Puncture positioning device for medical oncology

Abstract

The invention relates to the technical field of medical equipment, and particularly discloses a puncture positioning device for medical oncology. Adjusting grooves are formed in the inner walls of the two sides of the positioning frame, a dynamic adjusting mechanism is jointly mounted between the two adjusting grooves, supporting frames are mounted on the two sides of the bottom end of the positioning frame, a marking mechanism is mounted on the upper portion of the outer wall of the supporting frame on one side, and mounting mechanisms are mounted on the lower portions of the outer surfaces of the two supporting frames. Patient body surface mark points are captured in real time through the binocular near-infrared camera, submillimeter-level positioning precision is achieved, the actual position and target spot deviation of a puncture needle can be continuously monitored through an encoder on the six-axis mechanical arm, motion parameters of the six-axis mechanical arm are dynamically adjusted based on a PID control algorithm, accurate compensation of millisecond-level response is achieved, and the precision of the system is improved. Target point deviation caused by breathing movement or organ displacement of a patient is effectively handled, the success rate of puncture sampling is increased, and complications caused by repeated puncture are reduced.

Description

Technical Field

[0001] The present invention belongs to the technical field of medical equipment, and in particular relates to a puncture positioning device for tumor internal medicine. Background Art

[0002] Oncology puncture is an important invasive operation technique in oncology diagnosis and treatment. It refers to the use of a puncture needle to puncture through the skin into the target area in the body (such as tumor tissue, lymph nodes, body cavity, etc.) under the guidance of medical imaging equipment to obtain cell, tissue or body fluid samples for pathological, cytological or molecular biological examinations to clarify the nature of the lesion, guide the formulation of treatment plans or evaluate the efficacy.

[0003] In the Chinese patent publication number CN209574748U, a puncture locator for oncology is mentioned. During the puncture operation, the puncture needle can be adjusted to the desired puncture position and angle through various support mechanisms, and the doctor can rotate the drive mechanism to drive the first rolling mechanism to rotate, thereby driving the puncture needle to move downward and puncture the tumor. The operation is simple and the precision is high. When the needle needs to be removed, it is only necessary to rotate the drive mechanism in the opposite direction, which greatly improves the puncture speed. During the needle removal process, the rubber seat will move relative to the puncture needle, thereby squeezing out the blood and tissue carried by the puncture needle to achieve the cleaning of the puncture needle. However, the positioning device lacks real-time tracking and dynamic compensation functions, and cannot cope with the target deviation caused by the patient's respiratory movement or organ displacement, resulting in errors in puncture positioning, which directly reduces the success rate of puncture sampling, and causes complications such as pneumothorax and bleeding due to repeated punctures, ultimately increasing the patient's hospitalization time and treatment costs. Summary of the Invention

[0004] The purpose of the present invention is to provide an oncology puncture positioning device with real-time tracking and dynamic compensation functions to solve the problem of puncture positioning errors caused by the patient's respiratory movement.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A puncture positioning device for oncology, comprising:

[0007] Positioning frame;

[0008] Adjustment grooves are provided on the inner walls of both sides of the positioning frame, and a dynamic adjustment mechanism is installed between the two adjustment grooves. Support frames are installed on both sides of the bottom end of the positioning frame, a marking mechanism is installed on the upper part of the outer wall of one side of the support frame, and a mounting mechanism is installed on the lower part of the outer surface of the two support frames;

[0009] The dynamic adjustment mechanism includes a dynamic adjustment frame, an adjustment screw, an adjustment block, a six-axis robotic arm, a fixing mechanism and a binocular near-infrared camera. The dynamic adjustment frame is slidably installed between the insides of two adjustment slots, the adjustment screw is installed between the inner walls on both sides of the dynamic adjustment frame through a bearing, the adjustment block is installed on the outer surface of the adjustment screw, the six-axis robotic arm is installed at the bottom end of the adjustment block, the fixing mechanism is installed at the other end of the six-axis robotic arm, and the binocular near-infrared camera is installed in the middle of the bottom end of the fixing mechanism.

[0010] Preferably, a controller is installed on the upper portion of the outer wall of the support frame on the other side, a plurality of mounting holes are provided on the lower portion of the outer surface of the two support frames, and a puncture needle is installed on the lower portion of the outer surface of the dynamic adjustment mechanism.

[0011] Preferably, a driver is installed at one end of the dynamic adjustment frame, electric telescopic columns are installed on both sides of the outer wall of the dynamic adjustment frame, and the two electric telescopic columns are installed on the outer wall of the positioning frame, and limiting grooves are provided in the middle of the outer walls of both sides of the dynamic adjustment frame.

[0012] Preferably, the fixing mechanism includes a fixing frame, an electric push rod, a telescopic frame, a fixing splint and a fixing clamping groove. The fixing frame is installed at the other end of the six-axis robotic arm, the electric push rod is embedded in the middle of the outer wall of the fixing frame, and the telescopic frame is installed at the output end of the electric push rod. Four fixing splints and four fixing clamping grooves are provided. The four fixing splints are respectively installed on the other end of the telescopic frame and the inner wall of the fixing frame, and the four fixing clamping grooves are respectively opened on the inner sides of the four fixing splints.

[0013] Preferably, the electric push rod, six-axis robotic arm, binocular near-infrared camera, driver and electric telescopic column are all electrically connected to the controller, the fixed clamp groove is set to a V-shaped structure, the adjustment block is set to a W-shaped structure, multiple joint shaft ends of the six-axis robotic arm are installed with encoders, the support frame is set to a Y-shaped structure, and the end of the puncture needle is installed with a force feedback sensor.

[0014] Preferably, the marking mechanism includes a storage box, a feed pipe, a suction pump, a delivery pipe and a marking nozzle. The storage box is installed on the outer wall of a support frame on one side, the feed pipe is installed in the middle of the top of the storage box, the suction pump is installed at the lower part of one end of the storage box, the delivery pipe is installed in the middle of one end of the suction pump, the marking nozzle is installed at the other end of the delivery pipe, and the marking nozzle is installed inside the fixed frame.

[0015] Preferably, the storage box is configured as a trapezoidal structure, the material extraction pump is electrically connected to the controller, and the material delivery pipe is configured as a foldable pipe.

[0016] Preferably, the mounting mechanism includes a mounting frame, a movable screw, a clamping plate, a limit frame and a connecting mechanism, the movable screw is threadedly mounted in the middle of the bottom end of the mounting frame, the clamping plate is mounted on the top end of the movable screw through a bearing, the limit frame is mounted on the lower part of the outer surface of the movable screw through a bearing, and the top end of the limit frame passes through the bottom frame wall of the mounting frame and is mounted on the bottom end of the clamping plate, the connecting mechanism is mounted in the middle of the outer wall of the mounting frame, and the connecting mechanism is slidably mounted on the outer surface of the support frame.

[0017] Preferably, the connecting mechanism includes a connecting frame, a connecting hole, a connecting frame, a limit block and a connecting nut. The connecting frame is installed on the outer wall of the installation frame. There are four connecting holes, and the four connecting holes are respectively opened on the outer walls on both sides of the connecting frame. The connecting frame is inserted and installed inside the four connecting holes. There are two limit blocks and two connecting nuts. The two limit blocks are installed on one side of the outer surface of the connecting frame, and the two connecting nuts are installed on the other side of the outer surfaces of the two connecting frames.

[0018] Preferably, the connecting frame is configured as a U-shaped structure, and a spiral groove is provided on the other side of the outer surface of the connecting frame, and the mounting frame and the limiting frame are both configured as a U-shaped structure.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] (1) The present invention sets a dynamic adjustment mechanism inside the positioning frame, and uses a binocular near-infrared camera to capture the patient's body surface markers in real time to achieve submillimeter positioning accuracy. The encoder on the six-axis robotic arm can continuously monitor the actual position of the puncture needle and the deviation from the target point. The six-axis robotic arm motion parameters are dynamically adjusted based on the PID control algorithm to achieve precise compensation with millisecond response, effectively deal with the target point offset caused by the patient's respiratory movement or organ displacement, improve the success rate of puncture sampling, and reduce complications caused by repeated punctures.

[0021] (2) The present invention sets a marking mechanism on the outer surface of the support frame, combines the patient's dynamic image obtained in real time by the ultrasonic probe to determine the patient's puncture position, and then controls the pump to start through the controller to transport the marking liquid in the storage box to the marking nozzle to achieve automatic marking. By accurately marking the puncture position on the patient's body surface, a clear reference point is provided for subsequent puncture operations, thereby improving the accuracy of puncture.

[0022] (3) The present invention sets a mounting mechanism on the outer surface of the support frame. By rotating the screw to adjust the position of the clamping plate, the clamping plate cooperates with the mounting frame to achieve stable clamping of the operating bed. The positioning device can be firmly installed on the operating bed to ensure that the device will not shake during the operation, thereby improving the safety and accuracy of the operation. Then, by utilizing the adjustability of the connecting mechanism, the height of the positioning device can be adjusted according to the needs of the operation to ensure that it is in a suitable operating position, which facilitates the puncture operation of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 A perspective view of the present invention;

[0024] Figure 2 For the present invention Figure 1 A magnified view of middle A;

[0025] Figure 3 A three-dimensional diagram of the dynamic adjustment mechanism of the present invention;

[0026] Figure 4 For the present invention Figure 3 Enlarged view of middle B;

[0027] Figure 5 is a three-dimensional diagram of the fixing mechanism of the present invention;

[0028] Figure 6 A three-dimensional diagram of the marking mechanism of the present invention;

[0029] Figure 7 A three-dimensional diagram of the mounting mechanism of the present invention;

[0030] Figure 8 An exploded view of the connecting mechanism of the present invention;

[0031] In the figure: 1. Positioning frame; 2. Dynamic adjustment mechanism; 3. Support frame; 4. Marking mechanism; 5. Mounting mechanism; 6. Adjustment slot; 7. Controller; 8. Mounting hole; 9. Puncture needle;

[0032] 21. Dynamic adjustment frame; 22. Adjustment screw; 23. Adjustment block; 24. Six-axis robotic arm; 25. Fixing mechanism; 26. Binocular near-infrared camera; 27. Driver; 28. Electric telescopic column; 29. Limit slot;

[0033] 251, fixed frame; 252, electric push rod; 253, telescopic frame; 254, fixed splint; 255, fixed clamping groove;

[0034] 41. Storage tank; 42. Feed pipe; 43. Extraction pump; 44. Delivery pipe; 45. Marking nozzle;

[0035] 51. Mounting frame; 52. Moving screw; 53. Clamping plate; 54. Limiting frame; 55. Connecting mechanism;

[0036] 551. Connecting frame; 552. Connecting hole; 553. Connecting frame; 554. Limiting block; 555. Connecting nut. DETAILED DESCRIPTION

[0037] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0038] Example 1:

[0039] See also Figures 1 to 8 As shown, a puncture positioning device for oncology, comprising:

[0040] Positioning frame 1;

[0041] Adjustment grooves 6 are provided on the inner walls of both sides of the positioning frame 1, and a dynamic adjustment mechanism 2 is installed between the two adjustment grooves 6. Support frames 3 are installed on both sides of the bottom end of the positioning frame 1. A marking mechanism 4 is installed on the upper part of the outer wall of one support frame 3, and a mounting mechanism 5 is installed on the lower part of the outer surface of the two support frames 3;

[0042] The dynamic adjustment mechanism 2 includes a dynamic adjustment frame 21, an adjustment screw 22, an adjustment block 23, a six-axis robotic arm 24, a fixing mechanism 25 and a binocular near-infrared camera 26. The dynamic adjustment frame 21 is slidably installed between the insides of the two adjustment slots 6. The adjustment screw 22 is installed between the inner walls on both sides of the dynamic adjustment frame 21 through a bearing. The adjustment block 23 is installed on the outer surface of the adjustment screw 22. The six-axis robotic arm 24 is installed at the bottom end of the adjustment block 23. The fixing mechanism 25 is installed at the other end of the six-axis robotic arm 24. The binocular near-infrared camera 26 is installed in the middle of the bottom end of the fixing mechanism 25.

[0043] Depend on Figures 1 to 5 It can be seen that a controller 7 is installed on the upper part of the outer wall of the other side support frame 3, a plurality of mounting holes 8 are opened on the lower part of the outer surface of the two support frames 3, and a puncture needle 9 is installed on the lower part of the outer surface of the dynamic adjustment mechanism 2;

[0044] A driver 27 is installed at one end of the dynamic adjustment frame 21. Electric telescopic columns 28 are installed on both sides of the outer wall of the dynamic adjustment frame 21. Both electric telescopic columns 28 are installed on the outer wall of the positioning frame 1. A limiting groove 29 is provided in the middle of the outer wall of both sides of the dynamic adjustment frame 21.

[0045] The fixing mechanism 25 includes a fixing frame 251, an electric push rod 252, a telescopic frame 253, a fixing splint 254 and a fixing clamping groove 255. The fixing frame 251 is installed at the other end of the six-axis robot arm 24, the electric push rod 252 is embedded in the middle of the outer wall of the fixing frame 251, the telescopic frame 253 is installed at the output end of the electric push rod 252, and there are four fixing splints 254 and four fixing clamping grooves 255. The four fixing splints 254 are respectively installed on the other end of the telescopic frame 253 and the inner wall of the fixing frame 251, and the four fixing clamping grooves 255 are respectively opened on the inner sides of the four fixing splints 254.

[0046] As can be seen from the above, first, the puncture needle 9 and the marking nozzle 45 are placed inside the fixed frame 251. At this time, the electric push rod 252 can be controlled by the controller 7 to start, and the electric push rod 252 shrinks and pulls the telescopic frame 253, so that the fixed splint 254 cooperates with the fixed clamping groove 255 thereon to achieve the clamping and fixing of the puncture needle 9 and the marking nozzle 45. When it is necessary to puncture the patient, the dynamic adjustment frame 21 can be driven to slide in the adjustment groove 6 through the extension and contraction of the electric telescopic column 28, thereby adjusting the position of the six-axis robot arm 24 forward and backward; then the driver 27 drives the adjustment screw 22 to rotate, so that the adjustment block 23 drives the six-axis robot arm 24 to move left and right , to adjust the position of the six-axis robotic arm 24. At this time, the binocular near-infrared camera 26 is used to capture the marked points on the patient's body surface in real time to achieve sub-millimeter positioning accuracy. Then, the encoder on the six-axis robotic arm 24 is used to continuously monitor the deviation between the actual position of the puncture needle 9 and the target point. The motion parameters of the six-axis robotic arm 24 are dynamically adjusted based on the PID control algorithm to achieve precise compensation with millisecond response, so that the six-axis robotic arm 24 drives the puncture needle 9 to puncture the patient. In this way, it can effectively deal with the target point deviation caused by the patient's respiratory movement or organ displacement, improve the success rate of puncture sampling, reduce the complications caused by repeated punctures, and reduce the patient's hospitalization time and treatment costs.

[0047] Specifically, refer to Figures 1 to 5 As shown, the electric push rod 252, the six-axis robotic arm 24, the binocular near-infrared camera 26, the driver 27 and the electric telescopic column 28 are all electrically connected to the controller 7, the fixed clamping groove 255 is set to a V-shaped structure, the adjustment block 23 is set to a W-shaped structure, the multiple joint shaft ends of the six-axis robotic arm 24 are all equipped with encoders, the support frame 3 is set to a Y-shaped structure, and a force feedback sensor is installed at the end of the puncture needle 9.

[0048] As can be seen from the above, the controller 7 can centrally control the electric push rod 252, the six-axis robotic arm 24, the binocular near-infrared camera 26, the driver 27 and the electric telescopic column 28 to achieve the coordinated work of various components. The V-shaped structure has a good self-centering effect and can more stably clamp the puncture needle 9 and the marking nozzle 45. The adjustment block 23 of the Wang-shaped structure is slidably connected to the limit groove 29, which can be limited on the dynamic adjustment frame 21 and improve its stability during movement. The encoder can measure the rotation angle and position information of the joint axis in real time, and can accurately obtain the motion state of each joint of the six-axis robotic arm 24, thereby achieving precise control and positioning of the six-axis robotic arm 24. The Y-shaped support frame 3 has good stability and load-bearing capacity. The force feedback sensor can measure the magnitude and direction of the force applied to the puncture needle 9 during the puncture process in real time. By connecting the force feedback sensor to the controller 7, the controller 7 can adjust the movement speed and strength of the six-axis robotic arm 24 in real time according to the feedback force information, avoiding excessive damage to the surrounding tissue by the puncture needle 9 and improving the safety and accuracy of the puncture.

[0049] Example 2:

[0050] refer to Figure 6 As shown, the marking mechanism 4 includes a storage box 41, a feed pipe 42, a suction pump 43, a delivery pipe 44 and a marking nozzle 45. The storage box 41 is installed on the outer wall of the support frame 3 on one side, the feed pipe 42 is installed in the middle of the top of the storage box 41, the suction pump 43 is installed at the lower part of one end of the storage box 41, the delivery pipe 44 is installed in the middle of one end of the suction pump 43, the marking nozzle 45 is installed at the other end of the delivery pipe 44, and the marking nozzle 45 is installed inside the fixed frame 251.

[0051] As can be seen from the above, the patient needs to complete a CT / MRI scan before the operation to generate three-dimensional image data. During the operation, the doctor uses an ultrasound probe to obtain real-time dynamic images of the patient and combines them with the CT / MRI images to accurately determine the patient's puncture position. At this time, the marking nozzle 45 is adjusted to face the target position through the six-axis robotic arm 24, and then the controller 7 controls the pumping pump 43 to start, extract the marking liquid in the storage box 41, and then transport the marking liquid to the marking nozzle 45 through the delivery pipe 44 and spray it out to achieve automatic marking. By accurately marking the puncture position on the patient's body surface, a clear reference point can be provided for subsequent puncture operations, thereby improving the accuracy of the puncture.

[0052] Preferably, reference Figure 6 As shown, the storage box 41 is configured as a trapezoidal structure, the material pump 43 is electrically connected to the controller 7, and the material delivery pipe 44 is configured as a foldable pipe.

[0053] As can be seen from the above, the storage box 41 with a trapezoidal structure has a larger volume and better stability, and can adapt to the shape of the support frame 3, increase its contact area with the support frame 3, and improve the stability of the storage box 41. The controller 7 can control the feed pump 43 to achieve precise delivery of the marking liquid. The feed pipe 44 configured as a folding pipe has good flexibility and bendability, and can adapt to the movement and position changes of various components in the device.

[0054] Example 3:

[0055] refer to Figure 7 and Figure 8 As shown, the mounting mechanism 5 includes a mounting frame 51, a movable screw 52, a clamping plate 53, a limiting frame 54 and a connecting mechanism 55. The movable screw 52 is threadedly mounted on the middle part of the bottom end of the mounting frame 51, the clamping plate 53 is mounted on the top end of the movable screw 52 through a bearing, the limiting frame 54 is mounted on the lower part of the outer surface of the movable screw 52 through a bearing, and the top end of the limiting frame 54 passes through the bottom frame wall of the mounting frame 51 and is mounted on the bottom end of the clamping plate 53. The connecting mechanism 55 is mounted on the middle part of the outer wall of the mounting frame 51, and the connecting mechanism 55 is slidably mounted on the outer surface of the support frame 3;

[0056] The connecting mechanism 55 includes a connecting frame 551, a connecting hole 552, a connecting frame 553, a limit block 554 and a connecting nut 555. The connecting frame 551 is installed on the outer wall of the installation frame 51. There are four connecting holes 552, and the four connecting holes 552 are respectively opened on the outer walls on both sides of the connecting frame 551. The connecting frame 553 is inserted and installed inside the four connecting holes 552. There are two limit blocks 554 and two connecting nuts 555. The two limit blocks 554 are installed on one side of the outer surface of the connecting frame 553, and the two connecting nuts 555 are installed on the other side of the outer surface of the two connecting frames 553.

[0057] As can be seen from the above, when performing surgery, the mounting frame 51 is first put on the side of the operating bed, and then the rotating moving screw 52 pushes the clamping plate 53 to move upward. Under the guiding and limiting action of the limiting frame 54, the clamping plate 53 cooperates with the mounting frame 51 to achieve stable clamping of the operating bed, thereby firmly mounting the positioning device on the operating bed, ensuring that the device will not shake during the operation, improving the safety and accuracy of the operation. Afterwards, the adjustability of the connecting mechanism 55 is used to adjust the height of the positioning device according to the needs of the operation. The specific operation is to first rotate the connecting nut 555 to remove it from the connecting frame 553, and then pull the connecting frame 553 out of the connecting frame 551, and then slide the connecting frame 551 upward so that the connecting hole 552 on it is aligned with the mounting hole 8 on the support frame 3, and then insert the connecting frame 553 and tighten the connecting nut 555 to complete the height adjustment of the positioning device, ensuring that it is in a suitable operating position, which is convenient for the device to perform puncture operations.

[0058] Preferably, reference Figure 7 and Figure 8 As shown, the connecting frame 553 is configured as a U-shaped structure, and a spiral groove is provided on the other side of the outer surface of the connecting frame 553 , and the mounting frame 51 and the limiting frame 54 are both configured as a U-shaped structure.

[0059] As can be seen from the above, the U-shaped structure can increase the contact area and connection strength between the connecting frame 553 and the connecting frame 551, so that the connecting frame 551 can be more stably installed on the support frame 3. The spiral groove is designed to cooperate with the connecting nut 555. By rotating the connecting nut 555, the connecting frame 553 is fixed to the support frame 3 to realize the installation and disassembly of the connecting frame 551. The U-shaped structure can provide a certain installation space and limiting function.

[0060] Application examples:

[0061] This design is applied to the oncology operating room environment of the hospital, and is suitable for various surgical scenarios requiring tumor puncture biopsy or treatment, such as lung tumor puncture biopsy, liver tumor puncture treatment, etc. In these operations, the doctor needs to accurately insert the puncture needle 9 into the tumor tissue to obtain pathological samples or perform local treatment. It is often used for surgical patients who need to remain relatively still after general anesthesia or local anesthesia, but the target position may change due to respiratory movement or natural displacement of organs. For example, for patients with lung tumors, the expansion and contraction of the lungs during breathing will cause the tumor position to move. For patients with liver tumors, factors such as heartbeat and gastrointestinal motility may also cause slight displacement of the liver. This design fixes the positioning device to the operating table through the installation mechanism 5. The moving screw 52, clamping plate 53 and other components in the installation mechanism 5 can achieve stable clamping of the operating table, and at the same time utilize the connection The adjustability of the mechanism 55 can adjust the height of the positioning device according to the needs of the operation to ensure that it is in a suitable operating position. By setting the marking mechanism 4, during the operation, combined with the dynamic image of the patient obtained in real time by the ultrasound probe, the doctor can accurately determine the puncture position and control the marking nozzle 45 to mark the position through the controller 7 to provide a clear reference point for subsequent puncture operations. By setting the dynamic adjustment mechanism 2, the binocular near-infrared camera 26 therein continuously monitors the position of the marking point on the patient's body surface and feeds back the real-time image information to the controller 7. The controller 7 calculates the displacement of the marking point based on the feedback information and dynamically adjusts the motion parameters of the six-axis robotic arm 24, such as the angle and speed of each joint, to achieve accurate compensation for the position of the puncture needle 9. In this way, even if the target point is offset due to respiratory movement or organ displacement, the puncture needle 9 can accurately reach the target position.

[0062] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A puncture positioning device for oncology, characterized in that: include: Positioning frame (1); Adjustment grooves (6) are provided on both inner walls of the positioning frame (1), a dynamic adjustment mechanism (2) is installed between the two adjustment grooves (6), support frames (3) are installed on both sides of the bottom end of the positioning frame (1), a marking mechanism (4) is installed on the upper part of the outer wall of one side of the support frame (3), and a mounting mechanism (5) is installed on the lower part of the outer surface of the two support frames (3); The dynamic adjustment mechanism (2) comprises a dynamic adjustment frame (21), an adjustment screw (22), an adjustment block (23), a six-axis robotic arm (24), a fixing mechanism (25) and a binocular near-infrared camera (26); the dynamic adjustment frame (21) is slidably mounted between the interiors of two adjustment slots (6); the adjustment screw (22) is mounted between the inner walls on both sides of the dynamic adjustment frame (21) through a bearing; the adjustment block (23) is mounted on the outer surface of the adjustment screw (22); the six-axis robotic arm (24) is mounted at the bottom end of the adjustment block (23); the fixing mechanism (25) is mounted at the other end of the six-axis robotic arm (24); and the binocular near-infrared camera (26) is mounted at the middle of the bottom end of the fixing mechanism (25).

2. The oncology puncture positioning device according to claim 1, characterized in that: A controller (7) is installed on the upper portion of the outer wall of the support frame (3) on the other side, a plurality of mounting holes (8) are provided on the lower portion of the outer surface of the two support frames (3), and a puncture needle (9) is installed on the lower portion of the outer surface of the dynamic adjustment mechanism (2).

3. The oncology puncture positioning device according to claim 2, characterized in that: A driver (27) is installed at one end of the dynamic adjustment frame (21), electric telescopic columns (28) are installed on both sides of the outer wall of the dynamic adjustment frame (21), and the two electric telescopic columns (28) are installed on the outer wall of the positioning frame (1), and limiting grooves (29) are provided in the middle of the outer walls of both sides of the dynamic adjustment frame (21).

4. The oncology puncture positioning device according to claim 3, characterized in that: The fixing mechanism (25) comprises a fixing frame (251), an electric push rod (252), a telescopic frame (253), a fixing clamping plate (254) and a fixing clamping groove (255); the fixing frame (251) is mounted on the other end of the six-axis robot arm (24); the electric push rod (252) is embedded in the middle of the outer wall of the fixing frame (251); the telescopic frame (253) is mounted on the output end of the electric push rod (252); four fixing clamping plates (254) and four fixing clamping grooves (255) are provided; the four fixing clamping plates (254) are respectively mounted on the other end of the telescopic frame (253) and the inner wall of the fixing frame (251); and the four fixing clamping grooves (255) are respectively opened on the inner sides of the four fixing clamping plates (254).

5. The oncology puncture positioning device according to claim 4, characterized in that: The electric push rod (252), the six-axis robotic arm (24), the binocular near-infrared camera (26), the driver (27) and the electric telescopic column (28) are all electrically connected to the controller (7), the fixed clamping groove (255) is set to a V-shaped structure, the adjustment block (23) is set to a W-shaped structure, the multiple joint shaft ends of the six-axis robotic arm (24) are all installed with encoders, the support frame (3) is set to a Y-shaped structure, and the end of the puncture needle (9) is installed with a force feedback sensor.

6. The oncology puncture positioning device according to claim 1, characterized in that: The marking mechanism (4) comprises a storage box (41), a feed pipe (42), a pumping pump (43), a delivery pipe (44) and a marking nozzle (45); the storage box (41) is mounted on the outer wall of the support frame (3) on one side; the feed pipe (42) is mounted at the middle of the top of the storage box (41); the pumping pump (43) is mounted at the lower part of one end of the storage box (41); the delivery pipe (44) is mounted at the middle of one end of the pumping pump (43); the marking nozzle (45) is mounted at the other end of the delivery pipe (44); and the marking nozzle (45) is mounted inside the fixing frame (251).

7. The oncology puncture positioning device according to claim 6, characterized in that: The storage box (41) is configured as a trapezoidal structure, the material pump (43) is electrically connected to the controller (7), and the material delivery pipe (44) is configured as a foldable pipe.

8. The oncology puncture positioning device according to claim 1, characterized in that: The mounting mechanism (5) comprises a mounting frame (51), a movable screw (52), a clamping plate (53), a limiting frame (54) and a connecting mechanism (55), wherein the movable screw (52) is threadedly mounted on the middle portion of the bottom end of the mounting frame (51), the clamping plate (53) is mounted on the top end of the movable screw (52) via a bearing, the limiting frame (54) is mounted on the lower portion of the outer surface of the movable screw (52) via a bearing, and the top end of the limiting frame (54) passes through the bottom frame wall of the mounting frame (51) and is mounted on the bottom end of the clamping plate (53), and the connecting mechanism (55) is mounted on the middle portion of the outer wall of the mounting frame (51), and the connecting mechanism (55) is slidably mounted on the outer surface of the support frame (3).

9. The oncology puncture positioning device according to claim 8, characterized in that: The connecting mechanism (55) comprises a connecting frame (551), a connecting hole (552), a connecting frame (553), a limiting block (554) and a connecting nut (555). The connecting frame (551) is mounted on the outer wall of the mounting frame (51). Four connecting holes (552) are provided, and the four connecting holes (552) are respectively opened on the outer walls of both sides of the connecting frame (551). The connecting frame (553) is inserted and installed inside the four connecting holes (552). Two limiting blocks (554) and two connecting nuts (555) are provided. The two limiting blocks (554) are both mounted on one side of the outer surface of the connecting frame (553), and the two connecting nuts (555) are both mounted on the other side of the outer surfaces of the two connecting frames (553).

10. The oncology puncture positioning device according to claim 9, characterized in that: The connecting frame (553) is configured as a U-shaped structure, and a spiral groove is provided on the other side of the outer surface of the connecting frame (553). The installation frame (51) and the limiting frame (54) are both configured as U-shaped structures.

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