Puncture positioning mechanism and puncture robot

Abstract

The invention provides a puncture positioning mechanism and a puncture robot. The puncture positioning mechanism comprises a frame, a horizontal linear motion unit connected with the frame, a lifting motion unit connected with the horizontal linear motion unit, and a vertical plane motion unit connected with the lifting motion unit. The puncture angle adjusting unit is connected with the vertical plane motion unit; the puncture execution unit is connected with the puncture angle adjusting unit; wherein the frame is used for supporting the horizontal linear motion unit; the horizontal linear motion unit is used for driving the lifting motion unit to move in the horizontal direction; the lifting motion unit is used for driving the vertical plane motion unit to move in the vertical direction; the vertical plane motion unit is used for driving the puncture angle adjusting unit to move in a vertical plane; the puncture angle adjusting unit is used for adjusting the pitching angle and the deflection angle of the puncture execution unit. The puncture positioning mechanism has the advantages of being high in positioning precision, high in flexibility, convenient to operate and good in stability.

Description

Technical Field

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

[0002] In recent years, surgical robotics has made significant progress in the medical field, particularly the application of puncture surgical robots, which have provided more efficient and precise solutions for disease diagnosis and treatment. As a common clinical diagnostic and treatment method, puncture procedures are widely used in scenarios such as biopsy, drug injection, and tumor ablation. The positioning accuracy and operational stability of puncture procedures are directly related to surgical success rates and patient outcomes.

[0003] Traditional puncture surgery is highly dependent on the physician's experience and operational skills and has the following limitations:

[0004] Insufficient positioning accuracy: Manual operation is easily affected by factors such as physician fatigue and emotions, resulting in deviation of the puncture path, which may damage surrounding tissues or organs and increase the risk of complications.

[0005] Poor operational consistency: Different physicians have significant differences in their control of puncture angle and depth, making it difficult to ensure the standardization of surgical quality and limiting the popularization and promotion of the technology. Summary of the Invention

[0006] The purpose of the present invention is to provide a puncture positioning mechanism and a puncture robot to solve the technical problems of insufficient positioning accuracy and poor operation consistency of the puncture robot in the prior art.

[0007] To achieve the above object, the technical solution adopted by the present invention is:

[0008] In a first aspect, a puncture positioning mechanism is provided, comprising:

[0009] A frame, a horizontal linear motion unit connected to the frame, a lifting motion unit connected to the horizontal linear motion unit, a vertical plane motion unit connected to the lifting motion unit, a puncture angle adjustment unit connected to the vertical plane motion unit, and a puncture execution unit connected to the puncture angle adjustment unit;

[0010] In which, the frame is used to support the horizontal linear motion unit; the horizontal linear motion unit is used to drive the lifting motion unit to move in the horizontal direction; the lifting motion unit is used to drive the vertical plane motion unit to move in the vertical direction; the vertical plane motion unit is used to drive the puncture angle adjustment unit to move in the vertical plane; the puncture angle adjustment unit is used to adjust the pitch angle and deflection angle of the puncture execution unit; the puncture execution unit is used to perform the puncture action.

[0011] By adopting the above technical solution, the design of the puncture positioning mechanism has many significant technical effects:

[0012] High-precision positioning: Through multi-dimensional movement in the horizontal, vertical, and vertical planes, as well as precise adjustment of the puncture angle, the puncture point can be precisely located in three dimensions. Positioning errors can be kept to a very small range, meeting the needs of high-precision applications such as medical puncture and industrial inspection. For example, in medical biopsy puncture, the puncture needle can be accurately delivered to the diseased tissue, improving the accuracy and effectiveness of sampling.

[0013] Strong flexibility: The puncture angle adjustment unit can realize independent adjustment of the pitch angle and deflection angle, so that the puncture needle can be punctured at various angles in a complex spatial environment, adapting to the body structure and lesion location of different patients, and expanding the application range of the mechanism.

[0014] Easy to operate: The entire puncture positioning process is uniformly controlled by the control system. The operator only needs to input the coordinates of the puncture point and related parameters, and the mechanism can automatically complete the positioning and puncture operations, which greatly simplifies the operation process, reduces the difficulty of operation, and improves work efficiency.

[0015] Good Stability: The rational design and manufacture of the frame and various motion units ensure the stability of the entire mechanism during operation. The high-strength frame can withstand various loads during movement. The precise linear guide and lead screw drive system ensure smooth and reliable movement, reducing the impact of mechanism shake or vibration on puncture accuracy. In addition, the dual-link parallel structure provides excellent stability and high rigidity, reducing vibration and improving puncture positioning accuracy.

[0016] In one embodiment, the horizontal linear motion unit includes two horizontal guide rails respectively arranged on opposite sides of the frame, horizontal sliding members slidingly arranged on the horizontal guide rails, and a horizontal driving member transmission-connected to the horizontal sliding members. The length direction of the horizontal guide rail is parallel to the horizontal direction, the horizontal sliding member is connected to the lifting motion unit, and the horizontal driving member is used to drive the horizontal sliding member to move along the length direction of the horizontal guide rail.

[0017] In one embodiment, the horizontal driving member includes a horizontal driving motor connected to the frame, two horizontal pulleys respectively provided at both ends of the horizontal guide rail, and a horizontal transmission belt wrapped around the horizontal pulleys. The horizontal driving motor is connected to the horizontal pulley for driving the horizontal pulley to drive the horizontal transmission belt to move. The horizontal transmission belt extends along the length direction of the horizontal guide rail, and the horizontal transmission belt is connected to the horizontal sliding member.

[0018] In one embodiment, the lifting motion unit includes two lifting guide rails, a lifting slide sliding on the lifting guide rails, and a lifting drive member transmission-connected to the lifting slide member. The lifting guide rails are connected to the horizontal slide member one-to-one. The length direction of the lifting guide rails is parallel to the vertical direction. The lifting slide member is connected to the vertical plane motion unit. The lifting drive member is used to drive the lifting slide member to move along the length direction of the lifting guide rails.

[0019] In one embodiment, the lifting drive member includes a lifting drive motor connected to the horizontal sliding member, two lifting pulleys respectively provided at both ends of the lifting guide rail, and a lifting transmission belt wrapped around the lifting pulleys. The lifting drive motor is in transmission connection with the lifting pulleys and is used to drive the lifting wheels to drive the lifting transmission belt to move. The lifting transmission belt extends along the length direction of the lifting guide rail and is connected to the lifting sliding member.

[0020] In one embodiment, the vertical plane motion unit includes a first slide connected to one of the lifting slides, a second slide connected to the other lifting slide, a first connecting rod connected to the first slide axis, a second connecting rod connected to the second slide axis, and a mounting seat connected to the first connecting rod and the second connecting rod axis; the mounting seat is connected to the puncture angle adjustment unit; the height of the first slide and the second slide in the vertical direction is independently adjustable, driving the first connecting rod and the second connecting rod to rotate around the axis, so that the mounting seat deflects in the vertical plane.

[0021] In one embodiment, the first connecting rod includes a first connecting rod portion and a second connecting rod portion arranged parallel to and spaced apart from the first connecting rod portion, the two ends of the first connecting rod portion are respectively connected to the first slide and the mounting seat shaft, the two ends of the second connecting rod portion are respectively connected to the first slide and the mounting seat shaft, the first connecting rod portion, the second connecting rod portion, the first slide and the mounting seat form a parallelogram motion structure; the second connecting rod includes a third connecting rod portion and a fourth connecting rod portion arranged parallel to and spaced apart from the third connecting rod portion, the two ends of the third connecting rod portion are respectively connected to the second slide and the mounting seat shaft, the two ends of the fourth connecting rod portion are respectively connected to the second slide and the mounting seat shaft, the third connecting rod portion, the fourth connecting rod portion, the second slide and the mounting seat form a parallelogram motion structure.

[0022] In one embodiment, the puncture angle adjustment unit includes a connecting plate connected to the vertical plane motion unit, a support shaft connected to the connecting plate, a fixed plate connected to the puncture execution unit, a cross-axis structure connecting the support shaft and the fixed plate, a first angle adjustment motor and a second angle adjustment motor connecting the fixed plate and the connecting plate, the cross-axis structure includes a pitch axis and a yaw axis, the first angle adjustment motor is used to drive the fixed plate to rotate around the pitch axis, and the second angle adjustment motor is used to drive the fixed plate to rotate around the yaw axis.

[0023] In one embodiment, the puncture execution unit includes a needle fixing seat connected to the puncture angle adjustment unit, a needle slidably mounted on the needle fixing seat, a transmission structure connected to the needle, and a power structure connected to the transmission structure; the power structure drives the needle to move along the puncture direction of the needle fixing seat through the transmission structure.

[0024] In a second aspect, a puncture 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.

[0025] By adopting the above technical solution, the moving mechanism can accurately move the puncture positioning mechanism to the specified position, and the angle adjustment unit can accurately adjust the puncture angle. Combined with the high-precision transmission structure of the puncture execution unit, the puncture needle can accurately reach the target position, thereby improving the accuracy of puncture, reducing errors, and helping to improve the accuracy of diagnosis and treatment effects.

[0026] The collaborative operation of the movement mechanism and puncture positioning mechanism enables the puncture robot to adapt to different patient positions and different puncture sites, allowing flexible operation in complex clinical environments. Doctors can remotely control the robot's movement and operation through the control system, avoiding direct contact with the patient and radiation source, reducing the doctor's radiation risk, and improving operational convenience. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] 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.

[0028] Figure 1 It is a three-dimensional structural diagram of the puncture positioning mechanism provided by an embodiment of the present invention.

[0029] Figure 2 It is an exploded view of the puncture positioning mechanism provided in an embodiment of the present invention.

[0030] Figure 3 It is a three-dimensional structural diagram of the horizontal linear motion unit, the lifting motion unit, and the vertical plane motion unit provided by an embodiment of the present invention.

[0031] Figure 4 It is a rear view of the horizontal linear motion unit, the lifting motion unit, and the vertical plane motion unit provided by an embodiment of the present invention.

[0032] Figure 5 It is a three-dimensional structural diagram of the puncture angle adjustment unit and the puncture execution unit provided in an embodiment of the present invention.

[0033] The reference numerals in the figures are:

[0034] 1. Frame; 2. Horizontal linear motion unit; 3. Lifting motion unit; 4. Vertical plane motion unit; 5. Puncture angle adjustment unit; 6. Puncture execution unit; 7. Connection unit; 8. Camera unit;

[0035] 21. Horizontal guide rail; 22. Horizontal slide; 23. Horizontal drive member; 31. Lifting guide rail; 32. Lifting slide; 33. Lifting drive member; 41. First slide; 42. Second slide; 43. First connecting rod; 44. Second connecting rod; 45. Mounting seat; 51. Connecting plate; 52. Support shaft; 53. Fixing plate; 54. Cross-axis structure; 55. First angle adjustment motor; 56. Second angle adjustment motor; 61. Needle; 62. Needle fixing seat; 63. Transmission structure; 64. Power structure;

[0036] 231. Horizontal drive motor; 232. Horizontal pulley; 233. Horizontal transmission belt; 331. Lifting drive motor; 332. Lifting pulley; 333. Lifting transmission belt; 431. First connecting rod; 432. Second connecting rod; 441. Third connecting rod; 442. Fourth connecting rod; 541. Pitch axis; 542. Yaw axis. DETAILED DESCRIPTION

[0037] 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.

[0038] 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.

[0039] 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.

[0040] 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:

[0041] like Figure 1 and Figure 2 As shown, an embodiment of the present invention provides a puncture positioning mechanism, comprising:

[0042] Frame 1, a horizontal linear motion unit 2 connected to the frame 1, a lifting motion unit 3 connected to the horizontal linear motion unit 2, a vertical plane motion unit 4 connected to the lifting motion unit 3, a puncture angle adjustment unit 5 connected to the vertical plane motion unit 4, and a puncture execution unit 6 connected to the puncture angle adjustment unit 5;

[0043] Among them, the frame 1 is used to support the horizontal linear motion unit 2; the horizontal linear motion unit 2 is used to drive the lifting motion unit 3 to move in the horizontal direction; the lifting motion unit 3 is used to drive the vertical plane motion unit 4 to move in the vertical direction; the vertical plane motion unit 4 is used to drive the puncture angle adjustment unit 5 to move in the vertical plane; the puncture angle adjustment unit 5 is used to adjust the pitch angle and deflection angle of the puncture execution unit 6; the puncture execution unit 6 is used to perform the puncture action.

[0044] Specifically, frame 1 serves as the foundational support component of the entire puncture positioning mechanism, providing a stable mounting platform for the horizontal linear motion unit 2. Typically constructed of high-strength metal, it possesses excellent rigidity and stability, capable of withstanding the various forces acting upon it by subsequent motion units and during the puncture process, ensuring that the entire mechanism remains stable during operation without shaking or deformation.

[0045] The horizontal linear motion unit 2 is connected to the frame 1 , and the lifting motion unit 3 is used for precise movement along the horizontal direction (such as the X-axis and Y-axis directions).

[0046] The lifting motion unit 3 is connected to the horizontal linear motion unit 2, and the lifting motion unit 3 drives the vertical plane motion unit 4 to move up and down along the vertical direction (Z-axis direction) to achieve vertical adjustment of the puncture position.

[0047] The vertical plane motion unit 4 is connected to the lifting motion unit 3 and can perform linear or curved motion in the vertical plane. Its function is to further adjust the position of the puncture angle adjustment unit 5 in the vertical plane to prepare for the precise adjustment of the puncture angle.

[0048] The puncture angle adjustment unit 5 is connected to the vertical motion unit 4 and typically utilizes a universal joint, a rotating shaft, and a drive motor. The drive motor drives the universal joint and the rotating shaft to adjust the pitch angle (rotation about the pitch axis) and yaw angle (rotation about the yaw axis) of the puncture execution unit 6, thereby precisely controlling the puncture direction.

[0049] The puncture execution unit 6 is the end execution component of the entire mechanism and is provided with a needle for performing the puncture action. It can accurately puncture the needle to the target position according to the instruction.

[0050] The working principle of the puncture positioning mechanism provided in this embodiment is as follows:

[0051] The work of the puncture positioning mechanism is a process of coordinated operation of various units, as follows:

[0052] Initial positioning: Before performing the puncture operation, the three-dimensional coordinates of the puncture point are first set through the control system according to the patient's lesion location or detection requirements.

[0053] Horizontal positioning: After receiving the control signal, the horizontal linear motion unit 2 moves along the X-axis and Y-axis to adjust the entire mechanism to the projection position of the puncture point on the horizontal plane.

[0054] Vertical positioning: After the horizontal positioning is completed, the motor of the lifting motion unit 3 starts to work, and the vertical plane motion unit 4 rises and falls in the Z-axis direction, so that the puncture execution unit 6 reaches the vertical height position of the puncture point.

[0055] Vertical plane adjustment: The vertical plane motion unit 4 moves in the vertical plane as needed to further fine-tune the position of the puncture angle adjustment unit 5 so that the puncture direction is closer to the target direction.

[0056] Angle adjustment: The puncture angle adjustment unit 5 accurately adjusts the pitch angle and deflection angle of the puncture execution unit 6 according to the instructions of the control system, so that the axis of the needle 61 is accurately aligned with the target puncture point.

[0057] Puncture execution: When the position and angle of the needle 61 are adjusted to the correct position, the propulsion mechanism of the puncture execution unit 6 punctures the needle 61 to the target position at a predetermined speed and depth, completing the puncture operation.

[0058] During the entire working process, the various motion units cooperate with each other, and through the precise control of the control system, the puncture needle is accurately positioned and punctured from the initial position to the target position.

[0059] The design of the puncture positioning mechanism has many significant technical effects:

[0060] High-precision positioning: Through multi-dimensional movement in the horizontal, vertical, and vertical planes, as well as precise adjustment of the puncture angle, the puncture point can be precisely located in three dimensions. Positioning errors can be kept to a very small range, meeting the needs of high-precision applications such as medical puncture and industrial inspection. For example, in medical biopsy puncture, the puncture needle can be accurately delivered to the diseased tissue, improving the accuracy and effectiveness of sampling.

[0061] Strong flexibility: The puncture angle adjustment unit 5 can realize independent adjustment of the pitch angle and the deflection angle, so that the puncture needle can be punctured at various angles in a complex spatial environment, adapting to the body structure and lesion location of different patients, and expanding the application range of the mechanism.

[0062] Easy to operate: The entire puncture positioning process is uniformly controlled by the control system. The operator only needs to input the coordinates of the puncture point and related parameters, and the mechanism can automatically complete the positioning and puncture operations, which greatly simplifies the operation process, reduces the difficulty of operation, and improves work efficiency.

[0063] Good Stability: The rational design and manufacture of the frame 1 and each motion unit ensures the stability of the entire mechanism during operation. The high-strength frame 1 can withstand various loads during movement. The precise linear guide and lead screw drive system ensure smooth and reliable movement, reducing the impact of mechanism shake or vibration on puncture accuracy. In addition, the dual-link parallel structure provides excellent stability and high rigidity, reducing vibration and improving puncture positioning accuracy.

[0064] Please also refer to Figure 3 In one embodiment, the horizontal linear motion unit 2 includes two horizontal guide rails 21 respectively provided on opposite sides of the frame 1, horizontal sliding members 22 correspondingly slidably provided on the horizontal guide rails 21, and a horizontal driving member 23 transmission-connected to the horizontal sliding member 22. The length direction of the horizontal guide rail 21 is parallel to the horizontal direction. The horizontal sliding member 22 is connected to the lifting motion unit 3. The horizontal driving member 23 is used to drive the horizontal sliding member 22 to move along the length direction of the horizontal guide rail 21.

[0065] Specifically, two horizontal guide rails 21 are provided on opposite sides of the frame 1. The length of the horizontal guide rails 21 is parallel to the horizontal direction, providing a precise guide path for the movement of the horizontal slide 22. The horizontal guide rails 21 are typically manufactured from high-hardness, high-precision metal materials, such as stainless steel or aluminum alloy. Their surfaces are precision-machined to have an extremely low roughness to reduce frictional resistance during the movement of the slide and ensure smooth and straight movement. Furthermore, the design of the double-sided horizontal guide rails 21 effectively disperses the load, improving the stability and load-bearing capacity of the overall structure.

[0066] The number of horizontal sliding members 22 corresponds to the horizontal guide rail 21, that is, two, and they are slidably arranged on the horizontal guide rail 21 in a one-to-one correspondence. As a key component connecting the horizontal guide rail 21 and the lifting motion unit 3, the horizontal sliding member 22 adopts a high-precision slider-guide rail matching structure between it and the guide rail, which can achieve flexible and stable sliding on the guide rail. The sliding member is usually provided with a plurality of balls or rollers, which replace sliding friction with rolling friction, further reducing friction and improving movement efficiency and accuracy. In addition, the horizontal sliding member 22 is tightly connected to the lifting motion unit 3 by bolt connection or other fixing methods to ensure that the lifting motion unit 3 can be stably driven during the horizontal movement process.

[0067] The horizontal drive member 23 is in transmission connection with the horizontal slide 22, and its function is to provide power for the movement of the horizontal slide 22. The horizontal drive member 23 can be a combination of a motor and a ball screw. The motor is connected to the ball screw via a coupling. When the motor rotates, it drives the ball screw to rotate. The nut on the ball screw converts the rotational motion into linear motion, thereby driving the horizontal slide 22 along the length of the horizontal guide rail 21. Alternatively, a linear motor can be used for direct drive. Linear motors can directly generate linear motion without the need for intermediate transmission components, and have the advantages of fast response speed and high precision.

[0068] By adopting the above technical solution, the symmetrical layout of the bilateral horizontal guide rails 21 and the sliding members can evenly distribute the load, avoiding structural deformation or shaking caused by unilateral force, and improving the stability and load-bearing capacity of the entire horizontal linear motion unit 2. Even if subjected to large lateral forces or impacts during the puncture process, the structure can remain stable, ensuring the accuracy of puncture positioning.

[0069] The combination of the high-precision horizontal guide rail 21 and the sliding member, as well as the precise driving method, can achieve high-precision positioning of the puncture positioning mechanism in three-dimensional space, meeting the strict requirements of medical, industrial and other fields on puncture position accuracy.

[0070] By precisely controlling the horizontal drive member 23, the control system can flexibly adjust the speed, direction, and displacement of the horizontal slide 22. This flexible adjustability allows the puncture positioning mechanism to adapt to different work scenarios and puncture requirements. For example, during medical punctures, the puncture position can be quickly and accurately adjusted according to the patient's body shape and lesion location.

[0071] In one embodiment, the horizontal driving member 23 includes a horizontal driving motor 231 connected to the frame 1, two horizontal pulleys 232 respectively arranged at both ends of the horizontal guide rail 21, and a horizontal transmission belt 233 wrapped around the horizontal pulley 232. The horizontal driving motor 231 is connected to the horizontal pulley 232 for transmission and is used to drive the horizontal pulley 232 to drive the horizontal transmission belt 233 to move. The horizontal transmission belt 233 extends along the length direction of the horizontal guide rail 21, and the horizontal transmission belt 233 is connected to the horizontal sliding member 22.

[0072] Specifically, the horizontal drive motor 231 is connected to the frame 1 and serves as the power source for the entire horizontal drive member 23. The horizontal drive motor 231 is typically a servo motor or stepper motor, capable of precisely controlling its speed and direction according to the control system's instructions, thereby providing stable and controllable power for the movement of the horizontal slide 22. The horizontal drive motor 231 is secured to the frame 1 via a bracket or mounting bracket to prevent shaking during operation and ensure stable power transmission.

[0073] There are two horizontal pulleys 232, one at each end of the horizontal guide rail 21. These pulleys 232 are typically made of high-strength, wear-resistant materials, such as engineering plastics or metal alloys, and their surfaces are specially treated to reduce friction and wear with the drive belt. The center of each pulley 232 is mounted on a bracket via a bearing, allowing for flexible rotation. The bracket is securely connected to the frame 1, providing reliable support for the horizontally driven pulley 232 and ensuring it maintains a stable position during transmission.

[0074] The horizontal transmission belt 233 is wound around the horizontal pulley 232 and extends along the length of the horizontal guide rail 21. It is a key component connecting the horizontal drive motor 231 and the horizontal slide 22. The horizontal transmission belt 233 is typically a polyurethane synchronous belt or a rubber belt. The toothed surface of the horizontal transmission belt 233 precisely meshes with the teeth on the horizontal pulley 232, achieving non-slip synchronous transmission. The rubber belt transmits power through friction. One end of the horizontal transmission belt 233 is fixedly connected to the horizontal slide 22, while the other end is maintained under appropriate tension by a tensioning device to prevent slippage during transmission, thereby accurately transmitting power to the horizontal slide 22.

[0075] The horizontal slider 22, fixedly connected to the horizontal transmission belt 233, moves linearly on the horizontal guide rail 21 as the horizontal transmission belt 233 moves. The horizontal guide rail 21 provides guidance for the slider, ensuring its movement along the predetermined horizontal direction. By controlling the speed and number of revolutions of the horizontal drive motor 231, the travel distance and speed of the horizontal transmission belt 233 can be precisely controlled, thereby achieving precise control of the position and motion of the horizontal slider 22, ultimately driving the lifting unit 3 to its target horizontal position.

[0076] By adopting this technical solution, compared to drive methods such as ball screws and linear motors, the horizontal drive member 23 with a belt transmission structure has fewer components and a relatively simple manufacturing process, eliminating the need for complex processing and assembly, thereby effectively reducing production costs. Furthermore, its compact structure and small footprint facilitate the overall layout and miniaturization of the puncture positioning mechanism.

[0077] Horizontal drive belt 233 runs smoothly on horizontal pulley 232, without generating noticeable shock or vibration during transmission. Compared to gear transmission and other methods, belt drive is quieter and does not disrupt medical or industrial environments. It is particularly suitable for noise-sensitive medical puncture scenarios, providing a quieter and more comfortable environment for patients and operators.

[0078] The main components of the horizontal drive element 23, such as the drive belt and pulleys, experience minimal wear under normal use and are easily replaced. When the drive belt becomes worn or aged, it can simply be removed and replaced with a new one, eliminating the need for extensive maintenance or replacement of the entire drive system. This significantly reduces maintenance effort and costs, and extends the overall service life of the puncture positioning mechanism.

[0079] The horizontal transmission belt 233 itself has a certain degree of elasticity, which can absorb and cushion vibration and impact from the motor and other components during transmission, reducing the impact of vibration on puncture positioning accuracy and improving the stability and reliability of the mechanism. Even if unexpected resistance or impact is encountered during the puncture process, the elasticity of the horizontal transmission belt 233 can provide a certain degree of cushioning, protecting the mechanism components from damage.

[0080] In one embodiment, the lifting motion unit 3 includes two lifting guide rails 31, a lifting slide 32 sliding on the lifting guide rails 31, and a lifting drive 33 that is transmission-connected to the lifting slide 32. The lifting guide rails 31 are connected to the horizontal slide 22 one-to-one. The length direction of the lifting guide rails 31 is parallel to the vertical direction. The lifting slide 32 is connected to the vertical plane motion unit 4. The lifting drive 33 is used to drive the lifting slide 32 to move along the length direction of the lifting guide rails 31.

[0081] Specifically, there are two lifting rails 31, connected one-to-one with the horizontal sliders 22. Each horizontal slider 22 is mounted with a lifting rail 31, forming a stable double-sided support structure. The length of the lifting rails 31 is parallel to the vertical direction, providing precise guidance for the vertical movement of the lifting sliders 32. The guide rails are typically high-precision linear guides made of stainless steel or surface-hardened alloy steel. They have high hardness, low friction, and excellent wear resistance, ensuring smooth, linear vertical movement of the lifting sliders 32 while also withstanding the vertical loads generated during the puncture process.

[0082] The lift slider 32 slides onto the lift rail 31 and serves as a key component connecting the lift rail 31 and the vertical motion unit 4. The lift slider 32 is typically made of high-strength metal, with a finely finished surface to ensure a secure fit with the rail and smooth movement. Furthermore, the lift slider 32 features a mounting interface for secure connection to the vertical motion unit 4, thereby transmitting vertical motion to subsequent units.

[0083] The lifting drive 33 is in transmission connection with the lifting slide 32 and is the core component that provides power for the lifting slide 32. Common lifting drives 33 include a combination of a motor and a ball screw pair, or a linear motor. In the structure of the motor and the ball screw pair, the motor is connected to the ball screw through a coupling, and the rotational motion of the motor is converted into the linear motion of the lifting slide 32 through the screw; if a linear motor is used, a linear driving force can be directly generated to drive the lifting slide 32 to move up and down along the lifting guide rail 31. The lifting drive 33 can accurately control the movement speed, direction and displacement of the lifting slide 32 according to the instructions of the control system.

[0084] Driven by the lift driver 33, the lift slider 32 moves vertically along two parallel lift rails 31. Because the lift rails 31 provide precise guidance, the lift slider 32 can move smoothly and accurately along the predetermined vertical direction, thereby driving the connected vertical planar motion unit 4 to adjust its position vertically. By controlling the motion of the lift driver 33, the displacement of the lift slider 32 can be precisely controlled, achieving precise vertical positioning of the puncture positioning mechanism to accommodate differences in patient size or varying lesion depths.

[0085] By employing the above-described technical solution, the high-precision lifting guide rail 31 and lifting slide 32 are coordinated, and the precise control of the lifting drive 33 enables the vertical movement accuracy of the lifting slide 32 to reach the micron level. This high-precision positioning capability, combined with the horizontal linear motion unit 2 and other motion units, enables high-precision positioning of the puncture positioning mechanism in three dimensions, ensuring that the puncture needle accurately reaches the target depth and meeting the stringent vertical positioning accuracy requirements of medical puncture, industrial testing, and other fields.

[0086] The dual-sided lifting rails 31 form a stable support structure that evenly distributes vertical loads, effectively preventing structural deformation or shaking caused by unilateral forces, and improving the stability and load-bearing capacity of the entire lifting unit 3. Even when encountering significant vertical resistance or impact during the puncture process, this structure remains stable, ensuring accurate puncture positioning and extending the life of the mechanism.

[0087] By precisely controlling the lifting drive 33 through the control system, the speed, direction, and displacement of the lifting slider 32 can be flexibly adjusted. This flexible adjustability enables the puncture positioning mechanism to quickly adapt to different work scenarios and puncture requirements. For example, during medical punctures, the puncture position can be quickly and accurately adjusted according to the patient's body shape and lesion depth, improving the mechanism's versatility and work efficiency.

[0088] In one embodiment, the lifting drive member 33 includes a lifting drive motor 331 connected to the horizontal sliding member 22, two lifting pulleys 332 respectively provided at both ends of the lifting guide rail 31, and a lifting transmission belt 333 wrapped around the lifting pulleys 332. The lifting drive motor 331 is transmission-connected to the lifting pulleys 332 and is used to drive the lifting wheels to drive the lifting transmission belt 333 to move. The lifting transmission belt 333 extends along the length direction of the lifting guide rail 31, and the lifting transmission belt 333 is connected to the lifting sliding member 32.

[0089] Specifically, the lift drive motor 331 is connected to the horizontal slide 22 and serves as the power source for the entire lift drive 33. Typically, a servo motor or stepper motor is used, offering precise speed and direction control, and delivering stable power according to control system instructions. The motor is secured to the horizontal slide 22 via a specific mounting bracket or base, ensuring operational stability and preventing vibration that could affect power transmission and positioning accuracy.

[0090] There are two lifting pulleys 332, one mounted at each end of the lifting guide rail 31. These pulleys 332 are typically made of high-strength, wear-resistant materials, such as high-quality engineering plastics or alloys, and their surfaces are meticulously machined to minimize friction and wear between them and the lifting belt 333. The pulleys 332 are mounted on a bracket via high-precision bearings, allowing for flexible rotation. The bracket is securely connected to the end of the lifting guide rail 31, providing reliable support for the pulleys 332 and ensuring they maintain a stable position and prevent displacement during transmission.

[0091] The lifting drive belt 333 is wound around the lifting pulley 332 and extends along the length of the lifting guide rail 31. It is a key transmission component that connects the lifting drive motor 331 to the lifting slide 32. Common lifting drive belts 333 include polyurethane synchronous belts or rubber belts. Their toothed structure precisely meshes with the pulley teeth, achieving non-slip synchronous transmission and ensuring transmission accuracy. Rubber belts rely on friction to transmit power. One end of the lifting drive belt 333 is securely connected to the lifting slide 32, while the other end is maintained in proper tension by a tensioning device to prevent slippage during transmission and ensure efficient power transmission to the lifting slide 32.

[0092] The working principle of the lifting drive member 33 provided in this embodiment is as follows:

[0093] The lifting drive member 33 realizes power transmission and motion control of the lifting slide member 32 based on the belt transmission principle. The specific working process is as follows:

[0094] Power Start: When the puncture positioning mechanism needs to be adjusted vertically, the control system sends a command to the lift drive motor 331, and the motor starts to operate. The motor converts electrical energy into mechanical energy and outputs rotational power according to the preset speed and direction.

[0095] The lift drive motor 331 is connected to one of the lift pulleys 332 via a synchronous belt, chain, or direct connection, driving the lift pulley 332 to rotate. Because the two lift pulleys 332 are connected by the lift belt 333, the rotating lift pulley 332 pulls the lift belt 333 to circulate between the two lift pulleys 332. During this process, the friction or toothed engagement between the lift belt 333 and the lift pulley 332 ensures stable power transmission, allowing the lift belt 333 to move smoothly along the length of the lift guide rail 31.

[0096] The lifting slide 32, fixedly connected to the lifting belt 333, moves vertically linearly on the lifting guide rail 31 as the lifting belt 333 moves. The lifting guide rail 31 provides precise guidance for the lifting slide 32, ensuring its stable movement along the predetermined vertical direction. By precisely controlling the speed, number of revolutions, and direction of the lifting drive motor 331, the travel distance, speed, and direction of the lifting belt 333 can be precisely controlled. This allows for precise adjustment of the position and motion of the lifting slide 32, ultimately driving the vertical motion unit 4 to its target vertical position.

[0097] By adopting the above technical solution, the belt-driven lifting drive member 33 has a simple structure, a small number of components, and a relatively simple manufacturing process, eliminating the need for complex processing and assembly processes, effectively reducing production costs. Furthermore, its compact structural design facilitates the overall layout of the puncture positioning mechanism, contributing to the miniaturization and lightweighting of the device.

[0098] Lifting belt 333 runs smoothly on lifting pulley 332, generating no noticeable impact or vibration during transmission and producing low operating noise. Compared to gear transmission and other methods, belt drive offers improved quietness, making it particularly suitable for noise-sensitive medical puncture environments. It creates a quiet and comfortable working environment for patients and operators, while also meeting environmental requirements.

[0099] The lifting belt 333 has a certain degree of elasticity, which can absorb and cushion vibration and impact from the motor and other components during transmission, reducing the impact of vibration on puncture positioning accuracy and improving the stability and reliability of the mechanism. Even if unexpected resistance or impact is encountered during the puncture process, the elastic cushioning effect of the belt can protect the mechanism components, reduce the risk of damage, and ensure a smooth puncture operation.

[0100] Please also refer to Figure 4 In one embodiment, the vertical plane motion unit 4 includes a first slide 41 connected to one of the lifting slides 32, a second slide 42 connected to the other lifting slide 32, a first connecting rod 43 axially connected to the first slide 41, a second connecting rod 44 axially connected to the second slide 42, and a mounting base 45 axially connected to the first connecting rod 43 and the second connecting rod 44; the mounting base 45 is connected to the puncture angle adjustment unit 5; the heights of the first slide 41 and the second slide 42 in the vertical direction are independently adjustable, driving the first connecting rod 43 and the second connecting rod 44 to rotate around the axis, so that the mounting base 45 deflects in the vertical plane.

[0101] Specifically, the first slide 41 is connected to one of the lifting slides 32, and the second slide 42 is connected to the other lifting slide 32. They are the connecting hubs of the entire unit and the lifting motion unit 3. The slides are usually made of high-strength metal materials with good rigidity and wear resistance, and can withstand the loads transmitted by subsequent components.

[0102] A first connecting rod 43 is axially connected to the first slide 41, and a second connecting rod 44 is axially connected to the second slide 42. The first and second connecting rods 43 and 44 are typically constructed of a lightweight yet high-strength alloy, such as an aluminum alloy or titanium alloy, to ensure structural strength while reducing overall weight. This axial connection allows the connecting rods to rotate about their axes, providing freedom of movement for the deflection of the mounting base 45.

[0103] The mounting seat 45 is connected to the first connecting rod 43 and the second connecting rod 44 via an axis, and is a key component connecting the vertical plane motion unit 4 and the puncture angle adjustment unit 5 .

[0104] The working principle of the vertical plane motion unit 4 provided in this embodiment is as follows:

[0105] The vertical plane motion unit 4 drives the first connecting rod 43 and the second connecting rod 44 to rotate by adjusting the height of the first slide 41 and the second slide 42, thereby realizing the deflection of the mounting seat 45 in the vertical plane. The specific working process is as follows:

[0106] When the puncture positioning mechanism needs to adjust the puncture path in the vertical plane, the control system sends instructions to the height adjustment mechanisms of the first slide 41 and the second slide 42 .

[0107] Because the first and second slides 41, 42 are independently adjustable in vertical height, when the height of one slide changes, the connecting rod connected to it rotates about its axis due to the height difference between its ends. For example, if the first slide 41 rises while the second slide 42 remains unchanged, the first connecting rod 43 will rotate upward, simultaneously causing the mounting base 45, to which it is axially connected, to deflect accordingly. Similarly, when the height of the second slide 42 changes, the second connecting rod 44 will also drive the mounting base 45 to move. The coordinated adjustment of the heights of the two slides enables the mounting base 45 to deflect in multiple angles and directions within the vertical plane.

[0108] By precisely controlling the height changes and sequence of the first and second slides 41, 42, the deflection angle and position of the mounting base 45 within the vertical plane can be precisely controlled. The deflection of the mounting base 45 ultimately drives the movement of the puncture angle adjustment unit 5 connected thereto, adjusting the vertical path of the needle 61 to avoid obstacles in human tissue or more accurately aim the needle 61 at the target lesion.

[0109] By adopting the above technical solutions:

[0110] The independently adjustable heights of the first and second slides 41, 42 give the vertical motion unit 4 exceptional flexibility. It enables multi-angle, wide-range deflection within the vertical plane, allowing the puncture needle's path to be flexibly adjusted based on actual conditions. This is particularly useful for complex human anatomy or irregular lesion locations, greatly enhancing the adaptability of puncture positioning.

[0111] By precisely controlling the height of the slide, the 45° deflection angle of the mounting base can be precisely controlled, allowing precise adjustment of the puncture needle's position within the vertical plane. This high-precision motion control ensures the puncture needle reaches the target location along the optimal preset path, improving puncture accuracy and success rates while reducing surgical risks.

[0112] The hinged connecting rod design makes the vertical motion unit 4 compact and space-saving, facilitating the overall layout of the puncture positioning mechanism. Furthermore, the axial and rigid connections between the various components form a stable mechanical structure that effectively resists external forces during movement, ensuring smooth and reliable movement and minimizing the impact of structural vibration on puncture accuracy.

[0113] In one embodiment, the first connecting rod 43 includes a first connecting rod portion 431 and a second connecting rod portion 432 arranged parallel to and spaced apart from the first connecting rod portion 431, the two ends of the first connecting rod portion 431 are respectively axially connected to the first slide 41 and the mounting seat 45, the two ends of the second connecting rod portion 432 are respectively axially connected to the first slide 41 and the mounting seat 45, the first connecting rod portion 431, the second connecting rod portion 432, the first slide 41 and the mounting seat 45 form a parallelogram motion structure; the second connecting rod 44 includes a third connecting rod portion 441 and a fourth connecting rod portion 442 arranged parallel to and spaced apart from the third connecting rod portion 441, the two ends of the third connecting rod portion 441 are respectively axially connected to the second slide 42 and the mounting seat 45, the two ends of the fourth connecting rod portion 442 are respectively axially connected to the second slide 42 and the mounting seat 45, the third connecting rod portion 441, the fourth connecting rod portion 442, the second slide 42 and the mounting seat 45 form a parallelogram motion structure.

[0114] Specifically, the first connecting rod 43 includes a first connecting rod portion 431 and a second connecting rod portion 432, which are arranged in parallel and spaced apart. The two ends of the first connecting rod portion 431 are respectively connected to the first slide 41 and the mounting seat 45 by an axis, and the two ends of the second connecting rod portion 432 are also connected to the first slide 41 and the mounting seat 45 by an axis. This double-rod parallel structure, together with the first slide 41 and the mounting seat 45, constitutes a parallelogram motion structure. In terms of material selection, the two connecting rod portions are generally made of high-strength and lightweight alloy materials, such as aviation aluminum alloy or titanium alloy, to ensure structural strength while reducing weight, and the axis connection parts are precisely processed to ensure flexible and stable rotation.

[0115] The second connecting rod 44 has a similar structure to the first connecting rod 43, comprising a third connecting rod portion 441 and a fourth connecting rod portion 442, which are arranged parallel to each other and spaced apart. The ends of the third connecting rod portion 441 are connected to the second slide 42 and the mounting base 45 via respective axial connections. The ends of the fourth connecting rod portion 442 are also connected to the second slide 42 and the mounting base 45 via axial connections, forming a parallelogram motion structure with the second slide 42 and the mounting base 45. Similarly, the third and fourth connecting rod portions are also made of high-strength, lightweight materials, and the axial connection design ensures freedom of movement.

[0116] The parallelogram kinematic structure of the first connecting rod 43 and the second connecting rod is interconnected through the mounting base 45, and together with the first slide 41 and the second slide 42, forms the core motion frame 1 of the vertical plane motion unit 4. This structural design makes the force transmission between the components more uniform and the movement more stable.

[0117] The working principle of this embodiment is as follows:

[0118] This solution achieves stable and precise motion transmission based on the geometric properties of a parallelogram. The working process is as follows:

[0119] When the control system issues a command to adjust the puncture path, the first slide 41 and the second slide 42 change their vertical heights under the drive of the lifting drive unit. For example, the first slide 41 rises and the second slide 42 falls.

[0120] Parallelogram Movement: Taking the parallelogram structure of the first connecting rod 43 as an example, when the height of the first slide 41 changes, the first and second connecting rods 431, 432, first slide 41, and mounting base 45 form a parallelogram. Due to the parallelogram's characteristic of equal and parallel opposite sides, the first and second connecting rods 431, 432 rotate synchronously about their axes, with the same rotation angle. Similarly, the parallelogram structure of the second connecting rod 44 rotates accordingly due to the change in the height of the second slide 42.

[0121] Mounting base 45 deflects smoothly: The coordinated movement of the two parallelogram motion structures drives mounting base 45 to deflect smoothly within the vertical plane. Because the parallelogram structure maintains parallelism of its opposite sides during movement, mounting base 45 is protected from twisting or shaking during deflection, maintaining a stable posture. By precisely controlling the height changes and sequence of the first and second slides 41, 42, the deflection angle and position of mounting base 45 can be precisely adjusted, thereby accurately adjusting the path of needle 61 within the vertical plane.

[0122] By adopting the above technical solutions:

[0123] Significantly Enhanced Motion Stability: The parallelogram kinematic structure leverages its geometric properties to maintain structural stability during movement, effectively preventing wobble or twisting caused by uneven force on a single connecting rod. Compared to traditional single-rod connections, this solution is more resistant to external forces, ensuring stability of the mounting base 45 and puncture needle during path adjustment, and improving the accuracy and reliability of puncture positioning.

[0124] Improved precision and reliability: The dual-rod parallel structure design makes the force transmission on the connecting rod more uniform, reducing the impact of component deformation or wear on motion accuracy. At the same time, the symmetry and stability of the parallelogram structure ensure the consistency of each movement, reduce error accumulation, improve the motion accuracy and long-term operation reliability of the entire vertical plane motion unit 4, and help improve the success rate of puncture surgery.

[0125] Compact and easy to maintain: The parallelogram kinematic structure achieves complex motion while maintaining a compact structure, facilitating the overall layout and miniaturization of the puncture positioning mechanism. Furthermore, the components of this structure are relatively independent and connected in a simple manner, making them easy to disassemble and replace in the event of failure or wear, reducing maintenance difficulty and cost and improving the maintainability of the device.

[0126] Please also refer to Figure 5 In one embodiment, the puncture angle adjustment unit 5 includes a connecting plate 51 connected to the vertical plane motion unit 4, a support shaft 52 connected to the connecting plate 51, a fixed plate 53 connected to the puncture execution unit 6, a cross-axis structure 54 connecting the support shaft 52 and the fixed plate 53, a first angle adjustment motor 55 and a second angle adjustment motor 56 connecting the fixed plate 53 and the connecting plate 51, the cross-axis structure 54 includes a pitch axis 541 and a yaw axis 542, the first angle adjustment motor 55 is used to drive the fixed plate 53 to rotate around the pitch axis 541, and the second angle adjustment motor 56 is used to drive the fixed plate 53 to rotate around the yaw axis 542.

[0127] Specifically, the connecting plate 51 serves as the connecting hub between the puncture angle adjustment unit 5 and the vertical motion unit 4 and is typically fabricated from a high-strength, rigid metal plate. Precise mounting holes are provided on the connecting plate 51, which securely connects to the mounting base 45 of the vertical motion unit 4 via bolts or other fastening methods, ensuring reliable transmission of force and motion during subsequent angle adjustment. Specifically, the connecting plate 51 is used to connect to the mounting base 45.

[0128] The support shaft 52 is vertically fixed to the connecting plate 51, providing stable support for the entire angle adjustment structure. The support shaft 52 is typically made of high-hardness alloy steel and undergoes precision machining and heat treatment to ensure excellent rigidity and deformation resistance. It not only bears the weight of the fixing plate 53 and the puncture actuator 6, but also provides support for the rotation of the cross-shaft structure 54.

[0129] The fixing plate 53 is tightly connected to the puncture execution unit 6, securing and supporting the puncture execution unit 6. The fixing plate 53 must possess sufficient strength and stability to ensure that the puncture needle does not shift or wobble during angle adjustment and puncture. Its surface is typically finely finished and equipped with a mounting interface that adapts to the puncture execution unit 6.

[0130] The cross-axis structure 54, consisting of a pitch axis 541 and a yaw axis 542, is a key component for adjusting the puncture angle. The pitch axis 541 and yaw axis 542 are mounted between the connecting plate 51 and the fixed plate 53 using high-precision bearings, allowing for flexible rotation. The design of the cross-axis structure 54 allows the fixed plate 53 to rotate independently in two mutually perpendicular directions, thereby adjusting the pitch and yaw angles of the puncture needle.

[0131] The first and second angle adjustment motors 55 and 56 are connected to the fixed plate 53 and the connecting plate 51, respectively, and serve as the power sources for angle adjustment. The first angle adjustment motor 55 drives the fixed plate 53 to rotate about the pitch axis 541, adjusting the puncture needle's upward or downward angle. The second angle adjustment motor 56 drives the fixed plate 53 to rotate about the yaw axis 542, adjusting the puncture needle's left and right yaw angle. Both motors are typically high-precision servo motors, offering high torque, low inertia, and precise position control capabilities, capable of precisely adjusting the puncture angle.

[0132] The working principle of this embodiment is as follows:

[0133] The puncture angle adjustment unit 5 is based on a cross-axis structure 54 and a dual-motor drive to achieve precise adjustment of the angle of the puncture needle in two dimensions. The specific working process is as follows:

[0134] When the puncture positioning mechanism needs to adjust the puncture needle angle, the control system sends control instructions to the first angle adjustment motor 55 and the second angle adjustment motor 56 based on the preset puncture path or real-time image feedback. After receiving the instructions, the two motors start operating according to the preset parameters, converting electrical energy into mechanical energy.

[0135] Pitch Angle Adjustment: The first angle adjustment motor 55 starts operating, transmitting power to the fixed plate 53 through the power push rod, driving the fixed plate 53 to rotate about the pitch axis 541. Because the fixed plate 53 is fixedly connected to the puncture execution unit 6, the needle 61 can be tilted upward to avoid superficial tissue obstacles or tilted downward to aim at deep lesions.

[0136] Deflection angle adjustment: The second angle adjustment motor 56 is started according to the instruction, and the fixed plate 53 is driven to rotate around the deflection axis 542 through the power push rod, so that the needle 61 is deflected left and right in the horizontal plane, thereby adjusting the horizontal direction of the needle 61 to ensure that the needle 61 can be accurately aligned with the target puncture point.

[0137] Collaborative Precision Positioning: In actual operation, the first and second angle adjustment motors 55 and 61 work in tandem, enabling multi-angle, compound adjustment of the puncture needle within three dimensions through precise calculation and control by the control system. For example, the pitch angle is first adjusted to bring the puncture needle closer to the target direction, and then the deflection angle is fine-tuned to achieve precise positioning, ultimately ensuring that the needle 61 axis is completely aligned with the target puncture path.

[0138] By employing this technical solution, the cross-axis structure 54, coupled with two high-precision servo motors, enables independent and precise adjustment of the puncture needle's pitch and yaw angles. This angle adjustment achieves sub-degree resolution, meeting the stringent angle control requirements of high-precision medical punctures and other applications, ensuring the needle accurately avoids vital organs and tissues and reaches the target lesion.

[0139] In one embodiment, a connecting unit 7 is provided between the connecting plate 51 and the mounting seat 45. The connecting unit 7 is used to install and fix the puncture angle adjustment unit 5 and the puncture execution unit 6, and to make the puncture angle adjustment unit 5 and the puncture execution unit 6 have a preset inclination angle, which is beneficial for the puncture execution unit 6 to perform the puncture action.

[0140] Specifically, the connecting unit 7 serves as a key component between the puncture angle adjustment unit 5 and the mounting base 45; by adopting the above technical solution, the design of the preset inclination angle can enable the puncture execution unit 6 to be in a more favorable puncture direction at the initial position, reducing the risk of deviation, resistance or damage caused by the puncture needle in the human tissue due to unreasonable angles.

[0141] In one embodiment, the puncture execution unit 6 includes a needle fixing seat 62 connected to the puncture angle adjustment unit 5, a needle 61 slidably mounted on the needle fixing seat 62, a transmission structure 63 connected to the needle 61, and a power structure 64 connected to the transmission structure 63; the power structure 64 drives the needle 61 to move along the puncture direction of the needle fixing seat 62 through the transmission structure 63.

[0142] Specifically, the needle holder 62, serving as the base frame 1 of the puncture execution unit 6, is typically constructed from high-strength, corrosion-resistant metal or medical-grade engineering plastic. It is tightly connected to the puncture angle adjustment unit 5 via bolts, snap-fit ​​connections, or other secure means to ensure stability during the puncture process. A high-precision guideway or rail structure is incorporated into the needle holder 62 to provide precise guidance for the linear movement of the needle 61. A limiter may also be incorporated to prevent overtravel of the needle 61.

[0143] The needle 61 is the core component for performing the puncture operation. The material, shape, and specifications of the needle 61 vary depending on the application scenario. The needle 61 cooperates with the slide groove or guide rail on the needle holder 62 through a slider or other sliding component, and can slide smoothly on the needle holder 62.

[0144] The transmission structure 63 connects the power structure 64 and the needle 61, and serves to transmit power and convert the form of motion. Common transmission structures 63 include screw-nut pairs, gear-rack pairs, and synchronous belt drives. For example, in a screw-nut pair, the rotational motion of the screw is converted into linear motion by the nut, driving the needle 61 along the puncture direction of the fixed seat; the gear-rack pair drives the rack to move linearly through the rotation of the gear, achieving the propulsion of the needle 61. The design of the transmission structure 63 must ensure the accuracy and stability of the transmission to ensure that the needle 61 can puncture at the predetermined speed and displacement.

[0145] Power structure 64 provides the power source for puncture actuator 6, typically employing an electric motor (e.g., a stepper motor or servo motor) or a hydraulic or pneumatic drive. Electric motors offer high control accuracy and rapid response, enabling precise adjustment of the needle 61's speed and displacement according to control system instructions. Hydraulic or pneumatic drives, on the other hand, offer greater driving force and are suitable for applications requiring greater puncture force. Power structure 64 is connected to transmission structure 63 via couplings, synchronous pulleys, and other components to ensure efficient power transmission.

[0146] The working principle of this embodiment is as follows:

[0147] After the puncture positioning mechanism has completed adjusting the puncture position and angle, the control system sends a command to the power structure 64 to start the power structure 64. If it is driven by a motor, the motor begins to operate at a preset speed and direction; if it is driven by hydraulic or pneumatic pressure, the corresponding hydraulic pump or air pump begins to work and build pressure.

[0148] The power generated by the power structure 64 is transmitted to the needle 61 via the transmission structure 63. Taking the screw-nut pair as an example, the motor's rotational motion is transmitted to the screw through the coupling. As the screw rotates, the nut that matches it moves linearly on the screw. The nut is connected to the needle 61, thereby driving the needle 61 along the puncture direction of the needle holder 62. In the rack-and-pinion transmission, the motor drives the gear to rotate, and the gear meshes with the rack, causing the rack to drive the needle 61 in linear motion. During the power transmission process, the transmission structure 63 can amplify or reduce the movement speed and force according to design requirements to meet the needs of different puncture scenarios.

[0149] Driven by the transmission structure 63, the needle 61 moves linearly along the guideway or rails on the needle holder 62, toward the target location for puncture. The guide structure on the needle holder 62 ensures that the needle 61 maintains a straight trajectory during the puncture process, preventing deviation. During the puncture process, the control system monitors the operating parameters of the power structure 64 and the displacement of the needle 61 in real time, adjusting the power structure 64's output as needed to ensure that the puncture speed and depth meet the predetermined requirements. When the needle 61 reaches the predetermined position, the power structure 64 stops operating, completing the puncture.

[0150] By employing the above-described technical solution, the precise guiding structure of needle holder 62 and the precise transmission of transmission structure 63 enable high-precision positioning and motion control of needle 61 during the puncture process. Combined with the precise angle adjustment of puncture angle adjustment unit 5, the puncture needle can accurately reach the target position, and the puncture error can be controlled to a very small range, meeting the stringent requirements of high-precision puncture in medical and industrial fields. For example, in medical biopsies, diseased tissue samples can be accurately collected, improving diagnostic accuracy.

[0151] The rational design and manufacture of the needle holder 62, transmission structure 63, and power structure 64 ensure the stability of the entire puncture execution unit 6 during operation. The high-strength holder can withstand the various forces during the puncture process, the precise transmission structure 63 reduces friction and vibration during movement, and the reliable power structure 64 provides stable power output, ensuring a smooth and continuous puncture action and reducing the risk of puncture failure due to equipment failure.

[0152] Please refer again Figure 1In one embodiment, the frame 1 is further provided with a camera unit 8, which is used to capture the puncture image and determine the puncture position, so as to complete the precise puncture.

[0153] In a second aspect, a puncture 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.

[0154] By adopting the above technical solution, the moving mechanism can accurately move the puncture positioning mechanism to the specified position, and the angle adjustment unit can accurately adjust the puncture angle. Combined with the high-precision transmission structure 63 of the puncture execution unit 6, the puncture needle can accurately reach the target position, thereby improving the accuracy of puncture, reducing errors, and helping to improve the accuracy of diagnosis and treatment effects.

[0155] The collaborative operation of the movement mechanism and puncture positioning mechanism enables the puncture robot to adapt to different patient positions and different puncture sites, allowing flexible operation in complex clinical environments. Doctors can remotely control the robot's movement and operation through the control system, avoiding direct contact with the patient and radiation source, reducing the doctor's radiation risk, and improving operational convenience.

[0156] 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 horizontal linear motion unit connected to the frame, a lifting motion unit connected to the horizontal linear motion unit, a vertical plane motion unit connected to the lifting motion unit, a puncture angle adjustment unit connected to the vertical plane motion unit, and a puncture execution unit connected to the puncture angle adjustment unit; In which, the frame is used to support the horizontal linear motion unit; the horizontal linear motion unit is used to drive the lifting motion unit to move in the horizontal direction; the lifting motion unit is used to drive the vertical plane motion unit to move in the vertical direction; the vertical plane motion unit is used to drive the puncture angle adjustment unit to move in the vertical plane; the puncture angle adjustment unit is used to adjust the pitch angle and deflection angle of the puncture execution unit; the puncture execution unit is used to perform the puncture action.

2. The puncture positioning mechanism according to claim 1, characterized in that: The horizontal linear motion unit includes two horizontal guide rails respectively arranged on opposite sides of the frame, horizontal sliding members slidingly arranged on the horizontal guide rails in a one-to-one manner, and a horizontal driving member transmission-connected to the horizontal sliding members. The length direction of the horizontal guide rail is parallel to the horizontal direction. The horizontal sliding member is connected to the lifting motion unit, and the horizontal driving member is used to drive the horizontal sliding member to move along the length direction of the horizontal guide rail.

3. The puncture positioning mechanism according to claim 2, characterized in that: The horizontal driving member includes a horizontal driving motor connected to the frame, two horizontal pulleys respectively arranged at both ends of the horizontal guide rail, and a horizontal transmission belt wrapped around the horizontal pulleys. The horizontal driving motor is connected to the horizontal pulleys for driving the horizontal pulleys to drive the horizontal transmission belt to move. The horizontal transmission belt extends along the length direction of the horizontal guide rail and is connected to the horizontal sliding member.

4. The puncture positioning mechanism according to claim 2, characterized in that: The lifting motion unit includes two lifting guide rails, a lifting slide sliding on the lifting guide rails, and a lifting drive member transmission-connected to the lifting slide. The lifting guide rails are connected to the horizontal slide one-to-one. The length direction of the lifting guide rails is parallel to the vertical direction. The lifting slide is connected to the vertical plane motion unit. The lifting drive member is used to drive the lifting slide to move along the length direction of the lifting guide rails.

5. The puncture positioning mechanism according to claim 4, characterized in that: The lifting drive member includes a lifting drive motor connected to the horizontal sliding member, two lifting pulleys respectively provided at both ends of the lifting guide rail, and a lifting transmission belt wound around the lifting pulleys. The lifting drive motor is in transmission connection with the lifting pulleys and is used to drive the lifting wheels to drive the lifting transmission belt to move. The lifting transmission belt extends along the length direction of the lifting guide rail and is connected to the lifting sliding member.

6. The puncture positioning mechanism according to claim 4, characterized in that: The vertical plane motion unit includes a first slide connected to one of the lifting slides, a second slide connected to the other lifting slide, a first connecting rod connected to the first slide shaft, a second connecting rod connected to the second slide shaft, and a mounting base connected to the first connecting rod and the second connecting rod shaft; the mounting base is connected to the puncture angle adjustment unit; the heights of the first slide and the second slide in the vertical direction are independently adjustable, driving the first connecting rod and the second connecting rod to rotate around the axis, so that the mounting base deflects in the vertical plane.

7. The puncture positioning mechanism according to claim 6, characterized in that: The first connecting rod includes a first connecting rod portion and a second connecting rod portion arranged parallel to and spaced apart from the first connecting rod portion, the two ends of the first connecting rod portion are respectively connected to the first slide and the mounting seat shaft, the two ends of the second connecting rod portion are respectively connected to the first slide and the mounting seat shaft, the first connecting rod portion, the second connecting rod portion, the first slide and the mounting seat form a parallelogram motion structure; the second connecting rod includes a third connecting rod portion and a fourth connecting rod portion arranged parallel to and spaced apart from the third connecting rod portion, the two ends of the third connecting rod portion are respectively connected to the second slide and the mounting seat shaft, the two ends of the fourth connecting rod portion are respectively connected to the second slide and the mounting seat shaft, the third connecting rod portion, the fourth connecting rod portion, the second slide and the mounting seat form a parallelogram motion structure.

8. The puncture positioning mechanism according to any one of claims 1 to 7, characterized in that: The puncture angle adjustment unit includes a connecting plate connected to the vertical plane motion unit, a support shaft connected to the connecting plate, a fixed plate connected to the puncture execution unit, a cross-axis structure connecting the support shaft and the fixed plate, a first angle adjustment motor and a second angle adjustment motor connecting the fixed plate and the connecting plate, the cross-axis structure includes a pitch axis and a yaw axis, the first angle adjustment motor is used to drive the fixed plate to rotate around the pitch axis, and the second angle adjustment motor is used to drive the fixed plate to rotate around the yaw axis.

9. The puncture positioning mechanism according to any one of claims 1 to 7, characterized in that: The puncture execution unit includes a needle fixing seat connected to the puncture angle adjustment unit, a needle slidably arranged on the needle fixing seat, a transmission structure connected to the needle, and a power structure connected to the transmission structure; the power structure drives the needle to move along the puncture direction of the needle fixing seat through the transmission structure.

10. A puncture 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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