A compact handheld ultrasonic precision puncture robot

Abstract

The application relates to the technical field of medical robots and discloses a compact handheld ultrasonic precise puncture robot, which comprises an ultrasonic module arranged at the front end of the robot and used for acquiring ultrasonic images of a puncture area in real time, a puncture module arranged at the lower end of the robot and used for installing a puncture needle and performing a puncture action, a posture adjusting module connected between the ultrasonic module and the puncture module and used for adjusting the spatial posture of the puncture module relative to the ultrasonic module, and a holding module arranged on the robot and used for being held by an operator to control the whole device. The ultrasonic probe and the puncture mechanism are integrated on the same robot, the ultrasonic image plane and the puncture needle are kept coplanar through the connecting rod mechanism of the turnover module, the trouble of repeated calibration in surgery is avoided, the precision of real-time guidance is greatly improved, and the puncture deviation is reduced.

Description

Technical Field

[0001] This invention relates to the field of medical robot technology, and more specifically, to a compact handheld ultrasonic precision puncture robot for puncture surgery. Background Technology

[0002] In the field of medical diagnosis and treatment, puncture surgery is a widely used clinical procedure, mainly used for drug injection, vascular puncture, percutaneous puncture, lesion ablation and other scenarios, covering multiple sites such as blood vessels, lungs, chest and abdomen. It is also used in neuromodulation puncture procedures such as stellate ganglion block. It is a key technical means to achieve early diagnosis, precise treatment and neuromodulation of diseases.

[0003] Currently, commonly used puncture methods in clinical practice are mainly divided into two categories: manual puncture and robot-assisted puncture. Manual puncture remains the primary method in primary healthcare institutions and some complex scenarios. However, due to human factors such as hand tremors, operator fatigue, and differences in experience, the precision of needle insertion angle and depth control is relatively low, making puncture deviations highly likely. This can result in either failing to accurately reach the target, leading to poor treatment outcomes, or puncturing too deeply or deviating from the intended direction, damaging surrounding vital tissues and causing serious complications. Manual puncture is difficult to perform and requires a long learning period, resulting in an uneven distribution of high-quality puncture diagnostic and treatment resources. Furthermore, it involves high labor intensity for doctors and prolonged exposure to radiation, posing potential health risks.

[0004] To address the precision limitations of manual puncture, several large-scale benchtop puncture robots have been developed both domestically and internationally. These devices typically consist of four parts: a robotic arm, imaging equipment, a spatial positioning system, and a workstation. They achieve high-precision puncture operations through technologies such as 3D medical image modeling, puncture path planning, and robot navigation and positioning. The core advantage of existing puncture robots is their high precision, but they suffer from the following drawbacks:

[0005] 1. Large size and immobility: Large tabletop puncture robots need to be fixedly installed in a specific location, making them unsuitable for bedside, emergency, or primary care settings, and also difficult to adapt to the flexible body position of patients during stellate ganglion block puncture.

[0006] 2. High cost: The equipment is expensive, and most primary healthcare institutions cannot afford it;

[0007] 3. Cumbersome and inefficient operation process: The operation process is relatively complicated and lacks flexibility, making it unable to meet the puncture requirements of complex anatomical structures.

[0008] 4. Lack of handheld operation function: It does not have good handheld operation function, making it difficult to deal with emergencies during surgery.

[0009] Furthermore, existing small-scale assisted puncture devices lack flexibility and precision, still requiring manual adjustments by doctors, making it difficult to fundamentally solve the accuracy problem. They also lack real-time image feedback and force sensing capabilities. Patients are prone to puncture deviations and complications due to physiological movements and soft tissue deformation. The structural design is also flawed, resulting in poor hand comfort, slipperiness, and inadequate center-of-gravity control in some handheld devices, leading to vibrations. They also lack versatility, cannot accommodate different puncture needle sizes, have unstable power transmission, insufficient structural rigidity, and lack passive adjustment functions, thus limiting puncture accuracy and operational flexibility.

[0010] Therefore, there is an urgent need for a puncture robot that is small in size, easy to hold, highly accurate, and has real-time image guidance. Summary of the Invention

[0011] The purpose of this invention is to overcome the shortcomings of existing puncture robots, such as large size, high cost, lack of handheld operation function, and insufficient flexibility, and to provide a compact handheld ultrasonic precision puncture robot with compact structure, handheld operation, high precision, and real-time ultrasonic guidance function.

[0012] The compact handheld ultrasonic precision puncture robot proposed in this invention includes:

[0013] An ultrasound module, located at the front end of the robot, is used to acquire ultrasound images of the puncture area in real time.

[0014] A puncture module, located at the lower end of the robot, is used to install a puncture needle and perform the puncture action;

[0015] An attitude adjustment module, connected between the ultrasound module and the puncture module, is used to adjust the spatial attitude of the puncture module relative to the ultrasound module;

[0016] A grip module is mounted on the robot for the operator to grip and control the entire device.

[0017] The attitude adjustment module includes:

[0018] The flipping module, whose first end is connected to the ultrasound module, is used to provide a first degree of rotational freedom to achieve coarse adjustment of the puncture angle of the puncture module;

[0019] The transmission module, whose first end is connected to the second end of the flipping module, is used to provide a first degree of freedom of movement to achieve fine adjustment of the puncture position;

[0020] The puncture module includes:

[0021] The puncture angle adjustment mechanism is connected to the second end of the transmission module to provide a second degree of rotational freedom, thereby enabling fine adjustment of the puncture angle.

[0022] The needle insertion mechanism, mounted on the puncture angle adjustment mechanism, is used to provide a second degree of freedom of movement to realize the axial feeding of the puncture needle;

[0023] The ultrasound module specifically includes a display screen, a data cable, a clamp, a quick-release device, and an ultrasound probe. The display screen is connected to the ultrasound probe via the data cable to display real-time images. The clamp is fixed to the front end of the flip plate of the flip module to fix the probe. The quick-release device facilitates the rapid installation and removal of the probe. The flip module drives the first lead screw transmission assembly via the first servo motor to drive the connecting rod to swing, thereby driving the transmission module and the puncture module to swing as a whole, achieving coarse adjustment of the puncture angle. The transmission module drives the puncture mechanism connecting plate to move linearly along the second guide rail via the third servo motor, achieving fine adjustment of the puncture position. The puncture angle adjustment mechanism drives the crank mechanism via the fourth servo motor to drive the puncture needle mounting plate to swing around the hinge point, achieving fine adjustment of the angle. The needle insertion mechanism drives the fourth lead screw transmission assembly via the fifth servo motor to drive the fixed block and the puncture needle to move axially, achieving needle insertion and retraction.

[0024] As a further optimization of the present invention, the flipping module includes:

[0025] A flip plate is fixedly connected to the ultrasound module;

[0026] The first servo motor is mounted on the flip plate;

[0027] The first lead screw drive assembly is connected to the output end of the first servo motor.

[0028] The connecting rod has one end connected to the nut of the first lead screw drive assembly and the other end connected to the transmission module;

[0029] When the first servo motor is working, it drives the connecting rod to swing through the first lead screw transmission assembly, thereby driving the transmission module and the puncture module to swing as a whole.

[0030] The flip plate serves as the mounting base for the flip module. The first servo motor is fixed to the flip plate via a servo motor bracket, and its output shaft is connected to the first bevel gear of the first lead screw transmission assembly via a metal servo disc and a coupling. The first lead screw transmission assembly includes a first ball screw, a first flange nut, a bearing support seat, and a first bearing fixing seat. The first ball screw is rotatably mounted on the flip plate via the bearing support seat, and the first flange nut is threadedly connected to the lead screw. The connecting rod is hinged to the first guide rail slider seat via a cylindrical pin. The first guide rail slider seat is slidably mounted on the first guide rail. When the first servo motor rotates, the first flange nut moves along the axial direction of the lead screw, which drives the first guide rail slider seat and the connecting rod to swing through the slider connecting rod, ultimately achieving coarse adjustment of the piercing module angle.

[0031] As a further optimization of the present invention, the transmission module includes:

[0032] Transmission fixing plate;

[0033] The third servo motor is mounted on the transmission mounting plate;

[0034] The second guide rail is mounted on the transmission fixing plate;

[0035] The puncture mechanism connecting plate is slidably mounted on the second guide rail and is fixedly connected to the puncture needle fixing plate of the puncture module;

[0036] The third servo motor drives the piercing mechanism connecting plate to move linearly along the second guide rail section.

[0037] The transmission fixing plate serves as the mounting reference for the transmission module. The second guide rail section includes a second guide rail and a second guide rail slider, which act as a linear guide component. The piercing mechanism connecting plate is fixedly connected to the second guide rail slider via a triangular connecting plate. When the third servo motor is driven, the piercing mechanism connecting plate drives the piercing module to move linearly along the second guide rail, thereby achieving fine adjustment of the piercing position. The transmission module can also be hinged to the connecting rod of the flipping module via a translation mechanism connecting plate. When the flipping module is driven, the transmission module swings as a whole with the connecting rod, thereby achieving angle adjustment.

[0038] As a further optimization of the present invention, the puncture angle adjustment mechanism includes:

[0039] The puncture needle fixing plate is fixedly connected to the puncture mechanism connecting plate of the transmission module;

[0040] A puncture needle mounting plate, the first end of which is hinged to the puncture needle fixing plate;

[0041] The fourth servo motor is mounted on the puncture needle mounting plate;

[0042] The crank has its input end connected to the fourth servo motor and its output end connected to the puncture needle mounting plate.

[0043] When the fourth servo motor is in operation, it drives the puncture needle mounting plate to swing around its hinge point via the crank.

[0044] The puncture needle mounting plate is L-shaped. The upper end of the vertical section is fixedly connected to the puncture mechanism connecting plate of the transmission module, and the horizontal section is bent downward and hinged to the lower end of the puncture needle mounting plate through a rotating shaft. The fourth servo is fixed to the upper end of the L-shaped horizontal section of the puncture needle mounting plate, and its output shaft is connected to the input end of the crank through a bevel gear pair. The output end of the crank is hinged to the fourth guide rail slider, which is slidably mounted on the fourth guide rail on the side of the puncture needle mounting plate. When the fourth servo rotates, the crank drives the fourth guide rail slider to move linearly, thereby driving the puncture needle mounting plate to swing around the hinge point, so as to achieve fine adjustment of the puncture angle.

[0045] As a further optimization of the present invention, the needle insertion mechanism includes:

[0046] The fifth servo motor is mounted on the puncture needle mounting plate;

[0047] The fourth lead screw drive assembly is connected to the fifth servo motor;

[0048] A fixing block is installed on the nut of the fourth lead screw drive assembly and is used to clamp the puncture needle;

[0049] The fourth guide rail is mounted on the puncture needle mounting plate and is used to guide the linear movement of the fixing block;

[0050] The fifth servo motor drives the fixed block to move along the fourth guide rail section through the fourth lead screw transmission assembly, thereby realizing the feeding and retraction of the puncture needle;

[0051] The fifth servo motor is fixed to the upper end of the puncture needle mounting plate. The fourth lead screw transmission assembly includes a fourth ball screw and a lead screw nut. When the fifth servo motor drives the lead screw to rotate, the lead screw nut drives the fixing block to move linearly along the fourth guide rail of the fourth guide rail section. The fixing block clamps the puncture needle through a quick-release button and a fixing cover, which facilitates the quick disassembly and replacement of the puncture needle. The tail of the puncture needle is connected to an extension tube. The extension tube is limited by an extension tube hook to realize the delivery of the drug solution.

[0052] As a further optimization of the present invention, it also includes an injection module, which is fixedly installed on the flip plate of the flip module and is used to install a syringe and perform injection or aspiration operations of the drug solution.

[0053] The injection module is fixedly connected to the flip plate of the flip module via a syringe fixing plate. The syringe fixing plate also serves as the mounting base for the gripping module. A gap is left between it and the translation mechanism connecting plate of the transmission module to ensure the independence of the movement of each module. The injection module can be adapted to syringes of different specifications. The injection syringe is fixed by a syringe fixing plate and a syringe fixing block to achieve stable storage and delivery of the drug solution.

[0054] As a further optimization of the present invention, the injection module includes:

[0055] The syringe fixing plate is fixedly connected to the flip plate of the flip module;

[0056] The second servo motor is mounted on the syringe mounting plate;

[0057] The second lead screw drive assembly is connected to the second servo motor;

[0058] The injection plunger has one end connected to the nut of the second lead screw drive assembly and the other end connected to the piston of the syringe.

[0059] The second servo motor drives the injection push rod to move linearly through the second lead screw transmission assembly, thereby pushing or pulling the liquid medicine.

[0060] The syringe mounting plate serves as the mounting base for the injection module. The second servo motor is fixed to the syringe mounting plate. The second lead screw transmission assembly includes a ball screw, a lead screw nut, and a bearing seat. When the second servo motor drives the lead screw to rotate, the lead screw nut drives the injection push rod to move linearly through the injection flange nut connecting rod. The injection push rod is radially limited by the injection push rod fixing block. Its front end is connected to the piston inside the injection syringe, and its rear end is connected to the drive mechanism to realize the pushing or pulling of the liquid. The liquid is delivered to the puncture needle through the injection extension tube head and the extension tube.

[0061] As a further optimization of the present invention, the grip module includes grip brackets fixedly installed on both sides of the syringe fixing plate of the injection module and a handle disposed between the two grip brackets, the surface of the handle being provided with an anti-slip structure;

[0062] The grip supports are symmetrically distributed on both sides of the upper surface of the syringe fixing plate. One end is fixedly connected to the syringe fixing plate, and the other end is fixedly connected to the end of the handle. The handle adopts an ergonomic design and has an anti-slip coating on the surface, forming an area for the operator to hold stably, which facilitates the handheld operation of the robot to complete the puncture process.

[0063] As a further optimization of the present invention, the ultrasound module includes:

[0064] Ultrasonic probe;

[0065] A clamp is fixed to the front end of the flip plate of the flip module and is used to fix the ultrasonic probe.

[0066] A quick-release device is provided between the clamp and the ultrasonic probe to enable quick assembly and disassembly of the ultrasonic probe.

[0067] A display screen, connected to the ultrasound probe, is used to display ultrasound images in real time;

[0068] The ultrasound probe is a small, portable probe that is compatible with handheld robots. It is fixed to the front of the flip plate of the flip module by a clamp. A quick-release device is set between the clamp and the probe, and it is equipped with a quick-release button to facilitate the quick disassembly, cleaning, disinfection and replacement of the probe. The display screen is connected to the ultrasound probe via a data cable to display the ultrasound image of the puncture area in real time, which helps the operator to observe the target location.

[0069] As a further optimization of the present invention, the transmission module further includes a passive rotation mechanism, which includes redundant connecting rods and a slider assembly to increase the swing angle range of the puncture module.

[0070] The passive rotation mechanism includes a third guide rail section, redundant connecting rods, connecting blocks, and a slider seat. The third guide rail section includes a third guide rail and a third guide rail slider. The two ends of the redundant connecting rod are connected to the intermediate transmission component and the execution end through rotating pairs to form a passive rotation structure. When the flipping module drives the transmission module to swing, the passive rotation mechanism increases the swing angle range of the puncture module through the linkage of the redundant connecting rods, thereby improving the puncture working space and operational flexibility.

[0071] The compact handheld ultrasonic precision puncture robot proposed in this invention has the following beneficial effects:

[0072] 1. This invention integrates the ultrasound probe and the puncture mechanism onto the same robot. The linkage mechanism of the flip module ensures that the ultrasound image plane and the puncture needle remain coplanar, avoiding the hassle of repeated calibration during surgery, greatly improving the accuracy of real-time guidance, and reducing puncture deviation.

[0073] 2. This invention uses a modular design to arrange the drive units of multiple functional modules in sequence, and is equipped with a linkage transmission mechanism and linear guide rail to achieve a miniaturized design of the whole machine, greatly reducing the size and weight of the whole machine, and achieving lightweight and high portability of the equipment, which can be adapted to various scenarios such as bedside, emergency and primary care clinics.

[0074] 3. The present invention adopts a "two-rotation and two-movement" motion configuration. The flipping module provides the first rotational degree of freedom (coarse angle adjustment), the crank mechanism provides the second rotational degree of freedom (fine angle adjustment), the linear guide rail of the transmission module provides the first movement degree of freedom (fine position adjustment), and the lead screw drive of the puncture module provides the second movement degree of freedom (needle insertion), thereby realizing the spatial posture adjustment and stable feeding of the puncture needle.

[0075] 4. This invention uses multiple servo motors to drive the flipping, feeding, puncture angle adjustment and injection actions respectively, so as to realize automatic puncture and automatic drug injection / retraction, which simplifies the puncture process and improves puncture efficiency and accuracy.

[0076] 5. The present invention is equipped with a passive rotation mechanism, which increases the swing angle of the execution end through redundant connecting rods, thereby improving the working space and operational flexibility of puncture.

[0077] 6. This invention installs the syringe extension tube on the puncture robot, which facilitates handling sudden target displacement, patient position changes, and other situations during the operation, giving full play to the doctor's subjective judgment and operational experience, and greatly improving the safety of puncture.

[0078] 7. The ultrasonic probe and puncture needle of the present invention are both equipped with quick-release devices, which are convenient to disassemble and assemble, and facilitate cleaning, disinfection and replacement of consumables of different specifications.

[0079] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0080] Figure 1 This is a schematic diagram of the overall structure of one embodiment of the present invention;

[0081] Figure 2 This is a schematic diagram of the automatic puncture process of the present invention;

[0082] Figure 3 This is a schematic diagram of the structure of the ultrasound module of the present invention;

[0083] Figure 4 This is a schematic diagram of the structure of the flipping module of the present invention;

[0084] Figure 5 This is a schematic diagram of the structure on the back of the flip module of the present invention;

[0085] Figure 6 This is a schematic diagram of the injection module of the present invention;

[0086] Figure 7 This is a schematic diagram of the gripping module of the present invention;

[0087] Figure 8 This is a schematic diagram of the transmission module of the present invention;

[0088] Figure 9 This is a schematic diagram of the structure on the back of the transmission module of the present invention;

[0089] Figure 10 This is a static structural diagram of the puncture module of the present invention;

[0090] Figure 11 This is a schematic diagram of the adjustment state structure of the puncture module of the present invention. Attached Figure Description

[0091] 1. Ultrasonic module; 11. Display screen; 12. Data cable; 13. Clamp; 14. Quick release device; 15. Ultrasonic probe;

[0092] 2. Flip Module; 21. First Servo Unit; 2101. First Servo; 2102. Servo Bracket; 2103. Metal Servo Disc; 2104. Coupling; 22. Slider Connecting Rod; 23. First Guide Rail Unit; 2301. First Guide Rail Positioning Block; 2302. First Guide Rail Slider; 2303. First Guide Rail Slider Seat; 2304. First Guide Rail; 24. Cylindrical Pin; 25. Flip Plate; 26. First Bearing Seat; 27. Rib Plate; 28. Connecting Rod; 29. ​​First Screw Drive Assembly; 2901. Bearing Support Seat; 2902. First Ball Screw; 2903. First Flange Nut; 2904. First Nut Connecting Rod; 2905. First Bearing Fixing Seat; 2906. First Fixing Seat Pressure Plate; 2907. First Bevel Gear;

[0093] 3. Injection module; 31. Syringe fixing plate; 32. Syringe part; 3201. Injection extension tube head; 3202. Injection syringe; 3203. Syringe fixing plate; 3204. Syringe fixing block; 3205. Injection push rod; 3206. Injection push rod fixing block; 3207. Injection flange nut connecting rod; 33. Second servo motor; 34. Second lead screw drive assembly;

[0094] 4. Grip module; 41. Grip bracket; 42. Grip handle;

[0095] 5. Transmission module; 51. Transmission fixing plate; 52. Passive rotation mechanism; 5201. Third guide rail section; 5202. Redundant connecting rod; 5203. Connecting block; 5204. Slider seat; 53. Second guide rail section; 54. Triangular connecting plate; 55. Puncture mechanism connecting plate; 56. Translation mechanism connecting plate; 57. Second bearing seat; 58. Socket head bolt; 59. Third servo motor;

[0096] 6. Puncture module; 61. Puncture needle part; 6101. Puncture needle; 6102. Fixing block; 6103. Quick release button; 6104. Fixing cover; 6105. Extension tube; 6106. Extension tube hook; 62. Fourth lead screw drive assembly; 63. Puncture needle mounting plate; 64. Locking nut; 65. Rotating part; 6501. Crank bearing seat; 6502. Crank; 66. Fourth servo motor; 67. Puncture needle fixing plate; 68. Fifth servo motor; 69. Fourth guide rail part. Detailed Implementation

[0097] Embodiments of the present invention are described in detail below. Examples of these embodiments are illustrated in the accompanying drawings, wherein the same or similar symbols denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0098] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0099] Please see Figures 1 to 11 The compact handheld ultrasonic precision puncture robot proposed in this invention mainly comprises six assembly components: ultrasonic module 1, flipping module 2, injection module 3, gripping module 4, transmission module 5, and puncture module 6. Each module adopts a modular configuration design and is connected sequentially along the longitudinal direction, resulting in a compact structure and small size.

[0100] Ultrasound module 1 is used to acquire ultrasound images of the puncture area in real time, providing real-time image guidance for the puncture procedure, such as... Figure 3 As shown, the ultrasound module 1 includes a display screen 11, a data cable 12, a clamp 13, a quick-release device 14, and an ultrasound probe 15;

[0101] Display screen 11: Connected to the ultrasound probe 15 via data cable 12, it is used to display real-time images acquired by the ultrasound probe, making it easier for the operator to observe the puncture target;

[0102] Data cable 12: Used for transmitting image signals;

[0103] Clamp 13: Used to fix the ultrasonic probe 15 and connect and fix the ultrasonic module to the flip module. The rear end of clamp 13 is fixedly connected to the front end of the flip plate 25 of the flip module 2.

[0104] Quick-release device 14: Located between clamp 13 and ultrasonic probe 15, it is equipped with a quick-release button to facilitate the quick installation, removal and replacement of the ultrasonic probe.

[0105] Ultrasonic probe 15: A small, portable ultrasonic probe is selected, which is compatible with handheld robots and is used to assist in puncture positioning.

[0106] The flipping module 2 connects the ultrasound module 1 and the transmission module 5, and is used to adjust the angle of the puncture module relative to the ultrasound module, thereby achieving coarse adjustment of the puncture posture, that is, providing the first degree of rotational freedom, such as... Figure 4 and Figure 5 As shown, the flip module 2 includes a first servo motor part 21, a slider connecting rod 22, a first guide rail part 23, a cylindrical pin 24, a flip plate 25, a first bearing seat 26, a rib plate 27, a connecting rod 28, and a first lead screw transmission assembly 29.

[0107] The first servo motor part 21 includes a first servo motor 2101, a servo motor bracket 2102, a metal servo disk 2103, and a coupling 2104. The first servo motor 2101 is fixedly installed on the flip plate 25 through the servo motor bracket 2102, serving as the drive source for the entire flip module. The output shaft of the first servo motor 2101 is connected to the first bevel gear 2907 of the first lead screw transmission assembly 29 through the metal servo disk 2103 and the coupling 2104.

[0108] The first guide rail section 23 includes a first guide rail positioning block 2301, a first guide rail slider 2302, a first guide rail slider seat 2303, and a first guide rail 2304. The first guide rail 2304 is fixedly installed on the flip plate 25 through the first guide rail positioning block 2301. The first guide rail slider 2302 is slidably installed on the first guide rail 2304. The first guide rail slider seat 2303 is fixedly installed on the upper end face of the guide rail slider 2302.

[0109] The first lead screw transmission assembly 29 includes a bearing support 2901, a first ball screw 2902, a first flange nut 2903, a first nut connecting rod 2904, a first bearing fixing seat 2905, a first fixing seat pressure plate 2906, and a first bevel gear 2907. The first ball screw 2902 is rotatably mounted on the flip plate 25 through the bearing support 2901 and the first bearing fixing seat 2905. The first bevel gear 2907 is mounted at the end of the first ball screw 2902. The first flange nut 2903 is threadedly connected to the first ball screw 2902. The first nut connecting rod 2904 is fixedly connected to the first flange nut 2903.

[0110] Slider connecting rod 22: One end is fixedly connected to the first nut connecting rod 2904 on the first flange nut 2903, and the other end is fixedly connected to the first guide rail slider seat 2303;

[0111] Link 28: One end is hinged to the first guide rail slider seat 2303 via a cylindrical pin 24, and the other end is hinged to the translation mechanism connecting plate 56 of the transmission module 5.

[0112] First bearing seat 26: fixed on the flip plate 25, used to fix the flip plate 25 and the transmission module 5 by means of cylindrical pin 24;

[0113] Rib 27: One end is fixed to the flip plate 25, and the other end is fixed to the syringe fixing plate 31 of the injection module 3, which serves as rigid support and fixed connection.

[0114] When the first servo motor 2101 rotates, it drives the first ball screw 2902 to rotate through the bevel gear pair. The first flange nut 2903 moves along the screw axis, and through the first nut connecting rod 2904 and the slider connecting rod 22, it drives the first guide rail slider seat 2303 to move along the first guide rail 2304. The first guide rail slider seat 2303 drives the transmission module 5 and the piercing module 6 installed on it to swing as a whole through the connecting rod 28, thereby realizing the coarse adjustment of the piercing angle.

[0115] Injection module 3 is used to mount the syringe and perform drug injection and aspiration operations. This module is fixedly mounted on the flip plate 25 of flip module 2, as shown below. Figure 6 As shown, the injection module 3 includes a syringe fixing plate 31, a syringe part 32, a second servo motor 33, and a second lead screw transmission assembly 34.

[0116] Syringe fixing plate 31: As the mounting base of the injection module, one end is fixedly connected to the flip plate 25 of the flip module 2 through the rib plate 27, and the upper end is fixedly connected to the grip bracket 41 of the grip module 4. A gap is left between the bottom of the syringe fixing plate 31 and the translation mechanism connecting plate 56 of the transmission module 5 to ensure the independence of the relative movement between the modules.

[0117] Syringe part 32: includes injection extension tube head 3201, injection syringe 3202, syringe fixing plate 3203, syringe fixing block 3204, injection plunger 3205, injection plunger fixing block 3206, and injection flange nut connecting rod 3207.

[0118] The injection extension tube head 3201 is used for sealing and connecting the injection syringe 3202 and the puncture needle; the injection syringe 3202 has a hollow cylindrical structure and is used to contain the drug solution; the syringe fixing plate 3203 is used to limit and fix the injection syringe; the syringe fixing block 3204 is fixedly installed on the syringe fixing plate 31, and the injection syringe is embedded in the syringe fixing block; one end of the injection push rod 3205 is connected to the drive mechanism, and the other end is used to connect to the piston inside the syringe; the injection push rod fixing block 3206 is fixedly installed on the syringe fixing plate 31 and is used to radially limit and guide the movement of the injection push rod; one end of the injection flange nut connecting rod 3207 is fixedly connected to the screw nut of the second screw transmission assembly 34, and the other end is connected to the injection push rod 3205;

[0119] Second servo motor 33: Fixedly mounted on syringe mounting plate 31, serving as the power source for the entire injection module;

[0120] The second lead screw transmission assembly 34 includes a ball screw, a lead screw nut, and a bearing housing, which converts the rotational motion of the second servo motor 33 into linear motion, driving the injection pusher to push and pull the liquid medicine.

[0121] The second servo motor 33 drives the lead screw of the second lead screw transmission assembly 34 to rotate. The lead screw nut moves along the lead screw axis, and drives the injection push rod 3205 to move linearly through the injection flange nut connecting rod 3207, pushing the piston in the injection syringe 3202 to complete the push or pull of the liquid medicine. The liquid medicine is delivered to the puncture needle 6101 through the injection extension tube head 3201 and the extension tube 6105.

[0122] The grip module 4 is used for hand-held operation by the operator. This module is fixedly mounted on the syringe fixing plate 31 of the injection module 3, such as... Figure 7 As shown, the grip module 4 includes a grip support 41 and a grip 42;

[0123] Grip supports 41: There are two of them, symmetrically distributed on both sides of the upper end face of the syringe fixing plate 31. One end is fixedly connected to the upper end face of the syringe fixing plate 31, and the other end is fixedly connected to the end of the handle 42.

[0124] Grip 42: The main body for the user to hold, with a non-slip coating on the surface, ergonomically designed, and installed between two grip supports 41 to form a grip area that fits the hand, making it easy for the user to hold the device stably for operation.

[0125] The transmission module 5 connects the flipping module 2 and the puncture module 6, and is used to transmit motion and further adjust the puncture posture, that is, to provide the first degree of freedom of movement and to fine-tune the puncture position, such as... Figure 8 and Figure 9 As shown, the transmission module 5 includes a transmission fixing plate 51, a passive rotation mechanism 52, a second guide rail part 53, a triangular connecting plate 54, a piercing mechanism connecting plate 55, a translation mechanism connecting plate 56, a second bearing seat 57, an internal hex bolt 58, and a third servo motor 59.

[0126] Transmission fixing plate 51: serves as the mounting reference for the entire transmission module;

[0127] The passive rotation mechanism 52 includes a third guide rail section 5201, a redundant connecting rod 5202, a connecting block 5203, and a slider seat 5204. The third guide rail section 5201 includes a third guide rail and a third guide rail slider. The redundant connecting rod 5202 is connected to the intermediate transmission component and the execution end through a rotating pair at both ends to form a passive rotation structure, which is used to increase the swing angle of the execution end and improve the puncture working space and operational flexibility.

[0128] Second guide rail section 53: includes a second guide rail and a second guide rail slider, which serve as a linear guide assembly to drive the puncture section to move;

[0129] Triangular connecting plate 54: As an intermediate connecting component, one side of it is connected to the second guide rail slider, and the other side is fixedly connected to the piercing mechanism connecting plate 55. The triangular structure improves the connection rigidity and stability.

[0130] The puncture mechanism connecting plate 55 has one end slidably connected to the second guide rail slider and the other end fixedly connected to the upper end of the puncture module 6.

[0131] Translation mechanism connecting plate 56: It is hinged to the connecting rod 28 of the flipping module 2 through the second bearing seat 57 and the internal hex bolt 58, and serves as a connecting component between the transmission mechanism and the flipping mechanism;

[0132] The third servo motor 59 serves as the core of the power drive, driving the puncture module to move linearly along the second guide rail section 53.

[0133] When the connecting rod 28 of the flipping module 2 swings, it drives the transmission module 5 and the puncture module 6 installed on it to swing as a whole, thereby achieving angle adjustment. When the third servo motor 59 drives, the puncture module 6 moves linearly along the second guide rail, thereby achieving fine adjustment of the puncture position.

[0134] The puncture module 6 is used to mount the puncture needle and perform the puncture action and angle adjustment, providing a second rotational degree of freedom and a second translational degree of freedom for fine-tuning the puncture angle and axial feed of the puncture needle. This module is slidably mounted on the second guide rail of the transmission module 5 via a guide rail slider. Figure 10 and Figure 11 As shown, the puncture module 6 includes a puncture needle part 61, a fourth lead screw drive assembly 62, a puncture needle mounting plate 63, a locking nut 64, a rotating part 65, a fourth servo motor 66, a puncture needle fixing plate 67, a fifth servo motor 68, and a fourth guide rail part 69.

[0135] Puncture needle fixing plate 67: As the basic mounting component of the puncture module, it is L-shaped. The upper end of its vertical section is fixedly connected to the second guide rail slider of the transmission module 5 by bolts. The horizontal section has a 90-degree downward bend, and the bend is hinged to the lower end of the puncture needle mounting plate 63 through a rotating shaft. The end of the rotating shaft is limited by a locking nut 64, so that the puncture needle mounting plate 63 can swing around the rotating shaft.

[0136] The fourth lead screw drive assembly 62 is installed on the side of the puncture needle mounting plate 63 away from the puncture needle fixing plate 67, and is driven by the fifth servo motor 68 installed on the upper end of the puncture needle mounting plate 63, converting the rotational motion of the fifth servo motor 68 into linear motion.

[0137] Fourth guide rail part 69: Installed on the side of the puncture needle mounting plate 63 near the puncture needle fixing plate 67, including the fourth guide rail and the fourth guide rail slider. The fourth guide rail is fixedly installed on the side of the puncture needle mounting plate 63, and the fourth guide rail slider is slidably installed on the fourth guide rail. The fourth guide rail slider is connected to the fourth servo motor 66 through the rotating part 65.

[0138] Rotating part 65: includes crank bearing housing 6501 and crank 6502. Crank bearing housing 6501 is fixedly installed on the upper end of the L-shaped horizontal section of the puncture needle fixing plate 67. Crank 6502 is rotatably connected to crank bearing housing 6501. One end of crank 6502 is connected to the output end of the fourth servo motor 66 through a bevel gear pair. The other end of crank 6502 is hinged to the fourth guide rail slider.

[0139] Fourth servo motor 66: Fixedly installed on the side of the puncture needle mounting plate 67 near the puncture needle mounting plate 63, with the output shaft facing downward, used to drive the crank 6502 to rotate;

[0140] Fifth servo motor 68: drives the fourth lead screw transmission assembly 62, causing the puncture needle part 61 to be fed axially;

[0141] Puncture needle part 61: includes puncture needle 6101, fixing block 6102, quick release button 6103, fixing cover 6104, extension tube 6105 and extension tube hook 6106;

[0142] The fixing block 6102 is fixedly installed on the lead screw nut of the fourth lead screw transmission assembly 62 to clamp and fix the puncture needle 6101; the quick release button 6103 is located at the fixing block 6102 to enable quick disassembly and replacement of the puncture needle; the fixing cover 6104 cooperates with the fixing block to clamp and lock the puncture needle; one end of the extension tube 6105 is connected to the tail of the puncture needle, and the other end can be connected to a syringe or infusion tubing; the extension tube hook 6106 is located on the outside of the puncture mechanism or the fixing block to manage and limit the extension tube.

[0143] Precise angle adjustment (second rotational degree of freedom): The fourth servo motor 66 drives the crank 6502 to rotate through the bevel gear pair. The crank 6502 drives the fourth guide rail slider to move along the fourth guide rail. Since the fourth guide rail slider can only move linearly, and the lower end of the puncture needle mounting plate 63 is hinged to the puncture needle fixing plate 67, the linear movement of the fourth guide rail slider is converted into the oscillating motion of the puncture needle mounting plate 63 around the hinge point, thereby realizing the precise adjustment of the tilt angle of the puncture needle.

[0144] Axial feed (second degree of freedom of movement): The fifth servo motor 68 drives the screw of the fourth lead screw transmission assembly 62 to rotate. The lead screw nut drives the puncture needle part 61 to move linearly along the lead screw of the fourth lead screw transmission assembly, thereby driving the puncture needle to move forward or backward to realize the needle insertion and retraction actions.

[0145] The working process of this invention is as follows, such as Figure 2 As shown:

[0146] Ultrasound localization: The operator positions the ultrasound probe 15 in the target area by holding the module 4 and observes the ultrasound image on the display screen 11 to complete the initial identification and localization of the lesion.

[0147] Coarse angle adjustment (first rotational degree of freedom): The first servo motor 2101 of the flip module 2 drives the first ball screw 2902 to rotate, which in turn drives the connecting rod 28 to swing. The connecting rod drives the transmission module 5 and the puncture module 6 to swing as a whole, thus establishing the initial attitude reference of the puncture path.

[0148] Position fine-tuning (first degree of freedom of movement): Driven by the third servo motor 59 of the transmission module 5, the puncture module 6 moves linearly along the second guide rail to achieve initial alignment of the puncture target point.

[0149] Angle fine adjustment (second rotational degree of freedom): The crank 6502 is rotated by the fourth servo motor 66 of the puncture module 6 to finely correct the tilt angle of the puncture needle, ensuring the geometric matching degree between the puncture path and the ultrasound imaging plane and anatomical structure.

[0150] Puncture feed (second degree of freedom of movement): The fifth servo motor 68 of the puncture module 6 drives the fourth lead screw transmission assembly 62, which drives the puncture needle to complete the depth feed along the fourth guide rail until it reaches the preset puncture target point.

[0151] Drug injection / aspiration: The second servo motor 33 of the injection module 3 drives the second lead screw transmission assembly 34, which in turn drives the injection push rod 3205 to move. The drug solution is delivered to the puncture needle 6101 through the extension tube 6105 to complete the drug injection or aspiration operation.

[0152] The entire process employs an adjustment strategy of "coarse adjustment - fine adjustment - precise positioning," with four degrees of freedom working in tandem to ensure high precision and safety during puncture.

[0153] The scope of protection of this invention is not limited to the specific embodiments described above. Several typical variations are listed below, all of which fall within the scope of protection of this invention:

[0154] Variation 1: Changes in the number of servo motors

[0155] The number of servos is not limited to five; it can be set to three, four, six, or more depending on actual functional requirements.

[0156] Variation 2: Replacement of the driving method

[0157] The drive components are not limited to servo motors; they can also be various drive forms such as stepper motors, servo motors, linear motors, cylinders, and hydraulic cylinders.

[0158] Variation 3: Replacement of transmission method

[0159] Screw drives are not limited to ball screws; they can also be trapezoidal screws, synchronous belt drives, rack and pinion drives, and many other forms.

[0160] Variation 4: Replacement of Ultrasonic Probes

[0161] Ultrasound probes are not limited to a specific model; different frequencies and sizes of probes can be used according to clinical needs.

[0162] Variation 5: Adaptation of puncture needle specifications

[0163] By replacing the fixing block and fixing cap, it can be adapted to puncture needles of different diameters and lengths.

[0164] Variation 6: Expansion of the Control System

[0165] It can integrate a force sensor to achieve puncture force feedback, and integrate an electromagnetic positioning sensor to achieve spatial positioning and tracking of the puncture needle.

[0166] Variation 7: Expansion of Application Areas

[0167] This invention is not only applicable to stellate ganglion block puncture, but can also be extended to various puncture surgical scenarios such as vascular puncture, percutaneous puncture, lesion ablation, and nerve block.

[0168] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A compact, handheld ultrasonic precision puncture robot, characterized in that, include: An ultrasound module (1) is located at the front end of the robot and is used to acquire ultrasound images of the puncture area in real time. The puncture module (6) is located at the lower end of the robot and is used to install the puncture needle and perform the puncture action; An attitude adjustment module is connected between the ultrasound module (1) and the puncture module (6) and is used to adjust the spatial attitude of the puncture module (6) relative to the ultrasound module (1). A gripping module (4) is provided on the robot for the operator to grip and control the entire device; The attitude adjustment module includes: The flipping module (2) has its first end connected to the ultrasound module (1) to provide a first degree of rotational freedom and to achieve coarse adjustment of the puncture angle of the puncture module (6); The transmission module (5) has its first end connected to the second end of the flipping module (2) to provide a first degree of freedom of movement and to achieve fine adjustment of the puncture position; The puncture module (6) includes: The puncture angle adjustment mechanism is connected to the second end of the transmission module (5) to provide a second degree of rotational freedom and realize fine adjustment of the puncture angle; The needle insertion mechanism, located on the puncture angle adjustment mechanism, is used to provide a second degree of freedom of movement to realize the axial feeding of the puncture needle.

2. The compact handheld ultrasonic precision puncture robot according to claim 1, characterized in that, The flipping module (2) includes: The flip plate (25) is fixedly connected to the ultrasound module (1); The first servo motor (2101) is mounted on the flip plate (25); The first lead screw drive assembly (29) is connected to the output end of the first servo motor (2101); The connecting rod (28) has one end connected to the nut of the first lead screw drive assembly (29) and the other end connected to the transmission module (5); When the first servo motor (2101) is working, it drives the connecting rod (28) to swing through the first lead screw transmission assembly (29), thereby driving the transmission module (5) and the puncture module (6) to swing as a whole.

3. The compact handheld ultrasonic precision puncture robot according to claim 1, characterized in that, The transmission module (5) includes: Transmission fixing plate (51); The third servo motor (59) is mounted on the transmission mounting plate (51); The second guide rail section (53) is disposed on the transmission fixing plate (51); The puncture mechanism connecting plate (55) is slidably mounted on the second guide rail part (53) and fixedly connected to the puncture needle fixing plate (67) of the puncture module (6); The third servo motor (59) drives the piercing mechanism connecting plate (55) to move linearly along the second guide rail portion (53).

4. The compact handheld ultrasonic precision puncture robot according to claim 1, characterized in that, The puncture angle adjustment mechanism includes: The puncture needle fixing plate (67) is fixedly connected to the puncture mechanism connecting plate (55) of the transmission module (5); The first end of the puncture needle mounting plate (63) is hinged to the puncture needle fixing plate (67); The fourth servo motor (66) is mounted on the puncture needle fixing plate (67); The crank (6502) has its input end connected to the fourth servo motor (66) and its output end connected to the puncture needle mounting plate (63); When the fourth servo (66) is in operation, the puncture needle mounting plate (63) is driven to swing about its hinge point via the crank (6502).

5. The compact handheld ultrasonic precision puncture robot according to claim 1, characterized in that, The needle insertion mechanism includes: The fifth servo motor (68) is mounted on the puncture needle mounting plate (63); The fourth lead screw drive assembly (62) is connected to the fifth servo motor (68); The fixing block (6102) is installed on the nut of the fourth lead screw drive assembly (62) and is used to hold the puncture needle (6101). The fourth guide rail (69) is disposed on the puncture needle mounting plate (63) and is used to guide the fixed block (6102) to move linearly; The fifth servo motor (68) drives the fixed block (6102) to move along the fourth guide rail (69) through the fourth lead screw transmission assembly (62) to realize the feeding and retraction of the puncture needle.

6. The compact handheld ultrasonic precision puncture robot according to claim 1, characterized in that, It also includes an injection module (3), which is fixedly installed on the flip plate (25) of the flip module (2) for installing a syringe and performing injection or aspiration operations of the drug solution.

7. The compact handheld ultrasonic precision puncture robot according to claim 6, characterized in that, The injection module (3) includes: The syringe fixing plate (31) is fixedly connected to the flip plate (25) of the flip module (2); The second servo motor (33) is mounted on the syringe mounting plate (31); The second lead screw drive assembly (34) is connected to the second servo motor (33); The injection plunger (3205) has one end connected to the nut of the second lead screw drive assembly (34) and the other end connected to the piston of the syringe; The second servo motor (33) drives the injection push rod (3205) to move linearly through the second lead screw transmission assembly (34) to realize the pushing or pulling of the liquid medicine.

8. The compact handheld ultrasonic precision puncture robot according to claim 1, characterized in that, The grip module (4) includes grip brackets (41) fixedly installed on both sides of the syringe fixing plate (31) of the injection module (3) and a handle (42) disposed between the two grip brackets (41), and the surface of the handle (42) is provided with an anti-slip structure.

9. The compact handheld ultrasonic precision puncture robot according to claim 1, characterized in that, The ultrasound module (1) includes: Ultrasonic probe (15); The clamp (13) is fixed to the front end of the flip plate (25) of the flip module (2) and is used to fix the ultrasonic probe (15). A quick-release device (14) is provided between the clamp (13) and the ultrasonic probe (15) to enable quick assembly and disassembly of the ultrasonic probe. The display screen (11) is connected to the ultrasound probe (15) and is used to display ultrasound images in real time.

10. The compact handheld ultrasonic precision puncture robot according to claim 1, characterized in that, The transmission module (5) also includes a passive rotation mechanism (52), which includes a redundant connecting rod (5202) and a slider assembly to increase the swing angle range of the puncture module (6).

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