 in the axial direction of the puncture needle 11. The first distance D1 can be understood as the limiting distance of the limiting portion 11 in the axial direction of the puncture needle 11. When the first clamping jaw 121 is in a semi-released state, the needle body 111 of the puncture needle 11 can move within a certain range, and the first clamping jaw 121 can have a position change relative to the needle body 111 within the spatial range of the first distance D1. It is worth noting that Figure 2A , Figure 3A The D1 in FIG. 1 is only used to indicate the first distance and does not represent the actual length of the first distance. The first distance D1 may be different along the radial direction of the puncture needle 11 .

[0055] The clamping part 112 can stably clamp the puncture needle 11 to ensure that the needle body 111 can stably and accurately perform the puncture operation; the limiting part 113 can limit the puncture needle 11 in its axial direction to prevent the puncture needle 11 from moving significantly in the clamping space of the first clamping jaw 121 when the first clamping jaw 121 is in a semi-released state, thereby improving the safety of the puncture operation. For more information about the puncture needle, please refer to the relevant description below.

[0056] Some embodiments of the present specification provide a puncture device, such as Figures 1 - 8As shown, the puncture device 100 includes the puncture needle 11 described in any of the above technical solutions, the clamping and releasing assembly 12 described in any of the above technical solutions, and the driving assembly 13. The clamping and releasing assembly 12 includes a first clamping jaw 121. The puncture needle 11 includes a needle body 111, a clamping portion 112, and a limiting portion 113. The needle body 111 and the limiting portion 113 are both provided on the clamping portion 112, and the first clamping jaw 121 clamps on the clamping portion 112. The driving assembly 13 is connected to the first clamping jaw 121, and the driving assembly 13 drives the clamping and releasing assembly 12 to move, so as to drive the puncture needle 11 to move along the axial direction of the puncture needle 11. For the relevant descriptions such as the definitions of the puncture needle and the clamping and releasing assembly, reference can be made to the relevant descriptions in the foregoing text.

[0057] In some embodiments, since the clamping portion 112 of the puncture needle 11 is clamped by the first clamping jaw 121 of the clamping and releasing assembly 12, and the first clamping jaw 121 is connected to the driving assembly 13, the driving assembly 13 drives the clamping and releasing assembly 12 to move, which can drive the puncture needle 11 to move along the axial direction of the needle body 111, thereby realizing the needle insertion operation or the needle withdrawal operation of the puncture needle 11.

[0058] In some embodiments, the clamping and releasing assembly 12 can be signal-connected to a processor (not shown in the figure) of the puncture device 100. The processor can control the clamping and releasing assembly 12 to perform a clamping and releasing operation according to a control instruction issued by the puncture surgical robot 200, so as to change the clamping and releasing state of the clamping and releasing assembly 12. How the processor controls the clamping and releasing assembly 12 to perform the clamping and releasing operation to change the clamping and releasing state of the clamping and releasing assembly 12 according to the control instruction can be determined based on the specific structure of the clamping and releasing assembly 12. For specific descriptions, reference can be made to the relevant descriptions in the following text.

[0059] In some embodiments, the target instrument includes a puncture needle 11, and the first clamping jaw 121 is used to clamp the clamping portion 112 of the puncture needle 11, and the first clamping jaw 121 is located between the first limiting member 1131 and the second limiting member 1132 that are spaced apart along the axial direction of the puncture needle 11 on the clamping portion 112. When the clamping size of the clamping space of the first clamping jaw 121 is the first size, there is a gap between the first clamping jaw 121 and the clamping portion 112, the first clamping jaw 121 is limited between the first limiting member 1131 and the second limiting member 1132, and the first distance is greater than the axial size of the first clamping jaw 121 along the puncture needle 11. In some embodiments, there is a clamping space in the first clamping jaw 121. The clamping space can be understood as a space formed on the first clamping jaw 121 for placing an object to be clamped (such as the clamping portion 112 of the puncture needle 11). The clamping size of the clamping space of the first clamping jaw 121 may be a parameter used to characterize the size of the clamping space, and the specific value of the clamping size may be related to the selected reference component and the specific structure of the first clamping jaw 121. However, it can be understood that for different clamping sizes (such as the first size and the second size and the third size below), the size of the corresponding clamping space will be different, so that the first clamping jaw 121 can switch between the states of clamping, semi-releasing, and releasing the clamping portion 112. For example, in combination with Figures 2A - 7B The first clamping jaw 121 shown and described in the following text includes a first clamping portion 1211 and a second clamping portion 1212, and a clamping space is formed between the first clamping portion 1211 and the second clamping portion 1212. At this time, the clamping size of the clamping space of the first clamping jaw 121 is the distance between the clamping position of the first clamping portion 1211 and the clamping position of the second clamping portion 1212. The clamping position of the first clamping portion 1211 and the second clamping portion 1212 refers to: when the first clamping jaw 121 clamps the clamping portion 112, the first clamping portion 1211 and the second clamping portion 1212 are respectively in contact with the clamping portion 112. For another example, the first clamping jaw 121 may include a retractable annular structure (the diameter of the annular structure can be changed by retracting), and the clamping portion 112 is clamped in the inner ring of the annular structure. At this time, the clamping size of the clamping space of the first clamping jaw 121 may be the diameter of the annular structure.

[0060] When the clamping size of the clamping space of the first clamping jaw 121 is the first size, the first clamping jaw 121 is in a semi-released state. At this time, the first clamping jaw 121 releases the clamping portion 112, and the first size is slightly larger than the diameter of the clamping portion 112. However, since the opening degree of the first clamping jaw 121 is smaller than the diameter of the clamping portion 112, there will be a gap between the first clamping jaw 121 and the clamping portion 112, but the first clamping jaw 121 will not be separated, and due to the existence of the limiting portion 113, the first clamping jaw 121 is still between the first limiting member 1131 and the second limiting member 1132 (see below for details). Figure 3CIn the state shown and its description, the clamping part 112 is not completely released. The opening degree can characterize the opening degree of the first jaw 121. The opening degree of the first jaw 121 can be represented by the minimum distance E1 between the top of the first clamping part 1211 and the top of the second clamping part 1212. Only as an example, as Figure 3C shown, the first jaw 121 includes a first clamping part 1211 and a second clamping part 1212. When the clamping size of the clamping space of the first jaw 121 is the first size, the first size is slightly larger than the diameter of the clamping part 112, and the opening degree E1 of the first jaw 121 is smaller than the diameter E2 of the clamping part 112. At the same time, the first size is smaller than the diameter E3 of the limiting part 113. Moreover, at this time, the first distance D1 (as Figure 2A , Figure 3A shown) is greater than the dimension d1 of the first jaw 121 along the axial direction of the puncture needle 11. There is a gap between the first jaw 121 and the first limiting member 1131 and the second limiting member 1132. Therefore, the clamping part 112 can move limitedly within the clamping space of the first jaw 121, so as to realize the rigid separation of the puncture needle 11 and the clamping and releasing assembly 12, eliminate the risk brought by the patient's respiratory movement during the puncture operation, and improve the safety and success rate of the puncture operation.

[0061] It should be noted that when the first jaw 121 is in a semi-released state, there is a gap between the first jaw 121 and the clamping part 112. It can be understood that there is at least a partial gap between the first jaw 121 and the clamping part 112, that is, there is a gap between the whole of the first jaw 121 and the clamping part 112 or there is only a partial or part gap between the first jaw 121 and the clamping part 112.

[0062] In some embodiments, the clamping size of the clamping space of the first jaw 121 includes a second size, and the second size is smaller than the first size. When the clamping size of the clamping space of the first jaw 121 is the second size, the first jaw 121 clamps the clamping part 112. Only as an example, as Figures 4A - 4C shown, when the clamping size of the clamping space of the first jaw 121 is the second size, the first jaw 121 is in a clamping state, the first jaw 121 clamps on the clamping part 112, and can drive the puncture needle 11 to move along the axial direction of the puncture needle 11 under the action of the driving assembly 13, so as to realize the needle insertion operation or the needle withdrawal operation of the puncture needle 11.

[0063] In some embodiments, the clamping size of the clamping space of the first jaw 121 further includes a third size, and the third size is greater than the first size. When the clamping size of the clamping space of the first jaw 121 is the third size, the clamping part 112 can be disengaged from the first jaw 121. Only as an example, as Figures 5A - 5CAs shown, when the clamping dimension of the clamping space of the first jaw 121 is the third dimension, the first jaw 121 is in a fully released state. Since the third dimension is greater than the diameter of the clamping portion 112 and the opening degree E1 of the first jaw 121 is greater than the diameter E2 of the clamping portion 112, the clamping portion 112 can completely disengage from the first jaw 121, that is, the puncture needle 11 can completely disengage from the first jaw 121.

[0064] The driving assembly 13 refers to the main structure of the puncture device 100 for driving the clamping and releasing assembly 12 to move. In some embodiments, the driving assembly 13 is in signal connection with the processor of the puncture device 100. The processor can control the driving assembly 13 to drive the clamping and releasing assembly 12 to move. In some embodiments, when the driving assembly 13 drives the clamping and releasing assembly 12 to move, the movement of the clamping and releasing assembly 12 can be fed back to the processor in real time, and then the processor can adjust the driving assembly 13 according to the movement of the clamping and releasing assembly 12, so that the puncture needle 11 can accurately perform the puncture operation and ensure the puncture accuracy. For more content about the driving assembly, reference can be made to the relevant descriptions in other parts of this specification (such as Figures 12 - 14 and its related descriptions).

[0065] In some embodiments, the puncture device 100 further includes a needle guide 14 and a second jaw 15. The needle guide 14 refers to the structure of the puncture device 100 for guiding the needle body 111 of the puncture needle 11. The needle guide 14 can be designed in various structural shapes, including but not limited to a cylindrical shape, etc. In some embodiments, the needle guide 14 includes a guiding hole 141 for guiding the needle body 111, and the needle body 111 passes through the guiding hole 141, so that the needle body 111 is not prone to bending or buckling when the puncture needle 11 performs the puncture operation, to ensure the success rate and safety of the puncture surgery. The second jaw 15 refers to the structure of the puncture device 100 for clamping the needle guide 14. The structure of the second jaw 15 can be the same as or different from the structure of the first jaw 121. In some embodiments, the second jaw 15 can move synchronously with the first jaw 121 to achieve a clamping function similar to that of the first jaw 121, so that the puncture needle 11 can float up and down along the axial direction of the puncture needle 11 to eliminate the risk brought by the patient's respiratory movement during the puncture surgery and improve the safety and success rate of the puncture surgery. For more content about the needle guide and the second jaw, reference can be made to Figures 9A - 11B and its related descriptions.

[0066] In some embodiments, the puncture device 100 further includes a second limiting structure 16. The second limiting structure 16 refers to the structure of the puncture device 100 for limiting the needle guide 14. The second limiting structure 16 can include a second limiting groove 161. In the state where the second jaw 15 clamps the needle guide 14, the needle guide 14 is located in the second limiting groove 161, and the second limiting groove 161 performs radial limiting on the needle guide 14. For more content about the second limiting structure, reference can be made to Figures 9B - 11Band its related description.

[0067] In some embodiments, as Figures 2A - 2B shown, the first limiting member 1131 is provided with a first inclined surface, and the second limiting member 1132 is provided with a second inclined surface. The first inclined surface and the second inclined surface are arranged oppositely, and a first distance D1 is formed between the first inclined surface and the second inclined surface. In other embodiments, the first limiting member 1131 is provided with a first curved surface, and the second limiting member 1132 is provided with a second curved surface. The first curved surface and the second curved surface are arranged oppositely, and a first distance D1 is formed between the first curved surface and the second curved surface. The opposite arrangement means that the first inclined surface (or the first curved surface) and the second inclined surface (or the second curved surface) are spaced apart along the axial direction of the puncture needle 11 and are arranged towards each other.

[0068] In some embodiments, the first distance D1 gradually increases from inside to outside along the radial direction of the puncture needle 11. In some embodiments, the minimum value of the first distance D1 can be substantially equal to the dimension of the first jaw 121 along the axial direction of the puncture needle 11, so that the first limiting member 1131 and the second limiting member 1132 can limit the first jaw 121 along the axial direction of the puncture needle 11 when the first jaw 121 clamps the clamping portion 112.

[0069] It can be understood that the first distance D1 gradually increases from inside to outside along the radial direction of the puncture needle 11, which can make the first distance D1 minimized as much as possible when the first jaw 121 clamps the clamping portion 112 (the clamping dimension is the second dimension), so that the first jaw 121 can be axially limited to a certain extent in the clamped state. Moreover, since the first distance D1 gradually increases from inside to outside along the radial direction of the puncture needle 11, when the first jaw 121 performs a semi-release operation, the size of the first distance D1 can be adjusted according to actual needs to change the clamping dimension (i.e., the first dimension) of the clamping space of the first jaw 121 in the semi-release state. In addition, by arranging the first inclined surface and the second inclined surface oppositely so that a first distance D1 is formed between the first inclined surface and the second inclined surface, the structure is simple, the processing is convenient, and it can effectively ensure that the first jaw 121 is not easily affected by the limiting portion 113 when performing the clamping and releasing operation, and the overall structure is not easily jammed and can work stably.

[0070] In some embodiments, the first distance D1 can also remain unchanged along the radial direction of the puncture needle 11 all the time, that is to say, no inclined surface needs to be provided on both the first limiting member 1131 and the second limiting member 1132, and the first distance D1 can always be slightly larger than the dimension of the first jaw 121 along the axial direction of the puncture needle 11, and it can be realized that the first jaw 121 is limited between the first limiting member 1131 and the second limiting member 1132.

[0071] In some embodiments, as Figures 1 - 7BAs shown, the first jaw 121 includes a first clamping portion 1211 and a second clamping portion 1212, and a clamping space is formed between the first clamping portion 1211 and the second clamping portion 1212. The first clamping portion 1211 and the second clamping portion 1212 can move in opposite directions or in a relative direction to change the clamping size of the clamping space.

[0072] The first clamping portion 1211 and the second clamping portion 1212 refer to the structures of the first jaw 121 for clamping the clamping portion 112. In some embodiments, the first clamping portion 1211 and the second clamping portion 1212 are symmetrically arranged, and the clamping and releasing of the clamping portion 112 are achieved by moving in opposite directions or in a relative direction. The relative direction refers to the direction in which the first clamping portion 1211 and the second clamping portion 1212 approach each other; the opposite direction refers to the direction in which the first clamping portion 1211 and the second clamping portion 1212 move away from each other. For the specific manner of controlling the movement of the first clamping portion 1211 and the second clamping portion 1212 to adjust the clamping size of the clamping space, please refer to the relevant description below.

[0073] It should be noted that the first jaw 121 can also adopt other structures as long as the use requirement of adjustable clamping size of the clamping space of the first jaw 121 can be achieved. For example, the first jaw 121 can also adopt a telescopic ring structure, etc. It can be understood that when the first jaw 121 is a telescopic ring structure, the clamping size of the clamping space of the first jaw 121 is the diameter of the ring structure.

[0074] In some embodiments, as Figures 7A - 8 As shown, the clamping and releasing assembly 12 further includes a reset elastic member 122 and an electromagnet 123. The reset elastic member 122 and the electromagnet 123 are both arranged between the first clamping portion 1211 and the second clamping portion 1212. When the electromagnet 123 is energized, the electromagnet 123 can attract the first clamping portion 1211 and the second clamping portion 1212 to move in a relative direction. When the electromagnet 123 is de-energized, the reset elastic member 122 can make the first clamping portion 1211 and the second clamping portion 1212 move in the opposite direction.

[0075] The reset elastic member 122 refers to a component on the clamping and releasing assembly 12 for helping the first clamping portion 1211 and the second clamping portion 1212 move to the initial position. Exemplary reset elastic members 122 may include, but are not limited to, springs, rubber bodies, etc. In some embodiments, the number of reset elastic members 122 can be one or more. As Figures 7A - 7BAs shown, the number of the reset elastic members 122 is two. The two reset elastic members 122 are arranged at intervals between the first clamping portion 1211 and the second clamping portion 1212, and both ends of the reset elastic members 122 are respectively connected to the first clamping portion 1211 and the second clamping portion 1212. The electromagnet 123 is arranged between the two reset elastic members 122 and the first clamping portion 1211 and the second clamping portion 1212. Among them, the fixed connection includes but is not limited to welding, hinging, clamping, threaded connection, etc.

[0076] The electromagnet 123 refers to a device that can generate electromagnetic force by using a magnetic field after being electrified. Exemplary electromagnets 123 may include attracting electromagnets, holding electromagnets, etc. The magnitude of the current flowing into the electromagnet can be adjusted so that the magnitude of the electromagnetic force generated by the electromagnet 123 can be adjusted. In some embodiments, iron cores 1213 are provided in both the first clamping portion 1211 and the second clamping portion 1212, and the iron cores 1213 respectively correspond to the two side end faces of the electromagnet 123. When the electromagnet 123 is electrified, the electromagnet 123 will generate a magnetic field and generate an electromagnetic force on the iron core 1213 to attract the iron core 1213, thereby causing the reset elastic member 122 to be compressed. And within the elastic limit of the reset elastic member 122, the greater the electromagnetic force between the electromagnet 123 and the iron core 1213, the more severely the reset elastic member 122 is compressed, and its corresponding elastic force is greater. However, since the electromagnetic force between the electromagnet 123 and the iron core 1213 is always greater than the elastic force of the reset elastic member 122, the first clamping portion 1211 and the second clamping portion 1212 can move in opposite directions until they clamp the clamping portion 112. When the electromagnet 123 is powered off, the magnetic field of the electromagnet 123 disappears, and the electromagnetic force between the electromagnet 123 and the iron core 1213 is 0. Under the action of the elastic force of the reset elastic member 122, the first clamping portion 1211 and the second clamping portion 1212 move in opposite directions until they return to the initial position. In addition, by adjusting the magnitude of the electromagnetic force of the electromagnet 123, the relative relationship between the electromagnetic force and the elastic force of the reset elastic member 122 can be adjusted, and further the distance between the first clamping portion 1211 and the second clamping portion 1212 can be adjusted.

[0077] In some embodiments of this specification, the clamping and releasing assembly includes a reset elastic member and an electromagnet. By controlling the power on and off of the electromagnet or adjusting the magnitude of the current flowing into the electromagnet, the relative relationship between the electromagnetic force between the electromagnet and the iron core and the elastic force of the reset elastic member is adjusted, so as to realize the clamping and releasing operation of the first clamping jaw. The structure is simple, easy to implement and has a low cost.

[0078] In some embodiments, the puncture device 100 further includes a current control mechanism (not shown in the figure) and a processor (not shown in the figure). The current control mechanism is electrically connected to the electromagnet 123, and the current control mechanism is signal-connected to the processor.

[0079] In some embodiments, the processor can be used to process data related to the puncture device 100. By way of example only, the processor is capable of controlling the clamping and releasing component 12 to perform a clamping and releasing operation or driving the puncture needle 11 to perform a puncture operation according to control instructions (such as a clamping operation execution instruction or a puncture operation execution instruction) issued by the puncture surgical robot 200. In some embodiments, the processor can be a single server or a server group. The server group can be centralized or distributed. In some embodiments, the processor can be local or remote. In some embodiments, the processor can be implemented on a cloud platform. By way of example only, the cloud platform can include a private cloud, a public cloud, a hybrid cloud, a community cloud, a distributed cloud, an internal cloud, a multi-layer cloud, etc. or any combination thereof.

[0080] The current control mechanism refers to a mechanism that can be used to control the magnitude of the current, including but not limited to a current regulator, etc. In some embodiments, the processor is capable of changing the magnitude of the current in the clamping and releasing component circuit (or the magnitude of the current flowing into the electromagnet 123) by controlling the current control mechanism according to the control instruction, so that the first clamping portion 1211 and the second clamping portion 1212 can move in opposite directions or in a relative direction, thereby enabling the clamping and releasing component 12 to perform a clamping and releasing operation, and thus changing the clamping and releasing state of the clamping and releasing component 12.

[0081] By way of example only, when the processor receives a clamping operation execution instruction, it can control the current control mechanism so that the current in the clamping and releasing component circuit is a preset value, that is, the current flowing into the electromagnet 123 is a preset value, and the electromagnet 123 is energized. At this time, the electromagnetic force between the electromagnet 123 and the iron core 1213 is relatively large and greater than the elastic force of the reset elastic member 122. The electromagnet 123 attracts the iron core 1213, and the sliding pins 1214 provided on the first clamping portion 1211 and the sliding pins 1214 provided on the second clamping portion 1212 can slide in opposite directions in the chute 126, thereby enabling the first clamping portion 1211 and the second clamping portion 1212 to move in opposite directions until the clamping portion 112 is clamped, that is, the clamping and releasing component 12 performs a clamping operation, and the first clamping jaw 121 is finally in a clamped state (as Figures 4A - 4C shown). When the processor receives a full release operation execution instruction, it can control the current control mechanism so that the current in the clamping and releasing component circuit is 0, that is, the current flowing into the electromagnet 123 is 0, and the electromagnet 123 is de-energized. At this time, the magnetic field of the electromagnet 123 disappears, and the electromagnetic force between the electromagnet 123 and the iron core 1213 is 0. Under the elastic force of the reset elastic member 122, the sliding pins 1214 provided on the first clamping portion 1211 and the sliding pins 1214 provided on the second clamping portion 1212 can slide in opposite directions in the chute 126, thereby enabling the first clamping portion 1211 and the second clamping portion 1212 to move in opposite directions until they return to the initial position, that is, the clamping and releasing component 12 performs a full release operation, and the first clamping jaw 121 is finally in a fully released state (as Figures 5A - 5CAs shown. In addition, when the processor receives a semi-release operation execution instruction, it can control the current control mechanism to adjust the current in the clamping and releasing component circuit from a preset value to a value less than the preset value, that is, the current flowing through the electromagnet 123 is less than the preset value. At this time, the electromagnetic force between the electromagnet 123 and the iron core 1213 is less than the electromagnetic force between the electromagnet 123 and the iron core 1213 when the current flowing through the electromagnet 123 is the preset value, and is less than the elastic force of the reset elastic member 122. Therefore, the sliding pins 1214 provided on the first clamping portion 1211 and the sliding pins 1214 provided on the second clamping portion 1212 can slide in opposite directions in the sliding groove 126 until they stop sliding when the elastic force of the reset elastic member 122 is equal to the electromagnetic force between the electromagnet 123 and the iron core 1213, that is, the clamping and releasing component 12 performs a semi-release operation, and the first jaw 121 finally is in a semi-release state (as Figures 3A - 3D shown).

[0082] In some embodiments of the present specification, by providing a current control mechanism to achieve stable control or adjustment of the magnitude of the current in the clamping and releasing component circuit, the stability and reliability of the clamping and releasing operation performed by the clamping and releasing component can be effectively ensured.

[0083] In some embodiments, as Figures 6 - 7B shown, the clamping and releasing component 12 further includes a first connecting member 124 and a second connecting member 125. The first connecting member 124 and the second connecting member 125 are arranged along the axial direction of the puncture needle 11. The first jaw 121 is provided between the first connecting member 124 and the second connecting member 125. The first connecting member 124 and / or the second connecting member 125 is provided with a sliding groove 126, and the sliding groove 126 extends along the moving direction of the first clamping portion 1211 and the second clamping portion 1212. The first clamping portion 1211 and the second clamping portion 1212 are both provided with sliding pins 1214, and the sliding pins 1214 can slide along the sliding groove 126.

[0084] The first connecting member 124 and the second connecting member 125 are structures for connecting and fixing the first clamping portion 1211 and the second clamping portion 1212. In some embodiments, the first connecting member 124 and the second connecting member 125 have the same structure and are arranged symmetrically along the axial direction of the puncture needle 11, and the first jaw 121 is clamped between the first connecting member 124 and the second connecting member 125. In some embodiments, the structures of the first connecting member 124 and the second connecting member 125 may also be different. Only as an example, the first connecting member 124 is provided with a sliding groove 126, the second connecting member 125 is not provided with a sliding groove 126, or the first connecting member 124 is not provided with a sliding groove 126, and the second connecting member 125 is provided with a sliding groove 126.

[0085] The chute 126 refers to a groove structure for the sliding pin 1214 to slide. In some embodiments, the chute 126 is correspondingly arranged with the sliding pin 1214, and the chute 126 extends along the movement direction of the first clamping portion 1211 and the second clamping portion 1212. The movement direction of the first clamping portion 1211 and the second clamping portion 1212 refers to the direction in which the first clamping portion 1211 and the second clamping portion 1212 move relative to the first connecting member 124 or the second connecting member 125 when the first jaw 121 performs the clamping and releasing operation. The sliding pin 1214 refers to a structure for cooperating with the chute 125 to restrict the movement direction of the first clamping portion 1211 and the second clamping portion 1212. It can be understood that by clamping the sliding pin 1214 in the chute 126, the movement direction of the first clamping portion 1211 and the second clamping portion 1212 can be restricted, so as to achieve guidance during the movement of the first clamping portion 1211 and the second clamping portion 1212.

[0086] In some embodiments of this specification, the clamping and releasing assembly includes a first connecting member and a second connecting member. The first connecting member and / or the second connecting member is provided with a chute, and the first clamping portion and the second clamping portion are both provided with sliding pins. By clamping the sliding pins in the chute, the first clamping portion and the second clamping portion are clamped between the first connecting member and the second connecting member, which is beneficial to ensuring the stability and reliability when the first clamping portion and the second clamping portion move in the opposite direction or the relative direction, thereby improving the success rate and safety during the puncture operation.

[0087] In some embodiments, such as Figure 1 , Figures 6 - 7B As shown, the puncture device 100 further includes a guide shaft 17. The first connecting member 124 and the second connecting member 125 are both provided with guide channels 1241, and the guide shaft 17 is inserted into the guide channels 1241. The extending directions of the guide shaft 17 and the guide channels 1241 are parallel to the axial direction of the puncture needle 11.

[0088] The guide shaft 17 refers to a structure for providing guidance when the clamping and releasing assembly 12 drives the puncture needle 11 to perform the needle insertion operation or the needle withdrawal operation. In some embodiments, the guide shaft 17 can be made of a material such as ceramic or plastic that produces less artifact under radiation (such as X-ray), so as to avoid the artifact generated by the structure of the puncture device 100 itself in the medical image from blocking the lesion area.

[0089] The guiding channel 1241 refers to a through hole for the guiding shaft 17 to pass through. In some embodiments, the guiding channels 1241 are correspondingly arranged on the first connecting member 124 and the second connecting member 125. The guiding shaft 17 is disposed within the guiding channels 1241, and both ends of the guiding shaft 17 are respectively connected to the connecting frame 19. The extending direction of the guiding shaft 17 and the guiding channels 1241 refers to the direction when the guiding shaft 17 and the channel through hole 1241 extend towards both ends. It can be understood that when the clamping and releasing assembly 13 drives the puncture needle 11 to perform a puncture operation, since the guiding shaft 17 is disposed within the guiding channels 1241 and the extending directions of the guiding shaft 17 and the guiding channels 1241 are parallel to the axial direction of the puncture needle 11, the clamping and releasing assembly 13 can slide along the guiding shaft 17 to ensure the puncture accuracy. For the specific description of the connecting frame, reference can be made to Figures 12 - 14 and its related descriptions.

[0090] In some embodiments, the clamping portion 112 has a rotary body structure, and the clamping portion 112 is coaxially arranged with the needle body 111. The clamping and releasing assembly 12 further includes a first limiting structure 127, which can perform radial and / or axial limiting on the clamping portion in the state where the first clamping jaw 121 clamps the clamping portion 112.

[0091] The rotary body structure refers to a structure formed by rotating a straight line as the axis and an arbitrary curve as the generatrix around the axis in a plane. Exemplary rotary body structures may include a cylinder, a cone, a toroid, etc. In some embodiments, the clamping portion 112 may be adapted to the structural shape of the first clamping jaw 121 to facilitate better clamping by the first clamping jaw 121. The coaxial arrangement means a setting method in which the central axes of two components coincide. The first limiting structure 127 refers to a structure of the clamping and releasing assembly 13 for performing radial and / or axial limiting on the clamping portion 112. Exemplary first limiting structures 127 may include limiting blocks, etc. In some embodiments, the first limiting structure 127 and the first connecting member 124 and the second connecting member 125 may be an integral structure, that is, the first limiting structure 127 is a part of the first connecting member 124 and the second connecting member 125. The first limiting structure 127 and the first connecting member 124 and the second connecting member 125 may also be a split structure, that is, the first limiting structure 127 is an independent structure and is fixedly connected to the first connecting member 124 and the second connecting member 125.

[0092] It can be understood that since the clamping portion 112 and the needle body 111 are coaxially arranged, the first limiting structure 127 can perform radial and / or axial limiting on the clamping portion 112 in the state where the first clamping jaw 121 clamps the clamping portion 112, that is, the first limiting structure 127 can perform radial and / or axial limiting on the coaxially arranged needle body 111 in the state where the first clamping jaw 121 clamps the clamping portion 112.

[0093] In some embodiments, such as Figure 3B , Figure 4B and Figure 5B shown, the first limiting structure 127 includes a limiting surface 1271 and a guiding inclined surface 1272. The limiting surface 1271 and the guiding inclined surface 1272 are arranged at intervals along the axial direction of the puncture needle 11, and the guiding inclined surface 1272 faces the limiting surface 1271, and the guiding inclined surface 1272 is closer to the needle body 111 of the puncture needle 11 than the limiting surface 1271. In some embodiments, in the state where the first clamping jaw 121 clamps the clamping portion 112, the limiting surface 1271 abuts against the axial end surface of the clamping portion 112 away from the needle body 111 of the puncture needle 11. In addition, during the process of the first clamping jaw 121 clamping the clamping portion 112, the clamping portion 112 can move along the guiding inclined surface 1272 in a direction close to the limiting surface 1271.

[0094] The limiting surface 1271 refers to the surface used to limit the axial end surface (referred to as the upper end surface) of the clamping portion 112 away from the needle body 111 of the puncture needle 11. The guiding inclined surface 1272 refers to the inclined surface used to guide the movement of the clamping portion 112 during the process of the first clamping jaw 121 clamping the clamping portion 112. In some embodiments, during the process of the first clamping jaw 121 clamping the clamping portion 112, the clamping portion 112 is located within the clamping space of the first clamping jaw 121, and the first clamping portion 1211 and the second clamping portion 1212 move in opposite directions. When the first clamping portion 1211 and the second clamping portion 1212 respectively come into contact with the clamping portion 112, they can force the clamping portion 112 to approach the axial end surface (referred to as the lower end surface) of the needle body 111 of the puncture needle 11 and move along the guiding inclined surface 1272 in a direction close to the limiting surface 1271 until the limiting surface 1271 abuts against the axial end surface (upper end surface) of the clamping portion 112 away from the needle body 111 of the puncture needle 11. It can be understood that by setting the limiting surface 1271 and the guiding inclined surface 1272, the axial limitation of the clamping portion 112 can be realized, so that during the process of the first clamping jaw 121 clamping the clamping portion 112, the clamping portion 112 can return to the initial position when it is clamped by the first clamping jaw 121 along a preset path, thereby effectively ensuring the puncture accuracy and the puncture success rate.

[0095] It should be noted that when the first jaw 121 is in a semi-released state, the movement of the clamping portion 112 along the axial direction of the puncture needle 11 can be restricted by the first limiting structure 127. That is, along the axial direction of the puncture needle 11, the clamping portion 112 can move limitedly between the limiting surface 1271 and the guiding inclined surface 1272; the movement of the clamping portion 112 along the axial direction of the puncture needle 11 can also be disengaged from the constraint of the first limiting structure 127 (for example, when the patient's respiratory movement fluctuates greatly). At this time, since the first jaw 121 is between the first limiting member 1131 and the second limiting member 1132, and the first distance between the first limiting member 1131 and the second limiting member 1132 along the axial direction of the puncture needle 11 is greater than the dimension of the first jaw 121 along the axial direction of the puncture needle 11, the clamping portion 112 will be jointly restricted by the first limiting member 1131, the second limiting member 1132 and the first jaw 121 to move limitedly along the axial direction of the puncture needle 11.

[0096] In some embodiments, such as Figure 3C , 4C and Figure 5C as shown, the first limiting structure 127 further includes a first limiting groove 1273. When the first jaw 121 clamps the clamping portion 112, the clamping portion 112 is located in the first limiting groove 1273, and the first limiting groove 1273 performs radial limiting on the clamping portion 112.

[0097] The first limiting groove 1273 refers to a structure for performing radial limiting on the clamping portion 112. The structural shape of the first limiting groove 1273 can include but is not limited to V-shaped, circular arc-shaped, curved-shaped, etc. In some embodiments, the structural shape of the first limiting groove 1273 can be adapted to the contour shape of the clamping portion 112. Only as an example, when the clamping portion 112 is a cylinder, the structural shape of the first limiting groove 1273 can be circular arc-shaped. In some embodiments, during the process of the first jaw 121 clamping the clamping portion 112, when the first limiting groove 1273 contacts the clamping portion 112, the first limiting groove 1273 can limit the side wall of the clamping portion 112 along the radial direction of the puncture needle 11, so as to realize the radial limiting of the clamping portion 112 by the first limiting groove 1273. It can be understood that by setting the first limiting groove 1273 to perform radial limiting on the clamping portion 112, it can effectively ensure that the radial position of the puncture needle 11 will not shift, thereby ensuring the puncture accuracy and the puncture success rate.

[0098] In some embodiments, such as Figures 9A - 10BAs shown, the puncture device 100 further includes a needle guide 14 and a second jaw 15. The needle guide 14 includes a guiding hole 141 for guiding the needle body 111. A third limiting member 142 and a fourth limiting member 143 are provided on the needle guide 14. The third limiting member 142 and the fourth limiting member 143 are arranged at intervals along the axial direction of the needle body 11, and there is a second distance D2 between the third limiting member 142 and the fourth limiting member 143 in the axial direction of the puncture needle 11.

[0099] The third limiting member 142 and the fourth limiting member 143 refer to structures for limiting the second jaw 15 in the axial direction of the puncture needle 11. The structures of the third limiting member 142 and the fourth limiting member 143 may be the same or different. For example, both the third limiting member 142 and the fourth limiting member 143 are circular ring structures surrounding the outer periphery of the needle guide 14. Another example is that the third limiting member 142 is a circular ring structure surrounding the outer periphery of the needle guide 14, and the fourth limiting member 143 is a limiting block arranged along the radial direction of the puncture needle 11 on the outer periphery of the needle guide 14, etc.

[0100] The second distance D2 refers to the interval distance between the third limiting member 142 and the fourth limiting member 143 in the axial direction of the puncture needle 11. In some embodiments, the second distance D2 gradually increases from the inside to the outside along the radial direction of the puncture needle 11. In some embodiments, the second distance D2 may also remain unchanged along the radial direction of the puncture needle 11. The second distance D2 may be the same as the first distance D1.

[0101] In some embodiments, as Figures 9A - 9B shown, the clamping dimension of the clamping space of the second jaw 15 includes a fourth dimension. When the clamping dimension of the clamping space of the second jaw 15 is the fourth dimension, there is an interval between the second jaw 15 and the needle guide 14, and the second jaw 15 is limited between the third limiting member 142 and the fourth limiting member 143, and the second distance D2 is greater than the dimension of the second jaw 15 along the axial direction of the puncture needle 11.

[0102] In some embodiments, when the first jaw 121 performs a clamping and releasing operation on the clamping portion 112, the second jaw 15 will synchronously perform a clamping and releasing operation on the needle guide 14 to ensure that the puncture needle 11 will not cause damage to the patient due to breathing during the puncture operation. Based on this, when the clamping dimension of the clamping space of the second jaw 15 is the fourth dimension, the second jaw 15 is in a semi-released state. Since the opening degree of the second jaw 15 is smaller than the diameter of the needle guide 14, there will be an interval between the second jaw 15 and the needle guide 14 but it will not be completely released. Moreover, since the second distance D2 is greater than the dimension d2 of the second jaw 15 along the axial direction of the puncture needle 11, there are gaps between the second jaw 15 and the third limiting member 142 and the second limiting member 142, so the needle guide 14 can move limitedly within the clamping space of the second jaw 15.

[0103] In some embodiments, the clamping dimensions of the clamping space of the second jaw 15 further include a fifth dimension and a sixth dimension, the fifth dimension being smaller than the fourth dimension and the sixth dimension being larger than the fourth dimension. When the clamping dimension of the clamping space of the second jaw 15 is the fifth dimension, the second jaw 15 clamps the needle guide 14. When the clamping dimension of the clamping space of the second jaw 15 is the sixth dimension, the needle guide 14 can be disengaged from the second jaw 15.

[0104] In some embodiments, as Figures 10A - 10B shown, when the clamping dimension of the clamping space of the second jaw 15 is the fifth dimension, the second jaw 15 is in a clamping state and the second jaw 15 clamps on the needle guide 14. In some embodiments, as Figures 11A - 11B shown, when the clamping dimension of the clamping space of the second jaw 15 is the sixth dimension, the second jaw 15 is in a fully released state. Since the opening degree of the second jaw 15 is larger than the diameter of the needle guide 14, the needle guide 14 can be completely disengaged from the second jaw 15.

[0105] It should be noted that the fourth dimension and the first dimension, the fifth dimension and the second dimension, and the sixth dimension and the third dimension may be the same or different. When the first jaw 121 performs a clamping and releasing operation on the clamping portion 112, the second jaw 15 can synchronously perform a corresponding clamping and releasing operation on the needle guide 14, and it is only necessary to synchronously realize the clamping and releasing of the needle guide 14.

[0106] In some embodiments, as Figure 9B , Figure 10B and Figure 11B shown, the puncture device 100 further includes a second limiting structure 16, and the second limiting structure 16 includes a second limiting groove 161. In the state where the second jaw 15 clamps the needle guide 14, the needle guide 14 is located in the second limiting groove 161, and the second limiting groove 161 performs radial limiting on the needle guide 14.

[0107] The second limiting groove 161 refers to a structure for performing radial limiting on the needle guide 14. The structural shape of the second limiting groove 161 may be the same as or different from the structural shape of the first limiting groove 1273. In some embodiments, during the process of the second jaw 15 clamping the needle guide 14, when the second limiting groove 161 contacts the needle guide 14, the second limiting groove 161 can limit the side wall of the needle guide 14 along the radial direction of the puncture needle 11, so as to realize the radial limiting of the needle guide 14 by the second limiting groove 161. Since the clamping portion 112 of the puncture needle 11 has realized axial limiting, the needle guide 14 only needs to realize radial limiting here to ensure the puncture accuracy.

[0108] Understandably, by providing the second guiding groove 161, radial limitation of the needle guide 14 is achieved, which can further ensure that the radial position of the puncture needle 11 does not shift on the basis that the first limiting structure 127 axially and / or radially limits the clamping portion 112 of the puncture needle 11, thereby further guaranteeing the puncture accuracy and the puncture success rate.

[0109] In some embodiments, such as Figure 9B , Figure 10B and Figure 11B shown, the puncture device 100 further includes a bottom support member 18, and the second jaw 15 is clamped within the bottom support member 18. The bottom support member 18 refers to the structure of the puncture device 100 for connecting and fixing the second jaw 15. In some embodiments, the first limiting structure 16 and the bottom support member 18 are an integral structure or a split structure. In some embodiments, the bottom support member 18 is fixedly connected to the connecting frame 19. The bottom support member 18 may include a first support member (not shown in the figure) and a second support member (not shown in the figure). The first support member and the second support member are arranged at intervals along the axial direction of the puncture needle 11, and the second jaw 15 is located between the first support member and the second support member. In addition, guiding channels 1241 are provided on both the first support member and the second support member, and the lower end (the end close to the tip of the puncture needle 11) of the guiding shaft 17 is inserted into the guiding channels 1241 and fixedly connected to the connecting frame 19.

[0110] It should be noted that the structures of the first support member and the second support member, the connection manner between the two and the second jaw 15 are similar to the structures of the first connecting member 124 and the second connecting member 125 and the connection manner between the two and the first jaw 121. In addition, the implementation manner in which the second jaw 15 can perform a clamping and releasing operation on the needle guide 14 is similar to the implementation manner in which the first jaw 121 can perform a clamping and releasing operation on the clamping portion 112 (such as using an electromagnet and a reset elastic member, etc.), and the similarities will not be elaborated here.

[0111] In some embodiments, such as Figures 12 - 14 shown, the puncture device 100 further includes a connecting frame 19, and the connecting frame 19 is connected to the bottom support member 18. The connecting frame 19 refers to the structure for supporting and fixing other components of the puncture device 100. In some embodiments, the connecting frame 19 may also be connected to the guiding shaft 17. Only as an example, the lower end (the end close to the tip of the puncture needle 11) of the guiding shaft 17 may pass through the bottom support member 18 and be fixedly connected to the connecting frame 19, and the upper end (the end far from the tip of the puncture needle 11) of the guiding shaft 17 may pass through the clamping and releasing assembly 12 and be fixedly connected to the connecting frame 19. In some embodiments, the connecting frame 19 may also be connected to the support frame 134. For the specific description of the support frame, reference may be made to Figures 12 - 14 the relevant description in the following text.

[0112] In some embodiments, such as Figure 14 As shown, the puncture device 100 further includes a position detection component 20 configured to detect the position of the clamping and releasing component 12 in the axial direction of the puncture needle 11. The position detection component 20 includes a grating ruler 201 and a grating ruler reader head 202. The grating ruler reader head 202 is provided on the clamping and releasing component 12, and the grating ruler 201 is arranged on the connecting frame 19 along the axial direction of the puncture needle 11.

[0113] In some embodiments, the position detection component 20 is a magnetic grating encoder. The grating ruler 201 is a magnetic grating ruler, which is composed of a plurality of parallel magnetic tapes, and the widths and intervals of the plurality of magnetic tapes are fixed. The grating ruler reader head 202 has a plurality of magnetic probes, and the plurality of magnetic probes can read the magnetic field changes on the magnetic grating ruler. When the grating ruler 201 and the grating ruler reader head 202 move relative to each other, the magnetic field of the grating ruler 201 will interact with the magnetic probes on the grating ruler reader head 202, causing the magnetic field of the magnetic probes on the grating ruler reader head 202 to change. By measuring the magnetic field changes of the magnetic probes, the grating ruler reader head 202 can calculate the position information of the grating ruler 201. Only by way of example, the grating ruler reader head 202 can be installed on the first connecting member 124 or the second connecting member 125 of the clamping and releasing component 12, and the grating ruler 201 is installed on the connecting frame 19 along the axial direction of the puncture needle 11. When the clamping and releasing component 12 clamps the puncture needle 11 to perform a puncture operation, the clamping and releasing component 12 can drive the grating ruler 201 to move along the axial direction of the puncture needle 11, and the grating ruler reader head 202 can read the position information of the grating ruler 201, so as to determine the position of the clamping and releasing component 12 in the axial direction of the puncture needle 11. The grating ruler reader head 202 reads the position information of the grating ruler 201 (i.e., the position of the clamping and releasing component 12 in the axial direction of the needle body 111) and feeds it back to the processor in real time. The processor can control the movement of the clamping and releasing component 12 according to this position information to ensure the puncture accuracy.

[0114] In some embodiments, the grating ruler reader head 202 is an absolute encoder reading head. Radiation shielding plates 203 (such as tungsten plates, lead plates, etc.) are provided around the grating ruler reader head 202 to prevent the grating ruler reader head 202 from being damaged by radiation (such as X-rays, etc.). It should be noted that other instruments or devices can also be used for the position detection component 20. Exemplary position detection components 20 can include displacement encoders, grating scales, inductive displacement sensors, etc.

[0115] In some embodiments of this specification, by providing a position detection component, the position of the clamping and releasing component in the axial direction of the puncture needle can be obtained in real time, which can help the operator flexibly adjust the puncture depth of the puncture needle and improve the puncture safety.

[0116] In some embodiments, such as Figures 13 - 14As shown, the puncture device 100 further includes a retractable cable 21, and the retractable cable 21 is electrically connected to the drive assembly 13, the clamping and releasing assembly 12, and the grating head 202.

[0117] The retractable cable 21 refers to a retractable structure of the puncture device 100 for transmitting current and / or signals (data). In some embodiments, the drive assembly 13 can transmit signals to the clamping and releasing assembly 12 through the retractable cable 21. For example, the driver 135 in the drive assembly 13 can respond to a control instruction of the processor (such as a release operation execution instruction), control the current control mechanism, and control the clamping and releasing assembly 12 through the retractable cable 21 to make the clamping and releasing assembly 12 perform the release operation. Also for example, the driver 135 can respond to a control instruction of the processor (such as a needle insertion operation execution instruction), control the drive source 131 and control the clamping and releasing assembly 12 through the retractable cable 21 to make the clamping and releasing assembly 12 perform the needle insertion operation. In some embodiments, the drive assembly 13 can transmit signals to the grating head 202 through the retractable cable 21. For example, the position information of the grating 201 read by the grating head 202 (i.e., the position of the clamping and releasing assembly 12 in the axial direction of the needle body 111) can be transmitted to the driver 135 through the retractable cable 21, and then the driver 135 transmits it to the processor. For specific descriptions of the driver and the drive source, reference can be made to Figures 12 - 14 the relevant descriptions in the following text.

[0118] It should be noted that in addition to the retractable cable 21, the ways to achieve signal transmission between the drive assembly 13 and the clamping and releasing assembly 12, and the grating head 202 can also include wireless transmission methods. Exemplary wireless transmission methods include Bluetooth, NFC, etc.

[0119] In some embodiments, such as Figure 1 , Figure 13 as shown, the drive assembly 13 includes a drive source 131 and a belt drive mechanism 132, and the drive source 131 is drivingly connected to the clamping and releasing assembly 12 through the belt drive mechanism 132. In some embodiments, the drive source 131 can be signal-connected to the processor.

[0120] The drive source 131 refers to a device for providing power for the movement of the clamping and releasing assembly 12 along the axial direction of the puncture needle 11. For example, the drive source 131 can include a servo motor, etc. The belt drive mechanism 132 refers to a mechanism capable of realizing power transmission between the drive source 131 and the clamping and releasing assembly 12. The belt drive mechanism 132 can include a driving wheel (not shown in the figure), a driven wheel 1321, and a transmission belt 1322. In some embodiments, the drive source 131 works in response to a control instruction of the processor and is connected to the clamping and releasing assembly 12 through the belt drive mechanism 132 to drive the clamping and releasing assembly 12 to move along the axial direction of the puncture needle 11, thereby driving the puncture needle 11 to perform the puncture operation.

[0121] For example only, the clamping and releasing component 12 can be fixedly connected to the transmission belt 1322 of the belt transmission mechanism 132. The driving wheel of the belt transmission mechanism 132 is connected to the output shaft of the driving source 131. The two driven wheels 1321 of the belt transmission mechanism 132 are respectively arranged at both ends of the connecting frame 19 along the axial direction of the puncture needle 11. When the driving source 131 receives a control instruction from the processor (such as a puncture operation execution instruction) and starts, the output shaft of the driving source 131 rotates to drive the driving wheel to rotate. The driving wheel rotates to drive the transmission belt 1322 to move and the driven wheels 1321 to rotate. The movement of the transmission belt 1322 drives the clamping and releasing component 12 to move along the axial direction of the puncture needle 11, and further drives the puncture needle 11 clamped in the first clamping jaw 121 to move along the axial direction of the puncture needle 11 to perform a puncture operation. When the puncture needle 11 moves downward along the axial direction of the puncture needle 11, the puncture needle 11 performs a needle insertion operation; when the puncture needle 11 moves upward along the axial direction of the puncture needle 11, the puncture needle 11 performs a needle withdrawal operation.

[0122] It should be noted that the power transmission between the driving source 131 and the clamping and releasing component 12 can also be realized by any other feasible transmission structure. For example, a ball screw structure, a rack and pinion structure, etc.

[0123] In some embodiments of this specification, by providing a belt transmission mechanism, on the one hand, long-distance power transmission between the driving source and the clamping and releasing component can be realized, and at the same time, the driving source can be arranged outside the ray radiation, which is beneficial to improving the service life of the driving source; on the other hand, the transmission belt is made of a non-metallic material, which is beneficial to reducing artifacts and improving the imaging quality of medical images. In addition, the belt transmission mechanism is a flexible transmission. When an emergency stop occurs during a puncture operation, the belt transmission mechanism can, to a certain extent, prevent the puncture needle from causing rigid cutting to the patient. Moreover, the belt transmission mechanism has a simple structure and low cost.

[0124] In some embodiments, such as Figure 1 、 Figures 12 - 14 shown, the driving component 13 further includes a fixing structure 133, a support frame 134, a driver 135, a shielding structure 136, an electrical interface 137, and an operation button 138. The fixing structure 133, the driver 135, the shielding structure 136, the electrical interface 137, and the operation button 138 are all arranged on the support frame 134.

[0125] The support frame 134 refers to a structure for accommodating and installing the driving component 13. In some embodiments, the support frame 134 can be fixedly connected to the connecting frame 19. In some embodiments, the support frame 134 and the connecting frame 19 can be an integral structure, that is, the support frame 134 is a part of the connecting frame 19.

[0126] The fixing structure 133 refers to the structure for installing and fixing the driving source 131. In some embodiments, the fixing structure 133 may include a fixing plate 1331, a connecting plate 1332, and a bearing 1333. The fixing plate 1331 is L-shaped, and its bottom surface is fixedly connected to the support frame 134. A first bearing hole is provided on the side surface of the fixing plate 1331. The proximal end (the end close to the driving source 131) of the output shaft of the driving source 131 passes through the first bearing hole, and a bearing 1333 is arranged between the proximal end of the output shaft and the first bearing hole. The connecting plate 1332 is fixedly connected to the fixing plate 1331 (such as by threaded connection). A second bearing hole is provided on the connecting plate 1332. The distal end (the end far from the driving source 131) of the output shaft of the driving source 131 passes through the second bearing hole, and a bearing 1333 is arranged between the distal end of the output shaft and the second bearing hole. It can be understood that by providing the fixing structure 133, the output shaft of the driving source 131 is placed between the fixing plate 1331 and the connecting plate 1332. On the one hand, it can effectively reduce the vibration during transmission, ensure the stability during transmission, and thus is beneficial to improving the puncture accuracy; on the other hand, it can also improve the service life of the driving source 131.

[0127] The driver 135 is a control component of the puncture device 100. In some embodiments, the driver 135 is signal-connected to the processor. The driver 135 can be used to control the movement of the clamping and releasing component 12 and the second clamping jaw 15. Only as an example, the driver 135 can respond to a control instruction (such as a puncture operation execution instruction) issued by the processor, and drive the belt transmission mechanism 132 to move by controlling the driving source 131, so as to drive the clamping and releasing component 12 to move along the axial direction of the puncture needle 11, and further drive the puncture needle 11 clamped in the first clamping jaw 121 to move along the axial direction of the puncture needle 11 to perform a puncture operation. The driver 135 can also respond to a control instruction (such as a clamping and releasing operation execution instruction) issued by the processor, and change the magnitude of the current in the circuit of the clamping and releasing component by controlling the current control mechanism, so that the clamping and releasing component 12 performs a clamping and releasing operation. Synchronously, the current control mechanism can change the magnitude of the current in the circuit of the second clamping jaw, so that the second clamping jaw 15 can complete the clamping and releasing operation synchronously with the first clamping jaw 121 of the clamping and releasing component 12.

[0128] In some embodiments, the driver 135 can also be used to control the local anesthesia indicating mechanism 22. Only as an example, the driver 135 can respond to a control instruction (such as a local anesthesia indication instruction) issued by the processor, and control the local anesthesia indicating mechanism 22 to emit a laser L to indicate the local anesthesia position. For the specific description of the local anesthesia indicating mechanism, reference can be made to Figures 15A - 15B and its related description.

[0129] It should be noted that the driver 135 can also be integrally arranged in the processor of the puncture device 100, that is, the driver 135 can be a part of the processor.

[0130] The shielding structure 136 refers to a structure for protecting the drive source 131 and the driver 135 from ray radiation. The material of the shielding structure 136 may include tungsten plates, lead plates, etc. In some embodiments, the shielding structure 136 is disposed around the drive source 131 and the driver 135 to prevent the drive source 131 and the driver 135 from being damaged by ray radiation.

[0131] The electrical interface 137 is configured to be electrically connected to the puncture surgical robot 200. In some embodiments, the puncture surgical robot 200 is electrically connected to the puncture device 100 through the electrical interface 137 and controls the puncture device 100 to perform a clamping operation or a puncture operation. For specific descriptions of the above content, reference can be made to Figure 16 and its related descriptions.

[0132] The operation button 138 is configured to control the opening or closing of the movement enabling of the puncture device 100. Only by way of example, when the operator presses the operation button 138, the movement enabling of the puncture device 100 is turned on, and the puncture device 100 can respond to the control instructions of the puncture surgical robot 200 and use the driver 135 to control the clamping and releasing assembly 12 and the second jaw 15 to perform a clamping and releasing operation or control the clamping and releasing assembly 12 to drive the puncture needle 11 to perform a puncture operation.

[0133] In some embodiments, as Figures 13 - 14 shown, the drive assembly 13 further includes a tensioning mechanism 139. The tensioning mechanism 139 includes a tensioning wheel 1391, an adjustable bolt 1392, and a connecting member 1393. The connecting member 1393 is connected to the tensioning wheel 1391 and the adjustable bolt 1392, and the tensioning wheel 1391 contacts the belt drive mechanism 132. The adjustable bolt 1392 is configured to change the position of the tensioning wheel 1391 in the axial direction of the puncture needle 11 to achieve the tensioning of the belt drive mechanism 132.

[0134] The tensioning mechanism 139 refers to a structure for adjusting the tension of the transmission belt 1322 of the belt drive mechanism 132. In some embodiments, the connecting member 1393 includes an upper connecting member 13931 and a lower connecting member 13932. The upper connecting member 13931 and the lower connecting member 13932 are arranged along the axial direction of the puncture needle 11. The upper connecting member 13931 is slidably connected to the connecting frame 19, and the lower connecting member 13932 is fixedly connected to the connecting frame 19. The upper connecting member 13931 and the lower connecting member 13932 are connected by an adjustable bolt 1392. The tensioning wheel 1391 is arranged on the upper connecting member 13931 and abuts against the transmission belt 1322 of the belt drive mechanism 132. The operator can slide the upper connecting member 13931 on the connecting frame 19 by adjusting the adjustable bolt 1392 to change the position of the tensioning wheel 1391 in the axial direction along the puncture needle 11, thereby realizing the tensioning of the belt drive mechanism 132. Only as an example, when it is necessary to increase the tension of the transmission belt 1322, the operator can turn the adjustable bolt 1392 to make the upper connecting member 13931 slide upward on the connecting frame 19, and then make the tensioning wheel 1391 move upward along the axial direction of the puncture needle 11 to realize the tension adjustment of the transmission belt 1322.

[0135] In some embodiments of this specification, by providing a tensioning mechanism, the operator can timely adjust the tension of the belt drive mechanism according to the actual situation, thereby effectively ensuring the transmission accuracy.

[0136] In some embodiments, such as Figure 1 , Figures 15A - 15B As shown, the puncture device 100 further includes a local anesthesia indication mechanism 22, and the local anesthesia indication mechanism 22 can emit a laser L. The local anesthesia indication mechanism 22 refers to a mechanism for indicating the local anesthesia position on the patient's body surface before a puncture operation. In some embodiments, the local anesthesia indication mechanism 22 may include a laser lamp 221 and a laser lamp mounting structure 222, and the laser lamp mounting structure 222 is fixedly connected to the bottom support member 18. In some embodiments, the local anesthesia indication mechanism 22 may further include an angle adjustment mechanism (not shown in the figure), and the angle adjustment mechanism is configured to adjust the emission angle of the laser lamp 221.

[0137] In some embodiments, the local anesthesia indicating mechanism 22 can be in signal connection with the driver 135. The driver 135 can control the laser lamp 221 to emit the laser L in response to a control instruction (such as a local anesthesia indicating instruction) issued by the processor, and make the light spot of the laser L on the patient's body surface coincide with the puncture point S of the puncture needle 11 by controlling the angle adjusting mechanism, so as to indicate the local anesthesia position. It can be understood that, in order to relieve the patient's pain, local anesthesia is usually performed on the patient at the puncture point S before the puncture operation. By providing the local anesthesia indicating mechanism 22 in the puncture device 100 and using the laser lamp 221 to emit the laser L to indicate the local anesthesia position, the accuracy of the local anesthesia position can be effectively guaranteed, the patient's pain can be relieved, and the patient's medical experience and satisfaction can be improved.

[0138] In some embodiments, the puncture device 100 further includes a registration target 23, and the registration target 23 is configured to realize the registration and registration of the puncture device 100 with the medical image. Registration and registration refers to establishing the relative position relationship between the medical image (such as a CT image) and the coordinate system of the puncture operation robot. That is to say, through registration and registration, the position of the puncture device 100 in the coordinate system of the puncture operation robot can be corresponding to its position in the medical image, so that the puncture operation guided by the medical image can be better completed.

[0139] In some embodiments, the registration target 23 is arranged at the upper end of the connecting frame 19 to facilitate detection and completion of registration and registration by a medical imaging device (such as a CT). The registration target 23 can adopt various structural shapes, such as spherical, rod-shaped and other shapes.

[0140] Some embodiments of this specification also provide a puncture operation robot, and the puncture operation robot includes the puncture device 100 described in any of the above technical solutions. For the specific content of the puncture device, reference can be made to Figures 1 - 15B and its related descriptions.

[0141] To more clearly illustrate the application scenario and working principle of the puncture operation robot, Figure 16 the application scenario diagram of the puncture operation robot is shown. As Figure 16 shown, before the puncture operation, the operator uses a medical imaging device to perform medical imaging on the lesion area of the patient, and electrically connects the puncture operation robot 200 and the puncture device 100 through the electrical interface 137. After the two are connected, the registration and registration of the puncture device 100 and the medical image are completed through the registration target 23 on the puncture device 100. The medical image identifies the relative position between the puncture device 100 and the lesion area through the registration target 23, and adjusts the position through the puncture operation robot 200 so that the puncture device 100 is in a suitable position, and then the puncture operation can be started.

[0142] During the puncture operation, at this time, the puncture surgical robot 200 is in the puncture mode. The puncture surgical robot 200 can send a clamping operation execution instruction. The processor of the puncture device 100 receives this instruction and controls the current control mechanism through the driver 135 so that the current in the clamping and releasing component circuit is a preset value, thereby making the first jaw 121 of the clamping and releasing component 12 clamp the clamping portion 112. At the same time, the current control mechanism controls the current in the second jaw circuit to be the preset value, so that the second jaw 15 synchronously clamps the needle guide 14, that is, the clamping operation is completed. Then, the puncture surgical robot 200 can send a needle insertion operation execution instruction. The processor of the puncture device 100 receives this instruction and controls the drive source 131 to start through the driver 135, and drives the clamping and releasing component 12 to move downward along the axial direction of the puncture needle 11 via the belt transmission mechanism 132, so that the puncture needle 11 performs the needle insertion operation.

[0143] During the puncture operation, if the operator needs to pause the puncture to view the specific location of the lesion or adjust the puncture path, at this time, the operator can switch the puncture mode to the breakpoint real-time mode. The puncture surgical robot 200 can send a semi-release operation execution instruction. The processor of the puncture device 100 receives this instruction and controls the current control mechanism through the driver 135 so that the current in the clamping and releasing component circuit is less than the preset value, thereby making the first jaw 121 of the clamping and releasing component 12 perform a semi-release operation. At the same time, the current control mechanism controls the current in the second jaw circuit to be less than the preset value, so that the second jaw 15 synchronously performs a semi-release operation, that is, the semi-release operation is completed, and both the first jaw 121 and the second jaw 15 are in a semi-release state. At this time, the patient can breathe freely, and the puncture needle 11 can float within a limited space along with the patient's breathing movement without causing a cutting risk to the patient. After the specific location of the lesion or the puncture path is adjusted, the puncture surgical robot 200 can send a control instruction to control the puncture device 100 to perform the clamping operation again and continue the puncture until the puncture operation is completed.

[0144] The beneficial effects of the puncture device and the puncture surgical robot provided in this specification may include, but are not limited to: (1) The clamping and releasing assembly includes a first jaw, and the size of the clamping space of the first jaw is variable. It can not only clamp the target instrument with the first jaw to drive the target instrument to perform a puncture operation, but also create a gap between the first jaw and the target instrument, enabling the target instrument to move limitedly within the clamping space of the first jaw, thus achieving the rigid separation of the target instrument and the clamping and releasing assembly to eliminate the risk brought by the patient's respiratory movement during the puncture operation and improve the safety and success rate of the puncture operation; (2) The puncture needle includes a needle body, a clamping portion, and a limiting portion. Among them, the clamping portion can enable the puncture needle to be stably clamped to ensure that the needle body can perform the puncture operation stably and precisely; the limiting portion can limit the puncture needle in its axial direction to prevent the puncture needle from moving significantly within the clamping space of the first jaw when the first jaw is in a semi-released state, thereby improving the safety of the puncture operation; (3) The limiting portion of the puncture needle forms a first distance between the relatively arranged first inclined surface and the second inclined surface. The structure is simple, easy to process, and can effectively ensure that the first jaw is not easily affected by the limiting portion during the clamping and releasing operation. The overall structure is not easily jammed and can work stably; (4) By setting a belt drive mechanism in the drive assembly of the puncture device, on the one hand, it can achieve long-distance power transmission between the drive source and the clamping and releasing assembly, and at the same time, the drive source can be set outside the radiation of the ray, which is beneficial to improving the service life of the drive source; on the other hand, the transmission belt is made of non-metallic material, which is beneficial to reducing artifacts and improving the imaging quality of medical images; in addition, the belt drive mechanism is a flexible drive. When an emergency stop occurs during the puncture operation, the belt drive mechanism can, to a certain extent, prevent the puncture needle from causing rigid cutting to the patient. Moreover, the belt drive mechanism has a simple structure and low cost; (5) By setting a position detection component in the puncture device, the position of the clamping and releasing assembly in the axial direction of the puncture needle can be obtained in real time, and then it can help the operator flexibly adjust the puncture depth of the puncture needle to improve puncture safety; (6) By setting a local anesthesia indication mechanism in the puncture device, a laser lamp emits laser to indicate the local anesthesia position, which can effectively ensure the accuracy of the local anesthesia position, relieve the patient's pain, and improve the patient's medical experience and satisfaction; (7) By setting a registration target in the puncture device, the registration and alignment of the puncture device and the medical image can be achieved, which can make the puncture positioning result more reliable and is beneficial to better completing the puncture operation guided by the medical image; (8) The puncture device has a simple structure, is easy to use, and has high structural reliability; (9) The puncture surgical robot includes a puncture device, which can achieve continuous puncture at breakpoints, can effectively ensure the safety of the patient during the puncture operation, and can improve the puncture efficiency.

[0145] The basic concepts have been described above. Obviously, for those skilled in the art, the above detailed disclosure is only an example and does not constitute a limitation to this specification. Although not explicitly stated here, those skilled in the art may make various modifications, improvements, and corrections to this specification. Such modifications, improvements, and corrections are suggested in this specification, so such modifications, improvements, and corrections still fall within the spirit and scope of the exemplary embodiments of this specification.

Claims

1. A clamping and releasing component (12), characterized in that, The clamping and releasing component (12) includes a first clamping jaw (121) for clamping a target instrument. The clamping size of the clamping space of the first clamping jaw (121) is variable and includes at least a first size and a second size; the second size is smaller than the first size. When the clamping size of the clamping space of the first clamping jaw (121) is the first size, there is a gap between the first clamping jaw (121) and the target instrument; when the clamping size of the clamping space of the first clamping jaw (121) is the second size, the first clamping jaw (121) clamps the target instrument.

2. The clamping and releasing assembly (12) according to claim 1, characterized in that, The clamping size of the clamping space of the first clamping jaw (121) further includes a third size, and the third size is larger than the first size. When the clamping size of the clamping space of the first clamping jaw (121) is the third size, the target instrument can be disengaged from the first clamping jaw (121).

3. The clamping and releasing assembly (12) according to claim 1, characterized in that, The target instrument includes a puncture needle (11). The first clamping jaw (121) is used to clamp the clamping portion (112) of the puncture needle (11), and the first clamping jaw is located between a first limiting member (1131) and a second limiting member (1132) which are axially spaced along the puncture needle (11) on the clamping portion. When the clamping size of the clamping space of the first clamping jaw (121) is the first size, the first clamping jaw (121) is limited between the first limiting member (1131) and the second limiting member (1132), and the first distance between the first limiting member (1131) and the second limiting member (1132) in the axial direction of the puncture needle (11) is greater than the size of the first clamping jaw (121) in the axial direction of the puncture needle (11).

4. The clamping and releasing assembly (12) according to claim 1, characterized in that, The first clamping jaw (121) includes a first clamping portion (1211) and a second clamping portion (1212), and the clamping space is formed between the first clamping portion (1211) and the second clamping portion (1212); the first clamping portion (1211) and the second clamping portion (1212) can move in opposite directions or in the opposite direction to change the clamping size of the clamping space.

5. The clamping and releasing assembly (12) according to claim 4, wherein, The clamping and releasing component (12) further includes a reset elastic member (122) and an electromagnet (123). The reset elastic member (122) and the electromagnet (123) are both arranged between the first clamping portion (1211) and the second clamping portion (1212); when the electromagnet (123) is energized, the electromagnet (123) can attract the first clamping portion (1211) and the second clamping portion (1212) to move in the opposite direction; when the electromagnet (123) is powered off, the reset elastic member (122) can make the first clamping portion (1211) and the second clamping portion (1212) move in the opposite direction.

6. The clamping and releasing assembly (12) according to claim 5, wherein, The clamping and releasing assembly (12) further includes a first connecting member (124) and a second connecting member (125); the first connecting member (124) and the second connecting member (125) are arranged along the axial direction of the puncture needle (11); the first clamping jaw (121) is disposed between the first connecting member (124) and the second connecting member (125); a sliding groove (126) is provided on the first connecting member (124) and / or the second connecting member (125), and the sliding groove (126) extends along the moving direction of the first clamping portion (1211) and the second clamping portion (1212); sliding pins (1214) are provided on both the first clamping portion (1211) and the second clamping portion (1212), and the sliding pins (1214) can slide along the sliding groove (126).

7. A puncture needle (11), characterized in that, The puncture needle (11) includes a needle body (111), a clamping portion (112), and a limiting portion (113). The needle body (111) and the limiting portion (113) are both disposed on the clamping portion (112). The clamping portion (112) is used to be clamped by the first clamping jaw (121) of the clamping and releasing assembly (12). The limiting portion (113) includes a first limiting member (1131) and a second limiting member (1132). The first limiting member (1131) and the second limiting member (1132) are arranged at intervals along the axial direction of the puncture needle (11), and there is a first distance between the first limiting member (1131) and the second limiting member (1132) in the axial direction of the puncture needle (11). When the clamping size of the clamping space of the first clamping jaw (121) is a first size, there is a gap between the first clamping jaw (121) and the clamping portion (112). The first clamping jaw (121) can be limited between the first limiting member (1131) and the second limiting member (1132), and the first distance is greater than the size of the first clamping jaw (121) along the axial direction of the puncture needle (11).

8. The puncture needle (11) according to claim 7, characterized in that, A first inclined surface is provided on the first limiting member (1131), and a second inclined surface is provided on the second limiting member (1132). The first inclined surface and the second inclined surface are arranged oppositely, and the first distance is formed between the first inclined surface and the second inclined surface.

9. A puncture device (100), characterized in that, The puncture device (100) includes the clamping and releasing assembly (12) according to any one of claims 1-6, the puncture needle (11) according to any one of claims 7-8, and a driving assembly (13); the driving assembly (13) is connected to the first clamping jaw (121), and the driving assembly (13) drives the clamping and releasing assembly (12) to move so as to drive the puncture needle (11) to move along the axial direction of the puncture needle (11).

10. The puncture device (100) according to claim 9, characterized in that, The clamping portion is of a rotary body structure, and the clamping portion (112) is coaxially arranged with the needle body (111). The clamping and releasing assembly (12) further includes a first limiting structure (127). When the first jaw (121) clamps the clamping portion (112), the first limiting structure (127) can perform radial and / or axial limiting on the clamping portion (112).

11. The puncture device (100) according to claim 10, characterized in that, The first limiting structure (127) includes a limiting surface (1271) and a guiding inclined surface (1272); the limiting surface (1271) and the guiding inclined surface (1272) are arranged at intervals along the axial direction of the puncture needle (11), and the guiding inclined surface (1272) faces the limiting surface (1271), and the guiding inclined surface (1272) is closer to the needle body (111) of the puncture needle (11) than the limiting surface (1271); When the first jaw (121) clamps the clamping portion (112), the limiting surface (1271) abuts against the axial end surface of the clamping portion (112) away from the needle body (111) of the puncture needle (11); During the process of the first jaw (121) clamping the clamping portion (112), the clamping portion (112) moves along the guiding inclined surface (1272) towards the direction close to the limiting surface (1271).

12. The puncture device (100) according to claim 10, characterized in that, The first limiting structure (127) further includes a first limiting groove (1273); when the first jaw (121) clamps the clamping portion (112), the clamping portion (112) is located in the first limiting groove (1273), and the first limiting groove (1273) performs radial limiting on the clamping portion (112).

13. The puncture device (100) according to claim 9, characterized in that, The puncture device (100) further includes a needle guide (14) and a second jaw (15). The needle guide (14) includes a guiding hole (141) for guiding the needle body (111). A third limiting member (142) and a fourth limiting member (143) are provided on the needle guide (14). The third limiting member (142) and the fourth limiting member (143) are arranged at intervals along the axial direction of the puncture needle (11), and there is a second distance between the third limiting member (142) and the fourth limiting member (143) in the axial direction of the puncture needle (11); The clamping dimension of the clamping space of the second jaw (15) includes a fourth dimension; When the clamping dimension of the clamping space of the second jaw (15) is the fourth dimension, there is a gap between the second jaw (15) and the needle guide (14), and the second jaw (15) is limited between the third limiting member (142) and the fourth limiting member (143), and the second distance is greater than the dimension of the second jaw (15) along the axial direction of the puncture needle (11).

14. The puncture device (100) according to claim 13, characterized in that, The puncture device (100) further includes a second limiting structure (16). The second limiting structure (16) includes a second limiting groove (161); when the second jaw (15) clamps the needle guide (14), the needle guide (14) is located in the second limiting groove (161), and the second limiting groove (161) performs radial limiting on the needle guide (14).

15. The puncture device (100) according to claim 9, wherein, The puncture device (100) further includes a local anesthesia indicating mechanism (22), and the local anesthesia indicating mechanism (22) is capable of emitting laser light.

16. A puncture surgery robot (200), characterized in that, Comprising the puncture device (100) according to claims 9 to 15.

Images