Puncture procedure auxiliary positioning device

Abstract

The application discloses a kind of puncture surgery auxiliary positioning equipment, it is related to medical auxiliary instrument technical field, to solve the problem of one of the poor stability of supporting, single aperture selection and inconvenient adjustment of positioning template and continuous adjustment aperture in the same position to adapt to different specifications puncture needle in prior art auxiliary positioning equipment.Auxiliary positioning equipment includes three-axis linkage mechanical arm, adjusting support mechanism and auxiliary positioning component.Adjusting support mechanism is installed at the end of mechanical arm, is composed of fixed support seat, template carrier and two locking knobs, fixed support seat is hinged with mechanical arm, template carrier is vertically rotatably connected with it, and is locked by knob.Auxiliary positioning component is connected to template carrier, including connecting plate and the first auxiliary positioning ring of sleeve set.The application realizes stable angle adjustment and locking, and provides multiple aperture selection through auxiliary positioning component, improves the positioning precision of puncture surgery, operation convenience and adaptability.

Description

Technical Field

[0001] This invention relates to the field of medical auxiliary device technology, and in particular to a puncture surgery auxiliary positioning device. Background Technology

[0002] Puncture surgery is a common minimally invasive diagnostic and treatment procedure in clinical practice, and its precision directly affects the surgical outcome. To assist doctors in accurate positioning, current technologies often employ an auxiliary system combining a robotic arm and a positioning template. The robotic arm is used to adjust the spatial position and angle of the template, which has guide holes for the puncture needle to pass through.

[0003] However, existing auxiliary positioning devices of this type still have the following problems: First, the stability of the mechanism at the end of the robotic arm used to adjust the angle after locking needs to be improved. During puncture, it may experience slight movements due to force, affecting positioning accuracy. Second, the guide holes on the positioning template usually have fixed diameters or only a few selectable sizes. When it is necessary to change to puncture needles of different diameters, the operation is not convenient enough, and it is difficult to provide multiple hole diameter options near the same puncture position. Third, there is a lack of a mechanism that can flexibly and continuously adjust the size of the guide hole at the same position to accommodate more puncture needle sizes or provide more stable clamping.

[0004] Therefore, there is an urgent need for a puncture surgery auxiliary positioning device that can achieve stable angle adjustment, provide rapid selection of multiple apertures, and flexibly adjust the aperture size to improve the adaptability and operational efficiency of the surgery. Puncture biopsy and particle implantation techniques are common minimally invasive diagnostic and treatment methods in modern medicine; in practice, a fixation bracket and template system are required to position the puncture needle. Summary of the Invention

[0005] In view of the above analysis, the present invention aims to provide a puncture surgery auxiliary positioning device to solve one of the problems in the prior art: poor support stability of auxiliary positioning devices, limited selection of positioning template aperture and inconvenient adjustment, continuous adjustment of aperture at the same position to adapt to different puncture needle specifications, and difficulty in accurately reproducing and recording traditional angle adjustment by visual inspection.

[0006] The objective of this invention is mainly achieved through the following technical solutions: A puncture surgery auxiliary positioning device includes an adjusting support mechanism, a three-axis linkage robotic arm, and an auxiliary positioning component; the adjusting support mechanism is used to adjust and lock the stability of the spatial angle of the auxiliary positioning component; the three-axis linkage robotic arm is used to achieve coarse adjustment of the position of the template support frame in space; the auxiliary positioning component is used to achieve multiple size selection of the positioning template hole diameter and easy adjustment.

[0007] The adjustment support mechanism is installed at the end of the three-axis linkage robotic arm.

[0008] The auxiliary positioning component is fixedly connected to the adjustment support mechanism. The auxiliary positioning component includes a connecting plate and a first auxiliary positioning ring. The connecting plate is fixedly connected to one side of the template support frame, and the first auxiliary positioning ring is sleeved on the inner side of the connecting plate.

[0009] Furthermore, the auxiliary positioning component also includes a second auxiliary positioning ring and a third auxiliary positioning ring.

[0010] Furthermore, the connecting plate, the first auxiliary positioning ring, the second auxiliary positioning ring, and the third auxiliary positioning ring are coaxially arranged.

[0011] Furthermore, a limiting groove is provided on the connecting plate; the first auxiliary positioning ring includes a limiting claw, which slides in conjunction with the limiting groove.

[0012] Furthermore, the first auxiliary positioning ring is provided with a first positioning hole group, the second auxiliary positioning ring is provided with a second positioning hole group, and the third auxiliary positioning ring is provided with a third positioning hole group.

[0013] Furthermore, a central positioning hole is provided at the center of the third auxiliary positioning ring.

[0014] Furthermore, the end of the three-axis linkage robotic arm is equipped with a pitch angle dial, and the side of the fixed support base is equipped with an orientation indicator.

[0015] Furthermore, the adjusting support mechanism includes a fixed support base, a template carrier frame, a first locking knob, and a second locking knob. The fixed support base is hinged to the end of the three-axis linkage robotic arm; the template carrier frame is rotatably mounted to the end of the fixed support base, and the rotation axis of the template carrier frame is perpendicular to the rotation axis of the fixed support base; the first locking knob is used to lock the fixed support base; the second locking knob is used to lock the template carrier frame.

[0016] Furthermore, a rotating azimuth angle plate is provided at the end of the fixed support base, and an azimuth indicator is provided on the side of the template support frame.

[0017] Furthermore, the three-axis linkage robotic arm includes a boom mounting base, a first swing arm, a second swing arm, and a third swing arm.

[0018] Furthermore, the lower end of the first swing arm is hinged to the boom mounting base, the upper end of the first swing arm is hinged to the lower end of the second swing arm, and the upper end of the second swing arm is hinged to the lower end of the third swing arm; the adjusting support mechanism is installed at the end of the third swing arm.

[0019] Furthermore, the second auxiliary positioning ring includes a pointing handle, and the third auxiliary positioning ring includes a pointing handle; the rotation direction of the second auxiliary positioning ring is opposite to the rotation direction of the first auxiliary positioning ring.

[0020] Furthermore, it also includes a needle diameter adjustment and positioning component; the needle diameter adjustment and positioning component is installed on the template support frame and is used to hold the puncture needle.

[0021] Furthermore, the needle diameter adjustment and positioning assembly includes a needle diameter adjustment drive and a clamping component; the needle diameter adjustment drive includes a central guide hole and a sliding groove; the clamping component includes multiple clamping blocks, each clamping block having a sliding post connected to its outer side; one end of the sliding post slides and rotates in conjunction with the sliding groove.

[0022] Furthermore, the needle diameter adjustment and positioning assembly also includes a sliding adjustment seat; the sliding adjustment seat includes a sliding groove; the end of the sliding post away from the sliding groove is slidably engaged with the sliding groove.

[0023] The technical solution of this invention can achieve at least one of the following effects: (1) The present invention solves the problem of insufficient stability of the adjustment mechanism at the end of the robotic arm after locking, and easy micro-movement when subjected to puncture force by setting an adjustment support mechanism including a fixed support base, a template carrier, a first locking knob and a second locking knob. The fixed support base is hinged to the end of the three-axis linkage robotic arm, and the template carrier is rotatably installed at the end of the fixed support base with its rotation axis perpendicular to the rotation axis of the fixed support base. This invention achieves a high stability adjustment and locking function for the spatial angle of the auxiliary positioning component.

[0024] (2) This invention solves the problems of fixed guide hole diameters or limited ranges in the prior art and inconvenient operation when changing puncture needles of different diameters by setting a coaxially sleeved connecting plate, a first auxiliary positioning ring, a second auxiliary positioning ring, and a third auxiliary positioning ring in the auxiliary positioning assembly. Each auxiliary positioning ring is equipped with a group of positioning holes of different diameters. This invention enables the rapid provision of multiple preset hole diameter selections at the same position. By rotating different auxiliary positioning rings, the doctor can quickly align the positioning hole of the required diameter with the puncture point without replacing the entire template or making complex adjustments, which helps to improve the efficiency of surgical preparation.

[0025] (3) By setting a sliding fit structure of limiting claw and limiting groove on each auxiliary positioning ring, and configuring a first pointing handle and a second pointing handle to indicate the rotation direction, the present invention can only rotate in a single direction, which solves the problem of random rotation or angle back-up caused by misoperation during the adjustment process of multi-ring structure, realizes the directional and orderly adjustment function of positioning hole selection, and the operation is intuitive and reliable, avoiding the risk of misadjustment during surgery.

[0026] (4) This invention employs a replaceable needle diameter adjustment and positioning component, which includes a needle diameter adjustment drive with an arc-shaped first sliding groove and multiple clamping blocks with sliding columns. Rotating the drive allows the clamping blocks to radially converge or open through the cooperation of the sliding groove and the sliding columns, solving the problem of the lack of a continuous, stepless adjustment mechanism for the guide aperture in the same position in the prior art. This achieves continuous and precise adjustment of the clamping aperture of the puncture needle. This component can be adapted to various non-standard or special diameter puncture needles and provides a more stable clamping through surface contact, which helps to expand the applicability of the equipment, especially suitable for delicate surgical operations that require high radial stability of the puncture needle.

[0027] (5) This invention solves the problems of traditional angle adjustment relying on visual estimation, making it difficult to accurately reproduce and record, by setting a pitch angle dial and a first azimuth indicator, and a rotation azimuth angle dial and a second azimuth indicator at the adjustment support mechanism. It realizes the quantitative display and precise control function of the pitch angle and horizontal azimuth angle of the auxiliary positioning component. Doctors can accurately set and record the puncture angle according to the scale, which is convenient for reproducing the same angle in multiple punctures or staged surgeries, thus improving the controllability and repeatability of the surgery.

[0028] In this invention, the above-described technical solutions can be combined with each other to achieve more preferred combinations. Other features and advantages of this invention will be set forth in the following description, and some advantages may become apparent from the description or be learned by practicing the invention. The objects and other advantages of this invention can be realized and obtained from what is particularly pointed out in the description and drawings. Attached Figure Description

[0029] The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Throughout the drawings, the same reference numerals denote the same parts. Figure 1 This is a schematic diagram of the puncture surgery auxiliary positioning device according to Embodiment 1 of the present invention; Figure 2 This is a partial structural schematic diagram of the puncture surgery auxiliary positioning device according to Embodiment 1 of the present invention; Figure 3 This is a top view of the puncture surgery auxiliary positioning device according to Embodiment 1 of the present invention; Figure 4 This is a side view of the puncture surgery auxiliary positioning device according to Embodiment 1 of the present invention; Figure 5 This is a schematic diagram of the auxiliary positioning component of the puncture surgery auxiliary positioning device according to Embodiment 1 of the present invention; Figure 6 for Figure 5 Sectional view of line AA in the middle; Figure 7This is a schematic diagram of the structure of the first auxiliary positioning ring of the puncture surgery auxiliary positioning device according to Embodiment 1 of the present invention; Figure 8 This is a schematic diagram of the structure of the second auxiliary positioning ring of the puncture surgery auxiliary positioning device according to Embodiment 1 of the present invention; Figure 9 This is a schematic diagram of the structure of the third auxiliary positioning ring of the puncture surgery auxiliary positioning device according to Embodiment 1 of the present invention; Figure 10 This is a schematic diagram of the needle diameter adjustment and positioning component of the puncture surgery auxiliary positioning device according to Embodiment 2 of the present invention; Figure 11 for Figure 10 Enlarged view of part B in the middle; Figure 12 This is a top view of the needle diameter adjustment and positioning component of the puncture surgery auxiliary positioning device according to Embodiment 2 of the present invention.

[0030] Figure label: 1-Basic platform; 2-Electric rotary table; 3-Boom mounting base; 4-First swing arm; 5-Second swing arm; 6-Third swing arm; 7-Fixed support base; 8-Auxiliary positioning component; 81-Connecting plate; 811-First limiting groove; 82-First auxiliary positioning ring; 821-First positioning hole group; 822-First limiting claw; 823-Second limiting groove; 824-First pointing handle; 83-Second auxiliary positioning ring; 831-Second positioning hole group; 832-Second limiting claw; 833-Third limiting groove; 834-Second pointing handle; 84-Third auxiliary positioning ring; 841-Third positioning hole group; 842-Third limiting claw; 843-Center positioning hole; 844-Third pointing handle; 9- Template support frame; 10- First locking knob; 11- Pitch angle dial; 12- First orientation indicator; 13- Second locking knob; 14- Rotation orientation angle dial; 15- Second orientation indicator; 16-Needle diameter adjustment and positioning assembly; 161-Needle diameter adjustment drive component; 1611-Central guide hole; 1612-First sliding groove; 1613-Limit block; 162-Clamping component; 1621-Clamping block; 1622-Sliding column; 163-Sliding adjustment seat; 1631-Second sliding groove; 1632-Positioning stop. Detailed Implementation

[0031] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which constitute a part of the present invention and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not intended to limit the scope of the present invention.

[0032] Example 1 This invention provides a puncture surgery auxiliary positioning device, such as... Figure 1 and Figure 2 As shown, it includes an adjustment support mechanism, a three-axis linkage robotic arm, and an auxiliary positioning component 8; The adjustment support mechanism is used to adjust and lock the stability of the spatial angle of the auxiliary positioning component; the three-axis linkage robotic arm is used to make coarse adjustments to the position of the template support frame in space; the auxiliary positioning component 8 is used to enable multiple sizes of the positioning template hole diameter to be selected and easily adjusted.

[0033] The adjusting support mechanism is installed at the end of the three-axis linkage robotic arm; the adjusting support mechanism includes a fixed support base 7, a template carrier frame 9, a first locking knob 10, and a second locking knob 13; the fixed support base 7 is hingedly installed at the end of the three-axis linkage robotic arm; the template carrier frame 9 is rotatably installed at the end of the fixed support base 7, and the rotation axis of the template carrier frame 9 is perpendicular to the rotation axis of the fixed support base 7; the first locking knob 10 is used to lock the relative position of the fixed support base 7 and the third swing arm 6; the second locking knob 13 is used to lock the relative position of the template carrier frame 9 and the fixed support base 7; The auxiliary positioning component 8 is fixedly connected to the adjustment support mechanism. The auxiliary positioning component 8 includes a connecting plate 81 and a first auxiliary positioning ring 82. The connecting plate 81 is fixedly connected to one side of the template support frame 9. The first auxiliary positioning ring 82 is sleeved on the inner side of the connecting plate 81. The first auxiliary positioning ring 82 is used to assist in the positioning of the puncture needle.

[0034] To address the problem of limited selection and inconvenient adjustment of positioning template apertures in existing technologies, the auxiliary positioning device in this embodiment includes an auxiliary positioning component 8. Specifically, the auxiliary positioning component 8 is mounted on the template support frame 9, such as... Figure 5 As shown, the auxiliary positioning component 8 includes a connecting plate 81, a first auxiliary positioning ring 82, a second auxiliary positioning ring 83, and a third auxiliary positioning ring 84; the connecting plate 81 is fixedly connected to one side of the template support frame 9.

[0035] Furthermore, such as Figure 6 As shown, the connecting plate 81 is provided with a first limiting groove 811; the first limiting groove 811 is an arc-shaped groove structure, and is arranged in an array along the circumference of the connecting plate 81. The connecting plate 81, the first auxiliary positioning ring 82, the second auxiliary positioning ring 83, and the third auxiliary positioning ring 84 are coaxially arranged, and the first auxiliary positioning ring 82, the second auxiliary positioning ring 83, and the third auxiliary positioning ring 84 are sequentially sleeved on the inner side of the connecting plate 81.

[0036] Furthermore, such as Figure 7 As shown, the first auxiliary positioning ring 82 includes a first positioning hole group 821, a first limiting claw 822, a second limiting groove 823, and a first pointing handle 824. The first positioning hole group 821 consists of multiple positioning holes arranged in a circumferential array. Each positioning hole is a cylindrical through hole with a different diameter. The first positioning hole group 821 is used to provide positioning for puncture needles of various sizes. The first limiting claw 822 is fixedly connected to the side of the first auxiliary positioning ring 82 near the connecting plate 81. The number of first limiting claws 822 is set to two or more, preferably three in this embodiment. The first limiting claws 822 are used for sliding engagement with the first limiting groove 811. The first pointing handle 824 is configured as an arrow-shaped columnar structure and is fixedly connected to the outside of the first auxiliary positioning ring 82. The first pointing handle 824 is used to drive the first auxiliary positioning ring 82 to rotate relative to the connecting plate 81, and simultaneously indicates the rotation direction of the first auxiliary positioning ring 82. The first auxiliary positioning ring 82 can only rotate unidirectionally in the direction indicated by the first pointing handle 824. When rotating in the opposite direction, the first limiting claw 822 interferes with the side wall of the first limiting groove 811, forming an obstruction. The second limiting groove 823 is disposed on the side of the first auxiliary positioning ring 82 away from the connecting plate 81. The second limiting groove 823 is an arc-shaped groove structure and is arrayed along the circumference of the first auxiliary positioning ring 82.

[0037] Furthermore, such as Figure 8 As shown, the second auxiliary positioning ring 83 includes a second positioning hole group 831, a second limiting claw 832, a third limiting groove 833, and a second pointing handle 834. The second positioning hole group 831 consists of multiple positioning holes arranged in a circumferential array, providing positioning holes of various sizes at different positions for the auxiliary positioning component 8. The second limiting claw 832 is fixedly connected to the side of the second auxiliary positioning ring 83 near the first auxiliary positioning ring 82, and slides with the second limiting groove 823. The number of second limiting claws 832 is set to two or more, preferably three in this embodiment. The second pointing handle 834 is fixedly connected to the outside of the second auxiliary positioning ring 83 and is used to drive the second auxiliary positioning ring 83 to rotate relative to the first auxiliary positioning ring 82; the rotation direction of the second auxiliary positioning ring 83 is opposite to the rotation direction of the first auxiliary positioning ring 82. The third limiting groove 833 is an arc-shaped groove structure, arranged in an array along the circumference of the second auxiliary positioning ring 83.

[0038] Furthermore, such as Figure 9As shown, the third auxiliary positioning ring 84 includes a third positioning hole group 841, a third limiting claw 842, a central positioning hole 843, and a third pointing handle 844. The third positioning hole group 841 consists of multiple positioning holes arranged in a circumferential array. The third limiting claw 842 is fixedly connected to the side of the third auxiliary positioning ring 84 near the second auxiliary positioning ring 83. The third limiting claw 842 and the second limiting claw 832 are staggered, allowing the second auxiliary positioning ring 83 and the third auxiliary positioning ring 84 to rotate independently without interference. The third pointing handle 844 is fixedly connected to the outside of the third auxiliary positioning ring 84 and is used to drive the third auxiliary positioning ring 84 to rotate relative to the second auxiliary positioning ring 83, with the rotation direction of the third auxiliary positioning ring 84 being opposite to that of the second auxiliary positioning ring 83. The central positioning hole 843 is a cylindrical through-hole structure and is located at the center of the third auxiliary positioning ring 84.

[0039] The auxiliary positioning component 8 in this embodiment is used as follows: By rotating the first pointing handle 824, the second pointing handle 834, or the third pointing handle 844, the first auxiliary positioning ring 82, the second auxiliary positioning ring 83, or the third auxiliary positioning ring 84 can be rotated respectively, causing the positioning hole groups of different diameters or the third limiting groove 833 to move to the puncture position to adapt to the positioning requirements of puncture needles of different diameters. The cooperation of the first limiting groove 811 with the first limiting claw 822, the second limiting groove 823 with the second limiting claw 832, and the third limiting groove 833 with the third limiting claw 842 realizes the function of limiting the rotation angle and unidirectional rotation.

[0040] Specifically, such as Figure 1 As shown, to address the problem of limited adjustment range in existing auxiliary positioning devices, the auxiliary positioning device in this embodiment is equipped with a three-axis linkage robotic arm. Further, the three-axis linkage robotic arm includes a boom mounting base 3, a first swing arm 4, a second swing arm 5, and a third swing arm 6. The lower end of the first swing arm 4 is hinged to the boom mounting base 3, the upper end of the first swing arm 4 is hinged to the lower end of the second swing arm 5, and the upper end of the second swing arm 5 is hinged to the lower end of the third swing arm 6. Each hinge point of the three-axis linkage robotic arm is equipped with a drive motor, which can drive the first swing arm 4, the second swing arm 5, and the third swing arm 6 to rotate relative to each other, thereby achieving coarse adjustment of the position of the template support frame 9 in space.

[0041] Specifically, the fixed support 7 is hinged to the end of the third swing arm 6; the side of the third swing arm 6 is threaded with the first locking knob 10; the first locking knob 10 passes through the third swing arm 6 and is locked to the side of the fixed support 7.

[0042] Specifically, such as Figure 4As shown, the first locking knob 10 includes a first locking stud, which is threaded into a first threaded hole on the side of the third swing arm 6; by rotating, the first locking stud can lock the fixed support 7 hinged inside the third swing arm 6.

[0043] Specifically, a cylindrical structure is provided at the end of the fixed support 7, and a template support frame 9 is rotatably installed inside the cylindrical structure.

[0044] Furthermore, the rotating shaft of the template support frame 9 is rotatably installed in the internal shaft hole of the cylindrical structure, and the cylindrical structure is horizontally arranged at the end of the fixed support seat 7, with the shaft hole coaxial with the cylindrical structure.

[0045] Furthermore, such as Figure 3 As shown, a second locking knob 13 is screwed onto the outer side of the cylindrical structure. The second locking knob 13 can pass through the cylindrical structure and be locked onto the rotating shaft of the template support frame 9.

[0046] Specifically, the second locking knob 13 includes a second locking stud and a knob disk; the second locking stud is threaded into a second threaded hole on the side of the cylindrical structure; the knob disk is fixedly installed at the end of the second locking stud.

[0047] Preferably, multiple second threaded holes are equally spaced around the circumference of the cylindrical structure. Correspondingly, multiple second locking knobs 13 are equally spaced along the circumference of the cylindrical structure. In use, by tightening one or more of the second locking knobs 13, the template support frame 9 and the fixed support base 7 can be locked and fixed, thereby maintaining the angular stability of the template support frame 9.

[0048] To address the problems of traditional angle adjustment relying on visual estimation, which is difficult to accurately reproduce and record, specifically, such as Figure 1 As shown, a semi-circular pitch angle dial 11 is provided at the end of the third swing arm 6. The pitch angle dial 11 is coaxially arranged with the rotation axis of the fixed support 7, and the edge is marked with scale. A first orientation indicator 12 is provided on the side of the fixed support 7. The first orientation indicator 12 indicates the deflection angle of the fixed support 7 relative to the third swing arm 6 by aligning with different scales of the pitch angle dial 11.

[0049] Furthermore, a rotating azimuth angle disk 14 is provided on the end face of the cylindrical structure; a second azimuth indicator 15 is provided on the side of the template support frame 9; the second azimuth indicator 15 indicates the deflection angle of the template support frame 9 relative to the fixed support base 7 by aligning with different scales of the rotating azimuth angle disk 14.

[0050] In this embodiment, the puncture surgery auxiliary positioning device also includes a base platform 1 and an electric rotary table 2. The base platform 1 is placed on the ground; the electric rotary table 2 is fixed on the base platform 1, and an arm mounting base 3 is installed above the electric rotary table 2. The electric rotary table 2 can drive the three-axis linkage robotic arm to rotate circumferentially.

[0051] The operation procedure of the puncture surgery auxiliary positioning device is as follows: The first step is to fix the basic platform 1 to the side of the operating table and ensure that the puncture surgery auxiliary positioning equipment is in a stable state.

[0052] The second step is to make preliminary position adjustments to the template support frame 9: start the drive motors at each hinge of the three-axis linkage robotic arm to drive the first swing arm 4, the second swing arm 5 and the third swing arm 6 to rotate relative to each other, and in conjunction with the rotation of the electric rotary table 2, adjust the rough three-dimensional position and height of the template support frame 9 in space.

[0053] The third step is to finely adjust the angle and position of the template support frame 9: Loosen the first locking knob 10, manually or by driving the motor to rotate the fixed support 7 around its hinge axis with the third swing arm 6, and by observing the scale indicated by the first orientation indicator 12 on the pitch angle dial 11, adjust the fixed support 7 to the required pitch angle, and then tighten the first locking knob 10 to lock it; then, loosen the second locking knob 13, manually or by driving the motor to rotate the template support frame 9 around its rotating axis connected to the fixed support 7, and by observing the scale indicated by the second orientation indicator 15 on the rotating orientation angle dial 14, adjust the template support frame 9 and the template support frame 9 to the required horizontal orientation angle, and then tighten the second locking knob 13 to lock it.

[0054] The fourth step is to select and set the auxiliary positioning holes: According to the diameter of the surgical puncture needle, operate the first finger handle 824, the second finger handle 834, and the third finger handle 844 respectively to drive the first auxiliary positioning ring 82, the second auxiliary positioning ring 83, or the third auxiliary positioning ring 84 to rotate, so that the positioning holes or the third limiting grooves 833 of the corresponding diameter in the first positioning hole group 821, the second positioning hole group 831, and the third positioning hole group 841 rotate to be above the puncture point; due to the one-way limiting cooperation between each limiting claw and the limiting groove, each auxiliary positioning ring can only rotate in the direction indicated by its handle, avoiding angle backtracking caused by misoperation.

[0055] The fifth step is to perform the puncture: the tip of the puncture needle is passed through the selected auxiliary positioning hole, and the tail of the puncture needle is supported and guided by the wall of the positioning hole; the operator applies a pushing force along the axis of the positioning hole to perform the puncture. Throughout the puncture process, the three-axis linkage robotic arm and the adjusting support mechanism provide stable spatial support, and the template support frame 9 and the auxiliary positioning component 8 help control the angle and positional accuracy of the puncture needle.

[0056] Example 2 To address the problem of not being able to continuously adjust the orifice diameter at the same location to accommodate puncture needles of different sizes, another embodiment of the present invention, based on embodiment 1, replaces the third auxiliary positioning ring 84 with a needle diameter adjustment and positioning component 16. The needle diameter adjustment and positioning component 16 is used to adapt to and clamp puncture needles of different diameters, thereby achieving the positioning and fixation of the puncture needle.

[0057] Specifically, such as Figure 10 As shown, the needle diameter adjustment and positioning assembly 16 includes a needle diameter adjustment drive 161, a clamping member 162, and a sliding adjustment seat 163.

[0058] Furthermore, the needle diameter adjustment drive 161 includes a central guide hole 1611, a first sliding groove 1612, and a limiting block 1613. The central guide hole 1611 is located at the center of the needle diameter adjustment drive 161 and is used to guide the initial positioning of the puncture needle. The first sliding groove 1612 has an arc-shaped groove structure and is located on the side of the needle diameter adjustment drive 161. The number of first sliding grooves 1612 is set to three or more. Preferably, in this embodiment, the number of first sliding grooves 1612 is set to five. Figure 11 As shown, the limiting block 1613 has an arc-shaped structure, and the number of limiting blocks 1613 is set to multiple, with multiple limiting blocks 1613 evenly arranged along the first sliding groove 1612.

[0059] Further, the clamping member 162 includes clamping blocks 1621 and sliding posts 1622. There are three or more clamping blocks 1621; preferably, in this embodiment, the number of clamping blocks 1621 is five. The clamping blocks 1621 are distributed around the axis of the central guide hole 1611; when closed, the inner surfaces of the clamping blocks 1621 form a cylindrical clamping space, and the front ends of the clamping blocks 1621 are used to directly contact and clamp the puncture needle. Figure 12 As shown, the sliding column 1622 is a cylindrical structure and is fixedly connected to the outside of the clamping block 1621; one end of the sliding column 1622 slides and rotates with the first sliding groove 1612, and the other end slides with the sliding adjustment seat 163.

[0060] Furthermore, the sliding adjustment seat 163 includes a second sliding groove 1631 and a positioning block 1632. The second sliding groove 1631 is a straight groove structure, and the end of the sliding column 1622 away from the first sliding groove 1612 is slidably engaged with the second sliding groove 1631; the positioning block 1632 is disposed on the sliding adjustment seat 163 and is used to cooperate with the third limiting groove 833 to realize the installation and fixation of the needle diameter adjustment positioning component 16 on the auxiliary positioning component 8.

[0061] In use, rotating the needle diameter adjustment drive 161 causes the first sliding groove 1612 to drive the sliding column 1622 to move along the arc-shaped groove of the first sliding groove 1612. The other end of the sliding column 1622 is constrained by the straight line of the second sliding groove 1631, causing the clamping block 1621 to generate radial convergence or opening movement, thereby changing the diameter of the clamping space enclosed by the clamping block 1621 to accommodate puncture needles of different diameters. The cooperation between the limiting block 1613 and the sliding column 1622 can stabilize the clamping member 162 in multiple different opening and closing positions. The needle diameter adjustment positioning assembly 16 is installed on the auxiliary positioning assembly 8 through the cooperation of the positioning stop 1632 and the third limiting groove 833, replacing the original third auxiliary positioning ring 84 and providing a clamping and positioning method with continuously adjustable orifice diameter.

[0062] In practice, when the needle diameter adjustment and positioning component 16 is used instead of the third auxiliary positioning ring 84 in Embodiment 1, the operation process of the puncture surgery auxiliary positioning device is as follows: Steps one through three are the same as those in Example 1, completing the spatial position and angle adjustment of the template support frame 9.

[0063] Step 4, Needle Diameter Adjustment and Clamping Positioning: Rotate the needle diameter adjustment drive 161 according to the diameter of the puncture needle; the rotation of the needle diameter adjustment drive 161 acts on the sliding column 1622 through the first sliding groove 1612. Since the other end of the sliding column 1622 is constrained by the linear trajectory of the second sliding groove 1631 on the sliding adjustment seat 163, the multiple clamping blocks 1621 generate synchronous radial movement, thereby changing the diameter of the clamping space enclosed by their front ends; observe the opening at the front end of the clamping block 1621 until it matches the outer diameter of the puncture needle; stop rotating the needle diameter adjustment drive 161. At this time, the sliding column 1622 is stuck at a certain position of the first sliding groove 1612 under the action of the limiting block 1613, realizing the fixation of the opening and closing state of the clamping member 162.

[0064] Step 5, installation and puncture of the puncture needle: Pass the tip of the puncture needle through the central guide hole 1611 of the needle diameter adjustment drive 161, and continue to advance until the working part of the puncture needle is clamped and fixed by the front end of multiple clamping blocks 1621; at this time, the axis of the puncture needle coincides with the axis of the central guide hole 1611, and the clamping block 1621 provides stable radial constraint.

[0065] Step 6: Perform the puncture operation: The operator applies a pushing force along the axis of the puncture needle to perform the puncture; during the puncture process, the needle diameter adjustment and positioning component 16 is fixed by the positioning block 1632 and the third limiting groove 833 of the second auxiliary positioning ring 83, providing stable clamping and guidance for the puncture needle and preventing the puncture needle from deviating or swinging when penetrating the tissue.

[0066] Compared with Example 1, this example achieves continuous adjustment of the puncture needle clamping aperture through the needle diameter adjustment and positioning component 16, which can adapt to a variety of non-standard diameter puncture needles, and provides stronger radial gripping force through surface contact clamping, making it suitable for surgical scenarios with higher requirements for puncture stability.

[0067] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. A puncture surgery auxiliary positioning device, characterized in that, The system includes an adjustable support mechanism, a three-axis linkage robotic arm, and an auxiliary positioning component. The adjustable support mechanism includes a fixed support base, a template support frame, a first locking knob, and a second locking knob. The adjustable support mechanism is used to adjust and lock the spatial angle of the auxiliary positioning component for stability. The three-axis linkage robotic arm is used to coarsely adjust the position of the template support frame in space. The auxiliary positioning component is used to enable multiple sizes of the positioning template aperture for easy adjustment. The adjustment support mechanism is installed at the end of the three-axis linkage robotic arm; The auxiliary positioning component is fixedly connected to the adjustment support mechanism. The auxiliary positioning component includes a connecting plate, a first auxiliary positioning ring, a second auxiliary positioning ring, and a third auxiliary positioning ring. The first auxiliary positioning ring is sleeved on the inner side of the connecting plate. The connecting plate, the first auxiliary positioning ring, the second auxiliary positioning ring, and the third auxiliary positioning ring are coaxially arranged. The first auxiliary positioning ring, the second auxiliary positioning ring, and the third auxiliary positioning ring are sequentially sleeved on the inner side of the connecting plate. The rotation direction of the second auxiliary positioning ring is opposite to that of the first auxiliary positioning ring; the third auxiliary positioning ring includes a third limiting claw, and the second auxiliary positioning ring includes a second limiting claw. The second limiting claw and the third limiting claw are staggered so that the second auxiliary positioning ring and the third auxiliary positioning ring can rotate independently without interfering with each other. The auxiliary positioning component further includes a needle diameter adjustment positioning component for replacing the third auxiliary positioning ring. The needle diameter adjustment positioning component includes a needle diameter adjustment drive, a clamping component, and a sliding adjustment seat. The needle diameter adjustment drive has an arc-shaped first sliding groove and a plurality of limiting blocks arranged along the first sliding groove. The clamping component includes a plurality of clamping blocks, and a sliding post is connected to the outer side of each clamping block. The sliding adjustment seat has a positioning stop, which is used to cooperate with the second auxiliary positioning ring to realize the installation and fixation of the needle diameter adjustment positioning component. The cooperation between the limiting block and the sliding post makes the clamping component stable in a plurality of different opening and closing positions.

2. The puncture surgery auxiliary positioning device according to claim 1, characterized in that, The connecting plate is provided with a first limiting groove; the first auxiliary positioning ring includes a first limiting claw, which slides in conjunction with the first limiting groove.

3. The puncture surgery auxiliary positioning device according to any one of claims 1, characterized in that, The first auxiliary positioning ring is provided with a first positioning hole group, the second auxiliary positioning ring is provided with a second positioning hole group, and the third auxiliary positioning ring is provided with a third positioning hole group.

4. The puncture surgery auxiliary positioning device according to claim 1, characterized in that, A central positioning hole is provided at the center of the third auxiliary positioning ring.

5. The puncture surgery auxiliary positioning device according to claim 1, characterized in that, The end of the three-axis linkage robotic arm is equipped with a pitch angle dial, and the side of the fixed support base is equipped with a first orientation indicator.

6. The puncture surgery auxiliary positioning device according to claim 1, characterized in that, The fixed support base is provided with a rotating azimuth angle plate at its end, and the template support frame is provided with a second azimuth indicator on its side.

7. The puncture surgery auxiliary positioning device according to claim 1, characterized in that, The three-axis linkage robotic arm includes a boom mounting base, a first swing arm, a second swing arm, and a third swing arm.

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