Puncture positioning mechanism and puncture surgical robot

Abstract

The invention provides a puncture positioning mechanism and a puncture surgical robot. The puncture positioning mechanism comprises a frame, a space motion unit connected with the frame, a puncture execution unit connected with the space motion unit, a blood vessel imaging unit connected with the puncture execution unit and an image acquisition unit arranged on the frame. Wherein the frame is used for supporting the space motion unit; the space motion unit is used for adjusting the positions of the puncture execution unit in three different directions; the puncture execution unit is used for adjusting the pitching angle and the deflection angle of the puncture execution unit and executing the puncture action. The blood vessel imaging unit is used for projecting blood vessels to the skin surface; the image acquisition unit is used for acquiring blood vessel images. All the units of the puncture positioning mechanism are tightly matched, a complete and efficient puncture positioning system is formed from blood vessel image acquisition, accurate position adjustment, visual guide and puncture action execution, and the accuracy and safety of puncture operation are remarkably improved.

Description

Technical Field

[0001] The present invention relates to the technical field of puncture surgical robots, and more particularly to a puncture positioning mechanism and a puncture surgical robot. Background Art

[0002] In recent years, surgical robotics has made significant progress in the medical field, particularly the emergence of puncture surgical robots, which have brought new, efficient, high-precision, and intelligent options to clinical treatment. High-precision puncture is crucial for ensuring medical safety and surgical quality. However, traditional puncture procedures rely heavily on the physician's experience and skill, and significant technical differences between physicians result in significant fluctuations in surgical success rates and are prone to complications, severely hindering the standardization and popularization of puncture procedures.

[0003] As an emerging technology, puncture surgical robots can effectively improve the success rate of punctures and reduce the risk of human errors and complications due to their advantages such as stable operation, precise positioning, and flexible movement. However, existing puncture positioning technologies still have limitations when adapting to different surgical needs. For example, the adjustment accuracy of the puncture position is insufficient and the flexibility of angle control is limited, making it difficult to meet the personalized puncture needs under complex anatomical structures. Therefore, the development of a positioning mechanism that can achieve precise control of the puncture position and angle through electric adjustment is of great significance to further enhance the clinical application value of puncture surgical robots. Summary of the Invention

[0004] The purpose of the present invention is to provide a puncture positioning mechanism and a puncture surgical robot to solve the technical problem in the prior art that the puncture surgical robot has low accuracy in positioning the puncture position and puncture angle.

[0005] To achieve the above object, the technical solution adopted by the present invention is:

[0006] In a first aspect, a puncture positioning mechanism is provided, comprising:

[0007] a frame, a spatial motion unit connected to the frame, a puncture execution unit connected to the spatial motion unit, the blood vessel imaging unit connected to the puncture execution unit, and an image acquisition unit provided on the frame;

[0008] Among them, the frame is used to support the spatial motion unit; the spatial motion unit is used to adjust the position of the puncture execution unit in three different directions; the puncture execution unit is used to adjust its own pitch angle, deflection angle and perform the puncture action; the blood vessel imaging unit is used to project the blood vessels onto the skin surface; and the image acquisition unit is used to acquire blood vessel images.

[0009] By adopting the above technical solution, the various units of the puncture positioning mechanism work closely together, from the acquisition of vascular images, precise adjustment of position, to visual guidance and execution of puncture actions, forming a complete and efficient puncture positioning system, which significantly improves the accuracy and safety of puncture operations.

[0010] In one embodiment, the spatial motion unit includes an X-axis motion component, a Y-axis motion component and a Z-axis motion component; the X-axis motion component and the Y-axis motion component are both connected to the frame, and the Z-axis motion component is respectively connected to the X-axis motion component and the Y-axis motion component; the puncture execution unit is connected to the Z-axis motion component; the X-axis motion component is used to drive the Z-axis motion component and the puncture execution unit to move along the X-axis direction; the Y-axis motion component is used to drive the Z-axis motion component and the puncture execution unit to move along the Y-axis direction; the Z-axis motion component is used to drive the puncture execution unit to move along the Z-axis direction.

[0011] In one embodiment, the X-axis motion assembly includes a connecting seat connected to the frame, an X-axis motion driving structure connected to the connecting seat, two X-axis fixed rods spaced parallel to each other on the connecting seat, X-axis sliding members slidingly arranged on the X-axis fixed rods in a one-to-one correspondence, an X-axis sliding rod connecting the two X-axis sliding members, and a motion base slidably connected to the X-axis sliding rod; the motion base is respectively connected to the Y-axis motion assembly and the Z-axis motion assembly; the X-axis motion driving structure is used to drive the X-axis sliding member to move along the length direction of the X-axis fixed rod, thereby driving the X-axis sliding rod and the motion base to move along the X-axis direction.

[0012] In one embodiment, the Y-axis motion assembly includes a Y-axis motion driving structure connected to the connecting seat, two Y-axis fixed rods arranged in parallel and spaced apart on the connecting seat, Y-axis sliding members slidingly arranged on the Y-axis fixed rods in a one-to-one correspondence, and a Y-axis sliding rod connecting the two Y-axis sliding members, and the motion base is slidably connected to the Y-axis sliding rod; the Y-axis motion driving structure is used to drive the Y-axis sliding member to move along the length direction of the Y-axis fixed rod, thereby driving the Y-axis sliding rod and the motion base to move along the Y-axis direction.

[0013] In one embodiment, the motion base is provided with an X-axis sliding hole and a Y-axis sliding hole, the hole depth direction of the X-axis sliding hole is perpendicular to the X-axis, the hole depth direction of the Y-axis sliding hole is perpendicular to the Y-axis, the X-axis sliding rod is clearance-fitted with the X-axis sliding hole, the X-axis sliding rod can slide along the hole depth direction of the X-axis sliding hole, and the Y-axis sliding rod can slide along the hole depth direction of the Y-axis sliding hole.

[0014] In one embodiment, the X-axis motion driving structure includes an X-axis motion motor connected to the connecting seat, an X-axis pulley correspondingly arranged on the Y-axis fixed rod, and an X-axis synchronous belt wound around the X-axis pulley, the X-axis synchronous belt is connected to the X-axis sliding member, and the X-axis motion motor is connected to the X-axis pulley for driving the X-axis synchronous belt to drive the X-axis sliding member to move along the X-axis direction; the Y-axis motion driving structure includes a Y-axis motion motor connected to the connecting seat, a Y-axis pulley correspondingly arranged on the X-axis fixed rod, and a Y-axis synchronous belt wound around the Y-axis pulley, the Y-axis synchronous belt is connected to the Y-axis sliding member, and the Y-axis motion motor is connected to the Y-axis pulley for driving the Y-axis synchronous belt to drive the Y-axis sliding member to move along the Y-axis direction.

[0015] In one embodiment, the Z-axis motion assembly includes a Z-axis mounting plate connected to the motion base, a Z-axis motion motor provided on the Z-axis mounting plate, Z-axis pulleys provided at both ends of the Z-axis mounting plate in the Z-axis direction, a Z-axis synchronous belt wound around the Z-axis pulley, and a Z-axis sliding member fixedly connected to the Z-axis synchronous belt, wherein the Z-axis sliding member can slide on the Z-axis mounting plate; the Z-axis synchronous belt is connected to the Z-axis sliding member, and the Z-axis motion motor is connected to the Z-axis pulley for driving the Z-axis synchronous belt to drive the Z-axis sliding member to move along the Z-axis direction.

[0016] In one embodiment, the puncture execution unit includes a pitch angle adjustment component connected to the spatial motion unit, a deflection angle adjustment component connected to the pitch angle adjustment component, and a puncture execution component connected to the deflection angle adjustment component; the pitch angle adjustment component is used to adjust the pitch angle of the deflection angle adjustment component and the puncture execution component; the deflection angle adjustment component is used to adjust the deflection angle of the puncture execution component.

[0017] In one embodiment, the pitch angle adjustment assembly includes a connecting frame connected to the spatial motion unit, a pitch adjustment motor provided on the connecting frame, and a pitch frame transmission-connected to the pitch adjustment motor; the deflection angle adjustment assembly includes a deflection adjustment motor provided on the pitch frame, a deflection frame transmission-connected to the deflection adjustment motor, and a puncture execution assembly provided on the deflection frame; the pitch adjustment motor is used to drive the pitch frame to rotate around the pitch axis; the deflection adjustment motor is used to drive the deflection frame to rotate around the deflection axis.

[0018] In a second aspect, a puncture surgical robot is provided, comprising a moving mechanism and the above-mentioned puncture positioning mechanism, wherein the moving mechanism is connected to the puncture positioning mechanism.

[0019] By combining the mobile mechanism with the puncture positioning mechanism, precise control is achieved, from macroscopic position adjustment to microscopic puncture operations. The mobile mechanism ensures that the puncture positioning mechanism can accurately reach the target area, while the puncture positioning mechanism achieves high-precision position and angle adjustment of the puncture needle at the microscopic level. The two complement each other, significantly improving the success rate and accuracy of punctures and reducing surgical risks. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0021] Figure 1 It is a three-dimensional structural diagram from one perspective of the puncture positioning mechanism provided by an embodiment of the present invention.

[0022] Figure 2 This is a three-dimensional structural diagram from another perspective of the puncture positioning mechanism provided by an embodiment of the present invention.

[0023] Figure 3 It is an exploded view from one perspective of the puncture positioning mechanism provided by an embodiment of the present invention.

[0024] Figure 4 It is a three-dimensional structural diagram of the spatial motion unit provided by an embodiment of the present invention.

[0025] Figure 5 It is a three-dimensional structural diagram of the motion base provided by an embodiment of the present invention.

[0026] Figure 6 It is an exploded view from another perspective of the puncture positioning mechanism provided by an embodiment of the present invention.

[0027] The reference numerals in the figures are:

[0028] 1. Frame; 2. Spatial motion unit; 3. Puncture execution unit; 4. Vascular imaging unit; 5. Image acquisition unit;

[0029] 11. Photoelectric sensor; 21. X-axis motion assembly; 22. Y-axis motion assembly; 23. Z-axis motion assembly; 31. Pitch angle adjustment assembly; 32. Deflection angle adjustment assembly; 33. Puncture execution assembly;

[0030] 211. Connecting seat; 212. X-axis motion drive structure; 213. X-axis fixing rod; 214. X-axis sliding member; 215. X-axis sliding member; 216. Motion base; 221. Y-axis motion drive structure; 222. Y-axis fixing rod; 223. Y-axis sliding member; 224. Y-axis sliding member; 231. Z-axis mounting plate; 232. Z-axis motion motor; 233. Z-axis pulley; 234. Z-axis synchronous belt; 235. Z-axis sliding member; 311. Connecting frame; 312. Pitch adjustment motor; 313. Pitch frame; 321. Yaw adjustment motor; 322. Yaw frame;

[0031] 2161, X-axis sliding hole; 2162, Y-axis sliding hole; 2121, X-axis motion motor; 2122, X-axis pulley; 2123, X-axis synchronous belt; 2211, Y-axis motion motor; 2212, Y-axis pulley; 2213, Y-axis synchronous belt. DETAILED DESCRIPTION

[0032] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0033] It should be noted that when an element is referred to as being “fixed to” or “disposed on” another element, it may be directly located on the other element or indirectly located on the other element. When an element is referred to as being “connected to” another element, it may be directly connected to the other element or indirectly connected to the other element.

[0034] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention, and do not indicate that the device or element must have a specific orientation, be constructed and operate in a specific orientation. Therefore, it should not be understood as a limitation on the present invention.

[0035] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating relative importance or the number of technical features. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined. The following is a more detailed description of the specific implementation of the present invention in conjunction with specific embodiments:

[0036] like Figure 1 and Figure 2 As shown, an embodiment of the present invention provides a puncture positioning mechanism, comprising:

[0037] A frame 1, a spatial motion unit 2 connected to the frame 1, a puncture execution unit 3 connected to the spatial motion unit 2, a blood vessel imaging unit 4 connected to the puncture execution unit 3, and an image acquisition unit 5 provided on the frame 1;

[0038] Among them, the frame 1 is used to support the spatial motion unit 2; the spatial motion unit 2 is used to adjust the position of the puncture execution unit 3 in three different directions; the puncture execution unit 3 is used to adjust its own pitch angle, deflection angle and perform the puncture action; the vascular imaging unit 4 is used to project the blood vessels onto the skin surface; the image acquisition unit 5 is used to acquire vascular images.

[0039] Specifically, frame 1 is the foundational structure of the entire puncture and positioning mechanism. As the core carrier, it is directly connected to the spatial motion unit 2 and provides a platform for mounting and supporting other functional modules. It is typically made of high-strength, high-rigidity materials, such as metal alloys or high-performance engineering plastics, to ensure stability while bearing the weight and movement of each module.

[0040] The core function of frame 1 is to support the spatial motion unit 2 and maintain the spatial stability and structural integrity of the entire mechanism. It provides the physical foundation for the orderly operation of subsequent modules and ensures that the accuracy of puncture positioning is not affected by structural instability during the movement of each module.

[0041] The spatial motion unit 2 is connected to the frame 1 and the puncture execution unit 3, and is generally composed of multiple motion axes and drive components. These components work together to achieve position adjustment of the puncture execution unit 3 in three-dimensional space.

[0042] The spatial motion unit 2 adjusts the position of the puncture execution unit 3 in three different directions (typically the X, Y, and Z axes). By precisely controlling the movement of each axis, the puncture execution unit 3 can accurately reach the spatial position of the target vessel, meeting the positioning accuracy requirements of different puncture scenarios and laying the foundation for subsequent puncture operations.

[0043] The puncture execution unit 3 is connected to the spatial motion unit 2 and the vascular imaging unit 4. It integrates an angle adjustment mechanism and a puncture drive mechanism. The angle adjustment mechanism is used to control its pitch and yaw angles, while the puncture drive mechanism is responsible for executing the puncture action.

[0044] On the one hand, the puncture execution unit 3 can adjust its own pitch angle, that is, change the angle between the puncture needle and the skin surface, as well as the deflection angle, and adjust the rotation direction of the needle in the horizontal plane to adapt to blood vessels of different directions and avoid surrounding tissues; on the other hand, it can perform the puncture action quickly and accurately to ensure the accuracy and stability of the puncture.

[0045] The blood vessel imaging unit 4 is connected to the puncture execution unit 3 and generally includes an image receiving and processing module, a projection device, etc. It receives data information from other units and outputs the processed results through the projection device.

[0046] The primary function of the vascular imaging unit 4 is to clearly project vascular location information onto the skin surface through optical projection. Utilizing advanced imaging technology and algorithms, it transforms the morphology and location of blood vessels into visual markers, providing intuitive puncture guidance and significantly reducing the difficulty and risk of the procedure.

[0047] The image acquisition unit 5 is directly mounted on the frame 1 , and common types include ultrasound probes, optical cameras, angiography equipment, etc. These devices can collect image information of blood vessels and transmit the data to other related modules for processing.

[0048] The image acquisition unit 5 is responsible for acquiring blood vessel images, providing basic data for the entire puncture positioning process. The blood vessel image information it collects is processed and used to guide the work of the spatial motion unit 2 and the blood vessel imaging unit 4, ensuring the accuracy and reliability of puncture positioning.

[0049] By adopting the above technical solution, the various units of the puncture positioning mechanism work closely together, from the acquisition of vascular images, precise adjustment of position, to visual guidance and execution of puncture actions, forming a complete and efficient puncture positioning system, which significantly improves the accuracy and safety of puncture operations.

[0050] Please also refer to Figure 3 and Figure 4 In one embodiment, the spatial motion unit 2 includes an X-axis motion component 21, a Y-axis motion component 22 and a Z-axis motion component 23; the X-axis motion component 21 and the Y-axis motion component 22 are both connected to the frame 1, and the Z-axis motion component 23 is respectively connected to the X-axis motion component 21 and the Y-axis motion component 22; the puncture execution unit 3 is connected to the Z-axis motion component 23; the X-axis motion component 21 is used to drive the Z-axis motion component 23 and the puncture execution unit 3 to move along the X-axis direction; the Y-axis motion component 22 is used to drive the Z-axis motion component 23 and the puncture execution unit 3 to move along the Y-axis direction; the Z-axis motion component 23 is used to drive the puncture execution unit 3 to move along the Z-axis direction.

[0051] Specifically, the spatial motion unit 2 includes an X-axis motion component 21 , a Y-axis motion component 22 and a Z-axis motion component 23 .

[0052] The X-axis motion assembly 21 and the Y-axis motion assembly 22 are directly connected to the frame 1 and serve as the basic support of the spatial motion unit 2. They are fixed at specific positions of the frame 1 to ensure motion stability.

[0053] The Z-axis motion assembly 23 is connected to the X-axis motion assembly 21 and the Y-axis motion assembly 22 respectively. This connection method allows the Z-axis motion assembly 23 to move in the X-axis direction and the Y-axis direction; and the puncture execution unit 3 is connected to the Z-axis motion assembly 23 to move in the vertical direction following the Z-axis, and at the same time realize the position adjustment in the plane with the help of the movement in the X-axis direction and the Y-axis direction.

[0054] The core function of the X-axis motion assembly 21 is to drive the Z-axis motion assembly 23 and the puncture execution unit 3 along the X-axis. When the drive motor is activated, the motor's rotational motion is converted into linear motion of the Z-axis motion assembly 23 along the X-axis through a transmission mechanism (such as the rotation of a lead screw driving a slider along a guide rail), thereby changing the horizontal position of the puncture execution unit 3.

[0055] The Y-axis motion assembly 22, similar to the X-axis motion assembly 21, drives the Z-axis motion assembly 23 and the puncture execution unit 3 along the Y-axis. The motor drive and transmission mechanism enable the puncture execution unit 3 to be adjusted forward and backward in the horizontal direction. In conjunction with the X-axis motion assembly 21, the puncture execution unit 3 can be positioned at any coordinate point in the horizontal plane.

[0056] The Z-axis motion component 23 is mainly responsible for driving the puncture execution unit 3 to move along the Z-axis direction, that is, controlling the position of the puncture execution unit 3 in the vertical direction, and can adjust the vertical distance between the puncture needle and the skin surface to adapt to the requirements of blood vessel puncture at different depths.

[0057] Through the independent driving and coordinated cooperation of the X-axis motion component 21, the Y-axis motion component 22, and the Z-axis motion component 23, the puncture execution unit 3 can perform micron-level or even submillimeter-level precise positioning in three-dimensional space, significantly improving the accuracy of the puncture operation and reducing the risk of puncture failure or tissue damage due to positioning deviation.

[0058] This structural design enables the puncture positioning mechanism to flexibly respond to complex clinical scenarios. Regardless of whether the blood vessels are located deep, irregularly distributed, or the patient's body position is special, the position of the puncture execution unit 3 can be quickly adjusted through the combination of three-axis movements to meet diverse puncture needs.

[0059] In one embodiment, the X-axis motion assembly 21 includes a connecting base 211 connected to the frame 1, an X-axis motion driving structure 212 connected to the connecting base 211, two X-axis fixed rods 213 arranged in parallel and spaced apart on the connecting base 211, X-axis slides 214 slidingly arranged on the X-axis fixed rods 213 in a one-to-one correspondence, an X-axis slide 215 connecting the two X-axis slides 214, and a motion base 216 slidably connected to the X-axis slide 215; the motion base 216 is respectively connected to the Y-axis motion assembly 22 and the Z-axis motion assembly 23; the X-axis motion driving structure 212 is used to drive the X-axis slide 214 to move along the length direction of the X-axis fixed rod 213, thereby driving the X-axis slide 215 and the motion base 216 to move along the X-axis direction.

[0060] Specifically, the connecting seat 211 serves as a connecting hub between the X-axis motion assembly 21 and the frame 1, and is responsible for firmly mounting the entire X-axis motion assembly 21 on the frame 1 to provide basic support.

[0061] The X-axis motion driving structure 212 is the power source for motion in the X-axis direction.

[0062] The two X-axis fixing rods 213 are arranged in parallel and spaced apart to provide a guide track for the X-axis sliding member 214 to move linearly.

[0063] The two X-axis sliding members 214 are respectively mounted on the X-axis fixing rod 213 and can slide freely along the length direction of the X-axis fixing rod 213 .

[0064] The X-axis slide bar 215 connects the two X-axis slide members 214 for synchronously transmitting motion and ensuring the stability and consistency of sliding.

[0065] The motion base 216 is slidably connected to the X-axis slide bar 215 and serves as a mounting carrier for the Y-axis motion assembly 22 and the Z-axis motion assembly 23 to achieve the transmission of the X-axis motion to other axis assemblies.

[0066] By adopting the above technical solution, the design of two parallel X-axis fixed rods 213 and X-axis slide 214 forms a dual-track guide structure, which effectively reduces shaking and deviation during movement, improving movement accuracy and stability. Furthermore, the design of X-axis slide 215 connecting the two X-axis slides 214 ensures synchronous sliding of both sides, avoiding position deviation caused by uneven force, and facilitating precise positioning of puncture execution unit 3 along the X-axis.

[0067] In one embodiment, the Y-axis motion assembly 22 includes a Y-axis motion driving structure 221 connected to the connecting seat 211, two Y-axis fixed rods 222 arranged in parallel and spaced apart on the connecting seat 211, Y-axis sliding members 223 slidingly arranged one-to-one on the Y-axis fixed rods 222, and a Y-axis slide 224 connecting the two Y-axis slides 223, and the motion base 216 is slidably connected to the Y-axis slide 224; the Y-axis motion driving structure 221 is used to drive the Y-axis slide 223 to move along the length direction of the Y-axis fixed rod 222, thereby driving the Y-axis slide 224 and the motion base 216 to move along the Y-axis direction.

[0068] Specifically, the Y-axis motion driving structure 221 serves as a power core, providing power for motion in the Y-axis direction.

[0069] The two Y-axis fixing rods 222 are arranged in parallel and at intervals, serving as guide rails for the Y-axis sliding member 223 to ensure a stable sliding process with good linearity.

[0070] The two Y-axis sliding members 223 are respectively mounted on the Y-axis fixing rod 222 and can slide freely along the length direction of the Y-axis fixing rod 222 . They are key intermediates for motion transmission.

[0071] The Y-axis slide bar 224 connects the two Y-axis slide members 223 to synchronously transmit motion and maintain a stable distance between the slide members, thereby ensuring consistency and stability of motion.

[0072] The motion base 216 is slidably connected to the Y-axis slide bar 224. It is not only the terminal carrier of the Y-axis motion assembly 22, but also used to connect the relevant components in the Z-axis motion assembly 23 and the X-axis motion assembly 21 to achieve multi-axis motion coordination.

[0073] The Y-axis motion assembly 22 is installed on the connecting base 211, and the Y-axis motion drive structure 221 is fixed on the connecting base 211, directly driving the Y-axis sliding member 223; the Y-axis fixed rod 222 is installed parallel to the connecting base 211 to provide guidance for the sliding member; the Y-axis sliding member 223 is connected through the Y-axis sliding rod 224 to ensure synchronous movement on both sides; the motion base 216 is slidably connected to the Y-axis sliding rod 224, receiving the movement in the Y-axis direction and transmitting it to subsequent components to form a complete motion connection system.

[0074] By adopting this technical solution, the two parallel Y-axis fixing rods 222, combined with the dual-track guide design of the sliding member, effectively suppress wobbling and deviation during movement, significantly improving the accuracy and stability of Y-axis movement. The Y-axis slide rod 224 connects the two sliding members, ensuring synchronized sliding on both sides and preventing position deviation caused by uneven force, providing reliable guarantee for the precise positioning of the puncture execution unit 3 in the Y-axis direction.

[0075] Please also refer to Figure 5 In one embodiment, an X-axis sliding hole 2161 and a Y-axis sliding hole 2162 are provided on the motion base 216. The depth direction of the X-axis sliding hole 2161 is perpendicular to the X-axis direction, and the depth direction of the Y-axis sliding hole 2162 is perpendicular to the Y-axis direction. The X-axis sliding rod 215 is loosely matched with the X-axis sliding hole 2161. The X-axis sliding rod 215 can slide along the depth direction of the X-axis sliding hole 2161, and the Y-axis sliding rod 224 can slide along the depth direction of the Y-axis sliding hole 2162.

[0076] Specifically, the motion base 216 serves as the intersection of the X-axis motion assembly 21, the Y-axis motion assembly 22, and the Z-axis motion assembly 23. Its core structure lies in the X-axis sliding hole 2161 and the Y-axis sliding hole 2162:

[0077] The depth direction of the X-axis sliding hole 2161 is perpendicular to the X-axis, and is used to cooperate with the X-axis sliding rod 215 to provide a sliding track for the X-axis sliding rod 215 along the X-axis direction.

[0078] The depth direction of the Y-axis sliding hole 2162 is perpendicular to the Y-axis, and is used to cooperate with the Y-axis sliding rod 224 to provide a sliding track for the Y-axis sliding rod 224 along the Y-axis direction.

[0079] The X-axis slide bar 215 and the X-axis sliding hole 2161, as well as the Y-axis slide bar 224 and the Y-axis sliding hole 2162, are clearance-fitted to ensure that the slide bars can slide freely in the holes while maintaining a stable relative position to avoid shaking.

[0080] Through the independent sliding engagement of X-axis sliding holes 2161 and Y-axis sliding holes 2162 with their corresponding slide rods, motion base 216 can simultaneously receive motion in both the X- and Y-axis directions, synthesizing and transmitting these motions to Z-axis motion assembly 23 and puncture execution unit 3. This design allows for independent X- and Y-axis motion while enabling precise spatial position adjustment at motion base 216, providing the foundation for three-dimensional positioning.

[0081] In one embodiment, the X-axis motion driving structure 212 includes an X-axis motion motor 2121 connected to the connecting seat 211, an X-axis pulley 2122 correspondingly arranged on the Y-axis fixed rod 222, and an X-axis synchronous belt 2123 wound around the X-axis pulley 2122. The X-axis synchronous belt 2123 is connected to the X-axis sliding member 214, and the X-axis motion motor 2121 is in transmission connection with the X-axis pulley 2122 for driving the X-axis synchronous belt 2123 to drive the X-axis sliding member 214 along the X-axis direction. The Y-axis motion driving structure 221 includes a Y-axis motion motor 2211 connected to the connecting seat 211, a Y-axis pulley 2212 correspondingly arranged on the X-axis fixed rod 213, and a Y-axis synchronous belt 2213 wound around the Y-axis pulley 2212. The Y-axis synchronous belt 2213 is connected to the Y-axis sliding member 223, and the Y-axis motion motor 2211 is connected to the Y-axis pulley 2212 for driving the Y-axis synchronous belt 2213 to drive the Y-axis sliding member 223 to move along the Y-axis direction.

[0082] Specifically, the X-axis motion motor 2121 is fixedly connected to the connecting base 211 and serves as a power source to provide rotational driving force.

[0083] The X-axis pulley 2122 is correspondingly arranged on the Y-axis fixed rod 222 to change the transmission direction and tighten the synchronous belt.

[0084] The X-axis synchronous belt 2123 is wound around the X-axis pulley 2122 , and one end is connected to the X-axis sliding member 214 for transmitting the power of the motor.

[0085] The X-axis motion motor 2121 is connected to the X-axis pulley 2122 through a transmission device (such as gears, couplings), and the X-axis synchronous belt 2123 is sleeved on the pulley and fixed to the X-axis sliding member 214, forming a "motor-pulley-synchronous belt-sliding member" transmission chain.

[0086] After the X-axis motion motor 2121 is activated, it generates rotational power, which drives the X-axis pulley 2122 through the transmission mechanism. Synchronous belt drive: As the X-axis pulley 2122 rotates, it drives the X-axis synchronous belt 2123 wound around it. Because the synchronous belt is fixedly connected to the X-axis slider 214, the linear motion of the synchronous belt directly drives the X-axis slider 214 to slide along the X-axis fixed rod 213.

[0087] The Y-axis motion motor 2211 is fixedly connected to the connecting base 211 to provide rotational power in the Y-axis direction.

[0088] The Y-axis pulley 2212 is correspondingly disposed on the X-axis fixed rod 213 to change the transmission direction and support the synchronous belt.

[0089] The Y-axis synchronous belt 2213 is wound around the Y-axis pulley 2212 , and one end is connected to the Y-axis sliding member 223 to transmit motor power.

[0090] The Y-axis motion motor 2211 is connected to the Y-axis pulley 2212 through a transmission device. The Y-axis synchronous belt 2213 is sleeved on the pulley and fixed to the Y-axis sliding member 223 to realize the transmission of power from the motor to the sliding member.

[0091] The Y-axis motion motor 2211 is started, and drives the Y-axis pulley 2212 to rotate through the transmission device. The Y-axis pulley 2212 drives the Y-axis synchronous belt 2213 to move, and the Y-axis synchronous belt 2213 then pulls the Y-axis sliding member 223 to slide along the Y-axis fixed rod 222.

[0092] Movement extension: The movement of the Y-axis slide 223 is transmitted to the motion base 216 through the Y-axis slide bar 224, thereby achieving position adjustment of the motion base 216 and the connected components along the Y-axis direction.

[0093] By adopting the above technical solution, the synchronous belt drive has the characteristics of no slip and accurate transmission ratio, which can accurately convert the rotational motion of the motor into the linear motion of the sliding part, avoiding the slippage of the traditional chain drive or the gap error of the gear drive, and improving the positioning accuracy of the puncture execution unit 3.

[0094] Please also refer to Figure 6 In one embodiment, a photoelectric sensor 11 is provided on the frame 1. The photoelectric sensor 11 is used to detect and limit the operating range of the X-axis slide 214 and the Y-axis slide 223 to ensure safe operation of the equipment.

[0095] In one embodiment, the Z-axis motion assembly 23 includes a Z-axis mounting plate 231 connected to the motion base 216, a Z-axis motion motor 232 provided on the Z-axis mounting plate 231, Z-axis pulleys 233 provided at both ends of the Z-axis mounting plate 231 in the Z-axis direction, a Z-axis synchronous belt 234 wound around the Z-axis pulley 233, and a Z-axis slide 235 fixedly connected to the Z-axis synchronous belt 234, wherein the Z-axis slide 235 can slide on the Z-axis mounting plate 231; the Z-axis synchronous belt 234 is connected to the Z-axis slide 235, and the Z-axis motion motor 232 is connected to the Z-axis pulley 233 for driving the Z-axis synchronous belt 234 to drive the Z-axis slide 235 to move along the Z-axis direction.

[0096] Specifically, the Z-axis mounting plate 231 is connected to the motion base 216 , serving as a basic carrier of the Z-axis motion assembly 23 , providing a mounting platform for other components, and ensuring the stability of the overall structure of the assembly.

[0097] The Z-axis motion motor 232 is mounted on the Z-axis mounting plate 231 and serves as a power source to output a rotational driving force.

[0098] A Z-axis pulley 233 is provided at each end of the Z-axis mounting plate 231 along the Z-axis direction, and is used to support and guide the Z-axis synchronous belt 234 and change the transmission direction.

[0099] The Z-axis synchronous belt 234 is wound around the Z-axis pulley 233 , and one end is fixedly connected to the Z-axis sliding member 235 for transmitting power from the Z-axis motion motor 232 .

[0100] The Z-axis sliding member 235 is connected to the Z-axis synchronous belt 234 and can slide along the Z-axis direction on the Z-axis mounting plate 231. It is the terminal execution component for realizing vertical movement.

[0101] The Z-axis mounting plate 231 is fixedly connected to the motion base 216 to form a stable installation foundation; the Z-axis motion motor 232 is directly mounted on the Z-axis mounting plate 231; the Z-axis pulley 233 is fixed at both ends of the Z-axis mounting plate 231; the Z-axis synchronous belt 234 is sleeved on the pulley and is tightly connected to the Z-axis sliding member 235, forming a complete transmission chain of "motor-pulley-synchronous belt-sliding member".

[0102] After the Z-axis motion motor 232 is started, it outputs rotational power and is connected to the Z-axis pulley 233 through a transmission device (such as a gear or a coupling), thereby driving the Z-axis pulley 233 to rotate.

[0103] When the Z-axis pulley 233 rotates, it drives the Z-axis timing belt 234 wound around it to move. Since the Z-axis timing belt 234 is fixedly connected to the Z-axis slide 235, the linear motion of the Z-axis timing belt 234 directly drives the Z-axis slide 235 to slide in the vertical direction (Z-axis direction) along the Z-axis mounting plate 231.

[0104] The movement of the Z-axis slide 235 is further transmitted to the puncture execution unit 3 connected thereto, thereby achieving position adjustment of the puncture execution unit 3 in the Z-axis direction to adapt to the puncture requirements of blood vessels at different depths.

[0105] By adopting the above technical solution, the synchronous belt drive has the characteristics of no slip and precise transmission ratio, and can accurately convert the rotational motion of the motor into the linear motion of the Z-axis slide 235, avoiding the puncture depth deviation caused by transmission error, ensuring the positioning accuracy of the puncture execution unit 3 in the vertical direction, and reducing the puncture risk.

[0106] In one embodiment, the puncture execution unit 3 includes a pitch angle adjustment component 31 connected to the spatial motion unit 2, a deflection angle adjustment component 32 connected to the pitch angle adjustment component 31, and a puncture execution component 33 connected to the deflection angle adjustment component 32; the pitch angle adjustment component 31 is used to adjust the pitch angle of the deflection angle adjustment component 32 and the puncture execution component 33; the deflection angle adjustment component 32 is used to adjust the deflection angle of the puncture execution component 33.

[0107] Specifically, the pitch angle adjustment component 31 serves as a bridge connecting the spatial motion unit 2 and the deflection angle adjustment component 32 , and is used to control the angle change of the puncture execution unit 3 in the vertical plane.

[0108] The deflection angle adjustment component 32 is connected between the pitch angle adjustment component 31 and the puncture actuator component 33 and is responsible for controlling the rotation of the puncture actuator component 33 in the horizontal plane.

[0109] The puncture execution assembly 33 is a terminal execution component that directly performs the puncture action. It generally includes a puncture needle, a push rod mechanism and a power device (such as a cylinder or an electric push rod).

[0110] The puncture execution unit 3 is connected in a hierarchical series: the spatial motion unit 2 first connects to the pitch angle adjustment component 31, providing a base position for subsequent components. The pitch angle adjustment component 31 connects to the yaw angle adjustment component 32, transmitting pitch angle changes to the next level. The yaw angle adjustment component 32 then connects to the puncture execution component 33, ultimately achieving comprehensive adjustment of the puncture angle. This connection method ensures clear division of labor among the components and prevents interference with each other's movements.

[0111] In one embodiment, the pitch angle adjustment assembly 31 includes a connecting frame 311 connected to the spatial motion unit 2, a pitch adjustment motor 312 provided on the connecting frame 311, and a pitch frame 313 in transmission connection with the pitch adjustment motor 312; the deflection angle adjustment assembly 32 includes a deflection adjustment motor 321 provided on the pitch frame 313, a deflection frame 322 in transmission connection with the deflection adjustment motor 321, and a puncture execution assembly 33 provided on the deflection frame 322; the pitch adjustment motor 312 is used to drive the pitch frame 313 to rotate around the pitch axis; the deflection adjustment motor 321 is used to drive the deflection frame 322 to rotate around the deflection axis.

[0112] Specifically, the connecting frame 311 serves as a basic carrier of the assembly, is directly connected to the spatial motion unit 2 , and provides a mounting platform for other components to ensure structural stability.

[0113] The pitch adjustment motor 312 is mounted on the connecting frame 311 and serves as a power source for pitch angle adjustment, outputting a rotational driving force.

[0114] The pitch frame 313 is in driving connection with the pitch adjustment motor 312 and can rotate around the pitch axis to drive subsequent components to achieve angle changes in the vertical plane.

[0115] The yaw adjustment motor 321 is mounted on the pitch frame 313 and is responsible for controlling the rotation of the yaw frame 322 in the horizontal plane. It is the power core for adjusting the yaw angle.

[0116] The deflection frame 322 is in transmission connection with the deflection adjustment motor 321 and can rotate around the deflection axis, directly carrying the puncture actuator 33 and transmitting the angle adjustment action.

[0117] The puncture actuator 33 is mounted on the deflection frame 322 and performs the puncture action after completing the angle adjustment. The connecting frame 311 is fixedly connected to the spatial motion unit 2 to form a stable foundation; the pitch adjustment motor 312 is mounted on the connecting frame 311 and connected to the pitch frame 313 via a transmission device (such as gears or couplings); the pitch frame 313 carries the deflection adjustment motor 321, which is then connected to the deflection frame 322 via a transmission device; the deflection frame 322 is finally connected to the puncture actuator 33, forming a hierarchical connection link of "spatial motion unit 2-connecting frame 311-pitch adjustment motor 312-pitch frame 313-yaw adjustment motor 321-deflection frame 322-puncture actuator 33".

[0118] After the pitch adjustment motor 312 is activated, the output rotational power is transmitted to the pitch frame 313 through the transmission device, driving the pitch frame 313 to rotate about the pitch axis. Because the yaw adjustment motor 321, yaw frame 322, and puncture actuator assembly 33 are all mounted on the pitch frame 313, they rotate synchronously with the pitch frame 313, achieving the angle change of the puncture actuator 33 within the vertical plane. For example, when the puncture needle needs to be adjusted from a vertical position to a 45° tilt, the pitch adjustment motor 312 receives the control command and accurately rotates to the corresponding angle, driving all subsequent components to complete the pitch angle adjustment.

[0119] After the pitch angle is adjusted, the yaw adjustment motor 321 is activated. The rotational power it generates is transmitted via a transmission mechanism to the yaw frame 322, causing it to rotate about its yaw axis. This causes the puncture actuator 33, mounted on the yaw frame 322, to rotate accordingly, achieving horizontal angle adjustment. For example, if there is an obstruction around a blood vessel, the yaw adjustment motor 321 can control the rotation of the yaw frame 322, driving the puncture needle to avoid the obstruction and select the optimal puncture direction.

[0120] By adopting the above technical solution, the angle of the puncture execution component 33 in the vertical and horizontal planes can be independently adjusted by independently driving the pitch adjustment motor 312 and the yaw adjustment motor 321. Compared with the single motor control method, the flexibility and accuracy of the angle adjustment are greatly improved, which can adapt to complex blood vessel directions and puncture requirements.

[0121] In a second aspect, a puncture surgical robot is provided, comprising a moving mechanism and the above-mentioned puncture positioning mechanism, wherein the moving mechanism is connected to the puncture positioning mechanism.

[0122] Specifically, the mobile mechanism serves as the robot's motion carrier, carrying the puncture positioning mechanism and enabling its repositioning within the surgical space. Common mobile mechanisms include wheeled mobile chassis, track-mounted mobile devices, or robotic arm-mounted mobile structures. Wheeled mobile chassis enable free movement and are suitable for rapid deployment in different surgical scenarios; track-mounted mobile devices enable precise movement along pre-set tracks, providing a stable motion path; and robotic arm-mounted mobile structures enable flexible movement with multiple degrees of freedom, adapting to complex surgical environments.

[0123] The puncture positioning mechanism includes a spatial motion unit 2 (X-axis motion component 21, Y-axis motion component 22, Z-axis motion component 23), a puncture execution unit 3 (pitch angle adjustment component 31, deflection angle adjustment component 32, puncture execution component 33), etc., which are responsible for accurately adjusting the position and angle of the puncture needle to ensure the accuracy of the puncture operation.

[0124] The mobile mechanism flexibly moves within the operating room based on surgical requirements and physician instructions. For example, during bedside puncture procedures, the wheeled mobile chassis can quickly push the puncture surgical robot to the patient's bedside and adjust the chassis' posture to align the puncture positioning mechanism with the patient's puncture site. When performing surgeries on fixed operating tables, the track-mounted mobile device precisely moves the puncture positioning mechanism along a pre-set track to the target position, ensuring the puncture procedure is performed in the optimal position.

[0125] Once the moving mechanism reaches the designated position, the puncture positioning mechanism begins operating. The X-axis motion assembly 21, Y-axis motion assembly 22, and Z-axis motion assembly 23 of the spatial motion unit 2 work in concert to move the puncture actuator 3 to the approximate location of the target puncture point. Subsequently, the pitch angle adjustment assembly 31 and yaw angle adjustment assembly 32 of the puncture actuator 3 finely adjust the puncture needle's angle based on the actual position and angle of the blood vessel or lesion. Finally, after adjusting the position and angle, the puncture actuator 33 executes the puncture action, completing a precise puncture.

[0126] By combining the mobile mechanism with the puncture positioning mechanism, precise control is achieved, from macroscopic position adjustment to microscopic puncture operations. The mobile mechanism ensures that the puncture positioning mechanism can accurately reach the target area, while the puncture positioning mechanism achieves high-precision position and angle adjustment of the puncture needle at the microscopic level. The two complement each other, significantly improving the success rate and accuracy of punctures and reducing surgical risks.

[0127] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A puncture positioning mechanism, characterized in that: include: a frame, a spatial motion unit connected to the frame, a puncture execution unit connected to the spatial motion unit, the blood vessel imaging unit connected to the puncture execution unit, and an image acquisition unit provided on the frame; Among them, the frame is used to support the spatial motion unit; the spatial motion unit is used to adjust the position of the puncture execution unit in three different directions; the puncture execution unit is used to adjust its own pitch angle, deflection angle and perform the puncture action; the blood vessel imaging unit is used to project the blood vessels onto the skin surface; and the image acquisition unit is used to acquire blood vessel images.

2. The puncture positioning mechanism according to claim 1, characterized in that: The spatial motion unit includes an X-axis motion component, a Y-axis motion component and a Z-axis motion component; the X-axis motion component and the Y-axis motion component are both connected to the frame, and the Z-axis motion component is connected to the X-axis motion component and the Y-axis motion component respectively; the puncture execution unit is connected to the Z-axis motion component; the X-axis motion component is used to drive the Z-axis motion component and the puncture execution unit to move along the X-axis direction; the Y-axis motion component is used to drive the Z-axis motion component and the puncture execution unit to move along the Y-axis direction; the Z-axis motion component is used to drive the puncture execution unit to move along the Z-axis direction.

3. The puncture positioning mechanism according to claim 2, characterized in that: The X-axis motion assembly includes a connecting seat connected to the frame, an X-axis motion driving structure connected to the connecting seat, two X-axis fixed rods arranged in parallel and spaced apart on the connecting seat, X-axis sliding members slidingly arranged on the X-axis fixed rods in a one-to-one correspondence, an X-axis sliding rod connecting the two X-axis sliding members, and a motion base slidably connected to the X-axis sliding rod; the motion base is respectively connected to the Y-axis motion assembly and the Z-axis motion assembly; the X-axis motion driving structure is used to drive the X-axis sliding member to move along the length direction of the X-axis fixed rod, thereby driving the X-axis sliding rod and the motion base to move along the X-axis direction.

4. The puncture positioning mechanism according to claim 3, characterized in that: The Y-axis motion assembly includes a Y-axis motion driving structure connected to the connecting seat, two Y-axis fixed rods arranged in parallel and spaced apart on the connecting seat, Y-axis sliding members slidingly arranged on the Y-axis fixed rods in a one-to-one correspondence, and a Y-axis sliding rod connecting the two Y-axis sliding members, and the motion base is slidably connected to the Y-axis sliding rod; the Y-axis motion driving structure is used to drive the Y-axis sliding member to move along the length direction of the Y-axis fixed rod, thereby driving the Y-axis sliding rod and the motion base to move along the Y-axis direction.

5. The puncture positioning mechanism according to claim 4, characterized in that: The motion base is provided with an X-axis sliding hole and a Y-axis sliding hole, the depth direction of the X-axis sliding hole is perpendicular to the X-axis, the depth direction of the Y-axis sliding hole is perpendicular to the Y-axis, the X-axis sliding rod is clearance-fitted with the X-axis sliding hole, the X-axis sliding rod can slide along the depth direction of the X-axis sliding hole, and the Y-axis sliding rod can slide along the depth direction of the Y-axis sliding hole.

6. The puncture positioning mechanism according to claim 4, characterized in that: The X-axis motion driving structure includes an X-axis motion motor connected to the connecting seat, an X-axis pulley correspondingly arranged on the Y-axis fixed rod, and an X-axis synchronous belt wound around the X-axis pulley, the X-axis synchronous belt is connected to the X-axis sliding member, and the X-axis motion motor is connected to the X-axis pulley for driving the X-axis synchronous belt to drive the X-axis sliding member to move along the X-axis direction; the Y-axis motion driving structure includes a Y-axis motion motor connected to the connecting seat, a Y-axis pulley correspondingly arranged on the X-axis fixed rod, and a Y-axis synchronous belt wound around the Y-axis pulley, the Y-axis synchronous belt is connected to the Y-axis sliding member, and the Y-axis motion motor is connected to the Y-axis pulley for driving the Y-axis synchronous belt to drive the Y-axis sliding member to move along the Y-axis direction.

7. The puncture positioning mechanism according to claim 3, characterized in that: The Z-axis motion assembly includes a Z-axis mounting plate connected to the motion base, a Z-axis motion motor provided on the Z-axis mounting plate, Z-axis pulleys provided at both ends of the Z-axis mounting plate in the Z-axis direction, a Z-axis synchronous belt wound around the Z-axis pulley, and a Z-axis sliding member fixedly connected to the Z-axis synchronous belt, wherein the Z-axis sliding member can slide on the Z-axis mounting plate; the Z-axis synchronous belt is connected to the Z-axis sliding member, and the Z-axis motion motor is connected to the Z-axis pulley for driving the Z-axis synchronous belt to drive the Z-axis sliding member to move along the Z-axis direction.

8. The puncture positioning mechanism according to any one of claims 1 to 7, characterized in that: The puncture execution unit includes a pitch angle adjustment component connected to the spatial motion unit, a deflection angle adjustment component connected to the pitch angle adjustment component, and a puncture execution component connected to the deflection angle adjustment component; the pitch angle adjustment component is used to adjust the pitch angle of the deflection angle adjustment component and the puncture execution component; the deflection angle adjustment component is used to adjust the deflection angle of the puncture execution component.

9. The puncture positioning mechanism according to claim 8, characterized in that: The pitch angle adjustment assembly includes a connecting frame connected to the spatial motion unit, a pitch adjustment motor provided on the connecting frame, and a pitch frame in transmission connection with the pitch adjustment motor; the deflection angle adjustment assembly includes a deflection adjustment motor provided on the pitch frame, a deflection frame in transmission connection with the deflection adjustment motor, and a puncture execution assembly provided on the deflection frame; the pitch adjustment motor is used to drive the pitch frame to rotate around the pitch axis; the deflection adjustment motor is used to drive the deflection frame to rotate around the deflection axis.

10. A puncture surgery robot, characterized in that: The device comprises a moving mechanism and the puncture positioning mechanism according to any one of claims 1 to 9, wherein the moving mechanism is connected to the puncture positioning mechanism.

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