Adjustable clamping jaw mechanism and puncture robot thereof

Abstract

The invention discloses an adjustable clamping jaw mechanism and a puncture robot thereof. The adjustable clamping jaw mechanism comprises a first clamping jaw seat, a first rotary mounting seat and a first consumable module which are connected with one another, and the first consumable module is connected with a first telescopic needle tube; the second clamping jaw seat, the second rotary mounting seat and the second consumable module are connected with one another; the second consumable module is connected with a second telescopic needle tube which is provided with a rack meshed with the transmission gear; the hand screw sequentially penetrates through the second mounting seat, the second arc-shaped groove and the first arc-shaped groove; the adjusting knob is connected with the transmission gear; the optical positioning small ball is connected with the first rotary mounting seat; and the clamping jaw motor driving module drives the first clamping jaw seat and the second clamping jaw seat to be separated from each other or closed. Even if the position of the puncture robot mechanical arm provided with the adjustable clamping jaw mechanism is not in accordance with expectation after the puncture robot mechanical arm is in place and stopped, the puncture position can be quickly and accurately positioned by adjusting the angle and the height of a needle hole through a hand screw and an adjusting knob.

Description

Technical Field

[0001] The present invention relates to, but is not limited to, the technical field of medical devices, and particularly relates to an adjustable jaw mechanism and a puncture robot thereof. Background Art

[0002] A semi-automatic puncture robot mainly functions as a positioning device during a surgical operation. After the robotic arm of the semi-automatic puncture robot is controlled by a controller to move to the position of the patient's skin along a pre-planned path, the semi-automatic puncture robot stops moving. Then, a doctor needs to insert a needle into the needle insertion device at the end of the robotic arm to complete the puncture operation. Since the existing needle insertion device and the end of the robotic arm are fixedly connected, when the final hovering position of the needle insertion device at the end of the robotic arm does not meet the expectation (such as not being completely attached to the patient's skin, or there is a deviation between the needle insertion angle of the needle insertion device and the target angle), it is necessary to re-control the semi-automatic puncture robot to return to the standby position, re-plan the path, and move again along the re-planned path. That is to say, the existing semi-automatic puncture robot has problems of low positioning accuracy and low positioning efficiency of the target puncture position. Summary of the Invention

[0003] The following is an overview of the subject matter described in detail in this document. This overview is not intended to limit the scope of protection of the claims.

[0004] Embodiments of the present invention provide an adjustable jaw mechanism and a puncture robot thereof, which can effectively improve the positioning accuracy and positioning efficiency of the target puncture position.

[0005] In a first aspect, embodiments of the present invention provide an adjustable jaw mechanism, including:

[0006] A first jaw seat provided with a first through hole;

[0007] A first rotary mounting seat, the first rotary mounting seat is connected to the inner side of the first jaw seat through a first rotary reset structure, a first arc-shaped groove is provided on the inner side of the first rotary mounting seat, and the first rotary mounting seat is rotationally connected to the first through hole through a first rotating shaft;

[0008] A first consumable module, the first consumable module is detachably connected to the first rotary mounting seat through a first connecting member, the first consumable module includes a first telescopic syringe, and a first needle groove and a convex column are provided on one side of the first telescopic syringe;

[0009] A second jaw seat provided with a second through hole;

[0010] The second rotating mounting seat, the second rotating mounting seat is connected to the inner side of the second jaw seat through a second rotating reset structure, a second arc-shaped groove is arranged on the outer side of the second rotating mounting seat, the second rotating mounting seat is rotationally connected to the second through hole through a second rotating shaft, and the inner side of the second rotating mounting seat includes a second mounting groove;

[0011] The second consumable module, the second consumable module is detachably connected to the second rotating mounting seat through a second connecting member, the second consumable module includes a second telescopic syringe, a second needle groove and a first limiting groove matching the convex column are arranged on one side of the second telescopic syringe, a rack is arranged on the other side of the second telescopic syringe, and the rack meshes with a transmission gear;

[0012] A hand-tightening screw, the hand-tightening screw sequentially passes through the second jaw seat, the second arc-shaped groove and the first arc-shaped groove, and the hand-tightening screw is detachably connected to the second mounting seat, the second arc-shaped groove and the first arc-shaped groove;

[0013] An adjusting knob, the adjusting knob is connected to the transmission gear through a connecting rod;

[0014] An optical positioning ball, the optical positioning ball is connected to the first rotating mounting seat;

[0015] A jaw motor driving module, the jaw motor driving module is respectively connected to the first jaw seat and the second jaw seat, the first jaw seat and the second jaw seat are separated or closed from each other under the drive of the jaw motor driving module, and when the first jaw seat and the second jaw seat are closed to each other, the first needle groove and the second needle groove form a needle hole.

[0016] According to some embodiments of the first aspect of the present invention, the inner side of the first jaw seat includes a first sector-shaped groove, a third arc-shaped groove is provided at the top of the first sector-shaped groove, a second limiting groove is provided on one side of the first rotating mounting seat close to the first jaw seat, the first rotation reset structure includes a first rotation reset torsion spring, the first rotation reset torsion spring is installed in the first sector-shaped groove, one end of the first rotation reset torsion spring is fixedly connected with a first connecting column connected to the second limiting groove, and the end of the first connecting column away from the second limiting groove is slidably connected to the third arc-shaped groove; the inner side of the second jaw seat includes a second sector-shaped groove, a fourth arc-shaped groove is provided at the top of the second sector-shaped groove, a third limiting groove is provided on one side of the second rotating mounting seat close to the second jaw seat, the second rotation reset structure includes a second rotation reset torsion spring, the second rotation reset torsion spring is installed in the second sector-shaped groove, one end of the second rotation reset torsion spring is fixedly connected with a second connecting column connected to the third limiting groove, and the end of the second connecting column away from the third limiting groove is slidably connected to the fourth arc-shaped groove.

[0017] According to some embodiments of the first aspect of the present invention, the first consumable module further includes a first consumable base and a first consumable slide rod, the first consumable slide rod is connected to the first consumable base, and the first telescopic syringe is sleeved on the first consumable slide rod; the second consumable module includes a second consumable base and a second consumable slide rod, the second consumable slide rod is connected to the second consumable base, and the second telescopic syringe is sleeved on the second consumable slide rod.

[0018] According to some embodiments of the first aspect of the present invention, the first consumable module further includes a first consumable base and a first consumable telescopic rod, the first consumable slide rod is connected to the first consumable base, and one side of the first telescopic syringe away from the first needle slot is connected to the first consumable telescopic rod; the second consumable module further includes a second consumable base and a second consumable telescopic rod, the second consumable slide rod is connected to the second consumable base, and one side of the second telescopic syringe away from the second needle slot is connected to the second consumable telescopic rod.

[0019] According to some embodiments of the first aspect of the present invention, the first consumable module further includes a first consumable base and a first consumable telescopic rod, the first consumable slide rod is connected to the first consumable base, and one side of the first telescopic syringe away from the first needle slot is connected to the first consumable telescopic rod; the second consumable module further includes a second consumable base and a second consumable telescopic rod, the second consumable slide rod is connected to the second consumable base, and one side of the second telescopic syringe away from the second needle slot is connected to the second consumable telescopic rod.

[0020] According to some embodiments of the first aspect of the present invention, a first unlockable limiting structure is provided between the first rotary mounting base and the first telescopic syringe needle, and a second unlockable limiting structure is provided between the second rotary mounting base and the second telescopic syringe needle.

[0021] According to some embodiments of the first aspect of the present invention, a first unlockable limiting structure is provided between the first rotary mounting base and the first telescopic syringe needle, and a second unlockable limiting structure is provided between the second rotary mounting base and the second telescopic syringe needle.

[0022] According to some embodiments of the first aspect of the present invention, the first rotary mounting base is provided with a fourth limiting groove. The first unlockable limiting structure includes a first consumable positioning bead and a fifth spring. The fifth spring is fixedly connected to the first consumable positioning bead, and the end of the fifth spring away from the first consumable positioning bead is fixedly connected to the fourth limiting groove. The second rotary mounting base is provided with a fifth limiting groove. The second unlockable limiting structure includes a second consumable positioning bead and a sixth spring. The sixth spring is fixedly connected to the second consumable positioning bead, and the end of the sixth spring away from the second consumable positioning bead is fixedly connected to the fifth limiting groove. Among them, the first consumable positioning bead abuts against the side of the first telescopic syringe needle, and the second consumable positioning bead abuts against the side of the second telescopic syringe needle.

[0023] According to some embodiments of the first aspect of the present invention, the first rotary mounting base is provided with a sixth limiting groove. The first unlockable limiting structure includes a first self-locking column and a seventh spring. The seventh spring is fixedly connected to the first self-locking column, and the end of the seventh spring away from the first self-locking column is fixedly connected to the sixth limiting groove. The second rotary mounting base is provided with a seventh limiting groove. The second unlockable limiting structure includes a second self-locking column and an eighth spring. The eighth spring is fixedly connected to the second self-locking column, and the end of the eighth spring away from the second self-locking column is fixedly connected to the seventh limiting groove. Among them, the first self-locking column abuts against the bottom of the first telescopic syringe needle, and the second self-locking column abuts against the bottom of the second telescopic syringe needle.

[0024] In a second aspect, an embodiment of the present invention provides a puncture robot, including:

[0025] The adjustable jaw mechanism of the embodiment of the first aspect;

[0026] A robotic arm, the tail of the robotic arm is detachably connected to the adjustable jaw mechanism.

[0027] The embodiment of the present application provides an adjustable jaw mechanism and a puncture robot thereof. The adjustable jaw mechanism includes a first jaw seat provided with a first through hole; a first rotary mounting seat, the first rotary mounting seat is connected to the inner side of the first jaw seat through a first rotary reset structure, an inner side of the first rotary mounting seat is provided with a first arc-shaped groove, and the first rotary mounting seat is rotationally connected to the first through hole through a first rotating shaft; a first consumable module, the first consumable module is detachably connected to the first rotary mounting seat through a first connecting member, the first consumable module includes a first telescopic syringe, and a first needle groove and a convex column are provided on one side of the first telescopic syringe; a second jaw seat provided with a second through hole; a second rotary mounting seat, the second rotary mounting seat is connected to the inner side of the second jaw seat through a second rotary reset structure, an outer side of the second rotary mounting seat is provided with a second arc-shaped groove, and the second rotary mounting seat is rotationally connected to the second through hole through a second rotating shaft, and an inner side of the second rotary mounting seat includes a second mounting groove; a second consumable module, the second consumable module is detachably connected to the second rotary mounting seat through a second connecting member, the second consumable module includes a second telescopic syringe, a second needle groove and a first limiting groove matching with the convex column are provided on one side of the second telescopic syringe, and a rack is provided on the other side of the second telescopic syringe, and the rack meshes with a transmission gear; a hand-tightening screw, the hand-tightening screw sequentially passes through the second jaw seat, the second arc-shaped groove and the first arc-shaped groove, and the hand-tightening screw is detachably connected to the second mounting seat, the second arc-shaped groove and the first arc-shaped groove; an adjusting knob, the adjusting knob is connected to the transmission gear through a connecting rod; an optical positioning ball, the optical positioning ball is connected to the first rotary mounting seat; a jaw motor driving module, the jaw motor driving module is respectively connected to the first jaw seat and the second jaw seat, and the first jaw seat and the second jaw seat are separated or closed from each other under the drive of the jaw motor driving module. In the case where the first jaw seat and the second jaw seat are closed to each other, a needle hole is formed by the first needle groove and the second needle groove. When the adjustable jaw mechanism of this embodiment is installed at the tail end of the mechanical arm of the puncture robot, even if the position of the puncture robot after stopping in place according to the established trajectory does not meet the expectation, the angle of the needle hole can be directly adjusted by rotating the hand-tightening screw, and the height of the needle hole can be linearly adjusted by the adjusting knob, so as to quickly and accurately locate the target puncture position, fit the patient's skin, and achieve the effect of precise control of the needle insertion trajectory.

[0028] Other features and advantages of the present invention will be described in the following specification, and, in part, will be obvious from the specification, or will be understood by implementing the present invention. The objectives and other advantages of the present invention can be realized and obtained by the structures specifically pointed out in the specification, the claims, and the drawings. Description of the Drawings

[0029] The accompanying drawings are used to provide a further understanding of the technical solution of the present invention, and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the technical solution of the present invention, and do not constitute a limitation to the technical solution of the present invention.

[0030] Figure 1 is the front view of the adjustable jaw mechanism in the jaw-closed state provided by an embodiment of the present invention;

[0031] Figure 2 is the exploded view of the structure of the adjustable jaw mechanism provided by another embodiment of the present invention;

[0032] Figure 3 is the schematic diagram of the structure of the first consumable module and the second consumable module in the separated state provided by another embodiment of the present invention;

[0033] Figure 4 is the front view of the adjustable jaw mechanism with two pinholes in the jaw-closed state provided by another embodiment of the present invention;

[0034] Figure 5 is the schematic diagram of the adjustable jaw mechanism in the jaw-closed state provided by another embodiment of the present invention.

[0035] Explanation of reference numerals:

[0036] The first jaw seat 110; the first sector-shaped groove 111; the third arc-shaped groove 112; the first rotary mounting seat 120; the first arc-shaped groove 121; the first mounting groove 122; the optical positioning small ball 123; the first consumable slide bar 131; the third spring 132; the second jaw seat 140; the second through hole 141; the second rotary mounting seat 150; the second arc-shaped groove 151; the second rotating shaft 153; the hand-tightening screw 154; the adjusting knob 155; the second consumable slide bar 161; the fourth spring 162; the first telescopic syringe 133; the first needle groove 134; the convex column 135; the second telescopic syringe 163; the rack 164; the transmission gear 165; the third through hole 171; the fourth through hole 172; the pinhole 200. Detailed description of the specific implementation

[0037] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the accompanying drawings, in which the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as a limitation to the present invention.

[0038] In the description of the present invention, it should be understood that for the orientation description, such as the orientation or positional relationship indicated by up, down, front, back, left, right, etc., it is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present invention.

[0039] In the description of the present invention, if the first and second are described only for the purpose of distinguishing technical features, it should not be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features or implicitly specifying the sequence relationship of the indicated technical features.

[0040] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installation, connection, etc. should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific content of the technical solution.

[0041] It should be noted that the embodiments of the present application do not limit any method improvements, and the functions that the device or apparatus can achieve are only realized based on the hardware architecture of the device or apparatus itself.

[0042] The embodiments of the present invention will be further described below with reference to the drawings.

[0043] Refer to Figure 1 and Figure 2 , the present application provides an adjustable jaw mechanism, including:

[0044] The first jaw seat 110 is provided with a first through hole;

[0045] The first rotary mounting seat 120, the first rotary mounting seat 120 is connected to the inner side of the first jaw seat 110 through a first rotary reset structure. The inner side of the first rotary mounting seat 120 is provided with a first arc-shaped groove 121, and the first rotary mounting seat 120 is rotationally connected to the first through hole through a first rotating shaft;

[0046] The first consumable module, the first consumable module is detachably connected to the first rotary mounting seat 120 through a first connecting member. The first consumable module includes a first telescopic syringe 133, and a first needle groove 134 and a convex column 135 are provided on one side of the first telescopic syringe 133;

[0047] The second jaw seat 140 is provided with a second through hole 141;

[0048] The second rotary mounting seat 150 is connected to the inner side of the second jaw seat 140 through a second rotary reset structure. A second arc-shaped groove 151 is provided on the outer side of the second rotary mounting seat 150. The second rotary mounting seat 150 is rotationally connected to the second through hole 141 through a second rotating shaft 153. The inner side of the second rotary mounting seat 150 includes a second mounting groove;

[0049] The second consumable module is detachably connected to the second rotary mounting seat 150 through a second connecting member. The second consumable module includes a second telescopic syringe 163. A second needle groove and a first limiting groove matching the convex column 135 are provided on one side of the second telescopic syringe 163. A rack 164 is provided on the other side of the second telescopic syringe 163, and the rack 164 meshes with a transmission gear 165;

[0050] The hand-tightening screw 154 sequentially passes through the second jaw seat 140, the second arc-shaped groove 151, and the first arc-shaped groove 121. The hand-tightening screw 154 is detachably connected to the second mounting seat, the second arc-shaped groove 151, and the first arc-shaped groove 121;

[0051] The adjusting knob 155 is connected to the transmission gear 165 through a connecting rod;

[0052] The optical positioning ball 123 is connected to the first rotary mounting seat 120;

[0053] The jaw motor driving module is respectively connected to the first jaw seat 110 and the second jaw seat 140. The first jaw seat 110 and the second jaw seat 140 are separated or closed under the drive of the jaw motor driving module. When the first jaw seat 110 and the second jaw seat 140 are closed to each other, the first needle groove 134 and the second needle groove form a needle hole 200.

[0054] Specifically, the specific number of the optical positioning balls 123 in this embodiment is not limited. As shown, one optical positioning ball 123 is provided on one side of the first rotary mounting seat 120, or there can be multiple. It can be understood that the optical positioning balls 123 in this embodiment are used to cooperate with the optical positioning device to obtain the spatial coordinates of the adjustable jaw mechanism in real time, so as to plan and detect the needle insertion trajectory in real time. Due to the existence of the optical positioning balls 123, the rotation and linear movement processes of the two rotary mounting seats in the adjustable jaw mechanism can be presented on the display screen, so that the doctor can clearly see whether the needle insertion trajectory is aligned with the lesion. Figure 1 As shown, one optical positioning ball 123 is provided on one side of the first rotary mounting seat 120, or there can be multiple. It can be understood that the optical positioning balls 123 in this embodiment are used to cooperate with the optical positioning device to obtain the spatial coordinates of the adjustable jaw mechanism in real time, so as to plan and detect the needle insertion trajectory in real time. Due to the existence of the optical positioning balls 123, the rotation and linear movement processes of the two rotary mounting seats in the adjustable jaw mechanism can be presented on the display screen, so that the doctor can clearly see whether the needle insertion trajectory is aligned with the lesion.

[0055] Specifically, the first jaw seat 110 and the second jaw seat 140 of this embodiment are respectively fixed on both sides of the jaw motor drive module. By controlling the motor drive module, the opening and closing functions of the first jaw seat 110 and the second jaw seat 140 are realized, thereby driving the opening and closing of the two consumable modules.

[0056] Specifically, the first jaw seat 110 of this embodiment mainly plays a role in installation and connection. The first rotary mounting seat 120 is rotatably connected to the first jaw seat 110 through a first rotating shaft. The first consumable module is mounted on the first rotary mounting seat 120 and can rotate relative to the first jaw seat 110 along the first rotating shaft.

[0057] Specifically, the specific number of pinholes in this embodiment is not limited and can be set by those skilled in the art according to actual pin insertion requirements. For example, as Figure 4 shown, this embodiment also provides an adjustable jaw mechanism with two pinholes. Correspondingly, two pin slots are respectively provided in the first consumable module and the second consumable module, so that in the jaw-closed state, the corresponding pin slots match each other to form two pinholes.

[0058] In some embodiments, the inner side of the first jaw seat 110 includes a first sector-shaped groove 111. The top of the first sector-shaped groove 111 is provided with a third arc-shaped groove 112. A second limiting groove is provided on one side of the first rotary mounting seat 120 close to the first jaw seat 110. The first rotary reset structure includes a first rotary reset torsion spring. The first rotary reset torsion spring is installed in the first sector-shaped groove 111. One end of the first rotary reset torsion spring is fixedly connected with a first connecting column connected to the second limiting groove. The end of the first connecting column away from the second limiting groove is slidably connected to the third arc-shaped groove 112. The inner side of the second jaw seat 140 includes a second sector-shaped groove. The top of the second sector-shaped groove is provided with a fourth arc-shaped groove. A third limiting groove is provided on one side of the second rotary mounting seat 150 close to the second jaw seat 140. The second rotary reset structure includes a second rotary reset torsion spring. The second rotary reset torsion spring is installed in the second sector-shaped groove. One end of the second rotary reset torsion spring is fixedly connected with a second connecting column connected to the third limiting groove. The end of the second connecting column away from the third limiting groove is slidably connected to the fourth arc-shaped groove.

[0059] Specifically, a first rotary return torsion spring is installed in the first sector-shaped groove 111 inside the first jaw seat 110, and a second rotary return torsion spring is installed in the second sector-shaped groove inside the second jaw seat 140. Since the first rotary return torsion spring is respectively connected to the first rotary mounting seat 120 and the third arc-shaped groove 112, the first rotary mounting seat 120 drives the first consumable module connected with the first telescopic syringe 133 to rotate within the angular range of the third arc-shaped groove 112. The first rotary return torsion spring provides a certain stability and a reset function for the rotation operation. Similarly, the second rotary return torsion spring is respectively connected to the second rotary mounting seat 150 and the fourth arc-shaped groove, so that the second rotary mounting seat 150 drives the second consumable module connected with the second telescopic syringe 163 to rotate within the angular range of the fourth arc-shaped groove. The second rotary return torsion spring provides a certain stability and a reset function for the rotation operation.

[0060] In some embodiments, the first consumable module further includes a first consumable base and a first consumable slide rod 131. The first consumable slide rod 131 is connected to the first consumable base, and the first telescopic syringe 133 is sleeved on the first consumable slide rod 131; the second consumable module includes a second consumable base and a second consumable slide rod 161. The second consumable slide rod 161 is connected to the second consumable base, and the second telescopic syringe 163 is sleeved on the second consumable slide rod 161.

[0061] Specifically, refer to Figure 2 and Figure 3When the jaw motor driving module controls the first jaw seat 110 and the second jaw seat 140 to close to each other, the boss 135 of the first retractable needle tube 133 enters the first limit groove of the second retractable needle tube 163, and the two are connected. Since the adjusting knob 155 is connected to the transmission gear 165 through the connecting rod, the transmission gear 165 is meshed with the rack 164 of the second retractable needle tube 163. At this time, by rotating the adjusting knob 155, the first retractable needle tube 133 and the second retractable needle tube 163 can be controlled to reciprocate on their respective sleeved consumable slide bars at the same time; and since the hand screw 154 passes through the second mounting seat, the second arc groove 151 and the first arc groove 121 in sequence, the hand screw 154 and The second mounting seat, the second arc groove 151 and the first arc groove 121 are detachably connected. When the hand screw 154 is unscrewed, the fastening of the two rotating mounting seats (the first rotating mounting seat 120 and the second rotating mounting seat 150) by the hand screw 154 is released in terms of the rotation angle, and the two rotating mounting seats connected to each other can be rotated at an angle in the second arc groove 151 and the first arc groove 121 by toggling the two rotating mounting seats. In this way, the angle of the needle hole 200 can be directly adjusted by rotating the hand screw 154 and the height of the needle hole 200 can be linearly adjusted by adjusting the knob 155, that is, simultaneous extension and rotation can be performed as needed to quickly and accurately locate the target puncture position to fit the patient's skin and achieve the effect of precise control of the needle insertion trajectory.

[0062] In addition, in some embodiments, the first consumable slide bar 131 is sleeved with a third spring 132 , which abuts against the first retractable needle tube 133 ; the second consumable slide bar 161 is sleeved with a fourth spring 162 , which abuts against the second retractable needle tube 163 .

[0063] It should be noted that the reference Figure 2 and Figure 3 Since the adjusting knob 155 is connected to the transmission gear 165 through the connecting rod, the transmission gear 165 is meshed with the rack 164 of the second retractable needle tube 163. When the clamping motor driving module drives the first consumable module and the second consumable module to be connected to each other, by rotating the adjusting knob 155, the first retractable needle tube 133 in the first consumable module and the second retractable needle tube 163 in the second consumable module can be simultaneously controlled to perform reciprocating linear motion along their respective sleeved consumable slide bars. In this embodiment, a spring is arranged on the consumable slide bar, which can provide a certain stability when the first retractable needle tube 133 and the second retractable needle tube perform linear motion.

[0064] In addition, in some embodiments, the first consumable module further includes a first consumable base and a first consumable telescopic rod. The first consumable slide rod 131 is connected to the first consumable base, and one side of the first telescopic syringe 133 away from the first needle slot 134 is connected to the first consumable telescopic rod; the second consumable module further includes a second consumable base and a second consumable telescopic rod. The second consumable slide rod 161 is connected to the second consumable base, and one side of the second telescopic syringe 163 away from the second needle slot is connected to the second consumable telescopic rod.

[0065] It can be understood that in this embodiment, the structure that enables the first consumable module and the second consumable module to perform linear reciprocating motion in the corresponding rotary mounting seats can also be a telescopic rod.

[0066] In some embodiments, the first connecting member includes a first consumable positioning bead and a first spring. The first spring is fixedly connected to the first consumable positioning bead, and one end of the first spring away from the first consumable positioning bead is fixedly connected to the first consumable base. The first rotary mounting seat 120 is provided with a first positioning slot matching the first consumable positioning bead; the second connecting member includes a second consumable positioning bead and a second spring. The second spring is fixedly connected to the second consumable positioning bead, and one end of the second spring away from the second consumable positioning bead is fixedly connected to the second consumable base. The second rotary mounting seat 150 is provided with a second positioning slot matching the second consumable positioning bead.

[0067] It can be understood that after each needle insertion and puncture in this embodiment, it is necessary to replace the optical positioning ball, remove the entire adjustable jaw mechanism from the end of the robotic arm for disinfection, reinstall the disinfected adjustable jaw mechanism at the end of the puncture robotic arm, and install a new optical positioning ball on the disinfected adjustable jaw mechanism.

[0068] It should be noted that this embodiment does not limit the specific installation position of the consumable module on the rotary mounting seat. It can be as shown Figure 2 The first consumable module is installed in the first installation slot 122 of the first rotary mounting seat 120, and the second consumable module is similarly installed in the second installation slot of the second rotary mounting seat 150.

[0069] In addition, in some embodiments, a first unlockable limiting structure is provided between the first rotary mounting seat and the first telescopic syringe, and a second unlockable limiting structure is provided between the second rotary mounting seat and the second telescopic syringe.

[0070] In some embodiments, the first rotating mounting seat is provided with a fourth limiting groove, and the first unlockable limiting structure includes a first consumable material positioning bead and a fifth spring, the fifth spring is fixedly connected to the first consumable material positioning bead, and the end of the fifth spring away from the first consumable material positioning bead is fixedly connected to the fourth limiting groove; the second rotating mounting seat is provided with a fifth limiting groove, and the second unlockable limiting structure includes a second consumable material positioning bead and a sixth spring, the sixth spring is fixedly connected to the second consumable material positioning bead, and the end of the sixth spring away from the second consumable positioning bead is fixedly connected to the fifth limiting groove, wherein the first consumable material positioning bead abuts against the side of the first retractable needle tube, and the second consumable material positioning bead abuts against the side of the second retractable needle tube.

[0071] In some embodiments, the first rotating mounting seat is provided with a sixth limiting groove, and the first unlockable limiting structure includes a first self-locking column and a seventh spring, the seventh spring is fixedly connected to the first self-locking column, and the end of the seventh spring away from the first self-locking column is fixedly connected to the sixth limiting groove; the second rotating mounting seat is provided with a seventh limiting groove, and the second unlockable limiting structure includes a second self-locking column and an eighth spring, the eighth spring is fixedly connected to the second self-locking column, and the end of the eighth spring away from the second self-locking column is fixedly connected to the seventh limiting groove, wherein the first self-locking column abuts against the bottom of the first retractable needle tube, and the second self-locking column abuts against the bottom of the second retractable needle tube.

[0072] It can be understood that, based on the above structure, after the first consumable module and the second consumable module are installed in place on the corresponding rotating mounting seats (that is, the first consumable module and the second consumable module are separated), the retractable needle tube is limited to its initial position by the consumable positioning bead and the corresponding spring, and the tail of the retractable needle tube is supported by the self-locking column. At this time, the position of the retractable needle tube in the consumable module cannot be adjusted under the action of external force, which effectively avoids misoperation during the operation and ensures safety; after the adjustable clamping jaw mechanism reaches the preset position and hovers, the clamping jaw motor drive module drives the first consumable module and the second consumable module to connect with each other. At this time, the self-locking columns are unlocked and released from each other, so that the angle of the needle hole 200 can be adjusted by rotating the hand screw 154 and the height of the needle hole 200 can be adjusted linearly by adjusting the knob 155, and simultaneous extension and rotation can be performed as needed to quickly and accurately locate the target puncture position to fit the patient's skin and achieve the effect of precise control of the needle insertion trajectory.

[0073] It can be understood that the adjustable clamping mechanism of the present embodiment is installed on the end of the puncture robot arm for use, and has telescopic and rotational adjustment functions. When the adjustable clamping mechanism of the present embodiment is installed on the tail end of the puncture robot arm, even if the position of the puncture robot after stopping along the established trajectory does not meet expectations, the angle of the needle hole 200 can be directly adjusted by rotating the hand screw 154 and the height of the needle hole 200 can be linearly adjusted by adjusting the knob 155 to quickly and accurately locate the target puncture position. At the same time, the adjustable clamping mechanism realizes the self-locking and self-releasing function of the consumable module through the consumable positioning bead-related components and the self-locking column components respectively arranged on the first rotating mount 120 and the second rotating mount 150, thereby avoiding misoperation during the operation.

[0074] In addition, in order to provide a more detailed description of the adjustable clamping jaw mechanism provided by the present invention, the specific method of using the adjustable clamping jaw mechanism is described below:

[0075] After the puncture end of the mechanical arm of the puncture robot hovers according to the established trajectory according to the optical positioning and CT image, the axis of the puncture end of the mechanical arm has been aligned with the lesion, and the control jaw motor drive module drives the first jaw seat and the second jaw seat from the open state to the closed state, so that the first consumable module and the second consumable module are connected to each other (unlocking and self-locking at the same time), and after the jaws are closed, the mechanical arm puncture end is driven to continue to approach the human skin along the axis direction, and the puncture end is provided with a CT probe force sensor. When the CT probe contacts the skin, the force sensor output force value reaches the program setting value, and the mechanical arm stops. Due to the different distances from the lesion to the surface of the human skin, the doctor adjusts the adjustable jaw mechanism to align the pinhole on the adjustable jaw mechanism with the lesion. To complete this operation, you need to loosen the hand screw first, and adjust the first rotating mounting seat and the second rotating mounting seat connected to each other. Since the rotating mounting seat and the end of the mechanical arm of this embodiment are both provided with optical positioning balls, the entire rotation process can be presented through the display, and the doctor can clearly see whether the needle insertion trajectory has been aligned with the lesion through the image in the display. After completing the rotation angle adjustment, the doctor tightens the thumb screw to fix the position of the rotating mount (i.e., fix the position of the needle hole). At this time, if the doctor finds that the needle insertion angle is not ideal, the entire puncture end can be rotated to adjust the needle insertion angle. Since the axis of the puncture end is aligned with the lesion, the needle insertion path is aligned with the lesion regardless of the rotation angle. After the appropriate needle insertion angle is adjusted, if it is found that the retractable needle tube is still some distance away from the patient's skin surface, the adjustment knob can be turned to drive the transmission gear and the rack on the second retractable needle tube to extend the second retractable needle tube and the first retractable needle tube together until they are close to the skin to ensure that the needle is not offset.

[0076] After the adjustment is completed, the needle insertion operation can be completed. The doctor only needs to insert the puncture needle through the needle hole between the second telescopic needle tube and the first telescopic needle tube to accurately hit the lesion. The insertion depth is also obtained through coordinate conversion by CT imaging and the optical positioning ball. There are corresponding scale indicators on the insertion needle to help the doctor know the depth of the insertion needle. After the needle insertion process is completed, the jaw motor drive module can be driven to open the first jaw seat and the second jaw seat to complete the needle withdrawal process, and then the adjustable jaw mechanism can be removed from the end of the robotic arm, disinfected, and reinstalled for use in the next experiment.

[0077] In addition, in some embodiments, the present application also provides a puncture robot, which includes:

[0078] The adjustable jaw mechanism of the above embodiment;

[0079] A robotic arm, the tail of which is detachably connected to the adjustable jaw mechanism.

[0080] Specifically, since the tail of the robotic arm of this embodiment is detachably connected to the adjustable jaw mechanism, those skilled in the art can replace different types of adjustable jaw mechanisms as needed. For example, the adjustable jaw mechanisms shown in Figure 1 , Figure 4 and Figure 5 of the present application embodiment are three different types of adjustable jaw mechanisms, and all can be detachably installed at the tail of the robotic arm of the puncture robot through a threaded structure through the third through hole 171 and the fourth through hole 172. Figure 4 The adjustable jaw mechanism shown in Figure 1 has a different number of needle holes from the adjustable jaw mechanisms of Figure 5 . Figure 5 The adjustable jaw mechanism shown in Figure 1 has a different needle insertion direction from the adjustable jaw mechanisms of Figure 4 . Figure 1 , Figure 4 The adjustable jaw mechanisms of Figure 5 have a longitudinal needle insertion direction, while the adjustable jaw mechanism shown in

[0081] has a transverse needle insertion direction.

[0082] It should be noted that

[0083] The above is a specific description of the preferred embodiments of the present invention. However, the present invention is not limited to the above embodiments. Those skilled in the art can make various equivalent deformations or substitutions without departing from the spirit of the present invention, and these equivalent deformations or substitutions are all included within the scope defined by the claims of the present invention.

Claims

1. An adjustable jaw mechanism, characterized in that Comprising: A first jaw seat provided with a first through hole; A first rotary mounting seat, the first rotary mounting seat is connected to the inner side of the first jaw seat through a first rotary reset structure, a first arc-shaped groove is arranged on the inner side of the first rotary mounting seat, and the first rotary mounting seat is rotationally connected to the first through hole through a first rotating shaft; A first consumable module, the first consumable module is detachably connected to the first rotary mounting seat through a first connecting member, the first consumable module includes a first telescopic syringe, and a first needle groove and a convex column are arranged on one side of the first telescopic syringe; A second jaw seat provided with a second through hole; A second rotary mounting seat, the second rotary mounting seat is connected to the inner side of the second jaw seat through a second rotary reset structure, a second arc-shaped groove is arranged on the outer side of the second rotary mounting seat, the second rotary mounting seat is rotationally connected to the second through hole through a second rotating shaft, and the inner side of the second rotary mounting seat includes a second mounting groove; A second consumable module, the second consumable module is detachably connected to the second rotary mounting seat through a second connecting member, the second consumable module includes a second telescopic syringe, a second needle groove and a first limiting groove matching with the convex column are arranged on one side of the second telescopic syringe, and a rack is arranged on the other side of the second telescopic syringe, and the rack meshes with a transmission gear; A hand-tightening screw, the hand-tightening screw sequentially passes through the second jaw seat, the second arc-shaped groove and the first arc-shaped groove, and the hand-tightening screw is detachably connected to the second mounting seat, the second arc-shaped groove and the first arc-shaped groove; An adjusting knob, the adjusting knob is connected to the transmission gear through a connecting rod; An optical positioning ball, the optical positioning ball is connected to the first rotary mounting seat; A jaw motor driving module, the jaw motor driving module is respectively connected to the first jaw seat and the second jaw seat, the first jaw seat and the second jaw seat are separated or closed from each other under the drive of the jaw motor driving module, and when the first jaw seat and the second jaw seat are closed to each other, the first needle groove and the second needle groove form a needle hole.

2. The adjustable jaw mechanism according to claim 1, wherein The inner side of the first jaw seat includes a first sector groove, and a third arc groove is provided at the top of the first sector groove. A second limiting groove is provided on one side of the first rotating mounting seat close to the first jaw seat. The first rotation reset structure includes a first rotation reset torsion spring, and the first rotation reset torsion spring is installed in the first sector groove. One end of the first rotation reset torsion spring is fixedly connected to a first connecting column connected to the second limiting groove, and the end of the first connecting column away from the second limiting groove is slidably connected to the third arc groove; the inner side of the second jaw seat includes a second sector groove, and a fourth arc groove is provided at the top of the second sector groove. A third limiting groove is provided on one side of the second rotating mounting seat close to the second jaw seat. The second rotation reset structure includes a second rotation reset torsion spring, and the second rotation reset torsion spring is installed in the second sector groove. One end of the second rotation reset torsion spring is fixedly connected to a second connecting column connected to the third limiting groove, and the end of the second connecting column away from the third limiting groove is slidably connected to the fourth arc groove.

3. The adjustable jaw mechanism according to claim 1, wherein, The first consumable module further includes a first consumable base and a first consumable slide rod. The first consumable slide rod is connected to the first consumable base, and the first telescopic syringe is sleeved on the first consumable slide rod; the second consumable module includes a second consumable base and a second consumable slide rod. The second consumable slide rod is connected to the second consumable base, and the second telescopic syringe is sleeved on the second consumable slide rod.

4. The adjustable jaw mechanism according to claim 3, characterized in that, The first consumable module further includes a first consumable base and a first consumable telescopic rod. The first consumable slide rod is connected to the first consumable base, and one side of the first telescopic syringe away from the first needle groove is connected to the first consumable telescopic rod; the second consumable module further includes a second consumable base and a second consumable telescopic rod. The second consumable slide rod is connected to the second consumable base, and one side of the second telescopic syringe away from the second needle groove is connected to the second consumable telescopic rod.

5. The adjustable jaw mechanism according to claim 3 or 4, characterized in that, The first connecting member includes a first consumable in-place bead and a first spring. The first spring is fixedly connected to the first consumable in-place bead, and the end of the first spring away from the first consumable in-place bead is fixedly connected to the first consumable base. The first rotating mounting seat is provided with a first in-place groove matching the first consumable in-place bead; the second connecting member includes a second consumable in-place bead and a second spring. The second spring is fixedly connected to the second consumable in-place bead, and the end of the second spring away from the second consumable in-place bead is fixedly connected to the second consumable base. The second rotating mounting seat is provided with a second in-place groove matching the second consumable in-place bead.

6. The adjustable jaw mechanism according to claim 3, characterized in that, The first consumable slide rod is sleeved with a third spring, and the third spring abuts against the first telescopic syringe; the second consumable slide rod is sleeved with a fourth spring, and the fourth spring abuts against the second telescopic syringe.

7. The adjustable jaw mechanism according to claim 1, wherein A first unlockable limiting structure is provided between the first rotary mounting seat and the first telescopic syringe tube, and a second unlockable limiting structure is provided between the second rotary mounting seat and the second telescopic syringe tube.

8. The adjustable jaw mechanism according to claim 7, wherein, The first rotary mounting seat is provided with a fourth limiting groove. The first unlockable limiting structure includes a first consumable positioning bead and a fifth spring. The fifth spring is fixedly connected to the first consumable positioning bead, and the end of the fifth spring away from the first consumable positioning bead is fixedly connected to the fourth limiting groove. The second rotary mounting seat is provided with a fifth limiting groove. The second unlockable limiting structure includes a second consumable positioning bead and a sixth spring. The sixth spring is fixedly connected to the second consumable positioning bead, and the end of the sixth spring away from the second consumable positioning bead is fixedly connected to the fifth limiting groove. Wherein, the first consumable positioning bead abuts against the side of the first telescopic syringe tube, and the second consumable positioning bead abuts against the side of the second telescopic syringe tube.

9. The adjustable jaw mechanism according to claim 7, wherein, The first rotary mounting seat is provided with a sixth limiting groove. The first unlockable limiting structure includes a first self-locking column and a seventh spring. The seventh spring is fixedly connected to the first self-locking column, and the end of the seventh spring away from the first self-locking column is fixedly connected to the sixth limiting groove. The second rotary mounting seat is provided with a seventh limiting groove. The second unlockable limiting structure includes a second self-locking column and an eighth spring. The eighth spring is fixedly connected to the second self-locking column, and the end of the eighth spring away from the second self-locking column is fixedly connected to the seventh limiting groove. Wherein, the first self-locking column abuts against the bottom of the first telescopic syringe tube, and the second self-locking column abuts against the bottom of the second telescopic syringe tube.

10. A puncture robot, characterized in that, Comprising: The adjustable jaw mechanism according to any one of claims 1 to 9; A robotic arm, the tail of the robotic arm is detachably connected to the adjustable jaw mechanism.

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