Bed-following auxiliary positioning mechanical arm for stereotactic biopsy

Abstract

The invention relates to the technical field of medical equipment, and discloses a bed-following auxiliary positioning mechanical arm for stereotactic biopsy, the bed-following auxiliary positioning mechanical arm comprises an adjusting disc, mounting shells are fixedly connected to the inner walls of the two sides of the adjusting disc, a mounting plate is slidably connected to the lower surface of the adjusting disc, and a clamping shell is arranged on the inner wall of the mounting plate; a first spring is fixedly connected to the inner wall of the mounting shell, a limiting guide column is arranged on the outer wall of the left side of the connecting rod, a clamping rod is slidably arranged on the inner wall of the connecting rod, the top end of a second spring is slidably connected to the lower surface of a clamping push rod, and an adjusting arm is arranged on the inner wall of an adjusting disc. An auxiliary positioning arm is arranged on the lower side of the mounting plate, and a mounting arm is arranged on the front side of the adjusting arm. Through a dual clamping connection structure of the adjusting disc and the mounting plate, the adjusting disc can be quickly mounted and dismounted, the mechanical arm can be flexibly selected to be integrally used or independently used for positioning according to the state of a patient in the using process, and the effect of facilitating mounting and dismounting is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical equipment, and in particular to a bed-assisted positioning mechanical arm for stereotactic biopsy. Background Art

[0002] During stereotactic biopsy procedures, this crucial device assists medical staff in accurately locating the patient's lesion. By providing stable support and positioning for the patient's head and flexibly adjusting the angle and position of the positioning needle, the robotic arm significantly improves the accuracy and efficiency of biopsy procedures, providing a reliable basis for clinical diagnosis.

[0003] Precise positioning is crucial in stereotactic biopsy procedures. Due to the wide range of patient conditions and body positions, and the need to flexibly adjust positioning methods and equipment placement according to specific circumstances during surgery, traditional positioning methods are unable to meet these diverse needs. Therefore, developing a bedside assisted positioning robotic arm that can be quickly installed and removed and flexibly adapted to different patient conditions is of great significance for improving surgical quality and patient experience.

[0004] Currently, most existing stereotactic biopsy positioning devices use fixed connections or a single snap-fit structure to assemble their components. For example, some devices' positioning plates and bases are secured with screws, requiring medical staff to spend a considerable amount of time installing and debugging them before surgery, and disassembly afterward is also cumbersome. Other devices utilize snap-fit connections, but these simple snap-fit structures can easily loosen during surgery and lack the flexibility to adjust their operation to the patient's condition. Summary of the Invention

[0005] In response to the shortcomings of the existing technology, the present invention provides a bedside auxiliary positioning robot arm for stereotactic biopsy, which solves the problems in the existing technology that the equipment installation and disassembly process is complicated and time-consuming, it is difficult to quickly respond to surgical needs, the connection structure lacks flexibility, and some components cannot be used for positioning when the patient is in poor condition or cannot move. It is easy to loosen during the surgical operation, affecting the positioning accuracy and thus causing inaccurate biopsy results and increased surgical risks.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions: a stereotactic biopsy bed-assisted positioning robot arm, comprising an adjusting disk, the inner walls of both sides of the adjusting disk are fixedly connected to a mounting shell, the lower surface of the adjusting disk is slidably connected to a mounting plate, the inner wall of the mounting plate is provided with a card shell, the inner wall of the mounting shell is fixedly connected to a first spring, the left end of the first spring is fixedly connected to a connecting rod, the left end of the connecting rod is fixedly connected to a stripping rod, a limited guide column is provided on the left outer wall of the connecting rod, a card rod is slidably provided on the inner wall of the connecting rod, and the upper side of the mounting shell is fixedly connected to the inner wall of the mounting shell. A buckle is provided, the outer wall of the card rod is clamped in the inside of the bayonet, and an inclined plate is provided on one side of the connecting rod, and a card and a push rod are slidably provided on the inclined surface of the inclined plate, and the lower surfaces of the card and the push rod are slidably connected with a card block, and the inner wall of the card block is rotatably connected to the outer wall of the mounting shell, and the outer wall of the card block is slidably connected to the inner wall of the card shell, and the inner wall of the card shell is fixedly provided with a second spring, and the top end of the second spring is slidably connected to the lower surface of the card and the push rod, the inner wall of the adjusting disk is provided with an adjusting arm, the lower side of the mounting plate is provided with an auxiliary positioning arm, and the front side of the adjusting arm is provided with a mounting arm.

[0007] Preferably, the adjustment arm includes an adjustment block, the outer wall of the adjustment block is slidably connected to the inner wall of the adjustment disk, the inner wall of the adjustment block is rotatably connected to the detection arm, and the connection between the detection arm and the adjustment block is connected by a rotating shaft.

[0008] Preferably, the outer wall of the rotating shaft is provided with a self-locking mechanism, the inner wall of the detection arm is provided with a guide groove, and the inner wall of the guide groove is slidably provided with an adjustment positioning pin.

[0009] Preferably, the auxiliary positioning arm includes a slide rail, the upper surface of the slide rail is fixedly connected to the lower surface of the mounting plate, the outer wall of the slide rail is slidably provided with a positioning sleeve, the outer wall of the positioning sleeve is slidably connected to the first connecting arm, the outer wall of the first connecting arm is rotatably provided with a lifting block, the outer wall of the lifting block is slidably connected to the support frame, and a driving mechanism is provided inside the support frame, and the driving mechanism is used to adjust the upper and lower heights of the lifting block.

[0010] Preferably, a screw is rotatably provided on the inner wall of the first connecting arm, the front end of the screw is fixedly connected to a gear, and the tooth end of the gear is meshedly connected to a gear plate.

[0011] Preferably, a limiting sleeve is slidably provided on the outer wall of the tooth plate, the outer wall of the limiting sleeve is fixedly connected to the inner wall of the first connecting arm, and the outer wall of the tooth plate is fixedly connected to the outer wall of the positioning sleeve.

[0012] Preferably, the mounting arm includes an adjusting rod, the outer wall of the adjusting rod is rotatably arranged on the inner wall of the detection arm, the inner wall of the adjusting rod is rotatably connected to the inner wall of the adjusting positioning pin, and the front end of the adjusting rod is fixedly connected to a swing arm.

[0013] Preferably, the outer wall of the adjusting rod is rotatably connected to a connecting shell, the outer wall of the connecting shell is fixedly connected to the outer wall of the adjusting positioning needle, the inner wall of the connecting shell is slidably connected to the outer wall of the detection arm, and the outer wall of the swing arm is rotatably connected to a second connecting arm, and the second connecting arm is provided in two groups distributed on the left and right sides of the swing arm.

[0014] Preferably, the outer wall of the second connecting arm is rotatably connected to the limiting guide block, the outer wall of the limiting guide block is slidably connected to the inner wall of the connecting shell, the inner wall of the connecting shell is provided with a sliding groove, and the outer wall of the limiting guide block is slidably connected to the inside of the sliding groove.

[0015] Preferably, a clamping arm is fixedly connected to the front outer wall of the limiting guide block, and two positioning pins are provided inside the clamping arm.

[0016] Working principle: When the robotic arm needs to be used, through the connection operation between the adjusting disk and the mounting plate, when the adjusting disk needs to be installed, the adjusting disk drives the mounting shell to be inserted into the card shell, and the first spring pushes the connecting rod to move the connecting rod under the limit of the limiting guide column and the mounting shell, and the card rod is locked into the card slot of the mounting shell to achieve preliminary engagement. At the same time, during use, the inclined surface on the connecting rod drives the card and push rod to move downward, and the card and push rod drive the card block to expand in the card shell and compress the second spring, thereby completing a quick and stable installation. When disassembling, press the peeling rod, the first spring contracts, and the card and push rod contract accordingly. The card block naturally hangs down under the action of gravity, and the adjustment can be quickly separated. The disc and the mounting plate, in addition, the through hole provided on the adjusting disc in the axial direction of the stripping rod is convenient for medical staff to operate the stripping rod through the through hole, further improving the installation and disassembly efficiency. The adjusting disc is installed on the mounting plate, which not only provides stable support for the rotation positioning of the adjusting block, but also expands the operating space of the adjusting block. In combination with the auxiliary positioning arm, the patient's head can be effectively positioned, which not only avoids the patient's discomfort during long-term positioning operation, but also prevents the patient from moving when the patient's head moves. It also improves the patient's comfort during positioning detection, allows the patient to reduce physical exertion in positioning for a long time, and can directly lift the patient's head.

[0017] Afterwards, during use, the adjusting block can slide on the inner wall of the adjusting disk, and the detection arm is rotatably connected to the adjusting block through a rotating shaft. At the same time, a self-locking mechanism is provided at the rotating shaft, and the guide groove limits the movement of the adjustment positioning pin laterally, which can avoid offset during use and improve stability during use, so that medical personnel can flexibly adjust the angle of the adjusting block according to different positioning requirements, drive the detection arm to change its position, thereby achieving multi-angle adjustment of the robotic arm during use, so as to quickly and accurately align with the target point, which is convenient for medical personnel to operate. The multi-angle adjustment also has the effect of enabling medical personnel to adjust the device conveniently during use, avoiding the effect that medical personnel repeatedly move the device to adjust and make it inconvenient to observe the angle.

[0018] When the auxiliary positioning arm positions the patient's head, the screw is turned to drive the gear to rotate, and the gear drives the toothed plate to slide in the limiting sleeve, thereby moving the positioning sleeve in the center, quickly completing the positioning of the patient's head and reducing the patient's waiting time. At the same time, it can also prevent the patient's head from shaking and causing repositioning. Combined with the external lifting block and the internal driving mechanism, the height of the positioning sleeve can be flexibly adjusted, so that the robotic arm can adapt to different postures of the patient such as lying, sitting, and lying. During use, the first connecting arm is connected to the lifting block through a rotating shaft. When the patient lies down, the height of the lifting block can be adjusted and the angle of the positioning sleeve can be switched to adapt to different patients. The device can adjust the height according to the actual needs of patients to improve the patient's comfort. It also has chairs with different heights. When the patient sits on the chair, the height can be adjusted according to the height detected by the medical staff, thereby reducing the physical exertion of the medical staff during use, allowing the medical staff to have a better operating posture during positioning to reduce the physical strength of the medical staff and improve the convenience of using the device.

[0019] The mounting arm is used to install the positioning needle. The adjusting rod is centered on the adjusting block and passes through the detection arm. When the adjusting rod is adjusted, the swing arm and the second connecting arm are driven to move, so that the limiting guide block slides under the limit of the slide groove and the connecting shell, so as to realize the rapid installation and fixation of the positioning needle. At the same time, the positioning needle can be adjusted laterally under the limit of the connecting shell and the detection arm to meet different positioning requirements. There are two mounting slots inside the clamping arm, and probes of different thicknesses can be replaced according to actual needs, thereby enhancing the applicability of the robotic arm. It can not only improve the installation speed of the positioning needle during use, but also improve the convenience in use, allowing medical staff to perform positioning in the process. Different positioning structures can be quickly switched for use, thereby improving the positioning speed of the robotic arm during use. The robotic arm can not only quickly locate the patient's head during use, but also avoid the positioning deviation caused by movement when the patient is uncomfortable during long-term use. It also has the effect of adjusting different postures according to the patient's posture during use for adaptive use, and the adjustment disk can be quickly installed and disassembled during use, and the adjustment disk can be removed according to actual use needs for direct positioning use. At the same time, it also has the effect of quickly replacing and installing the positioning pin according to the actual positioning situation.

[0020] The present invention provides a bed-assisted positioning robot arm for stereotactic biopsy. It has the following beneficial effects:

[0021] 1. The present invention adopts a double locking connection structure composed of a first spring, a connecting rod, a clamping rod, a clamping rod and a clamping block between the adjusting disk and the mounting plate to achieve rapid installation and disassembly of the adjusting disk. During use, it can be flexibly selected to use the entire disk or use the robotic arm alone for positioning according to the patient's condition, and the installation and disassembly effect is convenient.

[0022] 2. The present invention realizes multi-angle precise adjustment and positioning of the robotic arm through the multi-angle rotation connection between the adjustment block in the adjustment arm and the detection arm, cooperates with the lateral limitation of the adjustment positioning pin by the guide groove, and the self-locking mechanism at the rotating shaft. During use, it can quickly aim at different target points, thereby improving the operating convenience and positioning accuracy of medical staff.

[0023] 3. The present invention realizes the centering movement of the positioning sleeve through the transmission structure of the gear and the tooth plate in the auxiliary positioning arm, combines the lifting block and the driving mechanism to adjust the height of the positioning sleeve, and the first connecting arm is connected to the rotating shaft of the lifting block. During use, the patient's head can be quickly positioned and adapted to various postures such as lying, sitting, and lying, thereby improving the patient's comfort, reducing the need for repositioning caused by head shaking, and reducing the physical exertion of medical staff during operation.

[0024] 4. The present invention realizes the rapid installation, fixation and lateral adjustment of the positioning needle through the linkage structure of the adjusting rod, swing arm, second connecting arm, limit guide block and clamping arm in the installation arm, combined with the design of two installation slots in the clamping arm. During use, probes of different thicknesses can be quickly replaced according to different positioning requirements, thereby enhancing the applicability and positioning efficiency of the robotic arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a three-dimensional diagram of a bed-assisted positioning mechanical arm for stereotactic biopsy according to the present invention;

[0026] Figure 2 This is a partial schematic diagram of an adjustment disk for a bed-assisted positioning mechanical arm for stereotactic biopsy according to the present invention;

[0027] Figure 3 This is a partial schematic diagram of a housing for a bed-assisted positioning robot arm for stereotactic biopsy according to the present invention;

[0028] Figure 4 This is a partial schematic diagram of a first spring of a bed-assisted positioning mechanical arm for stereotactic biopsy according to the present invention;

[0029] Figure 5 This is a partial schematic diagram of a detection arm of a bed-assisted positioning mechanical arm for stereotactic biopsy according to the present invention;

[0030] Figure 6 This is a partial schematic diagram of an adjustment block of a bed-assisted positioning mechanical arm for stereotactic biopsy according to the present invention;

[0031] Figure 7 This is a partial schematic diagram of a first connecting arm of a bed-assisted positioning robotic arm for stereotactic biopsy according to the present invention;

[0032] Figure 8 This is a partial schematic diagram of the gears of a mechanical arm for assisting positioning of a bed for stereotactic biopsy according to the present invention;

[0033] Figure 9 This is a partial schematic diagram of a swing arm of a bed-assisted positioning robot for stereotactic biopsy according to the present invention;

[0034] Figure 10 The figure is a partial schematic diagram of a clamping arm of a bed-assisted positioning mechanical arm for stereotactic biopsy according to the present invention.

[0035] Among them, 1. Adjustment disk; 2. Mounting plate; 3. Mounting shell; 4. First spring; 5. Connecting rod; 6. Peeling rod; 7. Limit guide column; 8. Card rod; 9. Card and push rod; 10. Card block; 11. Card shell; 12. Second spring; 13. Adjustment positioning pin; 14. Adjustment block; 15. Detection arm; 16. Guide groove; 17. Slide rail; 18. Positioning sleeve; 19. First connecting arm; 20. Screw; 21. Gear; 22. Tooth plate; 23. Limit sleeve; 24. Adjustment rod; 25. Swing arm; 26. Connecting shell; 27. Second connecting arm; 28. Limit guide block; 29. Slide groove; 30. Clamp arm; 31. Lifting block; 32. Support frame. DETAILED DESCRIPTION

[0036] The following will clearly and completely describe the technical solution of the present invention in conjunction with the accompanying drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all 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.

[0037] Please see the attached Figure 1 -Attached Figure 10 The embodiment of the present invention provides a bed-assisted positioning robot for stereotactic biopsy, comprising an adjusting disk 1, a mounting shell 3 fixedly connected to the inner walls on both sides of the adjusting disk 1, a mounting plate 2 slidably connected to the lower surface of the adjusting disk 1, a card shell 11 provided on the inner wall of the mounting plate 2, a first spring 4 fixedly connected to the inner wall of the mounting shell 3, a connecting rod 5 fixedly connected to the left end of the first spring 4, a stripping rod 6 fixedly connected to the left end of the connecting rod 5, a limited guide column 7 provided on the left outer wall of the connecting rod 5, a card rod 8 slidably provided on the inner wall of the connecting rod 5, a buckle provided on the upper side of the mounting shell 3, and a card buckle. The outer wall of the rod 8 is clamped in the inside of the bayonet, and an inclined plate is provided on one side of the connecting rod 5. The inclined surface of the inclined plate is slidably provided with a card and a push rod 9, and the lower surface of the card and push rod 9 is slidably connected with a card block 10. The inner wall of the card block 10 is rotatably connected to the outer wall of the mounting shell 3, and the outer wall of the card block 10 is slidably connected to the inner wall of the card shell 11. The inner wall of the card shell 11 is fixedly provided with a second spring 12, and the top end of the second spring 12 is slidably connected to the lower surface of the card and push rod 9. The inner wall of the adjusting disk 1 is provided with an adjusting arm, the lower side of the mounting plate 2 is provided with an auxiliary positioning arm, and the front side of the adjusting arm is provided with a mounting arm.

[0038] When the adjusting disk 1 needs to be installed, the mounting shell 3 is driven by the adjusting disk 1 to be inserted into the interior of the card shell 11. At this time, the first spring 4 supports the connecting rod 5, and the connecting rod 5 moves under the limit of the limiting guide column 7 and the mounting shell 3, and is clamped in the card slot of the mounting shell 3 by the clamping rod 8, thereby engaging. During the movement, the inclined surface driving card and push rod 9 are driven downward by the connecting rod 5, and the card and push rod 9 drive the card block 10 to expand inside the card shell 11, and at the same time support the second spring 12, so that the effect of quick installation and fixation can be achieved during use. During use, the first spring 4 can be contracted by pressing the peeling rod 6, so that the card and push rod 9 are contracted, and the card block 10 is pressed under gravity. The cam 14 can be easily adjusted and adjusted by the user, so that the user can adjust the head 14 more easily.

[0039] Please see the attached Figure 1 , Attachment Figure 5 and attached Figure 6 The adjustment arm includes an adjustment block 14, the outer wall of which is slidably connected to the inner wall of the adjustment disk 1. The inner wall of the adjustment block 14 is rotatably connected to the detection arm 15. The detection arm 15 and the adjustment block 14 are connected by a rotating shaft. The outer wall of the rotating shaft is provided with a self-locking mechanism. The inner wall of the detection arm 15 is provided with a guide groove 16, and the inner wall of the guide groove 16 is slidably provided with an adjustment positioning pin 13.

[0040] Specifically, the adjustment block 14 can be used to adjust different points for convenient positioning during use. The guide groove 16 can be used to adjust the position of the positioning pin 13 to limit it laterally when it moves during use. The multi-angle adjustment of the adjustment block 14 can more conveniently adjust the angle of the robotic arm during positioning. The adjustment block 14 can be used to adjust the different positioning angles for quick positioning, which is more convenient for medical staff to operate.

[0041] Please see the attached Figure 6 -Attached Figure 8 The auxiliary positioning arm includes a slide rail 17. The upper surface of the slide rail 17 is fixedly connected to the lower surface of the mounting plate 2. The outer wall of the slide rail 17 is slidably provided with a positioning sleeve 18. The outer wall of the positioning sleeve 18 is slidably connected to the first connecting arm 19. The outer wall of the first connecting arm 19 is rotatably provided with a lifting block 31. The outer wall of the lifting block 31 is slidably connected to a support frame 32. A driving mechanism is provided inside the support frame 32 for adjusting the upper and lower heights of the lifting block 31. The inner wall of the first connecting arm 19 is rotatably provided with a screw 20. The front end of the screw 20 is fixedly connected to a gear 21. The tooth end of the gear 21 is meshedly connected to a tooth plate 22. The outer wall of the tooth plate 22 is slidably provided with a limiting sleeve 23. The outer wall of the limiting sleeve 23 is fixedly connected to the inner wall of the first connecting arm 19. The outer wall of the tooth plate 22 is fixedly connected to the outer wall of the positioning sleeve 18.

[0042] Specifically, when the screw 20 drives the gear 21 to rotate, the gear 21 drives the tooth plate 22 to slide on the inner wall of the limiting sleeve 23, and the tooth plate 22 drives the positioning sleeve 18 to move in the center when moving, which can play the effect of quickly positioning the patient's head during use. Being able to quickly position during use can not only make the patient more relaxed, but also prevent the patient's head from shaking and needing to be repositioned after the positioning operation. The lifting block 31 is combined with the internal driving mechanism to adjust the height of the positioning sleeve 18 during use, so as to adapt to various environments. It can not only switch between lying, sitting and lying according to the patient's comfortable posture, but also the connection between the first connecting arm 19 and the lifting block 31 can be connected by a rotating shaft. When the patient lies down in use, the height can be adjusted by the lifting block 31, and the angle of the positioning sleeve 18 can be switched for adaptive use. During use, it is not only more convenient for medical staff to operate, but also has the effect of being adapted to the patient's needs and different patient conditions.

[0043] Please see the attached Figure 1 , Attachment Figure 9 and attached Figure 10The mounting arm includes an adjustment rod 24, the outer wall of which is pivotally mounted on the inner wall of the detection arm 15 and pivotally connected to the inner wall of the adjustment positioning pin 13. A swing arm 25 is fixedly connected to the front end of the adjustment rod 24. The outer wall of the adjustment rod 24 is pivotally connected to a connecting housing 26, the outer wall of which is fixedly connected to the outer wall of the adjustment positioning pin 13 and the inner wall of the connecting housing 26 is slidably connected to the outer wall of the detection arm 15. The outer wall of the swing arm 25 is pivotally connected to a second connecting arm 27, which is provided in two sets on the left and right sides of the swing arm 25. The outer wall of the second connecting arm 27 is pivotally connected to a limit guide block 28, the outer wall of which is slidably connected to the inner wall of the connecting housing 26. A slot 29 is defined in the inner wall of the connecting housing 26, and the outer wall of the limit guide block 28 is slidably connected within the slot 29. A clamping arm 30 is fixedly connected to the front outer wall of the limit guide block 28, which has two inner openings for mounting positioning pins.

[0044] Specifically, when in use, the adjustment rod 24 takes the adjustment block 14 as the center point, and the detection arm 15 drives the swing arm 25 and the second connecting arm 27 through the adjustment adjustment rod 24, thereby driving the limit guide block 28 to slide under the limit of the slide groove 29 and the connecting shell 26. During use, the positioning pin can be quickly installed and fixed. At the same time, combined with the adjustment of the positioning pin 13, it can play a lateral adjustment effect under the limit of the connecting shell 26 and the detection arm 15 during the movement, and has the effect of quickly fixing the positioning pin during use. At the same time, two installation grooves are provided inside the clamping arm 30, and probes of different thicknesses can be replaced for positioning according to the needs during use.

[0045] 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 mechanical arm for assisting positioning of a bed for stereotactic biopsy, comprising an adjustment disk (1), characterized in that: The inner walls on both sides of the adjusting disk (1) are fixedly connected with mounting shells (3), the lower surface of the adjusting disk (1) is slidably connected with a mounting plate (2), the inner wall of the mounting plate (2) is provided with a card shell (11), the inner wall of the mounting shell (3) is fixedly connected with a first spring (4), the left end of the first spring (4) is fixedly connected with a connecting rod (5), the left end of the connecting rod (5) is fixedly connected with a peeling rod (6), the left outer wall of the connecting rod (5) is provided with a limited guide column (7), the inner wall of the connecting rod (5) is slidably provided with a card rod (8), the upper side of the mounting shell (3) is provided with a buckle, and the outer wall of the card rod (8) is clamped inside the bayonet. A slanted plate is provided on one side of the connecting rod (5), and a card and a push rod (9) are slidably provided on the inclined surface of the slanted plate. A card block (10) is slidably connected to the lower surface of the card and the push rod (9). The inner wall of the card block (10) is rotatably connected to the outer wall of the mounting shell (3), and the outer wall of the card block (10) is slidably connected to the inner wall of the card shell (11). A second spring (12) is fixedly provided on the inner wall of the card shell (11), and the top end of the second spring (12) is slidably connected to the lower surface of the card and the push rod (9). An adjusting arm is provided on the inner wall of the adjusting disk (1), an auxiliary positioning arm is provided on the lower side of the mounting plate (2), and a mounting arm is provided on the front side of the adjusting arm.

2. The mechanical arm for assisting positioning of a bed for stereotactic biopsy according to claim 1, characterized in that: The regulating arm comprises a regulating block (14), the outer wall of the regulating block (14) is slidably connected to the inner wall of the regulating disk (1), the inner wall of the regulating block (14) is rotatably connected to a detection arm (15), and the connection between the detection arm (15) and the regulating block (14) is connected by a rotating shaft.

3. The mechanical arm for assisting positioning of a bed for stereotactic biopsy according to claim 2, characterized in that: The outer wall of the rotating shaft is provided with a self-locking mechanism, the inner wall of the detection arm (15) is provided with a guide groove (16), and the inner wall of the guide groove (16) is slidably provided with an adjustment positioning pin (13).

4. The mechanical arm for assisting positioning of a bed for stereotactic biopsy according to claim 1, characterized in that: The auxiliary positioning arm includes a slide rail (17), the upper surface of the slide rail (17) is fixedly connected to the lower surface of the mounting plate (2), the outer wall of the slide rail (17) is slidably provided with a positioning sleeve (18), the outer wall of the positioning sleeve (18) is slidably connected to a first connecting arm (19), the outer wall of the first connecting arm (19) is rotatably provided with a lifting block (31), the outer wall of the lifting block (31) is slidably connected to a support frame (32), and a driving mechanism is provided inside the support frame (32), and the driving mechanism is used to adjust the upper and lower heights of the lifting block (31).

5. The mechanical arm for assisting positioning of a bed for stereotactic biopsy according to claim 4, characterized in that: A screw (20) is rotatably provided on the inner wall of the first connecting arm (19), a front end of the screw (20) is fixedly connected to a gear (21), and a tooth end of the gear (21) is meshedly connected to a tooth plate (22).

6. The mechanical arm for assisting positioning of a bed for stereotactic biopsy according to claim 5, characterized in that: A limiting sleeve (23) is slidably provided on the outer wall of the tooth plate (22), the outer wall of the limiting sleeve (23) is fixedly connected to the inner wall of the first connecting arm (19), and the outer wall of the tooth plate (22) is fixedly connected to the outer wall of the positioning sleeve (18).

7. The mechanical arm for assisting positioning of a bed for stereotactic biopsy according to claim 1, characterized in that: The mounting arm comprises an adjusting rod (24), the outer wall of the adjusting rod (24) is rotatably arranged on the inner wall of the detection arm (15), the inner wall of the adjusting rod (24) is rotatably connected to the inner wall of the adjusting positioning pin (13), and the front end of the adjusting rod (24) is fixedly connected to the swing arm (25).

8. The mechanical arm for assisting positioning of a bed for stereotactic biopsy according to claim 7, characterized in that: The outer wall of the adjusting rod (24) is rotatably connected to a connecting shell (26), the outer wall of the connecting shell (26) is fixedly connected to the outer wall of the adjusting positioning needle (13), the inner wall of the connecting shell (26) is slidably connected to the outer wall of the detection arm (15), the outer wall of the swing arm (25) is rotatably connected to a second connecting arm (27), and the second connecting arm (27) is provided in two groups and distributed on the left and right sides of the swing arm (25).

9. The mechanical arm for assisting positioning of a bed for stereotactic biopsy according to claim 8, characterized in that: The outer wall of the second connecting arm (27) is rotatably connected to the limiting guide block (28), the outer wall of the limiting guide block (28) is slidably connected to the inner wall of the connecting shell (26), the inner wall of the connecting shell (26) is provided with a sliding groove (29), and the outer wall of the limiting guide block (28) is slidably connected to the inside of the sliding groove (29).

10. The mechanical arm for assisting positioning of a bed for stereotactic biopsy according to claim 9, characterized in that: The front outer wall of the limiting guide block (28) is fixedly connected to a clamping arm (30), and two positioning pins are provided inside the clamping arm (30).

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