Puncture robot pose adjusting device

Abstract

This invention discloses a puncture robot pose adjustment device, comprising: an X-axis angle adjustment mechanism including a first connecting member and an X-axis telescopic part whose front end is connected to the first connecting member and can drive the first connecting member to move along the X-axis; and a Y-axis angle adjustment mechanism including an angle adjustment base and a Y-axis angle adjustment part, the Y-axis angle adjustment part including a Y-axis slider that slides along the Y-axis, the rear end of the X-axis telescopic part being rotatably connected to the angle adjustment base, and the axis of rotation being a first axis parallel to the Z-axis, the Y-axis slider being coupled to the X-axis telescopic part. The combination of the telescopic mechanism and the swing mechanism results in a more rational structural force distribution and more flexible adjustment; the use of an independent X-Y linear motion platform provides a large movement range, strong load-bearing capacity, and a clear force path during needle insertion, significantly improving structural reliability and service life.

Description

Technical Field

[0001] This invention belongs to the field of interventional surgical equipment, and specifically relates to a puncture robot posture adjustment device. Background Technology

[0002] In modern clinical practice, biopsies, drug delivery, and various minimally invasive diagnostic and therapeutic procedures typically rely on the precise insertion of medical instruments (such as puncture needles) through the skin into the patient's body. The goal of these procedures is to accurately and safely deliver the tip of the medical instrument to specific target areas within the body, such as tumors, lesions, or organs. Related clinical applications include fluid sampling, local anesthesia, tissue biopsy, cryoablation, brachytherapy, neurosurgical interventions, and deep brain stimulation.

[0003] However, the precise guidance and insertion of needles in soft tissue environments highly depends on the surgeon's spatial awareness, familiarity with anatomical structures, and extensive experience. Against this backdrop, various image-guided puncture systems have emerged in recent years, some employing robotic structures to assist surgeons in needle path planning, target alignment, and insertion. These systems can reduce reliance on manual operation, improve surgical efficiency and precision, and to some extent reduce the risk of surgeon exposure to radiation.

[0004] However, existing puncture robots generally suffer from the following problems: most rely on preoperative images for path planning, and if the needle deviates or the soft tissue deforms during insertion, the system usually struggles to detect and dynamically correct it in real time. Furthermore, many systems only have path planning capabilities; the actual needle insertion process still needs to be performed manually by the physician, thus failing to achieve true closed-loop control and affecting the accuracy and safety of the puncture.

[0005] CN109475384B discloses an automatic insertion device that uses a parallel structure of two telescopic pistons to achieve angle adjustment, but its pistons need to be purchased directly as finished products, and the maximum stroke is limited and fixed. Wearing the puncture device directly on the patient's skin results in a fixed installation method, with many restrictions on the recipient's position and target location, and insufficient operational flexibility.

[0006] CN 114469286 A discloses a miniaturized puncture robot that uses a parallel connection of two telescopic electric cylinders to achieve angle adjustment. However, its structural rigidity is limited, and its tangential force is also limited. Its position adjustment mechanism has the same structure as its angle adjustment mechanism, both being a parallel connection of two telescopic electric cylinders. This limits its range of motion, and the electric cylinders bear significant tangential force during needle insertion, affecting their service life. Summary of the Invention

[0007] The purpose of this invention is to provide a puncture robot posture adjustment device that clearly defines the force path during needle insertion, significantly improving structural reliability and service life.

[0008] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: a puncture robot pose adjustment device, which has two perpendicular X-axis directions, Y-axis directions and Z-axis directions, and includes:

[0009] The X-axis angle adjustment mechanism includes a first connector and an X-axis telescopic part whose front end is connected to the first connector and can drive the first connector to move along the X-axis direction.

[0010] The Y-axis angle adjustment mechanism includes an angle adjustment base and a Y-axis angle adjustment section.

[0011] The second connector is directly or indirectly connected to the angle adjustment base;

[0012] A sliding connector, which is connected to at least one of a first connector or a second connector;

[0013] The Y-axis angle adjustment part includes a Y-axis slider that slides along the Y-axis. The rear end of the X-axis telescopic part is rotatably connected to the angle adjustment base, and the axis of rotation is a first axis parallel to the Z-axis. The Y-axis slider is coupled to the X-axis telescopic part. When the Y-axis slider moves, it causes the X-axis telescopic part to swing around the first axis. The first connecting member swings with the front end of the X-axis telescopic part. The first and second connecting members are universal joints with degrees of freedom of rotation around the X-axis and around the Y-axis. The sliding connecting member allows the first or second connecting member to have a degree of freedom of sliding along the Z-axis relative to the component whose posture is to be adjusted. When the puncture device is connected to the first and second connecting members, the angle of the puncture device can be adjusted by the telescopic and swinging motion of the X-axis telescopic part.

[0014] In another embodiment, the X-axis angle adjustment mechanism includes a telescopic adjustment base, an X-axis guide rod fixed to the telescopic adjustment base, a telescopic screw nut fixing block slidably connected to the X-axis guide rod, an X-axis telescopic screw rotatably connected to the telescopic adjustment base and parallel to the X-axis guide rod, a telescopic screw nut threadedly connected to the X-axis telescopic screw and fixedly connected to the telescopic screw nut fixing block, a telescopic motor for driving the X-axis telescopic screw to rotate, a telescopic guide rod whose rear end is fixed to the telescopic screw nut fixing block and passes through the telescopic adjustment base, and a first connecting member installed on the front end of the telescopic guide rod. The screw mechanism drives the first connecting member to move, thereby realizing the angle adjustment of the piercing device. The screw mechanism has a large propulsive force, which can achieve an angle adjustment range that cannot be reached by a pneumatic cylinder or hydraulic cylinder.

[0015] In another embodiment, the X-axis angle adjustment mechanism includes a pulley assembly connected between the X-axis telescopic screw and the telescopic motor for transmission, and the pulley assembly has high transmission efficiency.

[0016] In another embodiment, the Y-axis angle adjustment unit includes a Y-axis angle adjustment mounting bracket mounted on the angle adjustment base, a Y-axis guide shaft fixed to the Y-axis angle adjustment mounting bracket along the Y-axis direction, a Y-axis angle adjustment screw rotatably connected to the Y-axis angle adjustment mounting bracket along the Y-axis direction, a Y-axis angle adjustment screw nut slidably connected to the Y-axis guide shaft and threadedly connected to the Y-axis angle adjustment screw, a Y-axis slider fixed to the upper end of the Y-axis angle adjustment screw nut, and a steering slider slidably connected to the X-axis guide rod. The steering slider is provided with a swing groove passing through the X-axis. When the Y-axis slider moves along the Y-axis, the Y-axis slider pushes the steering slider to slide on the X-axis guide rod and rotate around the first axis within the swing groove.

[0017] In another embodiment, the Y-axis angle adjustment unit includes a worm gear fixedly connected coaxially to the Y-axis angle adjustment screw, a worm meshing with the worm gear, a steering motor for driving the worm to rotate, a motor mounting bracket for mounting the steering motor and fixedly connected to the angle adjustment base, and a coupling connecting the steering motor and the worm. By arranging the steering motor and the telescopic motor parallel to each other and both along the front-rear direction through the worm gear and worm, the width of the adjustment device can be reduced, and the puncture device can be placed as far as possible in the front-rear direction as the main body of the adjustment device, thus reducing the impact on real-time CT guidance.

[0018] In another embodiment, a lower connecting rod extending forward along the X direction is connected to the angle adjustment base, and the second connecting member is installed on the front end of the lower connecting rod.

[0019] In another embodiment, the adjustment device further includes an X-axis linear motion platform for driving the Y-axis angle adjustment mechanism to move in the X-axis direction. The X-axis linear motion platform includes an X-axis base frame, an X-axis linear guide rail fixed on the X-axis base frame and arranged along the X-axis direction, an X-axis slider fixing frame slidably connected to the X-axis linear guide rail, and a linear drive mechanism for driving the X-axis slider fixing frame to move along the X-axis direction. The linear drive mechanism is a lead screw mechanism, a gear rack structure, etc.

[0020] In another embodiment, the adjustment device further includes a Y-axis linear motion platform for driving the Y-axis angle adjustment mechanism to move in the Y-axis direction. The Y-axis linear motion platform includes a Y-axis base fixed to the X-axis base, a Y-axis linear guide rail fixed to the Y-axis base and arranged along the Y-axis direction, a Y-axis slider fixing frame slidably connected to the Y-axis linear guide rail, and a linear drive mechanism for driving the Y-axis slider fixing frame to move along the Y-axis direction. The linear drive mechanism is a lead screw mechanism, a gear rack structure, etc.

[0021] In another embodiment, the adjustment device further includes an X-axis auxiliary angle adjustment mechanism and a Y-axis auxiliary angle adjustment mechanism. The X-axis auxiliary angle adjustment mechanism includes an X-axis auxiliary telescopic part that can drive the second connecting member to move along the X-axis direction. The Y-axis auxiliary angle adjustment mechanism includes an angle auxiliary adjustment base and a Y-axis auxiliary angle adjustment part.

[0022] In another embodiment, the second connector is mounted on the X-direction auxiliary telescopic part.

[0023] The beneficial effects of this invention are as follows:

[0024] 1. The combination of telescopic and swing mechanisms results in a more rational stress distribution and more flexible adjustment; the independent XY linear motion platform provides a large range of movement, strong load-bearing capacity, and a clear force path during pin insertion, significantly improving structural reliability and service life.

[0025] 2. The system can dynamically monitor the needle tip position under real-time guidance from imaging equipment such as CT scanners. If deviation occurs, it can automatically correct the needle insertion direction and depth, and perform needle retraction and repositioning to ensure the needle remains accurately aligned with the target. Automatic release is achieved immediately after needle insertion, thereby reducing tissue damage and minimizing trauma and risk to the patient. Angle adjustment is achieved through a combination of a self-made telescopic and swinging mechanism, allowing for flexible and rapid adjustment of the maximum stroke, overcoming the limitations of pre-made components. This patented system employs an adjustable bracket mounting structure, allowing for flexible and varied installation positions to adapt to the operational needs of different puncture sites, providing wider coverage.

[0026] 3. The puncture procedure is automated, eliminating the need for manual needle insertion by the doctor. Options include fully automated needle insertion or remote needle insertion controlled by the doctor. This significantly improves operational efficiency and accuracy, reduces the doctor's workload, and minimizes human error.

[0027] 4. No external optical positioning required, strong environmental adaptability. The solution eliminates reliance on traditional optical tracking systems, avoids problems such as external light source obstruction and field of view limitation, reduces costs while improving system stability and practicality. Attached Figure Description

[0028] Figure 1This is a schematic diagram illustrating the application of the present invention in a puncture robot in Embodiment 1;

[0029] Figure 2 This is a perspective view of the adjustment device of the present invention in Embodiment 1;

[0030] Figure 3 This is a perspective view of the X-axis linear motion platform of the present invention in Embodiment 1;

[0031] Figure 4 This is a perspective view of the Y-axis linear motion platform of the present invention in Embodiment 1;

[0032] Figure 5 This is a perspective view of the Y-axis angle adjustment mechanism of the present invention in Embodiment 1;

[0033] Figure 6 This is a perspective view of the X-axis angle adjustment mechanism of the present invention in Embodiment 1;

[0034] Figure 7 This is a perspective view of the X-axis angle adjustment mechanism of the present invention in Embodiment 1 from another angle;

[0035] Figure 8 This is a perspective view of the adjustment device of the present invention in Embodiment 2;

[0036] The components include: 1-1, puncture device; 1-2, puncture robot pose adjustment device; 1-4, external mounting frame; 1-5, adjustable bracket; 2-1, X-axis base frame; 2-2, X-axis linear guide rail; 2-3, X-axis lead screw; 2-4, X-axis slider fixing frame; 2-5, X-axis belt; 2-6, X-axis pulley; 2-7, X-axis motor; 2-8, X-axis sensor; 2-9, Y-axis slider fixing frame; 2-10, Y-axis motor; 2-11, Y-axis transmission... Sensor; 2-12, Y-axis pulley; 2-13, Y-axis lead screw; 2-14, Y-axis linear guide; 2-15, Y-axis base frame; 3-1, First connecting piece; 3-2, Telescopic guide rod; 3-3, Linear bearing; 3-4, Telescopic adjustment base; 3-5, X-axis guide rod; 3-6, Telescopic baffle; 3-7, Sensor; 3-8, Steering bearing; 3-9, Steering baffle; 3-10, Telescopic motor; 3-11, Pulley assembly; 3-12, Extension... 3-13. Telescopic screw nut; 3-14. X-direction telescopic screw; 3-15. Upper connecting rod; 5-1. Second connecting piece; 5-2. Angle adjustment base; 5-3. Y-direction guide shaft; 5-4. Y-direction angle adjusting screw; 5-5. Y-direction angle adjusting screw nut; 5-5'. Y-direction slider; 5-6. Y-direction angle adjustment mounting bracket; 5-7. Worm gear; 5-8. Worm; 5-9. Coupling; 5-10. Motor mount Mounting bracket; 5-11, Steering motor; 5-12, Lower connecting rod; 5-13, Steering slider; 6-1, Mounting bracket; 6-4, X-axis linear moving platform; 6-5, Y-axis linear moving platform; 6-6, X-axis angle adjustment mechanism; 6-7, Y-axis angle adjustment mechanism; 6-6', X-axis auxiliary angle adjustment mechanism; 6-7', Y-axis auxiliary angle adjustment mechanism; 7-1, Sliding connector; 7-2, Z-axis slide bar; 7-3, Z-axis slider. Detailed Implementation

[0037] The present invention will now be described in detail with reference to the embodiments shown in the accompanying drawings: Example

[0038] like Figure 1-7 As shown, the puncture robot pose adjustment device 1-2 is connected to the adjustable bracket 1-5 of the puncture robot through an external mounting frame 1-4. The puncture robot pose adjustment device has two perpendicular X-axis directions, Y-axis directions and Z-axis directions. It includes: an X-axis angle adjustment mechanism, a Y-axis angle adjustment mechanism, an X-axis linear motion platform for driving the Y-axis angle adjustment mechanism to move in the X direction, a Y-axis linear motion platform for driving the Y-axis angle adjustment mechanism to move in the Y direction, a sliding connector and a second connector.

[0039] in:

[0040] The X-axis angle adjustment mechanism 6-6 includes a first connector 3-1 and an X-axis telescopic part whose front end is connected to the first connector 3-1 and can drive the first connector 3-1 to move along the X-axis direction.

[0041] The Y-axis angle adjustment mechanism 6-7 includes an angle adjustment base, a Y-axis angle adjustment part, and a second connecting member connected to the angle adjustment base. The Y-axis angle adjustment part includes a Y-axis slider that slides along the Y-axis. The rear end of an X-axis telescopic part is rotatably connected to the angle adjustment base, with its rotation axis being a first axis parallel to the Z-axis. The Y-axis slider is coupled to the X-axis telescopic part. When the Y-axis slider moves, it causes the X-axis telescopic part to swing around the first axis. The first connecting member 3-1 swings with the front end of the X-axis telescopic part. The first connecting member 3-1 and the second connecting member 5-1 are universal joints, possessing degrees of freedom of rotation around the X-axis and around the Y-axis. In this embodiment, the sliding connector 7-1 is connected to the first connector and gives the first connector a degree of freedom to slide along the Z-axis relative to the component (such as the puncture device) whose posture is to be adjusted. In this embodiment, the sliding connector 7-1 includes a Z-axis slide rod 7-2 fixedly connected to the puncture device 1-1 and a Z-axis slider 7-3 slidably connected to the Z-axis slide rod 7-2 and connected to the front end of the first connector. When the puncture device 1-1 is connected to the first connector 3-1 and the second connector, the angle of the puncture device can be adjusted by the extension and retraction and swinging motion of the X-axis telescopic part.

[0042] Specifically:

[0043] The X-axis angle adjustment mechanism 6-6 includes a telescopic adjustment base 3-4, an X-axis guide rod 3-5 fixed on the telescopic adjustment base 3-4, a telescopic screw nut 3-12 fixing block slidably connected to the X-axis guide rod 3-5, an X-axis telescopic screw 3-14 rotatably connected to the telescopic adjustment base 3-4 and parallel to the X-axis guide rod 3-5, a telescopic screw nut 3-12 threadedly connected to the X-axis telescopic screw 3-14 and fixedly connected to the telescopic screw nut 3-12 fixing block, a telescopic motor 3-10 for driving the X-axis screw 2-3 to rotate, and a rear end. The telescopic guide rod 3-2 is fixed to the telescopic screw nut 3-12 fixing block and passes through the telescopic adjustment base 3-4. The pulley assembly 3-11 is connected between the X-direction screw 2-3 and the telescopic motor 3-10 for transmission. The first connecting piece 3-1 is installed on the upper connecting rod 3-15 at the front end of the telescopic guide rod 3-2. The screw mechanism drives the first connecting piece 3-1 to move, thereby realizing the angle adjustment of the piercing device. The screw mechanism has a large propulsion force and can achieve an angle adjustment range that cannot be reached by a pneumatic cylinder or hydraulic cylinder. The pulley assembly 3-11 has high transmission efficiency.

[0044] The Y-axis angle adjustment unit includes a Y-axis angle adjustment mounting bracket 5-6 mounted on the angle adjustment base 5-2, a Y-axis guide shaft 5-3 fixed to the Y-axis angle adjustment mounting bracket 5-6 along the Y-axis direction, a Y-axis angle adjustment screw 5-4 rotatably connected to the Y-axis angle adjustment mounting bracket 5-6 along the Y-axis direction, a Y-axis angle adjustment screw nut 5-5 slidably connected to the Y-axis guide shaft 5-3 and threadedly connected to the Y-axis angle adjustment screw 5-4, a Y-axis slider 5-5' fixed to the upper end of the Y-axis angle adjustment screw nut 5-5, a steering slider 5-13 slidably connected to the X-axis guide rod 3-5, and a Y-axis... The angle adjusting screw 5-4 is coaxially fixedly connected to a worm gear 5-7, a worm 5-8 meshing with the worm gear 5-7, a steering motor 5-11 for driving the worm 5-8 to rotate, a motor mounting bracket 5-10 for mounting the steering motor 5-11 and fixedly connected to the angle adjusting base 5-2, and a coupling 5-9 connecting the steering motor 5-11 and the worm 5-8. The steering slider 5-13 has a swing groove running along the X-axis. When the Y-axis slider 5-5' moves along the Y-axis, the Y-axis slider 5-5' pushes the steering slider 5-13 to slide on the X-axis guide rod 3-5 and rotate around the first axis within the swing groove. By using the worm gear 5-7 and worm 5-8 to arrange the steering motor 5-11 and the telescopic motor 3-10 parallel and both along the front-rear direction, the width of the adjusting device can be reduced, and the puncture device can be positioned as far as possible from the main body of the adjusting device in the front-rear direction, minimizing the impact on real-time CT guidance. An angle adjustment base 5-2 is connected to a lower connecting rod 5-12 extending forward along the X direction, and a second connecting piece is installed on the front end of the lower connecting rod 5-12.

[0045] The X-axis linear motion platform includes an X-axis base frame 2-1, an X-axis linear guide rail 2-2 fixed on the X-axis base frame 2-1 and arranged along the X-axis direction, an X-axis slider fixing frame 2-4 slidably connected to the X-axis linear guide rail 2-2, and an X-axis linear drive mechanism for driving the X-axis slider fixing frame 2-4 to move along the X-axis. The linear drive mechanism is a lead screw mechanism, a gear and rack structure, etc. In this embodiment, the X-axis linear drive mechanism includes an X-axis lead screw 2-3, an X-axis belt 2-5, an X-axis pulley 2-6, an X-axis motor 2-7, and an X-axis sensor 2-8.

[0046] The Y-axis linear motion platform includes a Y-axis base frame 2-15 fixed to the X-axis base frame 2-1, a Y-axis linear guide rail 2-14 fixed to the Y-axis base frame 2-15 and arranged along the Y-axis direction, a Y-axis slider 5-5' fixing frame 2-9 slidably connected to the Y-axis linear guide rail 2-14, and a linear drive mechanism for driving the Y-axis slider 5-5' fixing frame 2-9 to move along the Y-axis. The Y-axis linear drive mechanism is a lead screw mechanism, a gear and rack structure, etc. In this embodiment, the Y-axis linear drive mechanism includes a Y-axis motor 2-10, a Y-axis sensor 2-11, a Y-axis pulley 2-12, and a Y-axis lead screw 2-13.

[0047] The principle of this invention is as follows:

[0048] The lower layer is a linear motion platform in the X and Y directions, used to achieve precise adjustment of the pin position in the horizontal plane;

[0049] The X and Y angle adjustment mechanisms 6-7 are used to adjust the needle insertion direction, enabling insertion along different angle paths. The lower X and Y linear motion platform includes an X-axis linear motion platform and a Y-axis linear motion platform.

[0050] X-axis linear motion platform: The main body consists of an X-axis base frame 2-1, with an X-axis linear guide rail 2-2. Driven by an X-axis lead screw 2-3, the X-axis slider fixing frame 2-4 moves along the X direction. An X-axis motor 2-7 drives the lead screw to rotate via a pulley 2-6 and a belt 2-5, achieving translation. An X-axis sensor 2-8 is used for origin reset and positioning. This linear motion is not limited to lead screw drive; belt drive, rack and pinion drive, and other linear drive methods are also within the protection scope.

[0051] The Y-axis linear motion platform consists of a Y-axis base frame 2-15 as the main body, with a Y-axis linear guide rail 2-14. Driven by a Y-axis lead screw 2-13, it drives the Y-axis slider fixing frame 2-9 to achieve Y-axis linear motion. A Y-axis motor 2-10 drives the lead screw via a pulley 2-12 and a belt, while a Y-axis sensor 2-11 provides the origin reset function. This linear motion is not limited to lead screw drive; belt drive, rack and pinion drive, and other linear drive methods are also within the scope of protection.

[0052] The upper layer consists of X-axis and Y-axis angle adjustment mechanisms, including an X-axis angle adjustment mechanism 6-6 and a Y-axis angle adjustment mechanism 6-7. The main body of the bottom of the X-axis and Y-axis angle adjustment mechanisms is composed of an angle adjustment base plate 5-2, a lower connecting rod 5-12, a second connecting piece 5-1, an upper connecting rod 3-15, and a first connecting piece 3-1 forming a basic frame. Combined with the X-axis and Y-axis angle adjustment mechanisms 6-7, this forms a pin angle control system.

[0053] X-angle adjustment mechanism 6-6: A linear telescopic system consisting of a telescopic guide rod 3-2 sliding within a linear bearing 3-3. The telescopic screw nut fixing block 3-13 of the telescopic screw 3-14 is fitted onto the X-axis guide rod 3-5, and the telescopic screw nut fixing block 3-13 moves via the telescopic screw 3-14, which in turn moves the telescopic guide rod 3-2, ultimately causing the first connecting piece 3-1 to move. The telescopic motor 3-10 drives the telescopic screw 3-14 via a pulley 3-12 and a belt 3-11. The telescopic stop plate 3-6, combined with the sensor 3-7, achieves reset control. The telescopic mechanism body 3-4 provides mounting support. This angle adjustment is not limited to screw drive; belt drive, rack and pinion drives, and other linear drive methods are also within the scope of protection.

[0054] Y-axis angle adjustment mechanism 6-7: Enables the swing adjustment of the telescopic structure in the Y direction. The system forms a rotation fulcrum through steering bearing 3-8, and steering baffle 3-9 and sensor provide angle origin feedback. Y-axis adjusting screw 5-4 drives steering slider 5-13 to move in the Y direction and slide on X-axis guide rod simultaneously through nut mounting block 5-5 and Y-axis slider 5-5', thereby pushing X-axis angle adjustment mechanism 6-6 to achieve Y-axis swing. Steering motor 5-11 is mounted on motor mounting bracket 5-10 and is connected to drive worm gear 5-8 to rotate through coupling 5-9. Worm gear 5-8 drives Y-axis adjusting screw to rotate through worm gear 5-7, achieving Y-axis angle control. Example

[0055] like Figure 8 As shown, in this embodiment, the adjustment device can employ two sets of X-direction angle adjustment mechanisms 6-6 and Y-direction angle adjustment mechanisms 6-7 similar to those in Embodiment 1. The adjustment device also includes an X-direction auxiliary angle adjustment mechanism 6-6' and a Y-direction auxiliary angle adjustment mechanism 6-7'. The X-direction auxiliary angle adjustment mechanism includes an X-direction auxiliary telescopic part capable of driving the second connecting member to move along the X-axis direction; the Y-direction auxiliary angle adjustment mechanism includes an angle auxiliary adjustment base and a Y-direction auxiliary angle adjustment part. The second connecting member is mounted on the X-direction auxiliary telescopic part. As described in Embodiment 1, the X-axis angle adjustment mechanism 6-6 and the Y-axis angle adjustment mechanism 6-7 have X-axis telescopic parts that can drive the first connecting member 3-1 to move along the X-axis direction, and Y-axis angle adjustment mechanism 6-7 that can drive the first connecting member 3-1 to swing. Both the X-axis auxiliary telescopic part and the X-axis telescopic part are electric cylinders. In this embodiment, the operating principle of the X-axis angle adjustment mechanism 6-6, the Y-axis angle adjustment mechanism 6-7, the X-axis auxiliary angle adjustment mechanism 6-6' and the Y-axis auxiliary angle adjustment mechanism 6-7' is the same as that of the X-axis angle adjustment mechanism 6-6 and the Y-axis angle adjustment mechanism 6-7 in Embodiment 1. By combining the upper X-axis angle adjustment mechanism 6-6 and the Y-axis angle adjustment mechanism 6-7 with the lower X-axis auxiliary angle adjustment mechanism 6-6' and the Y-axis auxiliary angle adjustment mechanism 6-7', the posture adjustment of the puncture device can be realized.

[0056] The above embodiments are only for illustrating the technical concept and features of the present invention, and are intended to enable those skilled in the art to understand the content of the present invention and implement it accordingly. They should not be construed as limiting the scope of protection of the present invention. All equivalent changes or modifications made in accordance with the spirit of the present invention should be covered within the scope of protection of the present invention.

Claims

1. A puncture robot pose adjustment device having an X-axis direction, a Y-axis direction, and a Z-axis direction that are perpendicular to each other two by two, characterized by, It includes: The X-axis angle adjustment mechanism includes a first connector and an X-axis telescopic part whose front end is connected to the first connector and can drive the first connector to move along the X-axis direction. The Y-axis angle adjustment mechanism includes an angle adjustment base and a Y-axis angle adjustment section. The second connector is directly or indirectly connected to the angle adjustment base; A sliding connector, which is connected to at least one of a first connector or a second connector; The Y-axis angle adjustment part includes a Y-axis slider that slides along the Y-axis. The rear end of the X-axis telescopic part is rotatably connected to the angle adjustment base, and the axis of rotation is a first axis parallel to the Z-axis. The Y-axis slider is coupled to the X-axis telescopic part. When the Y-axis slider moves, it causes the X-axis telescopic part to swing around the first axis. The first connecting member swings with the front end of the X-axis telescopic part. The first connecting member and the second connecting member are universal joints with a degree of freedom of rotation around the X-axis and a degree of freedom of rotation around the Y-axis. The sliding connecting member allows the first connecting member or the second connecting member to have a degree of freedom of sliding along the Z-axis relative to the component whose posture is being adjusted by the device to be adjusted. The adjustment device further includes an X-axis linear motion platform for driving the Y-axis angle adjustment mechanism to move in the X-axis. The X-axis linear motion platform includes an X-axis base frame, an X-axis linear guide rail fixed on the X-axis base frame and arranged along the X-axis direction, an X-axis slider fixing frame slidably connected to the X-axis linear guide rail, and a linear drive mechanism for driving the X-axis slider fixing frame to move along the X-axis. The adjustment device further includes a Y-axis linear motion platform for driving the Y-axis angle adjustment mechanism to move in the Y-axis direction. The Y-axis linear motion platform includes a Y-axis base fixed to the X-axis base, a Y-axis linear guide rail fixed to the Y-axis base and arranged along the Y-axis direction, a Y-axis slider fixing frame slidably connected to the Y-axis linear guide rail, and a linear drive mechanism for driving the Y-axis slider fixing frame to move along the Y-axis.

2. The puncture robot pose adjustment device according to claim 1, characterized in that: The X-axis angle adjustment mechanism includes a telescopic adjustment base, an X-axis guide rod fixed on the telescopic adjustment base, a telescopic screw nut fixing block slidably connected to the X-axis guide rod, an X-axis telescopic screw rotatably connected to the telescopic adjustment base and parallel to the X-axis guide rod, a telescopic screw nut threadedly connected to the X-axis telescopic screw and fixedly connected to the telescopic screw nut fixing block, a telescopic motor for driving the X-axis telescopic screw to rotate, a telescopic guide rod whose rear end is fixed to the telescopic screw nut fixing block and passes through the telescopic adjustment base, and the first connecting member is installed on the front end of the telescopic guide rod.

3. The puncture robot pose adjustment device according to claim 2, characterized in that: The X-axis angle adjustment mechanism includes a pulley assembly for transmission connected between the X-axis telescopic screw and the telescopic motor.

4. The puncture robot pose adjustment device according to claim 2, characterized in that: The Y-axis angle adjustment unit includes a Y-axis angle adjustment mounting bracket mounted on the angle adjustment base, a Y-axis guide shaft fixed to the Y-axis angle adjustment mounting bracket along the Y-axis direction, a Y-axis angle adjustment screw rotatably connected to the Y-axis angle adjustment mounting bracket along the Y-axis direction, a Y-axis angle adjustment screw nut slidably connected to the Y-axis guide shaft and threadedly connected to the Y-axis angle adjustment screw, a Y-axis slider fixed to the upper end of the Y-axis angle adjustment screw nut, and a steering slider slidably connected to the X-axis guide rod. The steering slider is provided with a swing groove that runs through the X-axis.

5. The puncture robot pose adjustment device according to claim 4, characterized in that: The Y-axis angle adjustment unit includes a worm gear fixedly connected coaxially to the Y-axis angle adjustment screw, a worm meshing with the worm gear, a steering motor for driving the worm to rotate, a motor mounting bracket for mounting the steering motor and fixedly connected to the angle adjustment base, and a coupling connecting the steering motor and the worm.

6. The puncture robot pose adjustment device according to claim 1, characterized in that: The angle adjustment base is connected to a lower connecting rod that extends forward along the X direction, and the second connecting member is installed on the front end of the lower connecting rod.

7. The puncture robot pose adjustment device according to claim 1, characterized in that: The adjustment device further includes an X-axis auxiliary angle adjustment mechanism and a Y-axis auxiliary angle adjustment mechanism. The X-axis auxiliary angle adjustment mechanism includes an X-axis auxiliary telescopic part that can drive the second connecting member to move along the X-axis direction. The Y-axis auxiliary angle adjustment mechanism includes an angle auxiliary adjustment base and a Y-axis auxiliary angle adjustment part.

8. The puncture robot pose adjustment device according to claim 7, characterized in that: The second connector is mounted on the X-direction auxiliary telescopic part.

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