Puncture robot capable of being flexibly adjusted

Abstract

The invention provides a puncture robot capable of being adjusted flexibly. The puncture robot comprises a base, a puncture needle posture adjusting mechanism, a puncture needle, an ultrasonic probe posture adjusting mechanism and an ultrasonic probe. The puncture needle posture adjusting mechanism is installed on one side of the base, the puncture needle is installed on the puncture needle posture adjusting mechanism, and the puncture needle posture adjusting mechanism is used for adjusting the needle inserting angle of the puncture needle; the ultrasonic probe posture adjusting mechanism is installed on the other side of the base, the ultrasonic probe is installed on the ultrasonic probe posture adjusting mechanism, and the ultrasonic probe posture adjusting mechanism is used for adjusting the irradiation angle of the ultrasonic probe. Through the device, the puncture needle and the ultrasonic probe are integrated, a doctor is assisted in adjusting the irradiation angle of the ultrasonic probe and the needle inserting angle of the puncture needle in real time, the puncture precision is improved, the device has the advantages of miniaturization, modularization and integration, and multi-position and multi-angle compliant adjustment auxiliary puncture operation of different body parts is achieved.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and more specifically, to a compliantly adjustable puncture robot. Background Technology

[0002] Puncture surgery, an indispensable diagnostic and treatment method in modern medicine, is widely used in various fields such as tumor biopsy, ablation therapy, and drug injection. However, traditional manual puncture methods often suffer from problems such as difficulty in localization, significant path deviation, and operational instability when dealing with deep lesions. Maintaining high precision for extended periods also places extremely high demands on the surgeon's physical strength and concentration, and surgical fatigue can easily further affect the quality of the procedure. With the rapid development of robotics technology, puncture robots are gradually becoming an important direction for solving these problems. Compared with traditional manual operations, the stability and repeatability of robotic systems effectively alleviate the surgeon's operational pressure and improve surgical efficiency and safety. Therefore, conducting research on puncture robots not only has significant clinical value but also represents an important trend in the future development of intelligent healthcare.

[0003] A search revealed a Chinese invention patent with publication number CN118217024A, which relates to a handheld RCM puncture robot. This robot aligns its center of gravity, the puncture target point, and the doctor's palm at a single point, allowing the entire device to be directly worn on the doctor's forearm without requiring additional torque, thus reducing effort during operation. The puncture unit is directly held by the doctor, and the compact design makes it suitable for operations in narrow spaces such as those used in CT or MRI scans. However, the forearm-fixed wearing method places additional demands on the doctor's arm circumference and padding method, requiring re-wearing and recalibration if switching to a different doctor.

[0004] A search revealed Chinese invention patent application CN118576323A, which relates to an exoskeleton device for a handheld puncture robot. This device is secured by wearing it on the forearm and holding it in the hand, and is relatively lightweight, making it easy for doctors to hold for extended periods. The device also includes a sensor module to collect the doctor's movements, which, along with the drive module, assists the doctor in performing the puncture procedure. However, it still suffers from the problem of needing to re-wear the device when switching doctors.

[0005] A search revealed a Chinese utility model patent with publication number CN218552380U, which relates to a handheld, angle-adjustable medical puncture device. This device can read the needle insertion angle in real time via a scale, enabling angle control and improving puncture accuracy. However, the device is relatively large, making it difficult to use with an ultrasound probe for puncture procedures.

[0006] In summary, traditional manual puncture suffers from difficulties in locating deep lesions, significant deviations in puncture paths, and insufficient operational stability. Furthermore, prolonged operation can easily lead to fatigue for doctors, thus affecting the quality of the surgery. While existing wearable puncture robots improve operational convenience and stability, they have drawbacks such as high requirements for operator adaptation, the need for recalibration when switching between different doctors, and insufficient clinical adaptability. Although existing handheld angle-adjustable puncture devices can achieve precise control of the puncture angle, their large overall size makes them difficult to coordinate with ultrasound probes, limiting their practicality.

[0007] Therefore, there is an urgent need to design a compact, flexibly adjustable puncture robot that integrates the ultrasound probe and the puncture needle. This robot would not only meet the needs of doctors to operate it directly by hand, but also be easy to disassemble, store, and carry. This would effectively solve the aforementioned technical problems and improve the accuracy, convenience, and clinical suitability of puncture surgery. Summary of the Invention

[0008] In view of one of the deficiencies in the prior art, the purpose of this application is to provide a compliantly adjustable puncture robot.

[0009] In a first aspect, this application provides a compliantly adjustable puncture robot, comprising: a base, a puncture needle posture adjustment mechanism, a puncture needle, an ultrasonic probe posture adjustment mechanism, and an ultrasonic probe. The puncture needle adjustment mechanism is installed on one side of the base, and the puncture needle is installed on the puncture needle adjustment mechanism. The puncture needle adjustment mechanism is used to adjust the insertion angle of the puncture needle. The ultrasonic probe attitude adjustment mechanism is installed on the other side of the base, and the ultrasonic probe is installed on the ultrasonic probe attitude adjustment mechanism. The ultrasonic probe attitude adjustment mechanism is used to adjust the irradiation angle of the ultrasonic probe.

[0010] Optionally, the puncture needle posture adjustment mechanism includes an adjustment block set screw and an adjustment block. The adjustment block is disposed in a groove in the base. The adjustment block set screw passes through the groove on one side of the base and is inserted into a threaded hole on the adjustment block. The adjustment block set screw is used to fix the relative position between the base and the adjustment block.

[0011] Optionally, the puncture needle posture adjustment mechanism further includes a marker, which is mounted on the height adjustment block and is used to perform laser marking on the user's skin surface.

[0012] Optionally, the puncture needle posture adjustment mechanism further includes an inner bearing ring, an outer bearing ring, and a limiting screw. The outer bearing ring is connected to one end of the height adjustment block. The inner bearing ring is installed inside the outer bearing ring. The limiting screw passes through a threaded hole on the outer bearing ring and is inserted into a through hole in the side wall of the inner bearing ring. The limiting screw is used to limit the rotation direction of the inner bearing ring relative to the outer bearing ring.

[0013] Optionally, the puncture needle posture adjustment mechanism further includes a guide rail mounting base, a guide rail, a guide rail slider, and a feed slider. One end of the guide rail mounting base is inserted into the inner ring of the bearing. The guide rail is mounted on the guide rail mounting base. The guide rail slider is mounted on the guide rail. The feed slider is connected to the guide rail slider. The feed slider and the guide rail slider move linearly along the guide rail.

[0014] Optionally, the puncture needle posture adjustment mechanism further includes a puncture needle mounting seat, which is connected to the feed slider, and the puncture needle is mounted in a through hole on the puncture needle mounting seat.

[0015] Optionally, the ultrasonic probe attitude adjustment mechanism includes an ultrasonic probe guide rail, an ultrasonic probe guide rail end cap, an ultrasonic probe slider, and an ultrasonic probe limiting block. One end of the ultrasonic probe guide rail is connected to the other side of the base, the ultrasonic probe guide rail end cap is installed on the other end of the ultrasonic probe guide rail, the ultrasonic probe slider is slidably connected to the ultrasonic probe guide rail, and the ultrasonic probe limiting block is disposed in the inner groove of the ultrasonic probe slider. The ultrasonic probe limiting block is used to limit the ultrasonic probe.

[0016] Optionally, the ultrasonic probe attitude adjustment mechanism further includes an ultrasonic probe set screw, which passes through one side of the ultrasonic probe guide rail and is connected to the ultrasonic probe slider. The ultrasonic probe set screw is used to move or lock the ultrasonic probe.

[0017] Optionally, the ultrasonic probe attitude adjustment mechanism further includes a concave end of the ultrasonic probe rotating seat and a convex end of the ultrasonic probe rotating seat. The concave end and the convex end of the ultrasonic probe rotating seat are disposed between the ultrasonic probe slider and the ultrasonic probe limiting block. The concave end and the convex end of the ultrasonic probe rotating seat are used to realize the rotation of the ultrasonic probe around the axis.

[0018] Optionally, the ultrasonic probe is mounted between the concave end of the ultrasonic probe rotating seat and the convex end of the ultrasonic probe rotating seat.

[0019] The compliantly adjustable puncture robot of this application integrates a puncture needle posture adjustment mechanism and an ultrasound probe posture adjustment mechanism on the base, thus integrating the puncture needle and ultrasound probe into one unit. It has the advantages of miniaturization, modularity, and integration. It is small in size and light in weight, and can achieve compliant adjustment to assist puncture operations at multiple positions and angles on different body parts. Moreover, it has a simple structure, can be quickly disassembled and stored, and is convenient for doctors to carry and transfer. It can also adjust the irradiation angle of the ultrasound probe in real time during the operation through the ultrasound probe posture adjustment mechanism to obtain the ultrasound images needed by the doctor. The puncture needle posture adjustment mechanism can adjust the insertion angle of the puncture needle, thereby adjusting the puncture path and improving puncture accuracy.

[0020] Other technical effects resulting from the additional features will be further illustrated in the corresponding embodiments. Attached Figure Description

[0021] Other features, objects, and advantages of this application will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings: Figure 1 This is a schematic diagram of the overall structure of a compliantly adjustable puncture robot according to an exemplary embodiment.

[0022] Figure 2 This is a schematic diagram of a puncture needle posture adjustment mechanism and a puncture needle according to an exemplary embodiment.

[0023] Figure 3 This is a schematic diagram of the overall structure of a compliantly adjustable puncture robot from another angle, according to an exemplary embodiment.

[0024] Figure 4 This is an exploded view of a partial structure of an ultrasonic probe attitude adjustment mechanism according to an exemplary embodiment.

[0025] In the diagram: 1 is the base, 2 is the puncture needle posture adjustment mechanism, 3 is the ultrasonic probe posture adjustment mechanism, 201 is the height adjustment block set screw, 202 is the height adjustment block, 203 is the marker, 204 is the bearing outer ring, 205 is the bearing inner ring, 206 is the limit screw, 207 is the guide rail mounting seat, 208 is the guide rail, 209 is the guide rail slider, 210 is the feed slider, 211 is the puncture needle mounting seat, 212 is the puncture needle, 301 is the ultrasonic probe guide rail, 302 is the ultrasonic probe guide rail end cap, 303 is the ultrasonic probe slider, 304 is the ultrasonic probe limit block, 305 is the ultrasonic probe set screw, 306 is the concave end of the ultrasonic probe rotating seat, 307 is the convex end of the ultrasonic probe rotating seat, and 308 is the ultrasonic probe. Detailed Implementation

[0026] The present application will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present application, but do not limit the present application in any way. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present application. These all fall within the protection scope of the present application.

[0027] In the description of the embodiments of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0028] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature.

[0029] In the description of the embodiments in this application, "multiple" means two or more, unless otherwise explicitly specified. In this application, unless otherwise explicitly specified and limited, the terms "installed," "connected," "linked," "fixed," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0030] The terms "comprising" and "having," and any variations thereof, in the embodiments of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the steps or units listed, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to such processes, methods, products, or devices.

[0031] Traditional manual puncture suffers from difficulties in locating deep lesions, significant deviations in the puncture path, and insufficient operational stability. Furthermore, prolonged operation can lead to surgeon fatigue, impacting surgical quality. While existing wearable puncture robots improve ease of use and stability, they require highly adaptable operators and necessitate recalibration when switching between doctors, resulting in insufficient clinical flexibility. Existing handheld, angle-adjustable puncture devices, while enabling precise angle control, are limited in practicality due to their large size, making them difficult to integrate with ultrasound probes. To address these issues, this application provides a compliantly adjustable puncture robot to resolve these problems.

[0032] Figure 1 This is a schematic diagram of the overall structure of a compliantly adjustable puncture robot according to an exemplary embodiment.

[0033] Reference Figure 1 As shown in one embodiment of this application, a compliantly adjustable puncture robot is provided, including: a base 1, a puncture needle posture adjustment mechanism 2, a puncture needle 212, an ultrasonic probe posture adjustment mechanism 3, and an ultrasonic probe 308.

[0034] The puncture needle adjustment mechanism 2 is installed on one side of the base 1, and the puncture needle 212 is installed on the puncture needle adjustment mechanism 2. The puncture needle adjustment mechanism 2 is used to adjust the insertion angle of the puncture needle 212.

[0035] Specifically, the puncture needle posture adjustment mechanism 2 can be used to smoothly adjust the insertion angle of the puncture needle 212.

[0036] An ultrasonic probe attitude adjustment mechanism 3 is installed on the other side of the base 1, and an ultrasonic probe 308 is installed on the ultrasonic probe attitude adjustment mechanism 3. The ultrasonic probe attitude adjustment mechanism 3 is used to adjust the irradiation angle of the ultrasonic probe 308.

[0037] Specifically, the ultrasonic probe orientation adjustment mechanism 3 can be used to smoothly adjust the irradiation angle of the ultrasonic probe 308.

[0038] In the above embodiments of this application, by integrating the puncture needle posture adjustment mechanism 2 and the ultrasound probe posture adjustment mechanism 3 on the base 1, the puncture needle 212 and the ultrasound probe 308 are integrated into one unit. This has the advantages of miniaturization, modularity, and integration. It is small in size and light in weight, and can achieve compliant adjustment to assist puncture operations at multiple positions and angles on different body parts. Moreover, the structure is simple, can be quickly disassembled and stored, and is convenient for doctors to carry and transfer. In addition, the ultrasound probe posture adjustment mechanism 3 can adjust the irradiation angle of the ultrasound probe 308 in real time during the operation to facilitate the acquisition of the ultrasound images required by the doctor. The puncture needle posture adjustment mechanism 2 can adjust the insertion angle of the puncture needle 212, thereby adjusting the puncture path and improving puncture accuracy.

[0039] Figure 2This is a schematic diagram of a puncture needle posture adjustment mechanism and a puncture needle according to an exemplary embodiment.

[0040] Reference Figure 2 As shown in some specific embodiments of this application, the puncture needle posture adjustment mechanism 2 includes: an adjustment block set screw 201 and an adjustment block 202. The adjustment block 202 is disposed in the slide groove of the base 1. The adjustment block set screw 201 passes through the slide groove on one side of the base 1 and is inserted into the threaded hole on the adjustment block 202. The adjustment block set screw 201 is used to fix the relative position between the base 1 and the adjustment block 202.

[0041] Specifically, the height adjustment block 202 can move in the slide groove of the base 1. When the height adjustment block 202 moves to the required position, the height adjustment block set screw 201 is tightened to fix the relative position between the base 1 and the height adjustment block 202.

[0042] Reference Figure 2 As shown, according to Figure 2 The orientation of the puncture needle adjustment mechanism 2 can be adjusted by moving the height adjustment block 202 to adjust the vertical position of the puncture needle 212.

[0043] In the above embodiments of this application, by setting an adjustment block 202 and an adjustment block set screw 201, the adjustment block 202 and the base 1 are engaged by a sliding groove to adjust the position of the adjustment block 202 up and down along the base 1, thereby adjusting the up and down position of the puncture needle 212.

[0044] In some specific embodiments of this application, the puncture needle posture adjustment mechanism 2 further includes a marker 203, which is installed on the height adjustment block 202 and is used to perform laser marking on the user's skin surface.

[0045] Specifically, the line marker 203 is installed in the cavity of the back column of the height adjustment block 202.

[0046] In the above embodiments of this application, a laser marking device 203 is set to mark the user's skin surface with laser lines to assist the doctor in positioning.

[0047] In some specific embodiments of this application, the puncture needle posture adjustment mechanism 2 further includes an inner bearing ring 205, an outer bearing ring 204, and a limiting screw 206. The outer bearing ring 204 is connected to one end of the height adjustment block 202. The inner bearing ring 205 is installed inside the outer bearing ring 204. The limiting screw 206 passes through the threaded hole on the outer bearing ring 204 and is inserted into the through hole on the side wall of the inner bearing ring 205. The limiting screw 206 is used to limit the rotation direction of the inner bearing ring 205 relative to the outer bearing ring 204.

[0048] Specifically, one end of the bearing outer ring 204 is provided with an external thread, and one end of the height adjustment block 202 is provided with an internal thread. The bearing outer ring 204 and the height adjustment block 202 are connected by the external thread and the internal thread.

[0049] Specifically, the threaded hole on the outer ring 204 of the bearing is provided on the side wall of the outer ring 204 of the bearing.

[0050] Specifically, the end of the limiting screw 206 is provided with an optical axis, which is connected to the through hole on the side wall of the inner ring 205 of the bearing.

[0051] For example, the outer ring 204 and the inner ring 205 of the bearing are integrated in the form of a fisheye bearing. Alternatively, the outer ring 204 and the inner ring 205 of the bearing can be designed separately and assembled to achieve the same function. After being restricted by the optical axis, the inner ring 205 of the bearing can only rotate smoothly around the optical axis for adjustment.

[0052] In the above embodiments of this application, the inner bearing ring 205 is limited by the inner bearing ring 205, the outer bearing ring 204, and the limiting screw 206. After being limited by the optical axis, the inner bearing ring 205 can only rotate smoothly around the optical axis, thereby realizing the smooth rotation adjustment of the puncture needle 212.

[0053] In some specific embodiments of this application, the puncture needle posture adjustment mechanism 2 further includes a guide rail mounting base 207, a guide rail 208, a guide rail slider 209, and a feed slider 210. One end of the guide rail mounting base 207 is inserted into the inner ring 205 of the bearing. The guide rail 208 is mounted on the guide rail mounting base 207. The guide rail slider 209 is mounted on the guide rail 208. The feed slider 210 is connected to the guide rail slider 209. The feed slider 210 and the guide rail slider 209 move linearly along the guide rail 208.

[0054] Specifically, the guide rail mounting base 207 is inserted into the bearing inner ring 205 through the column portion at one end and connected to the bearing inner ring 205.

[0055] Specifically, the guide rail 208 is bolted to the guide rail mounting base 207, and the feed slider 210 is bolted to the guide rail slider 209, thereby enabling the guide rail slider 209 to move linearly along the guide rail 208, and thus enabling the feed slider 210 to move linearly along the guide rail 208.

[0056] In the above embodiments of this application, by setting a guide rail mounting base 207, a slide rail, a guide rail slider 209, and a feed slider 210, the guide rail slider 209 and the feed slider 210 move linearly along the slide rail to achieve the forward and backward adjustment of the puncture needle 212.

[0057] In some specific embodiments of this application, the puncture needle posture adjustment mechanism 2 further includes a puncture needle mounting seat 211, which is connected to the feed slider 210, and the puncture needle 212 is installed in the through hole on the puncture needle mounting seat 211.

[0058] Specifically, the puncture needle mounting seat 211 is connected to the feed slider 210 via a pin to facilitate the installation and removal of the puncture needle mounting seat 211.

[0059] In some specific embodiments of this application, the puncture needle 212 passes through a through hole in the puncture needle mounting base 211 to be mounted on the puncture needle mounting base 211.

[0060] In some specific embodiments of this application, when the insertion angle of the puncture needle 212 is adjusted using the puncture needle posture adjustment mechanism 2, the inner ring 205 of the bearing rotates around the optical axis at the end of the limiting screw 206, which drives the rotation of the guide rail mounting base 207. This allows the insertion angle of the puncture needle 212 to be adjusted. After the target angle is reached, the guide rail slider 209 and the feed slider 210 move linearly along the guide rail 208 to achieve the forward and backward adjustment of the puncture needle 212.

[0061] Figure 3 This is a schematic diagram of the overall structure of a compliantly adjustable puncture robot from another angle, according to an exemplary embodiment. Figure 4 This is an exploded view of a partial structure of an ultrasonic probe attitude adjustment mechanism according to an exemplary embodiment.

[0062] Reference Figure 3 and Figure 4 In some specific embodiments of this application, the ultrasonic probe attitude adjustment mechanism 3 includes an ultrasonic probe guide rail 301, an ultrasonic probe guide rail end cap 302, an ultrasonic probe slider 303, and an ultrasonic probe limiting block 304. One end of the ultrasonic probe guide rail 301 is connected to the other side of the base 1, the ultrasonic probe guide rail end cap 302 is installed on the other end of the ultrasonic probe guide rail 301, the ultrasonic probe slider 303 is slidably connected to the ultrasonic probe guide rail 301, and the ultrasonic probe limiting block 304 is disposed in the inner groove of the ultrasonic probe slider 303. The ultrasonic probe limiting block 304 is used to limit the ultrasonic probe 308.

[0063] Specifically, one end of the ultrasonic probe guide rail 301 is connected to the base 1 by bolts.

[0064] Specifically, the ultrasonic probe guide rail end cap 302 is installed at the other end of the ultrasonic probe guide rail 301 to achieve the closure of the ultrasonic probe guide rail 301.

[0065] Specifically, the ultrasonic probe limiting block 304 and the ultrasonic probe slider 303 are engaged through a sliding groove to lock the ultrasonic probe 308.

[0066] In the above embodiments of this application, by setting an ultrasonic probe guide rail 301, an ultrasonic probe guide rail end cap 302, an ultrasonic probe slider 303, and an ultrasonic probe limiting block 304, the ultrasonic probe 308 can move along the slide groove of the ultrasonic probe guide rail 301, thereby adjusting the irradiation position of the ultrasonic probe 308.

[0067] In some specific embodiments of this application, the ultrasonic probe attitude adjustment mechanism 3 further includes an ultrasonic probe set screw 305. The ultrasonic probe set screw 305 passes through one side of the ultrasonic probe guide rail 301 and is connected to the ultrasonic probe slider 303. The ultrasonic probe set screw 305 is used to move or fix the ultrasonic probe 308.

[0068] Specifically, one end of the ultrasonic probe slider 303 is slidably connected to one side of the ultrasonic probe guide rail 301 by the ultrasonic probe set screw 305, and the other end of the ultrasonic probe slider 303 is slidably connected to the other side of the ultrasonic probe guide rail 301 by bolts.

[0069] In the above embodiments of this application, the ultrasonic probe 308 is moved and locked along the groove of the ultrasonic probe guide rail 301 by setting the ultrasonic probe locking screw 305.

[0070] In some specific embodiments of this application, the ultrasonic probe attitude adjustment mechanism 3 further includes an ultrasonic probe rotating seat concave end 306 and an ultrasonic probe rotating seat convex end 307. The ultrasonic probe rotating seat concave end 306 and ultrasonic probe rotating seat convex end 307 are disposed between the ultrasonic probe slider 303 and the ultrasonic probe limiting block 304. The ultrasonic probe rotating seat concave end 306 and ultrasonic probe rotating seat convex end 307 are used to realize the rotation of the ultrasonic probe 308 around the axis.

[0071] The ultrasonic probe 308 is installed between the concave end 306 and the convex end 307 of the ultrasonic probe rotating seat.

[0072] Specifically, the concave end 306 and the convex end 307 of the ultrasonic probe rotating seat are connected by the sliding groove of the ultrasonic probe guide rail 301, which encloses the ultrasonic probe 308, enabling the ultrasonic probe 308 to rotate around its own axis of symmetry.

[0073] In some specific embodiments of this application, when adjusting the irradiation angle of the ultrasonic probe 308 using the ultrasonic probe attitude adjustment mechanism 3, the ultrasonic probe slider 303 moves along the groove of the ultrasonic guide rail 301 by loosening the ultrasonic probe set screw 305, thereby driving the ultrasonic probe 308 to rotate and thus adjusting the irradiation angle of the ultrasonic probe 308.

[0074] This application provides a compliantly adjustable puncture robot that integrates a puncture needle 212 and an ultrasound probe 308 into one unit. It can adjust the irradiation angle of the ultrasound probe 308 in real time during the operation, making it easier for doctors to obtain the required ultrasound images, adjust the puncture path, and improve puncture accuracy. It is small in size and light in weight, and can achieve compliant adjustment to assist puncture operations at multiple positions and angles on different body parts. It can be quickly disassembled and stored, making it convenient for doctors to carry and transfer.

[0075] The preferred features in the above embodiments can be used individually in any embodiment, or in any combination thereof, provided they do not conflict with each other. Furthermore, parts not described in detail in the embodiments can be implemented using existing technologies.

[0076] The specific embodiments of this application have been described above. It should be understood that this application is not limited to the specific embodiments described above, and those skilled in the art can make various modifications or variations within the scope of the claims, which do not affect the substantive content of this application. The above-described preferred features can be used in any combination without conflict.

Claims

1. A compliantly adjustable puncture robot, characterized by, The application relates to a puncture needle and ultrasonic probe angle adjusting mechanism. The puncture needle angle adjusting mechanism is installed on one side of the base, the puncture needle is installed on the puncture needle angle adjusting mechanism, and the puncture needle angle adjusting mechanism is used for adjusting the puncture needle angle. The ultrasonic probe angle adjusting mechanism is installed on the other side of the base, the ultrasonic probe is installed on the ultrasonic probe angle adjusting mechanism, and the ultrasonic probe angle adjusting mechanism is used for adjusting the ultrasonic probe angle. The puncture needle angle adjusting mechanism comprises a height adjusting block fastening screw, and a height adjusting block, the height adjusting block is arranged in a sliding groove of the base, the height adjusting block fastening screw passes through the sliding groove on one side of the base and is inserted into a threaded hole on the height adjusting block, and the height adjusting block fastening screw is used for fixing the relative position between the base and the height adjusting block.

2. The compliantly adjustable puncture robot of claim 1, wherein, The puncture needle angle adjusting mechanism further comprises a reticle, the reticle is installed on the height adjusting block, and the reticle is used for laser marking on the surface of the skin of a user.

3. The compliantly adjustable puncture robot of claim 2, wherein, The puncture needle angle adjusting mechanism further comprises a bearing inner ring, a bearing outer ring and a limiting screw, one end of the bearing outer ring is connected with the height adjusting block, the bearing inner ring is installed in the inside of the bearing outer ring, the limiting screw passes through a threaded hole on the bearing outer ring and is inserted into a through hole in the side wall of the bearing inner ring, and the limiting screw is used for limiting the rotating direction of the bearing inner ring relative to the bearing outer ring.

4. The compliantly adjustable puncture robot of claim 3, wherein, The puncture needle angle adjusting mechanism further comprises a guide rail mounting seat, a guide rail, a guide rail sliding block and a feeding sliding block, one end of the guide rail mounting seat is inserted into the bearing inner ring, the guide rail is installed on the guide rail mounting seat, the guide rail sliding block is installed on the guide rail, the feeding sliding block is connected with the guide rail sliding block, and the feeding sliding block and the guide rail sliding block move linearly along the guide rail.

5. The compliantly adjustable puncture robot of claim 4, wherein, The puncture needle angle adjusting mechanism further comprises a puncture needle mounting seat, the puncture needle mounting seat is connected with the feeding sliding block, and the puncture needle is installed in the through hole on the puncture needle mounting seat.

6. The compliantly adjustable puncture robot of claim 5, wherein, The ultrasonic probe angle adjusting mechanism comprises an ultrasonic probe guide rail, an ultrasonic probe guide rail end cover, an ultrasonic probe sliding block and an ultrasonic probe limiting block, one end of the ultrasonic probe guide rail is connected with the other side of the base, the ultrasonic probe guide rail end cover is installed on the other end of the ultrasonic probe guide rail, the ultrasonic probe sliding block is slidably connected with the ultrasonic probe guide rail, and the ultrasonic probe limiting block is arranged in the inside sliding groove of the ultrasonic probe sliding block and is used for limiting the ultrasonic probe.

7. The compliantly adjustable puncture robot of claim 1, wherein, The ultrasonic probe angle adjusting mechanism further comprises an ultrasonic probe fastening screw, the ultrasonic probe fastening screw is connected with the ultrasonic probe sliding block through one side of the ultrasonic probe guide rail, and the ultrasonic probe fastening screw is used for moving or fastening the ultrasonic probe.

8. The compliantly adjustable puncture robot of claim 7, wherein, The ultrasonic probe angle adjusting mechanism further comprises an ultrasonic probe rotating seat concave end and an ultrasonic probe rotating seat convex end, the ultrasonic probe rotating seat concave end and the ultrasonic probe rotating seat convex end are arranged between the ultrasonic probe sliding block and the ultrasonic probe limiting block, and the ultrasonic probe rotating seat concave end and the ultrasonic probe rotating seat convex end are used for realizing the rotation of the ultrasonic probe around the shaft.

9. The compliantly adjustable puncture robot of claim 8, wherein, ​ 10. The compliantly adjustable puncture robot of claim 9, wherein, The ultrasonic probe is mounted between the concave end of the ultrasonic probe rotating seat and the convex end of the ultrasonic probe rotating seat.

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