Clamping device on needle inserting mechanism and puncture operation robot

Abstract

The invention provides a clamping device on a needle inserting mechanism and a puncture surgical robot, and belongs to the technical field of medical instruments, in particular, the clamping device comprises a base; the clamping mechanism has a clamping state and a releasing state, the clamping mechanism comprises an abutting part, and in the clamping state, the abutting part abuts against the radial protruding part on the side opposite to the puncture direction, so that when the slender medical tool moves along the puncture direction along with the clamping mechanism to conduct puncture, the clamping mechanism can clamp the slender medical tool and release the slender medical tool. The abutting part abuts against the radial protruding part in the back direction so as to prevent the slender medical tool and the clamping mechanism from generating relative displacement in the puncture direction. The abutting portion can exert axial force in the puncture direction on the slender medical tool, meanwhile, through clamping of the clamping mechanism, the clamping stability of the clamping mechanism on the slender medical tool is guaranteed, relative displacement of the slender medical tool and the clamping mechanism in the puncture process is avoided, and the operation effect is guaranteed.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and more specifically, to a clamping device on a needle insertion mechanism and a puncture surgery robot. Background Technology

[0002] A puncture surgical robot is a medical robot system that uses image guidance (such as CT or ultrasound) to assist doctors in precisely inserting slender medical instruments, such as puncture needles, biopsy needles, and ablation needles, into the patient's body to perform procedures such as biopsies, ablation, drainage, and injections.

[0003] The end of a puncture surgical robot is usually equipped with a clamping structure to hold a slender medical instrument. This allows the clamping structure at the end of the robot's robotic arm to drive the slender medical instrument to complete the puncture action during the puncture process.

[0004] The clamping structure used in the relevant technology typically clamps the slender medical instrument from the side. In actual use, the applicant discovered the following problems with this technology: First, the clamping structure of the relevant technology is usually not compatible with slender medical instruments of different specifications, such as puncture needles of different sizes; Second, the clamping force of the clamping structure of the relevant technology cannot guarantee a complete clamping, and there is a risk of slippage, especially after changing to slender medical instruments of different specifications, where the risk of slippage increases, affecting the surgical outcome. Summary of the Invention

[0005] The purpose of this application is to provide a clamping device on a needle insertion mechanism and a puncture surgical robot, which aims to solve the problem of slippage risk in the clamping structure of the robotic arm during the puncture of slender medical tools in related technologies.

[0006] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description or may be learned by practice of this application.

[0007] According to a first aspect of this application, a clamping device is provided on a needle insertion mechanism for clamping an elongated medical tool, the elongated medical tool including an elongated puncture portion and a radial protrusion portion, the radial protrusion portion being disposed at the proximal end of the elongated puncture portion, the outer contour of the radial protrusion portion protruding radially from the outer contour of the elongated puncture portion; The clamping device includes: A base, which is slidably connected to a mounting carrier along the puncture direction; A clamping mechanism is mounted on the base. The clamping mechanism has a clamping state and a releasing state for clamping and releasing the elongated medical instrument. The clamping mechanism includes an abutment portion. In the clamping state, the abutment portion abuts against the radial protrusion on the side opposite to the puncture direction, so that when the elongated medical instrument moves with the clamping mechanism along the puncture direction for puncture, the abutment portion abuts against the radial protrusion on the opposite side to prevent relative displacement between the elongated medical instrument and the clamping mechanism in the puncture direction.

[0008] In one exemplary embodiment of this application, the clamping mechanism includes a clamping portion that can be opened and closed perpendicular to the puncture direction. The clamping portion includes an upper clamping portion and a lower clamping portion spaced apart along the puncture direction. In the clamping state, the upper clamping portion is closed to clamp the upper part of the radial protrusion in a radial direction, and the lower clamping portion is closed to clamp the lower part of the radial protrusion or the elongated puncture portion near the lower part of the radial protrusion in a radial direction. In the release state, the upper clamping portion and the lower clamping portion are opened simultaneously to allow the elongated medical tool to be withdrawn from the clamping portion. The abutting part is the lower surface of the upper clamping part facing the puncture direction, and the lower surface abuts against the radial protrusion when the upper clamping part is closed.

[0009] In one exemplary embodiment of this application, the clamping portion includes a pair of clamping frames that can be opened and closed perpendicular to the puncture direction. The upper clamping portion includes a pair of clamping arms and a pair of elastic adjusting members. The pair of clamping arms are radially movably mounted on the pair of clamping frames. The pair of clamping arms are provided with a pair of grooves facing each other to form clamping openings for clamping the radial protrusion. The pair of elastic adjusting members are mounted between the pair of clamping arms and the corresponding clamping frames. The pair of elastic adjusting members apply a radially inward elastic preload to the pair of clamping arms.

[0010] In one exemplary embodiment of this application, the clamping part includes a fixed clamping part and a movable clamping part, the movable clamping part being configured to be rotatably closed and rotatably opened relative to the fixed clamping part perpendicular to the puncture direction; The clamping mechanism further includes a drive mechanism, a drive mechanism mounting base, and a transmission mechanism. The drive mechanism is fixedly mounted on the drive mechanism mounting base, which is fixedly connected to the base. The transmission mechanism is connected between the drive mechanism and the movable clamping part. The drive mechanism drives the movable clamping part to rotate and close, and rotate and open, through the transmission mechanism.

[0011] In one exemplary embodiment of this application, the driving mechanism is a motor; The transmission mechanism includes a first gear and a sector gear mounted on the motor shaft of the motor. The sector gear is rotatably mounted on the drive mechanism mounting base via a rotating shaft. When the motor drives the first gear to rotate the sector gear, the sector gear rotates around the rotating shaft to make the movable clamping part rotate to close or open.

[0012] In one exemplary embodiment of this application, the drive mechanism mounting base includes a horizontal extension frame, and the rotating shaft is fixed on the horizontal extension frame; The clamping mechanism further includes a support base, which is connected between the base and the drive mechanism mounting base. The horizontal extension frame of the drive mechanism is rotatably connected to the support base via a pivot.

[0013] In one exemplary embodiment of this application, the support base includes a connecting plate and a fixing plate. The connecting plate is fixedly connected to the base. One end of the fixing plate is connected to the connecting plate, and the other end of the fixing plate extends out with two ear plates along the puncture direction. The horizontal extension frame is pivotally connected between the two ear plates.

[0014] In one exemplary embodiment of this application, a first force acquisition structure is further included. The first force acquisition structure is fixedly mounted on the fixed plate, and the detection end of the first force acquisition structure is connected to the horizontal extension frame. The first force acquisition structure is used to detect the force exerted on the elongated medical tool in its puncture direction.

[0015] In one exemplary embodiment of this application, the abutting portion on the radial protrusion is the proximal end face of the radial protrusion; Alternatively, the outer contour of the radial protrusion is formed with a contour surface that is radially inclined inward from the distal end to the proximal end, and the abutting part of the abutting part on the radial protrusion is the inclined contour surface.

[0016] In one exemplary embodiment of this application, a second force acquisition structure and a force receiving structure are further included. The force receiving structure is mounted on the mounting carrier and includes an auxiliary ring through which the elongated puncture portion of the elongated medical tool passes. The second force acquisition structure is used to detect the force applied perpendicular to the puncture direction of the elongated medical tool.

[0017] In one exemplary embodiment of this application, the second force acquisition structure includes a first force sensor and a second force sensor, which are respectively used to detect the force exerted on the elongated medical tool at two angles perpendicular to the puncture direction.

[0018] In one exemplary embodiment of this application, the detection direction of the first force sensor and the detection direction of the second force sensor are perpendicular to each other.

[0019] In one exemplary embodiment of this application, both the first force sensor and the second force sensor are one-dimensional push-pull force gauges; The force-bearing structure includes a fixing block and a locking block. One end of the fixing block is fixedly connected to the mounting carrier, and the other end is connected to the locking block by a snap-fit. The auxiliary ring is provided on the locking block. A linear guide slider is mounted on the fixed block. There are two sets of linear guide sliders, and the sliding direction of the two sets of linear guide sliders is parallel to the detection direction of the two one-dimensional push-pull force gauges.

[0020] According to a second aspect of this application, a puncture surgery robot is provided, including the aforementioned clamping device.

[0021] The exemplary embodiments of this application may have some or all of the following beneficial effects: In the clamping device provided in the example embodiment of this application, the clamping mechanism is mounted on a base and has a clamping state and a releasing state. In the clamping state, the clamping mechanism clamps a slender medical tool. In the releasing state, the slender medical tool can be placed into or removed from the clamping mechanism. The clamping mechanism also includes an abutment portion. In the clamping state, the abutment portion cooperates with the clamping portion. Specifically, the abutment portion abuts against the radial protrusion (e.g., the handle of a puncture needle) of the slender medical tool on the side opposite to the puncture direction, so as to apply an abutment force to the radial protrusion from the axial side opposite to the puncture direction of the radial protrusion. When the slender medical tool moves with the clamping mechanism along the puncture direction for puncture, the abutment portion abuts against the radial protrusion from the opposite direction, preventing relative displacement between the slender medical tool and the clamping mechanism in the puncture direction. Compared to related technologies that only apply clamping force radially to the elongated medical instrument, the clamping device provided in the exemplary embodiment of this application, while clamping the elongated medical instrument, also abuts against it axially. This prevents the elongated medical instrument from shifting relative to the clamping mechanism axially, even if it encounters greater resistance during puncture, thus preventing slippage. Furthermore, since this application primarily prevents slippage through the abutment portion, the clamping part can be designed to accommodate different sizes of elongated medical instruments, thereby improving applicability.

[0022] The clamping device provided in the example embodiment of this application further includes a first force acquisition structure, which is disposed on a fixed plate. The detection end of the first force detection structure is connected to a horizontal extension frame, enabling the first force acquisition structure to detect the force exerted on the elongated medical tool in its puncture direction. The second force acquisition structure includes a first force sensor and a second force sensor, respectively used to detect the force exerted on the elongated medical tool at two angles perpendicular to the puncture direction. This allows for the acquisition of the force exerted on the elongated medical tool in its puncture direction and at two angles perpendicular to the puncture direction during the puncture process, thereby obtaining information about the force exerted on the elongated medical tool during the puncture process. Furthermore, the force acquisition structure uses a one-dimensional push-pull force gauge, which is low-cost and can also detect the force exerted on the elongated medical tool in multiple dimensions.

[0023] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0024] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. It is obvious that the drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0025] Figure 1 A schematic diagram of the structure of a clamping device according to an embodiment of this application is shown; Figure 2 A side view of the clamping device in an embodiment of this application is shown; Figure 3 A front view of the clamping device in an embodiment of this application is shown; Figure 4 A schematic diagram of the connection structure of the second force acquisition structure in the clamping device in an embodiment of this application is shown; Figure 5 This invention provides a schematic diagram of the first angle structure of the drive mechanism in the clamping device according to an embodiment of the present application. Figure 6 A schematic diagram of the second angle structure of the drive mechanism in the clamping device in an embodiment of this application is shown.

[0026] Explanation of reference numerals in the attached figures: 1. Mounting carrier; 2. Clamping mechanism; 21. Movable clamping part; 22. Fixed clamping part; 23. Upper clamping part; 24. Lower clamping part; 25. Elastic adjustment element; 3. Slender medical tool; 31. Slender puncture part; 32. Radial protrusion; 4. Base; 5. Support seat; 51. Connecting plate; 52. Fixing plate; 53. Ear plate; 6. Pivot; 7. Drive mechanism mounting seat; 71. Horizontal extension frame; 8. Force-bearing structure; 81. Auxiliary ring; 82. Locking block; 83. Fixing block; 9. Second force acquisition structure; 91. First force sensor; 92. Second force sensor; 10. First force acquisition structure; 11. Motor; 12. Linear guide slider; 13. Sector gear; 14. Rotating shaft; 15. First gear. Detailed Implementation

[0027] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this application will be thorough and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and therefore their detailed descriptions will be omitted. Furthermore, the drawings are merely illustrative of this application and are not necessarily drawn to scale.

[0028] Although relative terms such as "upper" and "lower" are used in this specification to describe the relative relationship of one component of an icon to another, these terms are used only for convenience, such as according to the orientation of the examples in the accompanying drawings. It is understood that if the device of the icon is flipped so that it is upside down, the component described as "upper" will become the component described as "lower." When a structure is "upper" of another structure, it may mean that the structure is integrally formed on the other structure, or that the structure is "directly" mounted on the other structure, or that the structure is "indirectly" mounted on the other structure through another structure.

[0029] The terms “a,” “one,” “the,” and “at least one” are used to indicate the existence of one or more elements / components / etc.; the terms “including” and “having” are used to indicate an open-ended inclusion and to mean that there may be other elements / components / etc. in addition to the listed elements / components / etc.; the terms “first” and “second” are used only as markers and are not a limitation on the number of objects. Example 1

[0030] This embodiment provides a specific implementation of a clamping device on a needle insertion mechanism. The clamping device is used to hold a slender medical tool 3. The slender medical tool 3 includes a slender puncture portion 31 and a radial protrusion 32. The radial protrusion 32 is fixedly connected to the proximal end of the slender puncture portion 31 or integrally formed with the distal end of the slender puncture portion 31. The outer contour of the radial protrusion 32 protrudes radially from the outer contour of the slender puncture portion 31. In some examples, the slender medical tool 3 can be a puncture needle, a biopsy needle, an ablation needle, etc., inserted into the human body for operations such as biopsy, ablation, drainage, and injection. In this embodiment, the slender medical tool 3 is a puncture needle, the radial protrusion 32 is the handle of the puncture needle, and the slender puncture portion 31 is the shaft of the puncture needle. The handle is fixed to the proximal end of the shaft. The handle and shaft can be fixedly connected or integrally formed; this is not specifically limited herein.

[0031] In this embodiment, as Figure 1 and Figure 2 As shown, the clamping device includes a base 4 and a clamping mechanism 2. The base 4 is slidably connected to a mounting carrier 1 along the puncture direction. The mounting carrier 1 can be a structure at the end of a robotic arm for supporting the clamping device, such as a support base. The base 4 is slidably connected to the support base. In some examples, the support base and the clamping device can together form an insertion mechanism for inserting the puncture needle. The robotic arm can be used in puncture surgical robots or fixed on an operating table for use; this is not particularly limited in this regard. The mounting carrier 1 is not limited to a robotic arm end structure. In some examples, the mounting carrier 1 can also be a fixed structure for mounting the clamping mechanism 2, such as a fixed support frame provided on an operating table. Specifically, in this embodiment, the clamping mechanism 2 is mounted on the mounting carrier 1 via the base 4. During the sliding process of the base 4, it drives the clamping mechanism 2 and the slender medical tool 3 clamped by the clamping mechanism 2 to slide in the puncture direction, thereby completing the puncture action.

[0032] The clamping mechanism 2 is mounted on the base 4. The clamping mechanism 2 has a clamping state and a releasing state. In the clamping state, the clamping mechanism 2 clamps the puncture needle, and the puncture is performed under the operation of the robotic arm or the surgeon. In the releasing state, the clamping mechanism 2 is in an open state. At this time, the surgeon can complete the assembly of the puncture needle, that is, put the puncture needle into the clamping mechanism 2. Alternatively, after the puncture is completed, the robotic arm or the surgeon can operate the clamping mechanism to complete the withdrawal action, that is, the clamping mechanism withdraws the puncture needle, that is, the puncture needle is withdrawn from the clamping mechanism.

[0033] In this embodiment, the clamping mechanism 2 includes an abutment portion. When the clamping mechanism 2 clamps the elongated medical instrument 3, the abutment portion abuts against the needle handle on the side opposite to the puncture direction. This allows the elongated medical instrument 3 to move along the puncture direction with the clamping mechanism 2 for puncture. When puncturing, the abutment portion abuts against the needle handle on the opposite side to prevent relative displacement between the puncture needle and the clamping mechanism 2 in the puncture direction. Specifically, during the puncture process, the puncture needle will encounter resistance as it penetrates human tissue. When encountering resistance, the puncture needle tends to move in the direction opposite to the puncture direction. The abutment portion in the clamping mechanism 2 can abut against the needle handle, so that when the puncture needle encounters resistance and tends to move in the direction opposite to the puncture direction during puncture, the abutment portion can apply an abutment force along the puncture direction to the puncture needle. This abutment force can prevent excessive resistance to the puncture needle from causing relative displacement between the puncture needle and the clamping mechanism in the puncture direction, i.e., slippage of the puncture needle. Meanwhile, the clamping mechanism 2 also clamps the puncture needle laterally (or radially) through the clamping part, ensuring the clamping stability of the clamping mechanism 2 on the slender medical tool 3, avoiding relative displacement between the slender medical tool 3 and the clamping mechanism 2 during the puncture process, and ensuring the surgical effect.

[0034] In this embodiment, the clamping mechanism 2 includes a clamping portion that can open and close perpendicular to the puncture direction. The clamping portion includes an upper clamping portion 23 and a lower clamping portion 24 spaced apart along the puncture direction. In the clamping state, the upper clamping portion 23 closes to clamp the upper part of the radial protrusion 32 radially, and the lower clamping portion 24 closes to clamp the lower part of the radial protrusion 32 radially or the elongated puncture portion 31 near the lower part of the radial protrusion 32. In the release state, the upper clamping portion 23 and the lower clamping portion 24 open simultaneously to allow the elongated medical tool 3 to be withdrawn from the clamping portion. The abutment portion is the lower surface of the upper clamping portion 23 facing the puncture direction, and when the upper clamping portion 23 is closed, the lower surface abuts against the radial protrusion 32. Specifically, the opening and closing direction of the clamping part is perpendicular to the puncture direction. The upper clamping part 23 and the lower clamping part 24 can clamp the upper and lower parts of the radial protrusion 32, respectively. The lower surface of the upper clamping part 23 can abut against the radial protrusion 32, and a force along the puncture direction can be applied to the radial protrusion 32. This can restrict the movement of the slender medical tool 3 in the puncture direction, so that the slender medical tool 3 maintains a constant relative position with the clamping mechanism 2 during the puncture process.

[0035] In this embodiment, as Figure 2 and Figure 3As shown, the clamping part includes a pair of clamping frames that can open and close perpendicular to the puncture direction. The upper clamping part 23 includes a pair of clamping arms and a pair of elastic adjusting members 25. The pair of clamping arms are radially movable and mounted on the pair of clamping frames. The pair of clamping arms are provided with a pair of grooves facing each other to form clamping openings for clamping radial protrusions 32. The pair of elastic adjusting members 25 are installed between the pair of clamping arms and the corresponding clamping frames, and the pair of elastic adjusting members 25 apply a radially inward elastic preload to the pair of clamping arms. During the opening and closing process, the pair of clamping frames switch the clamping mechanism 2 between a clamping state and a releasing state. When the clamping frames are closed and the clamping mechanism 2 is in the clamping state, the pair of clamping arms clamp the upper part of the radial protrusion 32, and the lower surfaces of the pair of clamping arms form an abutment portion for applying a force along the puncture direction to the radial protrusion 32. When a pair of clamping arms clamp the radial protrusion 32, the grooves at the ends of the clamping arms form clamping openings for clamping the radial protrusion 32. Since an elastic adjustment member 25 is provided between the clamping arms and the clamping frame, the clamping mechanism 2 in this embodiment can clamp slender medical tools 3 of different sizes. When the radial dimension of the slender medical tool 3 is large, when the groove of the clamping arm abuts against the radial protrusion 32, the radial extension distance of the clamping arm is short, and the lower surface of the clamping arm can apply a force along the puncture direction to the radial protrusion 32. When the radial dimension of the slender medical tool 3 is small, when the clamping groove abuts against the radial protrusion 32, the radial extension distance of the clamping arm is long. Under the action of the elastic adjustment member 25, the clamping arm can also abut against the radial protrusion 32, so that the lower surface of the clamping arm applies a force along the puncture direction to the radial protrusion 32.

[0036] Specifically, the elastic adjustment member 25 can be a compression spring. The compression spring connects the clamping frame and the clamping arm. The compression spring has an elastic force that moves a pair of clamping arms toward each other. By setting the elastic adjustment member 25, it is not necessary to adjust the position of the clamping arms when assembling slender medical tools 3 of different sizes. The elastic force of the elastic adjustment member 25 can make the clamping arms automatically abut against the radial protrusion 32.

[0037] In this embodiment, the clamping part includes a fixed clamping part 22 and a movable clamping part 21. The movable clamping part 21 is configured to rotate and close relative to the fixed clamping part 22 perpendicular to the puncture direction. The clamping mechanism 2 further includes a drive mechanism, a drive mechanism mounting base 7, and a transmission mechanism. The drive mechanism is fixedly mounted on the drive mechanism mounting base 7, which is fixedly connected to the base 4. The transmission mechanism connects the drive mechanism and the movable clamping part 21, driving the movable clamping part 21 to rotate and close and open via the transmission mechanism. Specifically, the movable clamping part 21 is configured to be movable and open, allowing it to rotate and open relative to the fixed clamping part 22. When the movable clamping part is closed, the clamping mechanism 2 enters a clamping state, clamping the radial protrusion 32 of the elongated medical tool 3. When the movable clamping part is opened, the clamping mechanism 2 enters a release state, allowing the elongated medical tool 3 to exit the clamping mechanism 2 or to be replaced.

[0038] Specifically, such as Figure 5 and Figure 6 As shown, the driving mechanism is a motor 11, and the transmission mechanism includes a first gear 15 and a sector gear 13 mounted on the motor 11 shaft. The sector gear 13 is rotatably mounted on the driving mechanism mounting base 7 via a rotating shaft 14. The sector gear 13 meshes with the first gear 15, and the other end of the sector gear 13 is connected to the movable clamping part 21. When the motor 11 drives the first gear 15 to rotate, the first gear 15 drives the sector gear 13 to rotate around the rotating shaft 14, thereby driving the movable clamping part 21 to rotate. By controlling the motor 11 to rotate forward and reverse, the movable clamping part 21 can move in two directions relative to the fixed clamping part 22: opening and closing. Specifically, the clamping part includes two clamping frames. One clamping frame is fixedly set to form the fixed clamping part 22, and the other clamping frame is movably set to form the movable clamping part 21. The movably set clamping frame is connected to the sector gear 13 and can be driven by the sector gear 13 to rotate open or close.

[0039] In this embodiment, the drive mechanism mounting base 7 includes a horizontal extension frame 71, and a rotating shaft 14 is fixedly mounted on the horizontal extension frame 71. The clamping mechanism 2 also includes a support base 5, which is connected between the base 4 and the drive mechanism mounting base 7. The horizontal extension frame 71 of the drive mechanism is rotatably connected to the support base 5 via a pivot 6. Specifically, the extension direction of the horizontal extension frame 71 is perpendicular to the puncture direction, the axis of the rotating shaft 14 is parallel to the puncture direction, the rotating shaft 14 is fixed to the bottom surface of the horizontal extension frame 71 and extends downward, and a sector gear 13 is rotatably mounted on the rotating shaft 14. The axis of the pivot 6 is perpendicular to the puncture direction, and the horizontal extension frame 71 is rotatably mounted on the pivot 6.

[0040] Specifically, the support base 5 includes a connecting plate 51 and a fixing plate 52. The connecting plate 51 is used to fix the base 4. One end of the fixing plate 52 is connected to the connecting plate 51. The other end of the fixing plate 52 extends out along the puncture direction with two ear plates 53. The pivot 6 is connected between the two ear plates 53. The horizontal extension frame 71 is rotatably mounted on the pivot 6, so that the horizontal extension frame 71 can rotate around the pivot 6.

[0041] In this embodiment, a first force acquisition structure 10 is also included. The first force acquisition structure 10 is fixedly installed on the fixed plate 52. The detection end of the first force acquisition structure 10 is connected to the horizontal extension frame 71. The first force acquisition structure 10 is used to detect the force on the slender medical tool 3 in its puncture direction.

[0042] The sector gear 13 is mounted on the horizontal extension frame 71 via the rotating shaft 14. One end of the sector gear 13 meshes with the first gear 15, and the other end is connected to the movable clamping part 21. The fixed clamping part 22 is fixed on the horizontal extension frame 71. The movable clamping part 21 rotates and closes. After the fixed clamping part 22 clamps the slender medical tool 3, during the puncture process, the slender medical tool 3 generally punctures downwards. After the slender medical tool 3 encounters resistance from human tissue, it tends to move upwards. This tendency will drive the clamping mechanism 2 to move upwards. The upward movement of the clamping mechanism 2 will drive the sector gear 13 to move upwards. The upward movement of the sector gear 13 will cause the horizontal extension frame 71 to rotate around the pivot 6. When the horizontal extension frame 71 rotates around the pivot 6, it will transmit the force to the force acquisition structure, so that the force acquisition structure can detect the force on the slender medical tool 3 in its puncture direction.

[0043] In this embodiment, the abutment portion on the radial protrusion 32 is the proximal end face of the radial protrusion 32. Specifically, the proximal end face of the radial protrusion 32 in the puncture direction is the upper end face of the radial protrusion 32. The abutment portion can directly abut against the upper end face of the radial protrusion 32, providing a force along the puncture direction for the slender medical tool 3, preventing relative movement between the slender medical tool 3 and the clamping mechanism 2 after encountering resistance from human tissue during puncture.

[0044] In some other embodiments, the outer contour of the radial protrusion 32 is formed with a contour surface that is radially inclined inward from the distal end to the proximal end. The abutment portion on the radial protrusion 32 is an inclined contour surface. Under the elastic force of the elastic adjustment member 25, the clamping arm will abut against the contour surface of the radial protrusion 32. Under the action of the elastic force, the clamping arm will not move in the opposite direction, so that the clamping arm can maintain abutment against the radial protrusion 32, and the lower surface of the clamping arm can apply a force along the puncture direction to the radial protrusion 32.

[0045] In this embodiment, a second force acquisition structure 9 and a force receiving structure 8 are also included. The force receiving structure 8 is mounted on the mounting carrier 1, providing a mounting position for the second force acquisition structure 9. The force receiving structure 8 includes an auxiliary ring 81. The second force acquisition structure 9 can detect the force perpendicular to the puncture direction on the auxiliary ring 81. The elongated puncture part 31 of the elongated medical tool 3 passes through the auxiliary ring 81. When the doctor adjusts the angle of the elongated medical tool 3, the elongated medical tool 3 will undergo displacement perpendicular to the puncture direction. When the elongated medical tool 3 undergoes horizontal displacement, it will cause the auxiliary ring 81 to move along a direction perpendicular to the puncture direction. When the auxiliary ring 81 moves, the second force acquisition structure 9 can detect the force on the auxiliary ring 81, which is the force on the elongated medical tool 3 perpendicular to the puncture direction.

[0046] In this embodiment, as Figure 4 As shown, the second force acquisition structure 9 includes a first force sensor 91 and a second force sensor 92. The first force sensor 91 and the second force sensor 92 are used to detect the forces on the slender medical tool 3 at two angles perpendicular to the puncture direction. The detection directions of the two force sensors are located in the same plane, and this plane is perpendicular to the puncture direction. After knowing the forces at the two angles in one plane, the resultant force of the two forces in this plane can be obtained through coordinate system calculation, which is the force on the slender medical tool 3 perpendicular to the puncture direction.

[0047] Furthermore, the detection directions of the first force sensor 91 and the second force sensor 92 are perpendicular to each other, which can form a rectangular coordinate system on a plane perpendicular to the puncture direction, making it easier to calculate the resultant force.

[0048] In this embodiment, both the first force sensor 91 and the second force sensor 92 are one-dimensional push-pull force gauges. The force-receiving structure 8 includes a fixed block 83 and a locking block 82. One end of the fixed block 83 is fixedly connected to the mounting carrier 1, and the other end is connected to the locking block 82 by a locking mechanism. An auxiliary ring 81 is disposed on the locking block 82. Linear guide sliders 12 are provided between each of the two one-dimensional push-pull force gauges and the fixed block 83. The sliding directions of the two sets of linear guide sliders 12 are parallel to the detection directions of the two one-dimensional push-pull force gauges, respectively. Since the one-dimensional push-pull force gauge can only detect force in one direction, and the slender medical tool 3 will twist when adjusting its angle, the one-dimensional push-pull force gauge will be subjected to torque and its detection will be inaccurate. Therefore, a linear guide slider 12 is provided between the one-dimensional push-pull force gauge and the fixed block 83, so that the one-dimensional push-pull force gauge can only follow the slider in the linear guide slider 12 to move in a straight line. This allows the one-dimensional push-pull force gauge to detect only the force in the extension direction of the linear guide slider 12, resulting in more accurate detection data.

[0049] In this embodiment, the force acquisition structure uses three one-dimensional push-pull force gauges. One of them is used to detect the force in the puncture direction of the slender medical tool 3, and the other two are used to detect the force perpendicular to the puncture direction of the slender medical tool 3. This enables the detection of forces on the slender medical tool 3 in multiple dimensions. Traditional six-dimensional force sensors are expensive. This embodiment uses three one-dimensional push-pull force gauges, which are less expensive and can also detect the forces on the slender medical tool in multiple dimensions. Example 2

[0050] This embodiment provides a specific implementation of a puncture surgery robot, including a clamping device on the needle insertion mechanism in Embodiment 1. The puncture surgery robot includes a robotic arm, and the end of the robotic arm provides a mounting carrier 1 for mounting the clamping device.

[0051] Other embodiments of this application will readily conceive of by those skilled in the art upon consideration of the specification and practice of the embodiments thereof. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not claimed in this application. The specification and embodiments are to be considered exemplary only, and the true scope and spirit of this application are indicated by the appended claims.

Claims

1. A clamping device on a needle insertion mechanism, characterized in that, For holding a slender medical tool, the slender medical tool includes a slender puncture part and a radial protrusion part, the radial protrusion part is fixed to the proximal end of the slender puncture part, and the outer contour of the radial protrusion part protrudes radially from the outer contour of the slender puncture part; The clamping device includes: A base, which is slidably connected to a mounting carrier along the puncture direction; A clamping mechanism is mounted on the base. The clamping mechanism has a clamping state and a releasing state for clamping and releasing the elongated medical instrument. The clamping mechanism includes an abutment portion. In the clamping state, the abutment portion abuts against the radial protrusion on the side opposite to the puncture direction, so that when the elongated medical instrument moves with the clamping mechanism along the puncture direction for puncture, the abutment portion abuts against the radial protrusion on the opposite side to prevent relative displacement between the elongated medical instrument and the clamping mechanism in the puncture direction.

2. The clamping device on the needle insertion mechanism according to claim 1, characterized in that, The clamping mechanism includes a clamping portion that can open and close perpendicular to the puncture direction. The clamping portion includes an upper clamping portion and a lower clamping portion spaced apart along the puncture direction. In the clamping state, the upper clamping portion is closed to radially clamp the upper part of the radial protrusion, and the lower clamping portion is closed to radially clamp the lower part of the radial protrusion or the elongated puncture portion near the lower part of the radial protrusion. In the releasing state, the upper clamping portion and the lower clamping portion open simultaneously to allow the elongated medical instrument to be withdrawn from the clamping portion. The abutting part is the lower surface of the upper clamping part facing the puncture direction, and the lower surface abuts against the radial protrusion when the upper clamping part is closed.

3. The clamping device on the needle insertion mechanism according to claim 2, characterized in that, The clamping part includes a pair of clamping frames that can open and close perpendicular to the puncture direction. The upper clamping part includes a pair of clamping arms and a pair of elastic adjusting members. The pair of clamping arms are radially movable and mounted on the pair of clamping frames. The pair of clamping arms are provided with a pair of grooves facing each other to form clamping openings for clamping the radial protrusions. The pair of elastic adjusting members are installed between the pair of clamping arms and the corresponding clamping frames. The pair of elastic adjusting members apply a radially inward elastic preload to the pair of clamping arms.

4. The clamping device on the needle insertion mechanism according to claim 2, characterized in that, The clamping part includes a fixed clamping part and a movable clamping part, the movable clamping part being configured to rotate to close and rotate to open relative to the fixed clamping part perpendicular to the puncture direction; The clamping mechanism further includes a drive mechanism, a drive mechanism mounting base, and a transmission mechanism. The drive mechanism is fixedly mounted on the drive mechanism mounting base, which is fixedly connected to the base. The transmission mechanism is connected between the drive mechanism and the movable clamping part. The drive mechanism drives the movable clamping part to rotate and close, and rotate and open, through the transmission mechanism.

5. The clamping device on the needle insertion mechanism according to claim 4, characterized in that, The driving mechanism is a motor; The transmission mechanism includes a first gear and a sector gear mounted on the motor shaft of the motor. The sector gear is rotatably mounted on the drive mechanism mounting base via a rotating shaft. When the motor drives the first gear to rotate the sector gear, the sector gear rotates around the rotating shaft to make the movable clamping part rotate to close or open.

6. The clamping device on the needle insertion mechanism according to claim 5, characterized in that, The drive mechanism mounting base includes a horizontal extension frame, and the rotating shaft is fixed on the horizontal extension frame; The clamping mechanism further includes a support base, which is connected between the base and the drive mechanism mounting base. The horizontal extension frame of the drive mechanism is rotatably connected to the support base via a pivot.

7. The clamping device on the needle insertion mechanism according to claim 6, characterized in that, The support base includes a connecting plate and a fixing plate. The connecting plate is fixedly connected to the base. One end of the fixing plate is connected to the connecting plate, and the other end of the fixing plate extends out with two ear plates along the puncture direction. The horizontal extension frame is pivotally connected between the two ear plates.

8. The clamping device on the needle insertion mechanism according to claim 7, characterized in that, It also includes a first force acquisition structure, which is fixedly mounted on the fixed plate and the detection end of the first force acquisition structure is connected to the horizontal extension frame. The first force acquisition structure is used to detect the force exerted on the slender medical tool in its puncture direction.

9. The clamping device on the needle insertion mechanism according to any one of claims 1-7, characterized in that, The abutting part of the abutting part on the radial protrusion is the proximal end face of the radial protrusion; Alternatively, the outer contour of the radial protrusion is formed with a contour surface that is radially inclined inward from the distal end to the proximal end, and the abutting part of the abutting part on the radial protrusion is the inclined contour surface.

10. The clamping device on the needle insertion mechanism according to claim 1, characterized in that, It also includes a second force acquisition structure and a force receiving structure. The force receiving structure is mounted on the mounting carrier. The force receiving structure includes an auxiliary ring through which the slender puncture portion of the slender medical tool passes. The second force acquisition structure is used to detect the force applied perpendicular to the puncture direction of the slender medical tool.

11. The clamping device on the needle insertion mechanism according to claim 10, characterized in that, The second force acquisition structure includes a first force sensor and a second force sensor, which are used to detect the force exerted on the slender medical tool at two angles perpendicular to the puncture direction.

12. The clamping device on the needle insertion mechanism according to claim 11, characterized in that, The detection directions of the first force sensor and the second force sensor are perpendicular to each other.

13. The clamping device on the needle insertion mechanism according to claim 12, characterized in that, Both the first force sensor and the second force sensor are one-dimensional push-pull force gauges; The force-bearing structure includes a fixing block and a locking block. One end of the fixing block is fixedly connected to the mounting carrier, and the other end is connected to the locking block by a snap-fit. The auxiliary ring is provided on the locking block. A linear guide slider is mounted on the fixed block. There are two sets of linear guide sliders, and the sliding direction of the two sets of linear guide sliders is parallel to the detection direction of the two one-dimensional push-pull force gauges.

14. A puncture surgery robot, characterized in that, The clamping device includes the needle insertion mechanism according to any one of claims 1-13.

Images