Medical puncture robot with angle adjustment mechanism

Abstract

The present application relates to the field of medical puncture apparatus, and specifically discloses a medical puncture robot with an angle adjusting mechanism, which comprises a mobile machine, a mechanical arm and a puncture needle, the puncture needle is provided with an adjusting assembly between the mechanical arm, the adjusting assembly comprises a fixed part and a movable part, the fixed part is hinged with the end of the mechanical arm, the movable part is respectively provided with a universal ball and a ball groove between the fixed part, the universal ball is matched with the ball groove in a gap, the fixed part is provided with a plurality of sliding sleeves around, and the sliding sleeves are internally slidably connected with locking columns. By setting the hinge structure between the fixed part and the end of the mechanical arm, and setting the gap matching structure of the universal ball and the ball groove between the fixed part and the movable part, the puncture needle has flexible freedom in the initial state, the doctor can easily move the movable part for multi-angle rough positioning with small force, the problem of laborious adjustment and positioning accuracy interference caused by excessive friction of the universal joint is solved, and the posture adjustment efficiency before puncture is improved.

Description

Technical Field

[0001] This invention relates to the field of medical puncture instrument technology, and in particular to a medical puncture robot with an angle adjustment mechanism. Background Technology

[0002] Puncture is a commonly used clinical diagnostic and treatment technique, which refers to the operation of inserting a special puncture needle through the skin into the body cavity, organ or deep tissue to achieve the purpose of diagnosis or treatment. Diagnostic puncture is mainly used to extract fluid specimens (such as pleural effusion, ascites, cerebrospinal fluid) or to perform tissue biopsies to determine the nature of the lesion, while therapeutic puncture is used to drain effusions and pus, decompress, inject drugs or establish vascular access, etc. Common procedures include venous puncture, lumbar puncture, bone marrow aspiration, thoracentesis, etc.

[0003] During puncture surgery, multi-jointed robots are typically used to achieve precise positioning. For example, the guiding device and puncture surgical robot disclosed in prior art announcement number CN224441423U disclose this technology, which includes a guiding body, a guiding end, and a needle holder. The guiding body includes a connecting part located at one end of the guiding body; the guiding end is detachably connected to the connecting part, and the needle holder is detachably connected to the end of the guiding end away from the guiding body.

[0004] However, because the puncture site needs to be very precise, it usually relies on the surgeon's experience for accurate positioning. Although the tail end of the existing robot also has a positioning structure, it usually achieves precise positioning directly through a universal joint, and then maintains the position through the friction between the universal ball and the ball groove. The drawback of this structure is that, in order to ensure the position holding capability, the friction between the universal ball and the ball groove is usually relatively large. When adjusting, the doctor needs to use a large force to achieve precise positioning. However, using a large force to achieve precise positioning is difficult and strenuous, so it needs to be improved. Summary of the Invention

[0005] The purpose of this section is to outline some aspects of embodiments of the present invention and to briefly describe some preferred embodiments. Simplifications or omissions may be made in this section, as well as in the abstract and title of this application, to avoid obscuring the purpose of these documents; however, such simplifications or omissions should not be construed as limiting the scope of the invention.

[0006] This invention provides a medical puncture robot with an angle adjustment mechanism, which solves the problem of difficulty in accurately adjusting the position of the puncture needle in existing technologies. The specific solution is as follows: This invention provides a medical puncture robot with an angle adjustment mechanism, including a mobile unit and a robotic arm mounted on the mobile unit. The robotic arm has multiple joints, and a puncture needle is installed at the end of the robotic arm away from the mobile unit. An adjustment assembly is provided between the puncture needle and the robotic arm, including a fixed part and a movable part. The fixed part is hinged to the end of the robotic arm, and the movable part and the fixed part are respectively provided with a universal ball and a ball groove, with the universal ball and the ball groove having a clearance fit. Several sliding sleeves are provided around the fixed part, and locking pins are slidably connected inside the sliding sleeves. The locking pins are connected to the inner wall of the sliding sleeves by a first spring, and an interlocking sliding structure is provided between the locking pins and the sliding sleeves to limit the sliding range of the locking pins. Under the compression of the first spring, the several locking pins make the adjacent ends of the movable part and the fixed part parallel. Under the drive of an external force, the movable part and the fixed part move relative to each other. The several locking pins abut against the end face of the movable part through telescopic movement. The outer wall of the locking pin has a pressing member corresponding to each locking pin. The pressing member abuts against the outer wall of the locking pin to generate static friction, causing the locking pin to contact the sliding sleeve. The relatively fixed structure maintains the relative state between the movable and fixed parts. A hinge structure is installed between the fixed part and the end of the robotic arm, and a clearance fit structure between the universal ball and the ball groove is installed between the fixed and movable parts. This allows the puncture needle to have flexible freedom of movement in the initial state, enabling the doctor to easily move the movable part for rough pre-positioning at multiple angles with minimal force. This effectively solves the problems of excessive friction in traditional universal joints, which lead to difficult adjustment and interference with positioning accuracy due to force. It significantly reduces the doctor's workload and improves the efficiency of posture adjustment before puncture. By utilizing several locking pins circumferentially distributed around the fixed part, which abut against the end face of the movable part under the constant force of the first spring, a multi-point uniform support is formed. This transforms the relative posture between the movable and fixed parts from the central support of the universal ball to the peripheral cylindrical support. This not only disperses the locking force and avoids uneven load caused by single-point locking, but also ensures that the movable and fixed parts remain highly parallel and stable in the locked state, ensuring that the angle of the puncture needle does not drift during surgery and significantly improving the reliability of puncture positioning.

[0007] Preferably, the movable part includes a fixed sleeve and a rotating block, the rotating block being rotatably connected to the fixed sleeve, and the fixed sleeve and the rotating block having an interlocking rotation structure to limit the rotation of the rotating block relative to the fixed sleeve within the fixed sleeve.

[0008] Preferably, the inner wall of the fixed sleeve has a snap-fit ​​post, and the outer wall of the rotating block has a snap-fit ​​groove. The snap-fit ​​post can snap into the snap-fit ​​groove. Both the end of the snap-fit ​​post and the snap-fit ​​groove are spherical. The spherical area of ​​the snap-fit ​​groove is smaller than the spherical area of ​​the end of the snap-fit ​​post. The inner wall of the fixed sleeve has a sliding groove. The end of the snap-fit ​​post away from the snap-fit ​​groove is slidably connected to the sliding groove. A second spring is connected between the snap-fit ​​post and the inner wall of the sliding groove. The second spring presses the snap-fit ​​post towards the snap-fit ​​groove, so that the fixed sleeve and the rotating block remain fixed.

[0009] Preferably, the interior of the omnidirectional ball and the rotating block is hollow.

[0010] Preferably, the side of the extrusion member near the locking post has an arc-shaped groove that matches the outer wall of the locking post, the side of the extrusion member near the locking post has a limiting post, the outer wall of the fixing part is fixedly connected to a limiting sleeve, and the limiting post and the limiting sleeve are slidably connected.

[0011] Preferably, a third spring is connected between the limiting post and the inner wall of the limiting sleeve, and the third spring presses the limiting post outward.

[0012] Preferably, the extrusion member has an extrusion groove on the side away from the locking post. The two directions in which the fixing part rotates along its central axis are defined as the first direction and the second direction, respectively. The distance between the inner wall of the extrusion groove and the center of the fixing part increases from the first direction to the second direction. The extrusion member has an extrusion ring on its outside, which is concentric with the fixing part. An extrusion block is fixedly connected to the inner side of the extrusion ring, and the extrusion block abuts against the extrusion groove. When the extrusion ring rotates in the second direction, it causes the extrusion member to be extruded along the limiting sleeve towards the center of the fixing part, so that the extrusion member and the locking post generate static friction.

[0013] Preferably, a base is provided between the locking post and the outer wall of the fixing part, the base is fixed to the outer wall of the fixing part, and the contact position between the base and the locking post has an arc-shaped groove that matches the outer wall of the locking post.

[0014] Preferably, the outer wall of the fixing part has a rotating ring, one end of the extrusion ring is rotatably connected to the outer wall of the rotating ring, the outer wall of the rotating ring is provided with a plurality of limiting grooves, the inner wall of the extrusion ring is fixedly connected to a limiting block near each limiting groove, a fourth spring is fixedly connected to the side of the limiting block near the first direction or the second direction, and the other end of the fourth spring is fixedly connected to the inner wall of the limiting groove.

[0015] Preferably, a rubber sleeve is fixed between the fixed part and the movable part.

[0016] Compared with the prior art, the present invention can achieve at least one of the following beneficial effects: 1. This invention provides a hinge structure between the fixed part and the end of the robotic arm, and a clearance fit structure between the universal ball and the ball groove between the fixed part and the movable part. This allows the puncture needle to have flexible freedom in the initial state, enabling doctors to easily move the movable part for multi-angle rough positioning with minimal force. This effectively solves the problems of excessive friction in traditional universal joints, which make adjustment difficult and positioning accuracy affected by force. It significantly reduces the doctor's workload and improves the efficiency of posture adjustment before puncture.

[0017] 2. This invention utilizes several locking pins circumferentially distributed around the fixed part, which abut against the end face of the movable part under the constant force of the first spring, forming multi-point uniform support. This transforms the relative posture of the movable part and the fixed part from the support of the omnidirectional ball to the support of the outer cylindrical surface. This not only disperses the locking force and avoids the off-center load caused by single-point locking, but also ensures that the movable part and the fixed part remain highly parallel and stable in the locked state. This ensures that the angle of the puncture needle does not drift during the operation, significantly improving the reliability of puncture positioning.

[0018] 3. This invention sets up extrusion parts that correspond one-to-one with the locking post, and sets up a limiting structure driven by a third spring between the extrusion parts and the fixing part, so that the extrusion parts always tend to converge toward the center of the fixing part. When the extrusion ring rotates, the wedge-shaped pushing action of the extrusion block in the extrusion groove forces the extrusion parts to contract inward and clamp the locking post. Static friction is used to fix the locking post and the sliding sleeve relative to each other, thereby realizing the quick operation of "rotation lock". No additional tools or complicated steps are required. Doctors can complete the angle locking with one hand. The operation is convenient and the locking is firm.

[0019] 4. This invention, by setting a locking post and locking groove mating structure driven by a second spring between the fixed sleeve and the rotating block, utilizes the locking post at the spherical end and the locking groove on part of the spherical surface to form a detachable locking limit, so that the rotating block can achieve circumferential rotation adjustment within the fixed sleeve to compensate for angular deviations in the horizontal plane, and can also automatically reset and lock after adjustment by spring force. This realizes independent fine adjustment and fixation of the puncture needle in multiple degrees of freedom, meets the fine requirements of different puncture sites for the spatial posture of the needle body, and improves the adaptability of the robot.

[0020] 5. By setting an elastic sleeve between the fixed part and the movable part, this invention can not only physically shield the precision mating mechanisms such as the universal ball and locking pin when the robot is idle or not in operation, preventing dust, bloodstains or disinfectant from entering and causing wear on the mating surfaces or spring failure, thus extending the service life of the mechanism, but also the elastic deformation capability of the sleeve can adapt to the angle changes between the movable part and the fixed part without affecting normal adjustment. In addition, the flexible appearance enhances the overall safety and aesthetics of the equipment, meeting the hygiene standards of medical equipment.

[0021] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures particularly pointed out in the written description and the accompanying drawings. Attached Figure Description

[0022] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Wherein: Figure 1 This is a perspective view of the entire invention; Figure 2 This is a cross-sectional view of the adjustment component of the present invention; Figure 3 This is an exploded view of the fixing part and locking post of the present invention; Figure 4 This is a perspective view of the fixing part, locking post, and pressing member of the present invention; Figure 5 This is a cross-sectional view of the fixing part, locking post, and pressing member of the present invention; Figure 6 This is a perspective view of the fixing part and the extrusion ring of the present invention; Figure 7 This is a cross-sectional view of the fixing part and the extrusion ring of the present invention; Figure 8 This is a perspective sectional view of the fixing sleeve and rotating block of the present invention; Figure 9 This is a cross-sectional view of the fixed sleeve and rotating block of the present invention from another side; Figure 10 This is a perspective view of the rotating block and the snap-fit ​​post of the present invention.

[0023] The accompanying figure is labeled as follows: 1. Moving machine; 2. Robotic arm; 3. Puncture needle; 4. Adjustment assembly; 5. Fixed part; 6. Moving part; 7. Universal ball; 8. Ball groove; 9. Sliding sleeve; 10. Locking post; 11. First spring; 12. Extrusion part; 13. Arc groove; 14. Limiting post; 15. Limiting sleeve; 16. Third spring; 17. Extrusion groove; 18. Extrusion ring; 19. Extrusion block; 20. Base; 21. Rotating ring; 22. Handle; 23. Limiting groove; 24. Limiting block; 25. Fourth spring; 26. Rubber sleeve; 27. Fixed sleeve; 28. Rotating block; 29. ​​Snap-fit ​​post; 30. Snap-fit ​​groove; 31. Sliding groove; 32. Second spring. Detailed Implementation

[0024] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which constitute one aspect of the present invention and, together with the embodiments of the present invention, serve to illustrate the principles of the present invention.

[0025] Example 1: As Figure 1 , Figure 2As shown, this embodiment provides a medical puncture robot with an angle adjustment mechanism, including a mobile unit 1 and a robotic arm 2 mounted on the mobile unit 1. The bottom of the mobile unit 1 has casters (not shown in the figure), the robotic arm 2 has multiple joints, and a puncture needle 3 is mounted on the end of the robotic arm 2 away from the mobile unit 1. An adjustment component 4 is provided between the puncture needle 3 and the robotic arm 2. The adjustment component 4 includes a fixed part 5 and a movable part 6. The fixed part 5 is hinged to the end of the robotic arm 2. The movable part 6 and the fixed part 5 are respectively provided with a universal ball 7 and a ball groove 8, and the universal ball 7 and the ball groove 8 are in clearance fit.

[0026] It should be noted that clearance fit is a basic type of hole-shaft fit in mechanical tolerances. It refers to the situation where, when a hole and a shaft with the same nominal size are assembled, the tolerance zone of the hole is completely located above the tolerance zone of the shaft, so that the actual size of the hole is always greater than or equal to the actual size of the shaft, and a clearance always exists between the two (the minimum clearance can be zero).

[0027] like Figure 3 As shown, the fixed part 5 has several sliding sleeves 9 around it. A locking pin 10 is slidably connected inside the sliding sleeve 9. The locking pin 10 is connected to the inner wall of the sliding sleeve 9 through a first spring 11. There is an interlocking sliding structure between the locking pin 10 and the sliding sleeve 9 to limit the sliding range of the locking pin 10.

[0028] The interlocking sliding structure is specifically designed as follows: a groove and a block are respectively provided on the inner wall of the sliding sleeve 9 and the end of the locking pin 10. The block can only slide in the groove, thereby preventing the locking pin 10 from disengaging from the sliding sleeve 9.

[0029] like Figure 2 As shown, under the compression of the first spring 11, several locking pins 10 make the adjacent ends of the movable part 6 and the fixed part 5 parallel. Driven by external force, the movable part 6 and the fixed part 5 move relative to each other. The locking pins 10 abut against the end face of the movable part 6 through telescopic movement.

[0030] like Figure 4 , Figure 5 As shown, the outer wall of the locking post 10 has a pressing member 12 corresponding to the locking post 10. The pressing member 12 abuts against the outer wall of the locking post to generate static friction, so that the locking post 10 and the sliding sleeve 9 are relatively fixed to maintain the relative state of the moving part 6 and the fixed part 5.

[0031] The side of the extrusion member 12 near the locking post 10 has an arc-shaped groove 13 that matches the outer wall of the locking post 10. The side of the extrusion member 12 near the locking post 10 has a limiting post 14. The outer wall of the fixing part 5 is fixedly connected to a limiting sleeve 15. The limiting post 14 and the limiting sleeve 15 are slidably connected.

[0032] like Figure 5A third spring 16 is connected between the limiting post 14 and the inner wall of the limiting sleeve 15. The third spring 16 presses the limiting post 14 away from the outer wall of the fixing part 5.

[0033] The extrusion member 12 has an extrusion groove 17 on the side away from the locking post. The two directions in which the fixing part 5 rotates along its central axis are defined as the first direction and the second direction, respectively. The distance between the inner wall of the extrusion groove 17 and the center of the fixing part 5 increases from the first direction to the second direction. The extrusion member 12 has an extrusion ring 18 on its outside. The extrusion ring 18 is concentric with the fixing part 5. An extrusion block 19 is fixedly connected to the inner side of the extrusion ring 18. The extrusion block 19 abuts against the extrusion groove 17. When the extrusion ring 18 rotates in the second direction, it can cause the extrusion member 12 to be extruded along the limiting sleeve 15 towards the center of the fixing part 5, so that the extrusion member 12 and the locking post 10 generate static friction, thereby keeping several locking posts 10 in a fixed position, thereby keeping the movable part 6 and the fixing part 5 fixed.

[0034] like Figure 3 As shown, a base 20 is provided between the locking post 10 and the outer wall of the fixing part 5. The base 20 is fixed to the outer wall of the fixing part 5, and the contact position between the base 20 and the locking post 10 has an arc-shaped groove that matches the outer wall of the locking post 10.

[0035] like Figure 6 , Figure 7 As shown, the outer wall of the fixing part 5 has a rotating ring 21, and the outer wall of the compression ring 18 is fixedly connected to a handle 22. One end of the compression ring 18 is rotatably connected to the outer wall of the rotating ring 21. The outer wall of the rotating ring 21 is provided with a plurality of limiting grooves 23. The inner wall of the compression ring 18 is fixedly connected to a limiting block 24 near each limiting groove 23. A fourth spring 25 is fixedly connected to the side of the limiting block 24 near the first direction or the second direction. The other end of the fourth spring 25 is fixedly connected to the inner wall of the limiting groove 23.

[0036] In the above scheme, when the fourth spring 25 is close to the first direction, it is a compression spring; when the fourth spring 25 is close to the second direction, it is a tension spring. In this embodiment, the spring shown in Figure 6 is a compression spring. This allows the limiting block 24 to always be compressed in the second direction under the compression or tension of the fourth spring 25, thereby driving the compression block 19 to be compressed in the compression groove 17. This causes the compression member 12 to be compressed along the limiting sleeve 15 towards the center of the fixed part 5, allowing the compression member 12 to generate static friction with the locking post 10, thereby keeping several locking posts 10 in a fixed position, thus keeping the movable part 6 and the fixed part 5 fixed.

[0037] like Figure 1 As shown, a rubber sleeve 26 is fixed between the fixed part 5 and the movable part 6. The rubber sleeve 26 is elastic and can be made of rubber or silicone.

[0038] Example 2: The technical solution of this example differs from that of Example 1 in that, as follows... Figure 8 , Figure 9 , Figure 10 As shown, in this embodiment, the movable part 6 includes a fixed sleeve 27 and a rotating block 28. The rotating block 28 is rotatably connected to the fixed sleeve 27. The fixed sleeve 27 and the rotating block 28 have an interlocking rotation structure to limit the relative rotation of the rotating block 28 with the fixed sleeve 27 within the fixed sleeve 27.

[0039] The inner wall of the fixed sleeve 27 has a snap-fit ​​post 29, and the outer wall of the rotating block 28 has a snap-fit ​​groove 30. The snap-fit ​​post 29 can snap into the snap-fit ​​groove 30. The end of the snap-fit ​​post 29 and the snap-fit ​​groove 30 are both spherical. The spherical area of ​​the snap-fit ​​groove 30 is smaller than the spherical area of ​​the end of the snap-fit ​​post 29. The inner wall of the fixed sleeve 27 has a sliding groove 31. The end of the snap-fit ​​post 29 away from the snap-fit ​​groove 30 is slidably connected to the sliding groove 31. A second spring 32 is connected between the snap-fit ​​post 29 and the inner wall of the sliding groove 31. The second spring 32 presses the snap-fit ​​post 29 toward the snap-fit ​​groove 30, so that the fixed sleeve 27 and the rotating block 28 remain fixed.

[0040] To reduce the weight of the adjustment component 4, the interiors of the omnidirectional ball 7 and the rotating block 28 are hollow.

[0041] When using: In the initial state, under the action of the fourth spring 25, the extrusion ring 18 is constantly subjected to a torque in the second direction through the limiting block 24, causing the extrusion block 19 to slide within the extrusion groove 17. Since the distance between the inner wall of the extrusion groove 17 from the first direction to the second direction and the center of the fixed part 5 increases, the extrusion block 19's extrusion action on the extrusion groove 17 causes the extrusion piece 12 to expand outward away from the center of the fixed part 5 under the guidance of the limiting sleeve 15. At this time, the arc-shaped groove 13 on the inner side of the extrusion piece 12 separates from the outer wall of the locking post 10, with no contact or only slight contact between them, and no static friction is generated. At the same time, under the elastic force of the first spring 11, the end of the locking post 10 extends out from the sliding sleeve 9 and abuts against the end face of the movable part 6. Since the omnidirectional ball 7 and the ball groove 8 are in clearance fit, the movable part 6 can swing in multiple angles relative to the fixed part 5. The doctor can push the movable part 6 with a small force to make the puncture needle 3 reach the approximate target angle. At this time, the locking post 10 will move in and out of the sliding sleeve 9 according to the inclination of the end face of the movable part 6. The arc groove on the base 20 provides auxiliary support for the locking post 10.

[0042] When precise adjustment of the horizontal azimuth angle of the puncture needle 3 is required, the doctor can hold the handle 22 to drive the compression ring 18 to rotate relative to the rotating ring 21. However, due to the elastic force of the fourth spring 25, the cooperation between the limiting block 24 and the limiting groove 23 makes the compression ring 18 tend to automatically reset. At this time, the doctor can overcome the force of the fourth spring 25 and manually rotate the compression ring 18 to the first direction. The compression block 19 slides in the opposite direction in the compression groove 17, the distance between the inner walls of the compression groove 17 decreases, and the third spring 16 squeezes the limiting post 14 away from the outer wall of the fixed part 5, causing the compression piece 12 to move outward as a whole. The arc groove 13 further disengages from the locking post 10, completely releasing the friction constraint on the locking post 10. Subsequently, the doctor can rotate the rotating block 28 in the movable part 6 independently. The rotating block 28 rotates within the fixed sleeve 27, and the spherical end of the locking post 29 slides within the spherical concave surface of the locking groove 30. When it is rotated to the target angle, the second spring 32 presses the locking post 29 toward the locking groove 30, so that the locking post 29 is re-locked into the corresponding locking groove 30, thereby fixing the horizontal angle.

[0043] Once the puncture needle 3 is in position, the doctor releases the handle 22. Under the restoring force of the fourth spring 25, the compression ring 18 automatically rotates in the second direction, and the compression block 19 slides along the compression groove 17 again. The distance between the inner walls of the compression groove 17 increases, forcing the compression piece 12 to converge towards the center of the fixed part 5 along the limiting sleeve 15. The arc-shaped groove 13 on the inner side of the compression piece 12 is tightly attached to the outer wall of the locking post 10. The static friction generated by the arc surface firmly locks the locking post 10 in the sliding sleeve 9, preventing the locking post 10 from extending or retracting, thus completely fixing the relative angle between the moving part 6 and the fixed part 5. At this time, the center of the universal ball 7 is rigidly supported by the multi-point locking post 10, and the posture of the puncture needle 3 is stably maintained, preventing displacement due to external forces. The rubber sleeve 26 undergoes elastic deformation with changes in angle throughout the process, always enveloping the internal mechanism and providing protection.

[0044] In summary, this invention, by setting a hinge structure between the fixed part 5 and the end of the robotic arm 2, and by setting a clearance fit structure between the universal ball 7 and the ball groove 8 between the fixed part 5 and the movable part 6, allows the puncture needle 3 to have flexible degrees of freedom in the initial state. The doctor can easily move the movable part 6 with relatively small force for multi-angle rough pre-positioning, effectively solving the problems of excessive friction in traditional universal joints, which lead to difficult adjustment and interference with positioning accuracy. This significantly reduces the doctor's workload and improves the efficiency of posture adjustment before puncture. By utilizing several locking posts 10 distributed circumferentially around the fixed part 5, which abut against the end face of the movable part 6 under the constant force of the first spring 11, a multi-point uniform support is formed. This transforms the relative posture of the movable part 6 and the fixed part 5 from the central support of the universal ball 7 to the peripheral cylindrical support. This not only disperses the locking force and avoids the off-center load caused by single-point locking, but also ensures that the movable part 6 and the fixed part 5 remain highly parallel and stable in the locked state, ensuring that the angle of the puncture needle 3 does not drift during surgery, significantly improving the reliability of puncture positioning. By setting up a squeezing member 12 that corresponds one-to-one with the locking post 10, and setting a limiting structure driven by a third spring 16 between the squeezing member 12 and the fixing part 5, the squeezing member 12 always tends to converge towards the center of the fixing part 5. When the squeezing ring 18 rotates, the squeezing block 19 is used to push inward in the squeezing groove 17, forcing the squeezing member 12 to contract inward and clamp the locking post 10. Static friction is used to fix the locking post 10 and the sliding sleeve 9 relative to each other, thereby realizing the quick operation of "rotation lock". No additional tools or complicated steps are required. Doctors can complete the angle locking with one hand. The operation is convenient and the locking is firm. By setting a locking post 29 driven by a second spring 32 and a locking groove 30 between the fixed sleeve 27 and the rotating block 28, the locking post 29 at the spherical end and the locking groove 30 on part of the spherical surface form a detachable locking limit, so that the rotating block 28 can achieve circumferential rotation adjustment within the fixed sleeve 27 to compensate for angular deviations in the horizontal plane, and can automatically reset and lock after adjustment by spring force. This realizes independent fine adjustment and fixation of the puncture needle 3 in multiple degrees of freedom, meets the fine requirements of different puncture sites for the spatial posture of the needle body, and improves the adaptability of the robot. By setting an elastic sleeve 26 between the fixed part 5 and the movable part 6, the internal precision mating mechanisms such as the universal ball 7 and locking post 10 can be physically shielded when the robot is idle or not in operation, preventing dust, bloodstains or disinfectant from entering and causing wear on the mating surfaces or spring failure, thus extending the service life of the mechanism. At the same time, the elastic deformation capability of the sleeve 26 can adapt to the angle changes between the movable part 6 and the fixed part 5 without affecting normal adjustment. Moreover, the flexible appearance enhances the overall safety and aesthetics of the equipment, meeting the hygiene standards of medical equipment.

[0045] In the description of this specification, references to terms such as "an embodiment," "example," "specific example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0046] The terms "first," "second," "third," "fourth," etc. (if present) in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of the present application described herein can be implemented, for example, in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0047] The devices or elements referred to in the embodiments of this application or implied herein must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as limiting the embodiments of this application. In the description of the embodiments of this application, "a plurality of" means two or more, unless otherwise precisely specified.

[0048] The preferred embodiments of the present invention disclosed above are merely illustrative of the invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the invention to the specific implementations described. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims

1. A medical puncture robot with an angle adjustment mechanism, comprising a mobile unit and a robotic arm mounted on the mobile unit, the robotic arm having multiple joints, and a puncture needle mounted on the end of the robotic arm furthest from the mobile unit, characterized in that: An adjustment assembly is provided between the puncture needle and the robotic arm. The adjustment assembly includes a fixed part and a movable part. The fixed part is hinged to the end of the robotic arm. The movable part and the fixed part are respectively provided with a universal ball and a ball groove. The universal ball and the ball groove are in clearance fit. Several sliding sleeves are provided around the fixed part. Locking pins are slidably connected inside the sliding sleeves. The locking pins are connected to the inner wall of the sliding sleeves by a first spring. There is an interlocking sliding structure between the locking pins and the sliding sleeves to limit the sliding range of the locking pins. Under the compression of the first spring, the locking pins make the adjacent ends of the movable part and the fixed part parallel. Under the drive of external force, the movable part and the fixed part move relative to each other. The locking pins abut against the end face of the movable part through telescopic movement. The outer wall of the locking pin has a pressing member corresponding to the locking pin. The pressing member abuts against the outer wall of the locking pin to generate static friction, so that the locking pin and the sliding sleeve are relatively fixed to maintain the relative state of the movable part and the fixed part.

2. The medical puncture robot with an angle adjustment mechanism as described in claim 1, characterized in that: The movable part includes a fixed sleeve and a rotating block. The rotating block is rotatably connected to the fixed sleeve. There is an interlocking rotation structure between the fixed sleeve and the rotating block to limit the rotation of the rotating block relative to the fixed sleeve within the fixed sleeve.

3. The medical puncture robot with an angle adjustment mechanism as described in claim 2, characterized in that: The inner wall of the fixed sleeve has a snap-fit ​​post, and the outer wall of the rotating block has a snap-fit ​​groove. The snap-fit ​​post can snap into the snap-fit ​​groove. Both the end of the snap-fit ​​post and the snap-fit ​​groove are spherical. The spherical area of ​​the snap-fit ​​groove is smaller than the spherical area of ​​the end of the snap-fit ​​post. The inner wall of the fixed sleeve has a sliding groove. The end of the snap-fit ​​post away from the snap-fit ​​groove is slidably connected to the sliding groove. A second spring is connected between the snap-fit ​​post and the inner wall of the sliding groove. The second spring presses the snap-fit ​​post towards the snap-fit ​​groove, so that the fixed sleeve and the rotating block remain fixed.

4. A medical puncture robot with an angle adjustment mechanism as described in claim 2, characterized in that: The interior of the omnidirectional ball and the rotating block is hollow.

5. A medical puncture robot with an angle adjustment mechanism as described in claim 1, characterized in that: The side of the extrusion piece near the locking post has an arc-shaped groove that matches the outer wall of the locking post. The side of the extrusion piece near the locking post has a limiting post. The outer wall of the fixing part is fixedly connected to a limiting sleeve. The limiting post and the limiting sleeve are slidably connected.

6. A medical puncture robot with an angle adjustment mechanism as described in claim 5, characterized in that: A third spring connects the limiting post and the inner wall of the limiting sleeve, and the third spring pushes the limiting post outward.

7. A medical puncture robot with an angle adjustment mechanism as described in claim 5 or 6, characterized in that: An extrusion groove is provided on the side of the extrusion member away from the locking post. The two directions in which the fixing part rotates along its central axis are defined as the first direction and the second direction, respectively. The distance between the inner wall of the extrusion groove and the center of the fixing part increases from the first direction to the second direction. The extrusion member has an extrusion ring on its outside, which is concentric with the fixing part. An extrusion block is fixedly connected to the inner side of the extrusion ring, and the extrusion block abuts against the extrusion groove. When the extrusion ring rotates in the second direction, it causes the extrusion member to be extruded along the limiting sleeve towards the center of the fixing part, so that the extrusion member and the locking post generate static friction.

8. A medical puncture robot with an angle adjustment mechanism as described in claim 7, characterized in that: A base is provided between the locking pin and the outer wall of the fixing part. The base is fixed to the outer wall of the fixing part, and the contact position between the base and the locking pin has an arc-shaped groove that matches the outer wall of the locking pin.

9. A medical puncture robot with an angle adjustment mechanism as described in claim 7, characterized in that: The outer wall of the fixed part has a rotating ring. One end of the extrusion ring is rotatably connected to the outer wall of the rotating ring. The outer wall of the rotating ring is provided with several limiting grooves. A limiting block is fixedly connected to the inner wall of the extrusion ring near each limiting groove. A fourth spring is fixedly connected to the side of the limiting block near the first direction or the second direction. The other end of the fourth spring is fixedly connected to the inner wall of the limiting groove.

10. A medical puncture robot with an angle adjustment mechanism as described in claim 1, characterized in that: A rubber sleeve is fixed between the fixed part and the movable part.

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