Puncture device, puncture device for CT (Computed Tomography) real-time guided interventional operation and interventional operation robot

Abstract

The invention discloses a puncture device, a puncture device used for CT real-time guided interventional operation and an interventional operation robot. The puncture device comprises a mounting frame, a puncture needle and a puncture needle, the sliding block assembly is connected to the mounting frame in a sliding manner; the pull wire is provided with a fixed end and a winding and unwinding end; the pull wire is wound on the sliding block assembly and the base assembly, the fixed end is connected to the sliding block assembly, the sliding block assembly is provided with a first clamping jaw which is in an open state in a natural state, the pull wire is wound on the first clamping jaw, and when the retracting and releasing end starts to be pulled by external force, the pull wire firstly enables the first clamping jaw to perform clamping action and then drives the sliding block assembly to slide towards the second end part; and puncturing and needle inserting actions are completed. The functions of clamping, needle inserting and releasing of the puncture assembly are completed through the pull wire, transmission can be completed through one driver, and the compact structure can meet the size requirements of most CT imaging devices in the market; the driver can be independent of the puncture device, so that the puncture device can be used as a low-cost sterile disposable consumable.

Description

Technical Field

[0001] This invention belongs to the field of interventional surgical equipment, and specifically relates to a puncture device, a puncture device for CT-guided real-time interventional surgery, and an interventional surgical robot. Background Technology

[0002] Existing puncture devices typically include a transmission mechanism connected to a drive mechanism and puncture components. These devices have the following drawbacks: 1. Each surgery carries the risk of contamination of the transmission mechanism. To ensure sterility and cleanliness, designing the contaminated transmission part as a consumable component would be a more scientifically sound approach. However, the time and material costs associated with replacing the transmission mechanism and puncture components in existing puncture devices are high. 2. Due to the complex structure of the drive and transmission mechanisms, the puncture device is relatively large. Furthermore, the drive mechanism, which serves as the power source for the puncture needle, needs to be positioned close to the puncture components and transmission mechanism. Excessive size prevents the puncture device from being placed within the CT scan range. The presence of metal components in the drive, transmission, and puncture components can also cause noticeable artifacts in the images, affecting image accuracy.

[0003] Most existing puncture devices are similar to those disclosed in the following patents: The puncture device disclosed in patent CN113509244B uses a wire drive to remotely control the linear movement of the puncture needle and to clamp and release the needle. To achieve the up-and-down linear movement of the needle and the clamping and releasing of the needle, the device requires two drivers (motors), and the drivers and transmission structure are located close to the puncture needle. Considering its size, material, installation and connection time, and cost as a consumable, it is not suitable for CT-guided interventional surgery.

[0004] Patent CN109475384B discloses a puncture device and a posture adjustment device. This puncture device uses a driver to drive a roller, which drags a flexible strip connected to the puncture needle downwards, thus achieving a downward linear movement of the puncture needle. This patented puncture device only involves the downward movement of the puncture needle and requires a motor to be placed near the roller. In CT imaging devices, a driver with metal components may cause artifacts, thus affecting image quality. Summary of the Invention

[0005] The purpose of this invention is to provide a puncture device that can be replaced quickly and at low cost as a consumable.

[0006] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: a puncture device, comprising: The mounting bracket has a first end and a second end, and the line connecting the first end and the second end is a first moving line; A slider assembly that is slidably connected to the mounting bracket along a first movement line; A traction line, which has a fixed end and a retracting end; The traction line is wound around the slider assembly and the base assembly. The fixed end is connected to the slider assembly, and its retracting end is pulled by an external force. The slider assembly is provided with a first gripper that is in an open state in its natural state. The traction line is wound around the first gripper. When the retracting end is pulled by an external force, the traction line first causes the first gripper to perform a clamping action, and then drives the slider assembly to slide towards the second end to complete the puncture and insertion action; or the traction line drives the slider assembly to slide towards the second end while the first gripper is performing a clamping action to complete the puncture and insertion action.

[0007] In another embodiment, the puncture device further includes a base assembly mounted on the second end of the mounting frame, and a slider assembly closer to the first end than the base assembly. The base assembly has a second gripper that is in an open state in its natural state. The traction line is wound around the first and second grippers. When the retractable end is pulled by an external force, the traction line first causes the first and second grippers to perform clamping actions, and then drives the slider assembly to slide towards the second end to complete the puncture and needle insertion action. Alternatively, the traction line can drive the slider assembly to slide towards the second end while the first and second grippers are performing clamping actions, which can also complete the puncture and needle insertion action.

[0008] In another embodiment, the puncture device further includes a transmission box, which includes a first winch. The take-up and release end is connected to the first winch. When the first winch rotates and winds the traction line, the traction line first causes the first and second jaws to perform clamping actions respectively, and then drives the slider assembly to slide towards the second end to complete the puncture and needle insertion action; or the traction line drives the slider assembly to slide towards the second end while the first and second jaws are performing clamping actions respectively, which can also complete the puncture and needle insertion action.

[0009] In another embodiment, the transmission box includes a box body, the first winch is rotatably connected to the box body, the box body has a first connecting hole, and a rotation drive component passes through the first connecting hole to connect with the first winch and drive the first winch to rotate.

[0010] In another embodiment, the transmission box further includes a cover on the box body and a first guide wheel on the box body for changing the extension direction of the traction line. The cover and the box body house the first winch within the internal space formed by their assembly, protecting the first winch and the traction line wound on it. The outer circumferential surface of the first winch and the inner sidewall of the box body form a constraint on the traction line, ensuring that the traction line can always be wound smoothly and orderly on the first winch and will not fall off the first winch. The first guide wheel changes the extension direction of the traction line and eliminates frictional loss between it and the box body.

[0011] In another embodiment, the first end is the upper end and the second end is the lower end. The slider assembly includes a first slider slidably connected to the mounting bracket and a second guide wheel rotatably connected to the first slider. The first gripper includes a first upper gripper and a second upper gripper rotatably mounted on the first slider, and a first spring respectively connected between the first upper gripper and the first slider and between the second upper gripper and the first slider. The rotation axes of the first upper gripper and the second upper gripper are parallel to the first moving line. The fixed end of the traction line is fixed to the first slider and passes from above the first upper gripper to below the first upper gripper, then from below the second upper gripper to above the second upper gripper, and then passes from above the second guide wheel and then downwards. Thus, when the traction line receives a downward external force, the traction line first brings the first upper gripper and the second upper gripper together to complete the clamping action, and then drives the slider assembly to slide towards the second end to complete the puncture and insertion action; or, during the process of bringing the first upper gripper and the second upper gripper together to complete the clamping action, the traction line drives the slider assembly to slide towards the second end, which can also complete the puncture and insertion action.

[0012] In another embodiment, the first slider includes a slider body and a first support block disposed on the slider body and cooperating with the first gripper to form a first clamping position. The first support block, the first upper gripper, and the second upper gripper are all provided with support surfaces that match the puncture needle assembly. The support surfaces are arc-shaped. The second guide wheel is rotatably sleeved on the first support block, and the rotation axis of the second guide wheel is perpendicular to the first moving line. The first upper gripper and the second upper gripper are respectively disposed on both sides of the second guide wheel. When the traction line is pulled by an external force, the first upper gripper and the second upper gripper are pulled towards the first support block. The arc-shaped surfaces of the three components... The surfaces are all attached to the outer peripheral surface of the puncture needle assembly. The first clamping position moves with the sliding of the first slider. The first clamping position is located on the front side of the first slider. The first upper jaw and the second upper jaw are respectively located in the first mounting grooves opened on the left and right sides of the first slider. The first spring is located in the first mounting groove and makes the first upper jaw and the second upper jaw always have a tendency to move away from each other. The first upper jaw and the second upper jaw are respectively provided with limiting grooves to limit their own passive amplitude. The slider body is provided with limiting posts located in the first mounting grooves. The limiting posts cooperate with the limiting grooves to limit the swing amplitude of the first upper jaw and the second upper jaw.

[0013] In another embodiment, the slider assembly includes a third guide wheel rotatably mounted on the first upper jaw and a fourth guide wheel rotatably mounted on the second upper jaw. The third and fourth guide wheels eliminate the friction between the traction line and the first and second upper jaws, and reduce the required traction force, thereby reducing the power requirement of the drive component that drives the traction line, reducing the cost and the size of the drive component, and thus reducing the volume and cost of the puncture device accordingly. This makes it easier to manufacture the puncture device as a replaceable consumable.

[0014] In another embodiment, the base assembly includes a base mounted on the second end of the mounting bracket, a fifth guide wheel rotatably connected to the base, and a second gripper including a first lower gripper and a second lower gripper rotatably mounted on the base via an upper rotating shaft, and a second spring respectively connected between the first lower gripper and the base and between the second lower gripper and the base. The rotating shafts of the first lower gripper and the second lower gripper are parallel to the first moving line. When the traction line travels from the sliding assembly to the base assembly, it first passes around the fifth guide wheel from top to bottom, and then extends from below the fifth guide wheel to the second lower gripper. Then, the traction line moves from below the second lower jaw to above the second lower jaw, then from above the second lower jaw to above the first lower jaw, and then moves downwards. In this way, when the traction line receives external force, the traction line first brings the first upper jaw and the second upper jaw together, and the first lower jaw and the second lower jaw together to complete the clamping action, and then drives the component to slide towards the second end to complete the puncture and insertion action; or, during the process of the traction line bringing the first upper jaw and the second upper jaw together, and the first lower jaw and the second lower jaw together to complete the clamping action, the slider component can also slide towards the second end to complete the puncture and insertion action.

[0015] In another embodiment, the base includes a quick-release plate fixedly connected to the second end of the mounting bracket, a base body fixed to the lower end of the quick-release plate, and a second support block fixed to the base body and cooperating with the second gripper to form a second clamping position. The second support block, the first lower gripper, and the second lower gripper are all provided with support surfaces that match the puncture needle assembly. The support surfaces are arc-shaped. The fifth guide wheel is rotatably sleeved on the second support block, and the rotation axis of the fifth guide wheel is perpendicular to the first moving line. The first lower gripper and the second lower gripper are respectively located on... When the traction line is pulled by an external force on both sides of the fifth guide wheel, the first lower clamp and the second lower clamp are pulled and move toward the second support block. The arc surfaces on all three are in contact with the outer peripheral surface of the puncture needle assembly. The second clamping position is located on the front side of the quick release plate. The first lower clamp and the second lower clamp are rotatably connected to the upper end surface of the base body on the left and right sides of the quick release plate, respectively. The second spring is located between the side of the quick release plate and the first lower clamp, and between the side of the quick release plate and the second lower clamp. The second spring makes the first lower clamp and the second lower clamp always have a tendency to move away from each other.

[0016] In another embodiment, the quick-release plate is provided with a first quick-connect groove, and the drive mechanism that drives the puncture device to move, pitch, swing left and right is provided with a first quick-connect block that matches the first quick-connect groove. The first quick-connect groove and the first quick-connect block cooperate to quickly connect the puncture device with the drive mechanism.

[0017] In another embodiment, the base assembly further includes a sixth guide wheel rotatably mounted on the first lower jaw and a seventh guide wheel rotatably mounted on the second lower jaw. The sixth and seventh guide wheels eliminate the friction between the traction line and the first and second lower jaws, and reduce the required traction force, thereby reducing the power requirement of the drive component that drives the traction line, reducing the cost and the size of the drive component, and thus reducing the volume and cost of the puncture device accordingly. This makes it easier to manufacture the puncture device into a replaceable consumable.

[0018] In another embodiment, the base assembly further includes an eighth guide wheel rotatably connected to the quick-release plate and with its shaft arranged in the left-right direction. The traction cable, after being led out from the sixth guide wheel, is guided to the rear side of the quick-release plate. The eighth guide wheel allows the traction cable to connect more smoothly to the transmission box.

[0019] In another embodiment, the puncture device further includes a friction block mounted on the slide block assembly to provide stable friction between the slide block assembly and the mounting bracket. By increasing the friction between the first slide block and the mounting bracket through the friction block, the first slide block can be positioned at any location on the mounting bracket.

[0020] In another embodiment, the friction block is mounted on the slider assembly and at least a portion of it always abuts against the mounting bracket. The first movement direction is up and down. A sliding groove is provided on the rear end face of the slider assembly, which runs through its upper and lower end faces and matches the mounting bracket. The friction block is embedded in the first slider and at least a portion of it extends into the sliding groove and abuts against the mounting bracket. The friction block is located in the sliding groove, making the overall structure more compact.

[0021] In another embodiment, the mounting bracket includes a mounting base and a slide rail fixed to the mounting base. The front end face of the mounting base is fixed to the rear end face of the slide rail, and the upper end of the mounting base has an extension plate extending to the upper end face of the slide rail. A second quick-connect groove is provided on the rear end face of the mounting base. A second quick-connect block matching the second quick-connect groove is provided on the transmission box. The second quick-connect block is inserted into the second quick-connect groove. The second quick-connect groove enables quick connection between the transmission box and the mounting bracket. The first slider is slidably connected to the slide rail, and the base assembly is fixed to the lower end of the slide rail.

[0022] In another embodiment, the puncture device further includes a stabilizing component that enables the slider assembly to remain at any position on the mounting bracket or to always have a tendency to move toward the first end.

[0023] In another embodiment, the stabilizing component includes a coil spring and a resistance line connecting the free end of the coil spring and the slider assembly. The coil spring is installed inside the transmission box. One end of the resistance line is connected to the free end of the coil spring, and the other end passes around the ninth guide wheel on the transmission box, the tenth guide wheel and the eleventh guide wheel on the mounting frame and is connected to the slider assembly. The resistance line is wound around the mounting frame and cooperates with the coil spring to enable the slider assembly to stay at any position on the mounting frame or to always have a tendency to move towards the first end.

[0024] In another embodiment, the stabilizing component includes a second winch, a resistance line connecting the winch and the slider assembly, and a second motor that drives the second winch to rotate. The second winch is installed in a transmission box. One end of the resistance line is connected to the second winch, and the other end passes over the ninth guide wheel on the transmission box, the tenth guide wheel and the eleventh guide wheel on the mounting frame, and then connects to the slider assembly. The resistance line is wound around the mounting frame and cooperates with the second winch and the second motor to enable the slider assembly to stay at any position on the mounting frame or to always have a tendency to move towards the first end.

[0025] In another embodiment, the puncture assembly includes a puncture needle with a first protrusion at its upper end, a needle-holding tube sleeved on the puncture needle and abutting against the lower end of the first protrusion, a clamp sleeved on the puncture needle and passing through the needle-holding tube, a locking tube threadedly connected to the needle-holding tube and having at least a portion abutting against the clamp for clamping the puncture needle, and a guide tube slidably sleeved on the puncture needle and located below the locking tube. The upper end of the clamp includes a plurality of petal-shaped clamping blocks arranged in a ring array. The outer circumferential surface of the clamping block and the inner circumferential surface of the needle holding tube form a wedge-shaped mating surface. When the locking tube is tightened and moves towards the needle holding tube, the upper end of the locking tube pushes the clamp into the wedge-shaped surface inside the needle holding tube, causing the petal-shaped clamping block to converge and clamp the puncture needle. The first clamp matches the needle holding tube, and the second clamp matches the guide tube. When the traction line is pulled by external force, the first clamp on the slider assembly clamps the needle holding tube and drives the puncture needle downward to complete the puncture action. The guide tube is the part closest to the human body surface to ensure the stability of the needle insertion point during the needle insertion process.

[0026] The present invention also provides a puncture device for CT-guided interventional surgery, wherein the puncture device is any of the puncture devices described above, and the puncture device is made entirely of non-metallic materials.

[0027] The present invention also provides an interventional surgical robot, which includes any of the puncture devices described above.

[0028] The beneficial effects of this invention are as follows: 1. Compact structure: The present invention completes the clamping, needle insertion and release functions of the puncture component through the traction line, and a single driver can complete the transmission. The compact structure allows it to meet the size requirements of most CT imaging devices on the market. Furthermore, the compact structure reduces the overall weight of the puncture device, reducing the load requirements on the posture adjustment device. The quick-connect groove and quick-connect block allow the device to be adapted to different posture adjustment devices.

[0029] 2. The non-metallic structure design minimizes the impact on CT imaging: All components of the puncture device within the imaging unit are made of non-metallic materials. The only metal actuator can be mounted on an external device (such as a posture adjustment device) to reduce obstruction to the imaging unit's radiation, allowing the radiation to reach the patient's body as completely as possible, thereby obtaining high-quality treatment images.

[0030] 3. The puncture device can be used as a consumable: The actuator can be independent of the puncture device, allowing the puncture device to be used as a low-cost, sterile, disposable consumable.

[0031] 4. Enables real-time CT-guided control: The optimized structure, improved material selection (including a compact design), and improved transmission method (allowing the actuator to be located away from the puncture device) allow medical staff to control the needle insertion, clamping, and release of the puncture device from outside the CT room via an externally mounted actuator. This allows for real-time assessment of the needle's position within the patient's body using CT images during insertion. Combined with an external posture adjustment device, the posture of the puncture device can be fine-tuned simultaneously, improving puncture accuracy and reducing the impact of factors such as patient breathing and needle compression. Attached Figure Description

[0032] Figure 1 This is a perspective view of the puncture device in Example 1; Figure 2 This is an exploded view of the puncture device in Embodiment 1; Figure 3 These are perspective views of the slider assembly in Examples 1, 2, and 3; Figure 4 These are exploded views of the slider assembly in Examples 1, 2, and 3; Figure 5 This is a perspective view of the transmission box with its lid open in Example 1; Figure 6 These are perspective views of the base components in Embodiments 1, 2, and 3; Figure 7 These are perspective views of the puncture needle assembly in Examples 1, 2, and 3; Figure 8 These are cross-sectional views of the puncture needle assembly in Examples 1, 2, and 3; Figure 9 These are schematic diagrams illustrating the traction line bypass methods in Examples 1, 2, and 3. Figure 10 This is a three-dimensional view of Example 4 (which is also a schematic diagram of the state of the puncture device used in CT-guided interventional surgery in Example 1). Figure 11 The following are side views of the puncture devices in Examples 2, 3, and 5; Figure 12 These are schematic diagrams of the transmission box in Examples 2 and 5; Figure 13 These are schematic diagrams of the transmission box in Examples 3 and 5; Figure 14 This is a schematic diagram of the traction line bypass method in Example 6; The components include: 1. Slider assembly; 10. First slider; 11. Slider body; 12. First upper gripper block; 13. First support; 14. First spring; 15. Upper rotating shaft; 16. Friction block; 17. Second upper gripper; 18. First mounting groove; 19. Limiting groove; 110. Limiting post; 111. Second quick-connect groove; 2. Base assembly; 20. Base; 21. Quick-release plate; 22. Base body; 23. Tightening screw; 24. Second support block; 25. First lower gripper; 26. Second lower gripper; 27. Second spring; 211. First quick-connect groove; 3. Transmission box; 31. Box body; 32. Box cover; 33. First winch; 34. Second quick-connect block; 35. First connecting hole; 4. Mounting bracket; 4 1. Mounting base; 42. Slide rail; 5. Guide wheel; 511. First guide wheel; 52. Second guide wheel; 53. Third guide wheel; 54. Fourth guide wheel; 55. Fifth guide wheel; 56. Sixth guide wheel; 57. Seventh guide wheel; 58. Eighth guide wheel; 59. Ninth guide wheel; 510. Tenth guide wheel; 511. Eleventh guide wheel; 6. Traction line; 7. Puncture needle assembly; 71. Puncture needle; 72. Guide tube; 73. Needle holding tube; 74. Clamp; 75. Locking tube; 76. First boss; 77. Lobe-shaped clamp; 81. First quick-connect block; 82. Attitude adjustment device; 83. Resistance line; 84. First motor; 85. Second motor; 86. Coil spring; 87. Second winch. Detailed Implementation

[0033] The present invention will now be described in detail with reference to the embodiments shown in the accompanying drawings: Example 1 like Figure 1-2As shown, the puncture device includes: a mounting frame 4, a slider assembly 1, a traction line 6, a base assembly 2, a transmission box 3, and a friction block 16. The mounting frame 4 has a first end and a second end, and the line connecting the first end and the second end is a first moving line; in this embodiment, the first end is the upper end and the second end is the lower end, and the slider assembly 1 is slidably connected to the mounting frame 4 along the first moving line; the traction line 6 has a fixed end and a retracting end; the friction block 16 is installed to provide stable friction between the slider assembly 1 and the mounting frame 4.

[0034] like Figure 1-2 As shown, the traction line 6 is wound around the slider assembly 1 and the base assembly 2, with its fixed end connected to the slider assembly 1. Its retracting and extending ends are pulled by an external force provided by the driver. The driver can be a power mechanism that can provide rotational motion, such as a motor. In this embodiment, the driver is a motor. The slider assembly 1 is provided with a first gripper that is in an open state in its natural state. The traction line 6 is wound around the first gripper. When the retracting and extending ends are pulled by an external force, the traction line 6 first causes the first gripper to perform a clamping action, and then drives the slider assembly 1 to slide towards the second end to complete the piercing and inserting needle action; or the traction line 6 drives the slider assembly 1 to slide towards the second end while the first gripper is performing a clamping action to complete the piercing and inserting needle action.

[0035] Specifically: like Figure 3-4 As shown, the base assembly 2 is mounted on the second end of the mounting bracket 4, and the slider assembly 1 is closer to the first end than the base assembly 2. The base assembly 2 is provided with a second gripper that is in an open state in its natural state. The traction line 6 is wound around the first gripper and the second gripper. When the retracting end is pulled by an external force, the traction line 6 first causes the first gripper and the second gripper to perform clamping actions respectively, and then drives the slider assembly 1 to slide towards the second end to complete the puncture and needle insertion action; or the traction line 6 drives the slider assembly 1 to slide towards the second end while the first gripper and the second gripper are performing clamping actions respectively, which can also complete the puncture and needle insertion action.

[0036] like Figure 5As shown, the transmission box 3 includes a first winch 33, a box body 31, a box cover 32 covering the box body 31, and a first guide wheel 5 on the box body 31 for changing the extension direction of the traction line 6. The take-up and release ends are connected to the first winch 33. When the first winch 33 rotates and winds the traction line 6, the traction line 6 first causes the first and second grippers to perform clamping actions respectively, and then drives the slider assembly 1 to slide towards the second end to complete the piercing and needle insertion action; or the traction line 6 drives the slider assembly 1 to slide towards the second end while the first and second grippers are performing clamping actions respectively, which can also complete the piercing and needle insertion action; the first winch 33 is rotatably connected to the box body 31. The box body 31 has a first connecting hole 35. The rotation drive unit passes through the first connecting hole 35 and connects to the first winch 33 to drive the first winch 33 to rotate. The cover 32 and the box body 31 house the first winch 33 within the internal space formed by their assembly, protecting the first winch 33 and the traction line 6 wound on it. The outer peripheral surface of the first winch 33 and the inner side wall of the box body 31 form a constraint on the traction line 6, ensuring that the traction line 6 can always be wound smoothly and orderly on the first winch 33 and will not fall off the first winch 33. The first guide wheel 5 changes the extension direction of the traction line 6 and eliminates frictional wear between it and the box body 31.

[0037] like Figure 3As shown in Figure 4, the slider assembly 1 includes a first slider 10 slidably connected to the mounting bracket 4, and a second guide wheel 52 rotatably connected to the first slider 10. The first gripper includes a first upper gripper 12 and a second upper gripper 17 rotatably mounted on the first slider 10, and a first spring 14 respectively connected between the first upper gripper 12 and the first slider 10 and between the second upper gripper 17 and the first slider 10. The slider assembly 1 also includes a third guide wheel 53 rotatably sleeved on the first upper gripper 12 and a fourth guide wheel 54 rotatably sleeved on the second upper gripper 17. The rotation axes of the first upper gripper 12 and the second upper gripper 17 are parallel to the first moving line, and the traction line 6... The fixed end is fixed to the first slider 10 and moves from above the first upper jaw 12 to below the first upper jaw 12, then from below the second upper jaw 17 to above the second upper jaw 17, and then moves from above the second guide wheel 52 and downwards. Thus, when the traction line 6 receives a downward external force, the traction line 6 first brings the first upper jaw 12 and the second upper jaw 17 together to complete the clamping action, and then drives the slider assembly 1 to slide towards the second end to complete the piercing and needle insertion action; or, in the process of bringing the first upper jaw 12 and the second upper jaw 17 together to complete the clamping action, the traction line 6 drives the slider assembly 1 to slide towards the second end, which can also complete the piercing and needle insertion action.The first slider 10 includes a slider body 11 and a first support block 13 disposed on the slider body 11 and cooperating with the first gripper to form a first clamping position. The first support block 13, the first upper gripper 12, and the second upper gripper 17 are all provided with support surfaces that match the puncture needle assembly 7. The support surfaces are arc-shaped. A second guide wheel 52 is rotatably sleeved on the first support block 13. The rotation axis of the second guide wheel 52 is perpendicular to the first moving line. The first upper gripper 12 and the second upper gripper 17 are respectively disposed on both sides of the second guide wheel 52. When the traction line 6 is pulled by an external force, the first upper gripper 12 and the second upper gripper 17 are pulled and move towards the first support block 13. The arc-shaped surfaces of all three are in contact with the outer peripheral surface of the puncture needle assembly 7. The first clamping position moves with the sliding of the first slider 10. The first clamping position is located on the front side of the first slider 10. The first upper gripper 12 and the second upper gripper 17 are respectively located on the first support block 13. A first spring 14 is located in the first mounting groove 18 on the left and right sides of a slider 10, and the first upper gripper 12 and the second upper gripper 17 always tend to move away from each other. The first upper gripper 12 and the second upper gripper 17 are respectively provided with limiting grooves 19 to limit their passive amplitude. The slider body 11 is provided with a limiting post 110 located in the first mounting groove 18. The limiting post 110 cooperates with the limiting groove 19 to limit the swing amplitude of the first upper gripper 12 and the second upper gripper 17. The third guide wheel 53 and the fourth guide wheel 54 eliminate the friction between the traction line 6 and the first upper gripper 12 and the second upper gripper 17, and reduce the required traction force, thereby reducing the power requirement of the driving component that drives the traction line 6, reducing the cost and the volume of the driving component, so that the volume and cost of the puncture device are reduced accordingly, and the puncture device is easier to manufacture into a replaceable consumable.

[0038] like Figure 6As shown, the base assembly 2 includes a base 20 mounted on the second end of the mounting bracket 4, a fifth guide wheel 55 rotatably connected to the base 20, and a second gripper including a first lower gripper 25 and a second lower gripper 26 rotatably mounted on the base 20 via an upper rotating shaft 15, a second spring 27 connecting the first lower gripper 25 and the base 20 and the second lower gripper 26 and the base 20 respectively, a sixth guide wheel 56 rotatably sleeved on the first lower gripper 25, a seventh guide wheel 57 rotatably sleeved on the second lower gripper 26, and an eighth guide wheel 58. The rotating shafts of the first lower gripper 25 and the second lower gripper 26 are parallel to the first moving line. When the traction line 6 travels from the sliding assembly to the base assembly 2, it first passes around the fifth guide wheel 55 from top to bottom. 5. Then, it extends from below the fifth guide wheel 55 to below the second lower jaw 26, then from below the second lower jaw 26 to above the second lower jaw 26, then from above the second lower jaw 26 to above the first lower jaw 25, and then downwards. In this way, when the traction line 6 receives external force, the traction line 6 first brings the first upper jaw 12 and the second upper jaw 17 together, and the first lower jaw 25 and the second lower jaw 26 together to complete the clamping action, and then drives the assembly to slide towards the second end to complete the piercing and inserting needle action; or, during the process of the traction line 6 bringing the first upper jaw 12 and the second upper jaw 17 together, and the first lower jaw 25 and the second lower jaw 26 together to complete the clamping action, it drives the slider assembly 1 to slide towards the second end, which can also complete the piercing and inserting needle action. The base 20 includes a quick-release plate 21 fixedly connected to the second end of the mounting bracket 4, a base body 22 fixed to the lower end of the quick-release plate 21, a hand-tightening nut 23 connected to the quick-release plate 21 for quick disengagement of the quick-release plate 21 and the posture adjustment device 82, and a second support block 24 fixed to the base body 22 and cooperating with the second gripper to form a second clamping position. The second support block 24, the first lower gripper 25, and the second lower gripper 26 are all provided with support surfaces that match the puncture needle assembly 7. The support surfaces are arc-shaped. A fifth guide wheel 55 is rotatably mounted on the second support block 24. The rotation axis of the fifth guide wheel 55 is perpendicular to the first moving line. The first lower gripper 25 and the second... The lower jaws 26 are respectively located on both sides of the fifth guide wheel 55. When the traction line 6 is pulled by an external force, the first lower jaw 25 and the second lower jaw 26 are pulled and move closer to the second support block 24. The arc surfaces on the three jaws are all in contact with the outer peripheral surface of the puncture needle assembly 7. The second clamping position is located on the front side of the quick release plate 21. The first lower jaw 25 and the second lower jaw 26 are respectively rotatably connected to the upper end surface of the base body 22 on the left and right sides of the quick release plate 21. The second spring 27 is located between the side of the quick release plate 21 and the first lower jaw 25, and between the side of the quick release plate 21 and the second lower jaw 26. The second spring 27 makes the first lower jaw 25 and the second lower jaw 26 always have a tendency to move away from each other.The quick-release plate 21 is provided with a first quick-connect groove 211. The drive mechanism that drives the piercing device to move, pitch, swing, or swing left and right is provided with a first quick-connect block 81 that matches the first quick-connect groove 211. The first quick-connect groove 211 and the first quick-connect block 81 cooperate to quickly connect the piercing device with the drive mechanism. The sixth guide wheel 56 and the seventh guide wheel 57 eliminate the friction between the traction line 6 and the first lower gripper 25 and the second lower gripper 26, and reduce the required traction force, thereby reducing the power requirement of the drive component that drives the traction line 6, reducing the cost and the size of the drive component, so that the size and cost of the piercing device are reduced accordingly, and the piercing device is easier to manufacture into a replaceable consumable. The eighth guide wheel 58 is rotatably connected to the quick-release plate 21 and the rotating shaft is set in the left and right direction. The traction line 6 is led out from the sixth guide wheel 56 and guided to the rear side of the quick-release plate 21. The eighth guide wheel 58 makes the traction line 6 connect more smoothly to the transmission box 3.

[0039] like Figure 4 As shown, the friction block 16 is mounted on the slider assembly 1 and at least part of it always abuts against the mounting bracket 4. The first movement direction is vertical. A sliding groove is formed on the rear end face of the slider assembly 1, penetrating its upper and lower end faces and matching the mounting bracket 4. The friction block 16 is embedded in the first slider 10 and at least part of it extends into the sliding groove and abuts against the mounting bracket 4. The friction block 16 being placed in the sliding groove makes the overall structure more compact. By increasing the friction between the first slider 10 and the mounting bracket 4 through the friction block 16, the first slider 10 can be stopped at any position on the mounting bracket 4.

[0040] like Figure 1-2 As shown, the mounting frame 4 includes a mounting base 41 and a slide rail 42 fixed on the mounting base 41. The front end face of the mounting base 41 is fixed to the rear end face of the slide rail 42, and the upper end of the mounting base 41 has an extension plate extending to the upper end face of the slide rail 42. A second quick-connect groove 111 is provided on the rear end face of the mounting base 41. A second quick-connect block 34 that matches the second quick-connect groove 111 is provided on the transmission box 3. The second quick-connect block 34 is inserted into the second quick-connect groove 111. The second quick-connect groove 111 enables the transmission box 3 to be quickly connected to the mounting frame 4. The first slider 10 is slidably connected to the slide rail 42, and the base assembly 2 is fixed to the lower end of the slide rail 42.

[0041] like Figure 7-8As shown, the puncture assembly includes a puncture needle 71 with a first protrusion 76 at its upper end, a needle-holding tube 73 sleeved on the puncture needle 71 and abutting against the lower end of the first protrusion 76, a clamp 74 sleeved on the puncture needle 71 and passing through the needle-holding tube 73, a locking tube 75 threadedly connected to the needle-holding tube 73 and having at least a portion abutting against the clamp 74 for clamping the puncture needle 71, and a guide tube 72 slidably sleeved on the puncture needle 71 and located below the locking tube 75. The upper end of the clamp 74 includes a plurality of petal-shaped clamping blocks 77 arranged in a ring array. The circumferential surface of the locking tube 75 and the inner circumferential surface of the needle holder tube 73 form a wedge-shaped mating surface. When the locking tube 75 is tightened and moves towards the needle holder tube 73, the upper end of the locking tube 75 pushes the clamp 74 into the wedge-shaped surface inside the needle holder tube 73, causing the petal-shaped clamping blocks 77 to converge and clamp the puncture needle 71. The first clamp matches the needle holder tube 73, and the second clamp matches the guide tube 72. When the traction line 6 is pulled by external force, the first clamp on the slider assembly 1 clamps the needle holder tube 73 and drives the puncture needle 71 downward to complete the puncture action. The guide tube 72 is the part closest to the human body surface to ensure the stability of the needle insertion point during the needle insertion process.

[0042] like Figure 9-10 As shown, the working principle of this puncture device is as follows: In the initial state, the first and second grippers are in a naturally open state. The operator or surgical robot takes out the puncture needle assembly 7 and places the needle holder 73 in the first clamping position and the guide tube 72 in the second clamping position. The first motor 84 connected to the first winch 33 drives the first winch 33 to rotate. The first gripper clamps the needle holder 73, and the second gripper clamps the guide tube 72. The friction block 16 provides sufficient but not excessive friction to the slider assembly 1 to ensure that the slider assembly 1 does not descend or descends too far before the first and second grippers clamp the puncture needle assembly 7. If the operator performs the installation of the puncture needle assembly 7, the surgical robot will start the alignment after the operator leaves the CT room after the installation is completed. If the surgical robot performs the installation of the puncture needle assembly 7, the surgical robot can then perform the alignment action after the installation is completed. After alignment, the first motor 84 continues to drive the first winch 33 to rotate and wind the traction line 6. When the first and second grippers are tightened by the traction line 6 and cannot be tightened further, the slider assembly 1 is pulled downward by the traction line 6. The puncture needle 71 descends steadily under the guidance of the guide tube 72 to complete the puncture action. Subsequently, the first winch 33 reverses, the first gripper is opened by the elastic force of the first spring 14, and the second gripper is opened by the elastic force of the second spring 27, thereby releasing the puncture needle assembly 7. If the puncture device is made entirely of non-metallic materials, the puncture action can be completed in real time by CT scanning, thus ensuring the accuracy of the interventional surgery. After the puncture is completed and other operations, such as source placement, are performed, the CT machine is turned off, and the operator can then enter the CT room to remove the needle.

[0043] Example 2 The difference between this embodiment and Embodiment 1 is that the friction block 16 is replaced by a stabilizing component, such as... Figure 11-12 As shown, the puncture device includes: a mounting frame 4, a slider assembly 1, a traction line 6, a base assembly 2, a transmission box 3, and a stabilizing assembly. The mounting frame 4 has a first end and a second end, and the line connecting the first end and the second end is a first moving line; in this embodiment, the first end is the upper end and the second end is the lower end, and the slider assembly 1 is slidably connected to the mounting frame 4 along the first moving line; the traction line 6 has a fixed end and a retracting end; the friction block 16 is installed to provide stable friction between the slider assembly 1 and the mounting frame 4.

[0044] like Figure 9 As shown, the traction line 6 is wound around the slider assembly 1 and the base assembly 2, with its fixed end connected to the slider assembly 1. Its retracting and extending ends are pulled by an external force provided by the driver. The driver can be a power mechanism that can provide rotational motion, such as a motor. In this embodiment, the driver is a motor. The slider assembly 1 is provided with a first gripper that is in an open state in its natural state. The traction line 6 is wound around the first gripper. When the retracting and extending ends are pulled by an external force, the traction line 6 first causes the first gripper to perform a clamping action, and then drives the slider assembly 1 to slide towards the second end to complete the piercing and inserting needle action; or the traction line 6 drives the slider assembly 1 to slide towards the second end while the first gripper is performing a clamping action to complete the piercing and inserting needle action.

[0045] Specifically: like Figure 3 As shown, the base assembly 2 is mounted on the second end of the mounting bracket 4, and the slider assembly 1 is closer to the first end than the base assembly 2. The base assembly 2 is provided with a second gripper that is in an open state in its natural state. The traction line 6 is wound around the first gripper and the second gripper. When the retracting end is pulled by an external force, the traction line 6 first causes the first gripper and the second gripper to perform clamping actions respectively, and then drives the slider assembly 1 to slide towards the second end to complete the puncture and needle insertion action; or the traction line 6 drives the slider assembly 1 to slide towards the second end while the first gripper and the second gripper are performing clamping actions respectively, which can also complete the puncture and needle insertion action.

[0046] like Figure 12As shown, the transmission box 3 includes a first winch 33, a box body 31, a box cover 32 covering the box body 31, and a first guide wheel 5 on the box body 31 for changing the extension direction of the traction line 6. The take-up and release ends are connected to the first winch 33. When the first winch 33 rotates and winds the traction line 6, the traction line 6 first causes the first and second grippers to perform clamping actions respectively, and then drives the slider assembly 1 to slide towards the second end to complete the piercing and needle insertion action; or the traction line 6 drives the slider assembly 1 to slide towards the second end while the first and second grippers are performing clamping actions respectively, which can also complete the piercing and needle insertion action; the first winch 33 is rotatably connected to the box body 31. The box body 31 has a first connecting hole 35. The rotation drive unit passes through the first connecting hole 35 and connects to the first winch 33 to drive the first winch 33 to rotate. The cover 32 and the box body 31 house the first winch 33 within the internal space formed by their assembly, protecting the first winch 33 and the traction line 6 wound on it. The outer peripheral surface of the first winch 33 and the inner side wall of the box body 31 form a constraint on the traction line 6, ensuring that the traction line 6 can always be wound smoothly and orderly on the first winch 33 and will not fall off the first winch 33. The first guide wheel 5 changes the extension direction of the traction line 6 and eliminates frictional wear between it and the box body 31.

[0047] like Figure 3 , 4As shown, the slider assembly 1 includes a first slider 10 slidably connected to the mounting bracket 4, and a second guide wheel 52 rotatably connected to the first slider 10. The first gripper includes a first upper gripper 12 and a second upper gripper 17 rotatably mounted on the first slider 10, and a first spring 14 respectively connected between the first upper gripper 12 and the first slider 10 and between the second upper gripper 17 and the first slider 10. The slider assembly 1 also includes a third guide wheel 53 rotatably sleeved on the first upper gripper 12 and a fourth guide wheel 54 rotatably sleeved on the second upper gripper 17. The rotation axes of the first upper gripper 12 and the second upper gripper 17 are parallel to the first moving line, and the traction line 6... The fixed end is fixed to the first slider 10 and moves from above the first upper jaw 12 to below the first upper jaw 12, then from below the second upper jaw 17 to above the second upper jaw 17, and then moves from above the second guide wheel 52 and downwards. Thus, when the traction line 6 receives a downward external force, the traction line 6 first brings the first upper jaw 12 and the second upper jaw 17 together to complete the clamping action, and then drives the slider assembly 1 to slide towards the second end to complete the piercing and needle insertion action; or, in the process of bringing the first upper jaw 12 and the second upper jaw 17 together to complete the clamping action, the traction line 6 drives the slider assembly 1 to slide towards the second end, which can also complete the piercing and needle insertion action. The first slider 10 includes a slider body 11 and a first support block 13 disposed on the slider body 11 and cooperating with the first gripper to form a first clamping position. The first support block 13, the first upper gripper 12, and the second upper gripper 17 are all provided with support surfaces that match the puncture needle assembly 7. These support surfaces are arc-shaped. A second guide wheel 52 is rotatably mounted on the first support block 13. The rotation axis of the second guide wheel 52 is perpendicular to the first moving line. The first upper gripper 12 and the second upper gripper 17 are respectively disposed on both sides of the second guide wheel 52. When the traction line 6 is pulled by an external force, the first upper gripper 12 and the second upper gripper 17 are pulled and move towards the first support block 13. The arc-shaped surfaces of all three are in contact with the outer circumferential surface of the puncture needle assembly 7. The first clamping position... As the first slider 10 slides, the first clamping position is located on the front side of the first slider 10. The first upper jaw 12 and the second upper jaw 17 are respectively located in the first mounting grooves 18 opened on the left and right sides of the first slider 10. The first spring 14 is located in the first mounting groove 18 and makes the first upper jaw 12 and the second upper jaw 17 always have a tendency to move away from each other. The third guide wheel 53 and the fourth guide wheel 54 eliminate the friction between the traction line 6 and the first upper jaw 12 and the second upper jaw 17, and reduce the required traction force, thereby reducing the power requirement of the drive component that drives the traction line 6, reducing the cost and the volume of the drive component, so that the volume and cost of the puncture device are reduced accordingly, and the puncture device is easier to be made into a replaceable consumable.

[0048] like Figure 6As shown, the base assembly 2 includes a base 20 mounted on the second end of the mounting bracket 4, a fifth guide wheel 55 rotatably connected to the base 20, and a second gripper including a first lower gripper 25 and a second lower gripper 26 rotatably mounted on the base 20 via an upper rotating shaft 15, a second spring 27 connecting the first lower gripper 25 and the base 20 and the second lower gripper 26 and the base 20 respectively, a sixth guide wheel 56 rotatably sleeved on the first lower gripper 25, a seventh guide wheel 57 rotatably sleeved on the second lower gripper 26, and an eighth guide wheel 58. The rotating shafts of the first lower gripper 25 and the second lower gripper 26 are parallel to the first moving line. When the traction line 6 travels from the sliding assembly to the base assembly 2, it first passes around the fifth guide wheel 55 from top to bottom, then extends from below the fifth guide wheel 55 to below the second lower gripper 26, and then travels from below the second lower gripper 26 to above the second lower gripper 26. Then, it moves from above the second lower jaw 26 to above the first lower jaw 25, and then moves downwards. When the traction line 6 receives external force, it first brings the first upper jaw 12 and the second upper jaw 17 together, and the first lower jaw 25 and the second lower jaw 26 together to complete the clamping action. Then, it drives the assembly to slide towards the second end to complete the piercing and inserting action. Alternatively, during the clamping action, the traction line 6 drives the slider assembly 1 to slide towards the second end, which can also complete the piercing and inserting action. The first lower jaw 25 and the second lower jaw 26 are respectively provided with limiting grooves 19 to limit their passive amplitude. The base body 22 is provided with limiting posts 110 located in the first mounting groove 18. The limiting posts 110 cooperate with the limiting grooves 19 to limit the swing amplitude of the first lower jaw 25 and the second lower jaw 26.The base 20 includes a quick-release plate 21 fixedly connected to the second end of the mounting bracket 4, a base body 22 fixed to the lower end of the quick-release plate 21, a hand-tightening nut 23 connected to the quick-release plate 21 for quick disengagement of the quick-release plate 21 and the posture adjustment device 82, and a second support block 24 fixed to the base body 22 and cooperating with the second gripper to form a second clamping position. The second support block 24, the first lower gripper 25, and the second lower gripper 26 are all provided with support surfaces that match the puncture needle assembly 7. The support surfaces are arc-shaped. A fifth guide wheel 55 is rotatably mounted on the second support block 24. The rotation axis of the fifth guide wheel 55 is perpendicular to the first moving line. The first lower gripper 25 and the second... The lower jaws 26 are respectively located on both sides of the fifth guide wheel 55. When the traction line 6 is pulled by an external force, the first lower jaw 25 and the second lower jaw 26 are pulled and move closer to the second support block 24. The arc surfaces on the three jaws are all in contact with the outer peripheral surface of the puncture needle assembly 7. The second clamping position is located on the front side of the quick release plate 21. The first lower jaw 25 and the second lower jaw 26 are respectively rotatably connected to the upper end surface of the base body 22 on the left and right sides of the quick release plate 21. The second spring 27 is located between the side of the quick release plate 21 and the first lower jaw 25, and between the side of the quick release plate 21 and the second lower jaw 26. The second spring 27 makes the first lower jaw 25 and the second lower jaw 26 always have a tendency to move away from each other. The quick-release plate 21 is provided with a first quick-connect groove 211. The drive mechanism that drives the piercing device to move, pitch, swing, or swing left and right is provided with a first quick-connect block 81 that matches the first quick-connect groove 211. The first quick-connect groove 211 and the first quick-connect block 81 cooperate to quickly connect the piercing device with the drive mechanism. The sixth guide wheel 56 and the seventh guide wheel 57 eliminate the friction between the traction line 6 and the first lower gripper 25 and the second lower gripper 26, and reduce the required traction force, thereby reducing the power requirement of the drive component that drives the traction line 6, reducing the cost and the size of the drive component, so that the size and cost of the piercing device are reduced accordingly, and the piercing device is easier to manufacture into a replaceable consumable. The eighth guide wheel 58 is rotatably connected to the quick-release plate 21 and the rotating shaft is set in the left and right direction. The traction line 6 is led out from the sixth guide wheel 56 and guided to the rear side of the quick-release plate 21. The eighth guide wheel 58 makes the traction line 6 connect more smoothly to the transmission box 3.

[0049] like Figure 12As shown, the stabilizing component enables the slider assembly 1 to remain at any position on the mounting frame 4 or to always have a tendency to move towards the first end. In this embodiment, the stabilizing component includes a coil spring 86 disposed within the housing 31 and a resistance line 83 connecting the free end of the coil spring 86 and the slider assembly 1. The coil spring 86 is installed within the transmission housing 3. One end of the resistance line 83 is connected to the free end of the coil spring 86, and the other end passes around the ninth guide wheel 59 on the transmission housing 3, the tenth guide wheel 510 on the mounting frame 4, and the eleventh guide wheel 511 before connecting to the slider assembly 1. The resistance line 83 is wound around the mounting frame 4 and cooperates with the coil spring 86 to enable the slider assembly 1 to remain at any position on the mounting frame 4 or to always have a tendency to move towards the first end.

[0050] like Figure 11 As shown, the mounting frame 4 includes a mounting base 41 and a slide rail 42 fixed on the mounting base 41. The front end face of the mounting base 41 is fixed to the rear end face of the slide rail 42, and the upper end of the mounting base 41 has an extension plate extending to the upper end face of the slide rail 42. A second quick-connect groove 111 is provided on the rear end face of the mounting base 41. A second quick-connect block 34 that matches the second quick-connect groove 111 is provided on the transmission box 3. The second quick-connect block 34 is inserted into the second quick-connect groove 111. The second quick-connect groove 111 enables the transmission box 3 to be quickly connected to the mounting frame 4. The first slider 10 is slidably connected to the slide rail 42, and the base assembly 2 is fixed to the lower end of the slide rail 42.

[0051] like Figure 7 , 8 As shown, the puncture assembly includes a puncture needle 71 with a first protrusion 76 at its upper end, a needle-holding tube 73 sleeved on the puncture needle 71 and abutting against the lower end of the first protrusion 76, a clamp 74 sleeved on the puncture needle 71 and passing through the needle-holding tube 73, a locking tube 75 threadedly connected to the needle-holding tube 73 and having at least a portion abutting against the clamp 74 for clamping the puncture needle 71, and a guide tube 72 slidably sleeved on the puncture needle 71 and located below the locking tube 75. The upper end of the clamp 74 includes a plurality of petal-shaped clamping blocks 77 arranged in a ring array. The circumferential surface of the locking tube 75 and the inner circumferential surface of the needle holder tube 73 form a wedge-shaped mating surface. When the locking tube 75 is tightened and moves towards the needle holder tube 73, the upper end of the locking tube 75 pushes the clamp 74 into the wedge-shaped surface inside the needle holder tube 73, causing the petal-shaped clamping blocks 77 to converge and clamp the puncture needle 71. The first clamp matches the needle holder tube 73, and the second clamp matches the guide tube 72. When the traction line 6 is pulled by external force, the first clamp on the slider assembly 1 clamps the needle holder tube 73 and drives the puncture needle 71 downward to complete the puncture action. The guide tube 72 is the part closest to the human body surface to ensure the stability of the needle insertion point during the needle insertion process.

[0052] like Figure 11As shown, the working principle of this puncture device is as follows: In the initial state, the first and second grippers are in a naturally open state. The operator or surgical robot takes out the puncture needle assembly 7 and places the needle holder 73 in the first clamping position and the guide tube 72 in the second clamping position. The first motor 84 connected to the first winch 33 drives the first winch 33 to rotate. The first gripper clamps the needle holder 73, and the second gripper clamps the guide tube 72. The resistance line 83 pulls the slider assembly 1 upward and provides sufficient but not excessive pulling force to the slider assembly 1, ensuring that the slider assembly 1 does not descend or descend too far before the first and second grippers clamp the puncture needle assembly 7. If the operator performs the installation of the puncture needle assembly 7, the surgical robot will start the alignment after the operator leaves the CT room after the installation is completed. If the surgical robot performs the installation of the puncture needle assembly 7, the surgical robot can then perform the alignment action after the installation is completed. After alignment, the first motor 84 continues to drive the first winch 33 to rotate and wind the traction line 6. When the first and second grippers are tightened by the traction line 6 and cannot be tightened further, the slider assembly 1 is pulled downward by the traction line 6. The puncture needle 71 descends steadily under the guidance of the guide tube 72 to complete the puncture action. Subsequently, the first winch 33 reverses, the first gripper is opened by the elastic force of the first spring 14, and the second gripper is opened by the elastic force of the second spring 27, thereby releasing the puncture needle assembly 7. If the puncture device is made entirely of non-metallic materials, the puncture action can be completed in real time by CT scanning, thus ensuring the accuracy of the interventional surgery. After the puncture is completed and other operations, such as source placement, are performed, the CT machine is turned off, and the operator can then enter the CT room to remove the needle.

[0053] Example 3 The difference between this embodiment and Embodiment 1 is that a stabilizing component is provided while the friction block 16 is removed, such as... Figure 3 As shown in 4.6.7.8.9.11.13, the puncture device includes: a mounting frame 4, a slider assembly 1, a traction line 6, a base assembly 2, a transmission box 3, and a stabilizing assembly. The mounting frame 4 has a first end and a second end, and the line connecting the first end and the second end is a first moving line; in this embodiment, the first end is the upper end and the second end is the lower end, and the slider assembly 1 is slidably connected to the mounting frame 4 along the first moving line; the traction line 6 has a fixed end and a retractable end; the friction block 16 is installed to provide stable friction between the slider assembly 1 and the mounting frame 4.

[0054] The traction wire 6 is wound around the slider assembly 1 and the base assembly 2. The fixed end is connected to the slider assembly 1. Its retraction and extension ends are pulled by the external force provided by the driver. The driver can be a power mechanism that can provide rotational motion, such as a motor. In this embodiment, the driver is a motor. The slider assembly 1 is provided with a first gripper that is in an open state in its natural state. The traction wire 6 is wound around the first gripper. When the retraction and extension ends are pulled by the external force, the traction wire 6 first causes the first gripper to perform a clamping action, and then drives the slider assembly 1 to slide towards the second end to complete the piercing and insertion action; or the traction wire 6 drives the slider assembly 1 to slide towards the second end while the first gripper is performing a clamping action to complete the piercing and insertion action.

[0055] Specifically: like Figure 3 As shown in Figure 4, the base assembly 2 is mounted on the second end of the mounting bracket 4, and the slider assembly 1 is closer to the first end than the base assembly 2. The base assembly 2 is provided with a second gripper that is in an open state in its natural state. The traction line 6 is wound around the first gripper and the second gripper. When the retracting end is pulled by an external force, the traction line 6 first causes the first gripper and the second gripper to perform clamping actions respectively, and then drives the slider assembly 1 to slide towards the second end to complete the puncture and needle insertion action; or the traction line 6 drives the slider assembly 1 to slide towards the second end while the first gripper and the second gripper are performing clamping actions respectively, which can also complete the puncture and needle insertion action.

[0056] like Figure 13 As shown, the transmission box 3 includes a first winch 33, a box body 31, a box cover 32 covering the box body 31, and a first guide wheel 5 on the box body 31 for changing the extension direction of the traction line 6. The take-up and release ends are connected to the first winch 33. When the first winch 33 rotates and winds the traction line 6, the traction line 6 first causes the first and second grippers to perform clamping actions respectively, and then drives the slider assembly 1 to slide towards the second end to complete the piercing and needle insertion action; or the traction line 6 drives the slider assembly 1 to slide towards the second end while the first and second grippers are performing clamping actions respectively, which can also complete the piercing and needle insertion action; the first winch 33 is rotatably connected to the box body 31. The box body 31 has a first connecting hole 35. The rotation drive unit passes through the first connecting hole 35 and connects to the first winch 33 to drive the first winch 33 to rotate. The cover 32 and the box body 31 house the first winch 33 within the internal space formed by their assembly, protecting the first winch 33 and the traction line 6 wound on it. The outer peripheral surface of the first winch 33 and the inner side wall of the box body 31 form a constraint on the traction line 6, ensuring that the traction line 6 can always be wound smoothly and orderly on the first winch 33 and will not fall off the first winch 33. The first guide wheel 5 changes the extension direction of the traction line 6 and eliminates frictional wear between it and the box body 31.

[0057] like Figure 3The slider assembly 1 shown includes a first slider 10 slidably connected to the mounting bracket 4, and a second guide wheel 52 rotatably connected to the first slider 10. The first gripper includes a first upper gripper 12 and a second upper gripper 17 rotatably mounted on the first slider 10, and a first spring 14 connecting the first upper gripper 12 and the first slider 10, and the second upper gripper 17 and the first slider 10 respectively. The slider assembly 1 also includes a third guide wheel 53 rotatably sleeved on the first upper gripper 12 and a fourth guide wheel 54 rotatably sleeved on the second upper gripper 17. The rotation axes of the first upper gripper 12 and the second upper gripper 17 are parallel to the first moving line. The traction line 6 is fixed... The fixed end is fixed on the first slider 10 and moves from above the first upper jaw 12 to below the first upper jaw 12, then from below the second upper jaw 17 to above the second upper jaw 17, and then moves from above the second guide wheel 52 and downwards. Thus, when the traction line 6 receives a downward external force, the traction line 6 first brings the first upper jaw 12 and the second upper jaw 17 together to complete the clamping action, and then drives the slider assembly 1 to slide towards the second end to complete the piercing and needle insertion action; or, while the traction line 6 is bringing the first upper jaw 12 and the second upper jaw 17 together to complete the clamping action, it also drives the slider assembly 1 to slide towards the second end, which can also complete the piercing and needle insertion action. The first slider 10 includes a slider body 11 and a first support block 13 disposed on the slider body 11 and cooperating with the first gripper to form a first clamping position. The first support block 13, the first upper gripper 12, and the second upper gripper 17 are all provided with support surfaces that match the puncture needle assembly 7. These support surfaces are arc-shaped. A second guide wheel 52 is rotatably mounted on the first support block 13. The rotation axis of the second guide wheel 52 is perpendicular to the first moving line. The first upper gripper 12 and the second upper gripper 17 are respectively disposed on both sides of the second guide wheel 52. When the traction line 6 is pulled by an external force, the first upper gripper 12 and the second upper gripper 17 are pulled and move towards the first support block 13. The arc-shaped surfaces of all three are in contact with the outer circumferential surface of the puncture needle assembly 7. The first clamping position... As the first slider 10 slides, the first clamping position is located on the front side of the first slider 10. The first upper jaw 12 and the second upper jaw 17 are respectively located in the first mounting grooves 18 opened on the left and right sides of the first slider 10. The first spring 14 is located in the first mounting groove 18 and makes the first upper jaw 12 and the second upper jaw 17 always have a tendency to move away from each other. The third guide wheel 53 and the fourth guide wheel 54 eliminate the friction between the traction line 6 and the first upper jaw 12 and the second upper jaw 17, and reduce the required traction force, thereby reducing the power requirement of the drive component that drives the traction line 6, reducing the cost and the volume of the drive component, so that the volume and cost of the puncture device are reduced accordingly, and the puncture device is easier to be made into a replaceable consumable.

[0058] like Figure 6As shown, the base assembly 2 includes a base 20 mounted on the second end of the mounting bracket 4, a fifth guide wheel 55 rotatably connected to the base 20, and a second gripper including a first lower gripper 25 and a second lower gripper 26 rotatably mounted on the base 20 via an upper rotating shaft 15, a second spring 27 connecting the first lower gripper 25 and the base 20 and the second lower gripper 26 and the base 20 respectively, a sixth guide wheel 56 rotatably sleeved on the first lower gripper 25, a seventh guide wheel 57 rotatably sleeved on the second lower gripper 26, and an eighth guide wheel 58. The rotating shafts of the first lower gripper 25 and the second lower gripper 26 are parallel to the first moving line. When the traction line 6 travels from the sliding assembly to the base assembly 2, it first passes around the fifth guide wheel 55 from top to bottom, then extends from below the fifth guide wheel 55 to below the second lower gripper 26, and then travels from below the second lower gripper 26 to above the second lower gripper 26. Then, it moves from above the second lower jaw 26 to above the first lower jaw 25, and then moves downwards. When the traction line 6 receives external force, it first brings the first upper jaw 12 and the second upper jaw 17 together, and the first lower jaw 25 and the second lower jaw 26 together to complete the clamping action. Then, it drives the assembly to slide towards the second end to complete the piercing and inserting action. Alternatively, during the clamping action, the traction line 6 drives the slider assembly 1 to slide towards the second end, which can also complete the piercing and inserting action. The first lower jaw 25 and the second lower jaw 26 are respectively provided with limiting grooves 19 to limit their passive amplitude. The base body 22 is provided with limiting posts 110 located in the first mounting groove 18. The limiting posts 110 cooperate with the limiting grooves 19 to limit the swing amplitude of the first lower jaw 25 and the second lower jaw 26.The base 20 includes a quick-release plate 21 fixedly connected to the second end of the mounting bracket 4, a base body 22 fixed to the lower end of the quick-release plate 21, a hand-tightening nut 23 connected to the quick-release plate 21 for quick disengagement of the quick-release plate 21 and the posture adjustment device 82, and a second support block 24 fixed to the base body 22 and cooperating with the second gripper to form a second clamping position. The second support block 24, the first lower gripper 25, and the second lower gripper 26 are all provided with support surfaces that match the puncture needle assembly 7. The support surfaces are arc-shaped. A fifth guide wheel 55 is rotatably mounted on the second support block 24. The rotation axis of the fifth guide wheel 55 is perpendicular to the first moving line. The first lower gripper 25 and the second... The lower jaws 26 are respectively located on both sides of the fifth guide wheel 55. When the traction line 6 is pulled by an external force, the first lower jaw 25 and the second lower jaw 26 are pulled and move closer to the second support block 24. The arc surfaces on the three jaws are all in contact with the outer peripheral surface of the puncture needle assembly 7. The second clamping position is located on the front side of the quick release plate 21. The first lower jaw 25 and the second lower jaw 26 are respectively rotatably connected to the upper end surface of the base body 22 on the left and right sides of the quick release plate 21. The second spring 27 is located between the side of the quick release plate 21 and the first lower jaw 25, and between the side of the quick release plate 21 and the second lower jaw 26. The second spring 27 makes the first lower jaw 25 and the second lower jaw 26 always have a tendency to move away from each other. The quick-release plate 21 is provided with a first quick-connect groove 211. The drive mechanism that drives the piercing device to move, pitch, swing, or swing left and right is provided with a first quick-connect block 81 that matches the first quick-connect groove 211. The first quick-connect groove 211 and the first quick-connect block 81 cooperate to quickly connect the piercing device with the drive mechanism. The sixth guide wheel 56 and the seventh guide wheel 57 eliminate the friction between the traction line 6 and the first lower gripper 25 and the second lower gripper 26, and reduce the required traction force, thereby reducing the power requirement of the drive component that drives the traction line 6, reducing the cost and the size of the drive component, so that the size and cost of the piercing device are reduced accordingly, and the piercing device is easier to manufacture into a replaceable consumable. The eighth guide wheel 58 is rotatably connected to the quick-release plate 21 and the rotating shaft is set in the left and right direction. The traction line 6 is led out from the sixth guide wheel 56 and guided to the rear side of the quick-release plate 21. The eighth guide wheel 58 makes the traction line 6 connect more smoothly to the transmission box 3.

[0059] like Figure 7The puncture device shown in Figure 8 further includes a stabilizing component to enable the slider assembly 1 to remain at any position on the mounting frame 4 or to always have a tendency to move towards the first end. In this embodiment, the stabilizing component includes a second winch 87 disposed within the housing 31, a resistance line 83 connecting the winch and the slider assembly 1, and a second motor 85 driving the second winch 87 to rotate. The second winch 87 is installed inside the transmission housing 3. One end of the resistance line 83 is connected to the second winch 87, and the other end passes around the ninth guide wheel 59 on the transmission housing 3, the tenth guide wheel 510 and the eleventh guide wheel 511 on the mounting frame 4 and is then connected to the slider assembly 1. The resistance line 83 is wound around the mounting frame 4 and cooperates with the second winch 87 and the second motor 85 to enable the slider assembly 1 to remain at any position on the mounting frame 4 or to always have a tendency to move towards the first end.

[0060] The mounting bracket 4 includes a mounting base 41 and a slide rail 42 fixed on the mounting base 41. The front end face of the mounting base 41 is fixed to the rear end face of the slide rail 42, and the upper end of the mounting base 41 has an extension plate extending to the upper end face of the slide rail 42. The rear end face of the mounting base 41 is provided with a second quick-connect groove 111. The transmission box 3 is provided with a second quick-connect block 34 that matches the second quick-connect groove 111. The second quick-connect block 34 is inserted into the second quick-connect groove 111. The second quick-connect groove 111 enables the transmission box 3 to be quickly connected to the mounting bracket 4. The first slider 10 is slidably connected to the slide rail 42, and the base assembly 2 is fixed to the lower end of the slide rail 42.

[0061] The puncture assembly includes a puncture needle 71 with a first protrusion 76 at its upper end, a needle-holding tube 73 sleeved on the puncture needle 71 and abutting against the lower end of the first protrusion 76, a clamp 74 sleeved on the puncture needle 71 and passing through the needle-holding tube 73, a locking tube 75 threadedly connected to the needle-holding tube 73 and having at least a portion abutting against the clamp 74 for clamping the puncture needle 71, and a guide tube 72 slidably sleeved on the puncture needle 71 and located below the locking tube 75. The upper end of the clamp 74 includes a plurality of petal-shaped clamping blocks 77 arranged in a ring array, and the outer peripheral surface of the petal-shaped clamping blocks 77... The inner circumferential surface of the needle holder 73 forms a wedge-shaped mating surface. When the locking tube 75 is tightened and moves towards the needle holder 73, the upper end of the locking tube 75 pushes the clamp 74 into the wedge-shaped surface inside the needle holder 73, causing the petal-shaped clamp 77 to converge and clamp the puncture needle 71. The first clamp matches the needle holder 73, and the second clamp matches the guide tube 72. When the traction line 6 is pulled by external force, the first clamp on the slider assembly 1 clamps the needle holder 73 and drives the puncture needle 71 downward to complete the puncture action. The guide tube 72 is the part closest to the human body surface to ensure the stability of the needle insertion point during the needle insertion process.

[0062] like Figure 11As shown in Figure 13, the working principle of this puncture device is as follows: In the initial state, the first and second grippers are in a naturally open state. The operator or surgical robot takes out the puncture needle assembly 7 and places the needle holder 73 in the first gripping position and the guide tube 72 in the second gripping position. The first motor 84, connected to the first winch 33, drives the first winch 33 to rotate. The first gripper clamps the needle holder 73, the second gripper clamps the guide tube 72, and the second motor 85 remains stationary. The first motor 84 is insufficient to pull the second motor 85, therefore the second motor 85 is connected to the second motor... The resistance line 83 on 85 can pull the slider assembly 1 so that the slider assembly 1 does not move on the mounting frame 4 during the clamping process of the first and second grippers. This ensures that the slider assembly 1 does not descend or descend too far before the first and second grippers clamp the puncture needle assembly 7. If the operator performs the installation of the puncture needle assembly 7, the surgical robot will start the alignment after the operator leaves the CT room after the installation is completed. If the surgical robot performs the installation of the puncture needle assembly 7, the surgical robot can then perform the alignment action after the installation is completed. After alignment, the first motor 84 winds the traction line 6 with a constant torque, and the second motor 85 releases the resistance line 83 with a constant speed. When the first and second grippers are tightened by the traction line 6 and cannot be tightened further, the slider assembly 1 is pulled downward by the traction line 6. The puncture needle 71 descends steadily under the guidance of the guide tube 72 to complete the puncture action. When the slider assembly 1 needs to move upward, the second motor 85 drives the second winch 87 to wind the resistance line 83 at a constant speed, and the first motor 84 releases the traction line 6 at the same or slightly higher speed, so that the slider assembly 1 can move upward with the first and second grippers open. When the puncture needle assembly 7 needs to move upward, that is, the first and second grippers remain clamped, the slider assembly 11 moves upward, the second motor 85 winds the resistance line 83 with a constant torque, and the first motor 84 releases the traction line 6 with a constant speed, so that the puncture needle assembly 7 moves upward. If the puncture device is made entirely of non-metallic materials, the puncture can be completed in real time by CT scanning, thus ensuring the precision of the interventional surgery.

[0063] Example 4 like Figure 10 As shown, the interventional surgical robot includes a posture adjustment device 82 and the puncture device described in Embodiment 1 above. The transmission box 3 can be arranged on the posture adjustment device 82, which is relatively far from the puncture needle assembly 7, the mounting bracket 4, the slider assembly 1, and the base assembly 2, thereby making the puncture device more suitable for CT-guided interventional surgery. The posture adjustment device 82 described above is prior art and is not the focus of this application, so it will not be described in detail here.

[0064] Example 5 like Figure 11As shown, the interventional surgical robot includes a posture adjustment device 82 and the puncture device described in Embodiments 2 or 3 above. The transmission box 3 can be arranged on the posture adjustment device 82, which is relatively far from the puncture needle assembly 7, the mounting bracket 4, the slider assembly 1, and the base assembly 2, thereby making the puncture device more suitable for CT-guided interventional surgery. The posture adjustment device 82 described above is prior art and is not the focus of this application, so it will not be described in detail here.

[0065] Example 6 like Figure 14 As shown, the difference between this embodiment and Embodiment 1 lies in the winding method of the traction line. The traction line crosses between the second guide wheel 52 and the fourth guide wheel 54, and crosses between the fifth guide wheel 55 and the seventh guide wheel 57. For the purpose of illustration, the winding method is not limited, as long as it can drive the slider assembly to move after locking the first and second grippers or drive the slider assembly to move at the same time as locking the first and second grippers. However, the winding method of this embodiment will bring problems such as the need for a larger traction force, which will lead to a corresponding increase in the power of the first motor.

[0066] 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 device, comprising: a mounting frame having a first end and a second end, the line connecting the first end and the second end being a first movement line; a slider assembly slidingly connected to the mounting frame along the first movement line; a traction line having a fixed end and a releasing end; characterized in that the traction line is wound around the slider assembly and a base assembly, the fixed end is connected to the slider assembly, the slider assembly is provided with a first clamping jaw in an open state in a natural state, and the traction line is wound around the first clamping jaw; when the releasing end is initially pulled by an external force, the traction line first causes the first clamping jaw to perform a clamping action, and then drives the slider assembly to slide towards the second end to complete a puncture needle insertion action; or the traction line drives the slider assembly to slide towards the second end in the process of causing the first clamping jaw to perform a clamping action to complete a puncture needle insertion action.

2. The lancing device of claim 1, wherein: The puncture device further comprises a base assembly mounted on the second end of the mounting frame, and the slider assembly is closer to the first end than the base assembly; the base assembly is provided with a second clamping jaw in an open state in a natural state, and the traction line is wound around the first clamping jaw and the second clamping jaw.

3. The lancing device of claim 1 or 2, wherein: The puncture device further comprises a transmission box comprising a first winch, and the releasing end is connected to the first winch.

4. The lancing device of claim 3, wherein: The transmission box comprises a box body, the first winch is rotationally connected to the box body, and the box body is provided with a first connecting hole.

5. The lancing device of claim 4, wherein: The transmission box further comprises a box cover arranged on the box body and a first guide wheel arranged on the box body for changing the extension direction of the traction line.

6. The lancing device of claim 1, wherein: The first end is an upper end, the second end is a lower end, the slider assembly comprises a first slider slidingly connected to the mounting frame and a second guide wheel rotationally connected to the first slider, the first clamping jaw comprises a first upper clamping jaw and a second upper clamping jaw rotatably mounted on the first slider, and a first spring connected between the first upper clamping jaw and the first slider and between the second upper clamping jaw and the first slider, the rotation axes of the first upper clamping jaw and the second upper clamping jaw are parallel to the first movement line, the fixed end of the traction line is fixed to the first slider and passes from above the first upper clamping jaw to below the first upper clamping jaw, and then from below the second upper clamping jaw to above the second upper clamping jaw, and then passes from above the second guide wheel and then downward.

7. The lancing device of claim 6, wherein: The first slider comprises a slider body and a first supporting block arranged on the slider body and cooperating with the first clamping jaw to form a first clamping position.

8. The lancing device of claim 6, wherein: The slider assembly comprises a third guide wheel rotatably sleeved on the first upper clamping jaw and a fourth guide wheel rotatably sleeved on the second upper clamping jaw.

9. The lancing device of claim 2, wherein: The base assembly comprises a base mounted on the second end of the mounting frame, a fifth guide wheel rotatably connected to the base, a second clamping jaw comprising a first lower clamping jaw and a second lower clamping jaw rotatably mounted on the base, and a second spring connected between the first lower clamping jaw and the base and between the second lower clamping jaw and the base, respectively, wherein the rotation axes of the first lower clamping jaw and the second lower clamping jaw are parallel to the first movement line, and wherein the traction line, when passing from the sliding assembly to the base assembly, first passes over the fifth guide wheel from top to bottom, then extends from below the fifth guide wheel to below the second lower clamping jaw, then passes from below the second lower clamping jaw to above the second lower clamping jaw, then passes from above the second lower clamping jaw to above the first lower clamping jaw, and then passes downward.

10. The lancing device of claim 9, wherein: The base comprises a quick release plate fixedly connected to the second end of the mounting frame, a base body fixedly connected to the lower end of the quick release plate, and a second supporting block fixedly connected to the base body and cooperating with the second clamping jaw to form a second clamping position.

11. The lancing device of claim 10, wherein: The quick release plate is provided with a first quick connection groove.

12. The lancing device of claim 10, wherein: The base assembly further comprises a sixth guide wheel rotatably sleeved on the first lower clamping jaw and a seventh guide wheel rotatably sleeved on the second lower clamping jaw.

13. The lancing device of claim 10, wherein: The base assembly further comprises an eighth guide wheel rotatably connected to the quick release plate and having a rotation axis arranged in the left-right direction, and the traction line, after being led out from the sixth guide wheel, is guided to the rear side of the quick release plate.

14. The lancing device of claim 1, wherein: The puncture device further comprises a friction block mounted on the sliding block assembly and arranged to provide stable friction between the sliding block assembly and the mounting frame.

15. The lancing device of claim 14, wherein: The friction block is mounted on the sliding block assembly and at least partially abuts against the mounting frame.

16. The lancing device of claim 1, wherein: The mounting frame comprises a mounting seat and a slide rail fixedly connected to the mounting seat, wherein the front end surface of the mounting seat is fixedly connected to the rear end surface of the slide rail, the upper end of the mounting seat is provided with an extension plate extending to the upper end surface of the slide rail, the rear end surface of the mounting seat is provided with a second quick connection groove, the transmission box is provided with a second quick connection block matched with the second quick connection groove, and the second quick connection block is inserted into the second quick connection groove.

17. The lancing device of claim 1, wherein: The puncture device further comprises a stabilizing assembly for enabling the sliding block assembly to stay at any position of the mounting frame or always have a tendency to move towards the first end.

18. The lancing device of claim 17, wherein: The stabilizing assembly comprises a coil spring and a resistance line connected between the free end of the coil spring and the sliding block assembly.

19. The lancing device of claim 17, wherein: The stabilizing assembly comprises a second winch and a resistance line connected between the winch and the sliding block assembly.

20. The lancing device of claim 1, wherein: The puncture assembly comprises a puncture needle with a first boss at the upper end, a needle holder sleeved on the puncture needle and abutting against the lower end of the first boss, a collet sleeved on the puncture needle and penetrating into the needle holder, a locking tube threadedly connected with the needle holder and having at least a part abutting against the collet for clamping the collet to clamp the puncture needle, and a guide tube slidably sleeved on the puncture needle and located below the locking tube, wherein the upper end of the collet comprises a plurality of petal-shaped clamping blocks arranged in an annular array, the outer peripheral surface of the petal-shaped clamping blocks is in wedge-shaped fitting surface with the inner peripheral surface of the needle holder, and when the locking tube is screwed and moves towards the needle holder, the upper end of the locking tube pushes the collet into the wedge-shaped fitting surface inside the needle holder to make the petal-shaped clamping blocks gather and clamp the puncture needle.

21. A puncture device for CT real-time guided interventional surgery, characterized by: The puncture device is any one of the puncture devices as claimed in claims 1-20, and is completely made of non-metallic materials.

22. An interventional procedure robot characterized by: The puncture device is any one of the puncture devices as claimed in claims 1-20.

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