Puncture auxiliary device and puncture robot

Abstract

The puncture auxiliary device comprises a base, a first clamping jaw, a second clamping jaw, a puncture sleeve and a driving assembly, the first clamping jaw and the second clamping jaw are both rotationally connected to the base, the driving assembly is movably connected to the base, and a puncture needle penetrates through the puncture sleeve; the first clamping jaw and the second clamping jaw are in transmission connection through meshing teeth so that the first clamping jaw and the second clamping jaw can synchronously rotate in the opposite direction or the opposite direction, and the puncture sleeve is arranged between the first clamping jaw and the second clamping jaw. The driving assembly is in transmission connection with the first clamping jaw through meshing teeth, the driving assembly drives the first clamping jaw to rotate when moving relative to the base, and the first clamping jaw drives the second clamping jaw to rotate in the opposite direction or the opposite direction so as to clamp or release the puncture sleeve. The driving assembly, the first clamping jaw and the second clamping jaw are in transmission through meshing teeth, so that the first clamping jaw and the second clamping jaw are good in synchronism and high in repeated positioning accuracy, and a puncture sleeve can be accurately positioned.

Description

Technical Field

[0001] The utility model belongs to the technical field of medical equipment, and in particular relates to a puncture auxiliary device and a puncture robot. Background Art

[0002] Currently, robot-assisted positioning puncture is commonly used in clinical puncture surgery to make the puncture more accurate and effectively improve the puncture efficiency.

[0003] However, during robot-assisted puncture, the end clamp will be affected by multiple factors such as body position and puncture needle limit device, resulting in the problem that the clamp and puncture needle sleeve cannot be safely and quickly recovered after the puncture is completed, and the problem that the repeated positioning accuracy of the moving parts is difficult to ensure during use. Utility Model Content

[0004] In view of the problems in the background technology, the purpose of the utility model is to provide a puncture assisting device, comprising a base, a first clamping jaw, a second clamping jaw, a puncture sleeve and a driving assembly, wherein the first clamping jaw and the second clamping jaw are both rotatably connected to the base, the driving assembly is movably connected to the base, and the puncture needle is inserted into the puncture sleeve;

[0005] The first clamping jaw and the second clamping jaw are connected by meshing teeth transmission so that they can rotate toward or away from each other synchronously, and the puncture sleeve is arranged between the first clamping jaw and the second clamping jaw;

[0006] The driving assembly is connected to the first clamping jaw via meshing gear transmission. When the driving assembly moves relative to the base, it drives the first clamping jaw to rotate, and the first clamping jaw drives the second clamping jaw to rotate toward or away from it to clamp or release the puncture sleeve.

[0007] Preferably, the driving assembly includes a rotor and a driving part, the rotor is rotatably connected to the base, the driving part is connected to the rotor to drive the rotor to rotate, and the rotor is connected to the first clamp via meshing teeth transmission.

[0008] Preferably, it comprises a first rotating shaft, which is rotatably connected to the base, and the first rotating shaft passes through the rotor and is fixedly connected thereto; the driving part is connected to one end of the first rotating shaft.

[0009] Preferably, the driving part is a knob, and the knob is manually rotated to drive the first rotating shaft and the rotor to rotate.

[0010] Preferably, a plurality of first meshing teeth are arranged on the outer wall of the rotor along its rotation center circumference, a plurality of second meshing teeth are arranged on the outer wall of the first jaw along its rotation center circumference, and a plurality of third meshing teeth are arranged on the outer wall of the second jaw along its rotation center circumference, the first meshing teeth mesh with the second meshing teeth, and the second meshing teeth mesh with the third meshing teeth.

[0011] Preferably, the driving assembly is provided with a first positioning portion and a second positioning portion at intervals, and the base is provided with a positioning matching portion; or the positioning matching portion is provided on the driving assembly, and the first positioning portion and the second positioning portion are provided on the base;

[0012] The first positioning portion is configured to cooperate with the positioning matching portion to position the drive assembly when the first clamping jaw and the second clamping jaw rotate away from each other to release the puncture sleeve; the second positioning portion is configured to cooperate with the positioning matching portion to position the drive assembly when the first clamping jaw and the second clamping jaw rotate toward each other to clamp the puncture sleeve.

[0013] Preferably, the positioning matching portion is a ball plunger, and the first positioning portion and the second positioning portion are grooves matching the ball head shape of the ball plunger;

[0014] Alternatively, the first positioning portion and the second positioning portion are the ball plungers, and the positioning matching portion is the groove.

[0015] Preferably, a limiting portion is respectively protruded from one side of the first jaw and the second jaw away from each other, and the limiting portion is located outside the base and extends toward the outer side wall of the base. The limiting portion can abut against the outer side wall of the base to limit the position of the first jaw and the second jaw rotating in opposite directions.

[0016] Preferably, the base includes a first shell and a second shell, and the first clamping jaw and the second clamping jaw are arranged between the first shell and the second shell.

[0017] Preferably, a mounting bracket is included, and the base is connected to the mounting bracket in an adjustable angle, so that the angle of the base relative to the mounting bracket is adjustable.

[0018] Preferably, the mounting bracket is provided with two lugs, one end of the base is arranged between the two lugs, and the lug is connected to the base by screws.

[0019] Preferably, the puncture sleeve is provided with a separation groove, the separation groove divides the puncture sleeve into two halves, and the separation groove is provided with a plurality of connection points along its length direction, the connection points are used to connect the two halves of the puncture sleeve, and the connection points can be torn manually;

[0020] The puncture sleeve comprises a sleeve component and a hand-held clip. The sleeve component is provided with a needle hole for piercing the puncture needle. The dividing groove divides the needle hole into two halves and extends to the hand-held clip.

[0021] Preferably, the cross-section of the sleeve member is polygonal, and a clamping hole having a shape matching that of the sleeve member and used to accommodate the sleeve member is formed between the first clamping jaw and the second clamping jaw.

[0022] Based on the same concept, the utility model also provides a puncture robot, comprising a mechanical arm and a puncture assisting device as described in any one of the above items, wherein the puncture assisting device is arranged on the mechanical arm.

[0023] Preferably, a control button is provided on the puncture assisting device, wherein the control button is connected to the mechanical arm signal and is used to release the self-locking of the mechanical arm to realize manual movement of the mechanical arm.

[0024] Preferably, a locator is included to locate the spatial position of the puncture assisting device.

[0025] Due to the adoption of the above technical solution, the utility model has the following advantages and positive effects compared with the prior art:

[0026] 1. The utility model drives the first clamping jaw to rotate when the driving assembly moves relative to the base, and the first clamping jaw drives the second clamping jaw to rotate toward it to clamp the puncture sleeve, so that the puncture sleeve can be fixed and positioned, and then the puncture needle can achieve accurate puncture through the auxiliary guidance of the puncture sleeve. The driving assembly, the first clamping jaw and the second clamping jaw are all driven by meshing teeth, so that the first clamping jaw and the second clamping jaw have good synchronization and high repeated positioning accuracy, and the puncture sleeve can be accurately positioned.

[0027] 2. The drive assembly of the utility model includes a rotor and a drive part. The rotation of the rotor can drive the first clamping jaw and the second clamping jaw to clamp or release the puncture sleeve, which is more convenient and takes up less space. The drive part is specifically a knob. Manually rotating the knob can drive the rotor to rotate, making the structure simple and easy to operate.

[0028] 3. The utility model is provided with a first positioning portion, a second positioning portion and a positioning matching portion, so that the driving assembly can be positioned after the first jaw and the second jaw release or clamp the puncture sleeve, preventing the first jaw and the second jaw from being accidentally driven due to external force, making the first jaw and the second jaw more stable.

[0029] 4. The first clamping jaw and the second clamping jaw of the utility model can prevent the first clamping jaw and the second clamping jaw from excessive rotation through the limit limit of the limit part and the outer side wall of the base.

[0030] 5. The utility model also includes a mounting bracket, and the base is connected to the mounting bracket in an adjustable angle, so that the angle of the base relative to the mounting bracket is adjustable. By adjusting the angle between the base and the mounting bracket, the angle of the puncture sleeve can be adjusted to meet the needs of different surgical scenarios. For example, the puncture sleeve can be aligned with the area to be punctured at a specific position and angle, making it more flexible.

[0031] 6. The puncture sleeve of the utility model is divided into two halves by a dividing groove, and a connecting point is used to connect the two halves of the puncture sleeve, so that the puncture sleeve can be torn into two halves by hand. After the puncture needle is inserted into the area to be punctured, the puncture sleeve can be torn into two halves by hand to remove the puncture sleeve from the puncture needle, thereby preventing the puncture sleeve from remaining on the puncture needle and causing the puncture needle to tilt due to force. In addition, when multiple needle punctures are required during surgery, removing the puncture sleeve can prevent or reduce interference between the puncture needles. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The specific implementation of the utility model is further described in detail below with reference to the accompanying drawings, wherein:

[0033] Figure 1 It is an overall schematic diagram of the utility model;

[0034] Figure 2 This is an exploded view of the puncture assisting device of the utility model;

[0035] Figure 3 It is a partial exploded view of the utility model;

[0036] Figure 4 It is a partial exploded view of the utility model;

[0037] Figure 5 This is a schematic diagram of the first clamping jaw and the second clamping jaw of the utility model in an open state;

[0038] Figure 6 This is a schematic diagram of the clamping process of the first clamping jaw and the second clamping jaw of the utility model;

[0039] Figure 7 This is a schematic diagram of the clamping state of the first clamping jaw and the second clamping jaw of the utility model;

[0040] Figure 8 This is a schematic diagram of the puncture sleeve of the utility model;

[0041] Fig. 9 This is a schematic diagram of the first shell and the second shell of the utility model before adjusting the angle with the mounting bracket;

[0042] Fig.10 This is a schematic diagram of the first shell and the second shell of the utility model after adjusting the angles with the mounting bracket;

[0043] Fig.11This is a schematic diagram of the first clamping jaw and the second clamping jaw of the utility model before clamping the puncture sleeve;

[0044] Fig.12 This is a schematic diagram of the first clamping jaw and the second clamping jaw of the utility model after clamping the puncture sleeve;

[0045] Fig.13 This is a schematic diagram of the puncture needle of the utility model after it penetrates into the puncture sleeve;

[0046] Fig.14 This is a schematic diagram of the first clamping jaw and the second clamping jaw of the utility model after releasing the puncture sleeve and the puncture needle;

[0047] Fig.15 This is a schematic diagram of the utility model of tearing open the puncture sleeve and removing it from the puncture needle.

[0048] Description of reference numerals:

[0049] 1. Mechanical arm; 2. Puncture assisting device; 21. Mounting bracket; 211. Lug; 212. Second screw; 213. Third screw; 214. Mounting groove; 221. First shell; 222. Second shell; 223. First screw; 224. Accommodating groove; 231. First clamping jaw; 2311. Second meshing tooth; 232. Second clamping jaw; 2321. Third meshing tooth; 233. Second rotating shaft; 234. Second bearing; 23 5. Limiting part; 241. Rotor; 2411. First meshing tooth; 2412. Hemispherical groove; 2413. Key; 242. First rotating shaft; 2421. Keyway; 243. First bearing; 25. Knob; 26. Ball plunger; 27. Clamping hole; 3. Piercing sleeve; 31. Sleeve member; 32. Hand-held clip; 33. Partition groove; 34. Connection point; 35. Needle hole; 4. Piercing needle; 5. Control button; 6. Positioner. DETAILED DESCRIPTION

[0050] The utility model is further described in detail below in conjunction with the accompanying drawings and specific embodiments. According to the following description, the advantages and features of the utility model will become clearer. It should be noted that the accompanying drawings are all in a very simplified form and use non-precise ratios, which are only used to conveniently and clearly assist in explaining the purpose of the embodiments of the utility model.

[0051] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back...) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0052] Example 1

[0053] See also Figures 1 to 15The core of the utility model is to provide a puncture assisting device for assisting in guiding the puncture needle 4 for puncture, so that the puncture needle 4 can puncture more accurately and prevent the problem of poor puncture accuracy caused by hand shaking during manual puncture.

[0054] The puncture assisting device 2 of the present invention comprises a base, a first clamping jaw 231, a second clamping jaw 232, a puncture sleeve 3 and a driving assembly. The first clamping jaw 231 and the second clamping jaw 232 are both rotatably connected to the base, the driving assembly is movably connected to the base, and the puncture needle 4 is inserted into the puncture sleeve 3.

[0055] The arrangement of the base is not specifically limited in this embodiment, but preferably, the base includes a first shell 221 and a second shell 222, the first shell 221 and the second shell 222 are fixedly connected by a first screw 223, a first clamping jaw 231 and a second clamping jaw 232 are arranged between the first shell 221 and the second shell 222, and one end of the first clamping jaw 231 and the second clamping jaw 232 away from the rotation center thereof extends out of the first shell 221 and the second shell 222 for clamping the puncture sleeve 3. Specifically, the first clamping jaw 231 and the second clamping jaw 232 are rotatably connected to the first shell 221 and the second shell 222 respectively through a second rotation shaft 233, the second rotation shaft 233 is penetrated in the first clamping jaw 231 or the second clamping jaw 232, and a second bearing 234 is respectively embedded in the first shell 221 and the second shell 222 at positions corresponding to the two ends of the second rotation shaft 233, and the two ends of the second rotation shaft 233 are respectively penetrated and rotatably connected in the two second bearings 234.

[0056] The first clamping jaw 231 and the second clamping jaw 232 are connected by meshing gear transmission, so that the two can rotate synchronously toward or away from each other, and the puncture sleeve 3 is arranged between the first clamping jaw 231 and the second clamping jaw 232. The driving assembly is connected to the first clamping jaw 231 by meshing gear transmission. When the driving assembly moves relative to the base, the first clamping jaw 231 is driven to rotate, and the first clamping jaw 231 drives the second clamping jaw 232 to rotate toward or away from it to clamp or release the puncture sleeve 3, so that the puncture sleeve 3 can be fixed and positioned. During puncture, the puncture needle 4 penetrates into the puncture sleeve 3, and the puncture needle 4 can achieve accurate puncture through the auxiliary guidance of the puncture sleeve 3. The driving assembly, the first clamping jaw 231 and the second clamping jaw 232 are all driven by meshing gears, so that the first clamping jaw 231 and the second clamping jaw 232 have good synchronization, and the repeated positioning accuracy is high, and the puncture sleeve 3 can be accurately positioned.

[0057] The driving assembly includes a rotor 241 and a driving part. The rotor 241 is rotatably connected to the base. The driving part is connected to the rotor 241 to drive the rotor 241 to rotate. The rotor 241 is connected to the first clamping jaw 231 through meshing teeth. Specifically, a plurality of first meshing teeth 2411 are arranged on the outer wall of the rotor 241 along its rotation center circumference, a plurality of second meshing teeth 2311 are arranged on the outer wall of the first clamping jaw 231 along its rotation center circumference, and a plurality of third meshing teeth 2321 are arranged on the outer wall of the second clamping jaw 232 along its rotation center circumference. The first meshing teeth 2411 mesh with the second meshing teeth 2311, and the second meshing teeth 2311 mesh with the third meshing teeth 2321. When the rotor 241 rotates, the first clamping jaw 231 is driven to rotate by the transmission of the first meshing teeth 2411 and the second meshing teeth 2311, and the first clamping jaw 231 rotates to drive the second clamping jaw 232 to rotate toward or away from the first clamping jaw 231 through the transmission of the second meshing teeth 2311 and the third meshing teeth 2321.

[0058] The first clamping jaw 231 and the second clamping jaw 232 can be driven to clamp or release the puncture sleeve 3 by the rotation of the rotor 241, which is more convenient and takes up less space. The driving part is specifically a knob 25, and the rotor 241 can be driven to rotate by manually rotating the knob 25, which makes the structure simple and easy to operate.

[0059] The rotor 241 is specifically rotatably connected to the base via a first rotating shaft 242 . The first rotating shaft 242 is penetrated through the rotor 241 and fixedly connected thereto, and the first rotating shaft 242 extends through the first shell 221 . A first bearing 243 is embedded in the first shell 221 at a position corresponding to the first rotating shaft 242 . The first rotating shaft 242 is penetrated through and rotatably connected to the first bearing 243 .

[0060] The driving part is fixedly connected to one end of the first rotating shaft 242 extending out of the first shell 221. In this embodiment, the driving part is a knob 25, and the knob 25 is manually rotated to drive the first rotating shaft 242 and the rotor 241 to rotate. Specifically, the first rotating shaft 242 is provided with a keyway 2421 along its length direction, and a key 2413 is respectively provided in the holes in which the rotor 241 and the knob 25 cooperate with the first rotating shaft 242. The rotor 241 and the knob 25 are fixedly connected to the first rotating shaft 242 through the cooperation of the key 2413 and the keyway 2421. Of course, in other embodiments, the driving part can also be a rotary driver such as a motor, which is not limited here.

[0061] Furthermore, a first positioning portion and a second positioning portion are spaced apart on one end face of the rotor 241 facing the first shell 221, and a positioning matching portion is provided on the base. Of course, in other embodiments, the positioning matching portion may also be provided on the rotor 241, and the first positioning portion and the second positioning portion are provided on the base, which is not limited here.

[0062] The first positioning portion is configured to cooperate with the positioning matching portion to position the rotor 241 after the first clamping jaw 231 and the second clamping jaw 232 rotate in opposite directions to release the puncture sleeve 3; the second positioning portion is configured to cooperate with the positioning matching portion to position the rotor 241 after the first clamping jaw 231 and the second clamping jaw 232 rotate in opposite directions to clamp the puncture sleeve 3.

[0063] Specifically, the positioning and matching part is a ball plunger 26, the first positioning part and the second positioning part are grooves matching the ball head shape of the ball plunger 26, and the ball plunger 26 is specifically embedded in the first shell 221. Of course, in other embodiments, the first positioning part and the second positioning part can be a ball plunger 26, and the positioning and matching part is a groove, which is not limited here.

[0064] The ball plunger 26 is also called a spring plunger. It has a spring inside and a ball head connected to the spring at one end. When the ball head is subjected to external force, it can overcome the elastic force of the spring and retract into the ball plunger 26, and can pop out when the external force disappears. In this embodiment, the groove is specifically a hemispherical groove 2412. When the rotor 241 rotates to make the hemispherical groove 2412 face the ball plunger 26, the ball head of the ball plunger 26 pops into the hemispherical groove 2412 to position the rotor 241. When the force driving the rotor 241 to rotate is increased, the ball head of the ball plunger 26 is forced to retract into the ball plunger 26 to release the positioning of the rotor 241.

[0065] The outer wall of the first shell 221 is also provided with "off" and "on" marks. When the knob 25 is rotated to align with the "off" mark, the first jaw 231 and the second jaw 232 are opened, and the ball head of the ball plunger 26 falls into one of the hemispherical grooves 2412; when the knob 25 is rotated to align with the "on" mark, the first jaw 231 and the second jaw 232 are clamped, and the ball head of the ball plunger 26 falls into the other hemispherical groove 2412.

[0066] Furthermore, a limiting portion 235 is respectively protruded from one side of the first clamping jaw 231 and the second clamping jaw 232 away from each other. The limiting portion 235 is located outside the first shell 221 and the second shell 222 and extends toward the outer side walls of the first shell 221 and the second shell 222. The limiting portion 235 can abut against the outer side walls of the first shell 221 and the second shell 222 to limit the extreme position of the back-to-back rotation of the first clamping jaw 231 and the second clamping jaw 232 to prevent excessive rotation. In this embodiment, the limiting portion 235 is specifically a protrusion with rounded corners.

[0067] Furthermore, it also includes a mounting bracket 21, and the first shell 221 and the second shell 222 are connected to the mounting bracket 21 at an adjustable angle, so that the angle of the base relative to the mounting bracket 21 is adjustable. Specifically, two lugs 211 are provided on the mounting bracket 21, and one end of the first shell 221 and the second shell 222 is arranged between the two lugs 211, and the lug 211 and the first shell 221 are connected by a second screw 212. When adjusting the angle, first loosen the second screw 212, manually adjust the angle between the first shell 221 and the second shell 222 and the mounting bracket 21, and then tighten the second screw 212. By adjusting the angle between the first shell 221 and the second shell 222 and the mounting bracket 21, the angle of the puncture sleeve 3 can be adjusted to meet the requirements of different surgical scenarios. For example, the puncture sleeve 3 can be aligned with the area to be punctured at a specific position and angle, making it more flexible.

[0068] Preferably, a separation groove 33 is provided on the puncture sleeve 3, and the separation groove 33 divides the puncture sleeve 3 into two halves. A plurality of connection points 34 are provided in the separation groove 33 along its length direction, and the connection points 34 are used to connect the two halves of the puncture sleeve 3, and the connection points 34 can be torn manually. The puncture sleeve 3 includes a sleeve member 31 and a hand-held clip 32, and the sleeve member 31 is provided with a needle hole 35 for inserting the puncture needle 4, and the separation groove 33 divides the needle hole 35 into two halves and extends to the hand-held clip 32.

[0069] The puncture sleeve 3 is divided into two halves by the separation groove 33, and the two halves of the puncture sleeve 3 are connected by the connection point 34, so that the puncture sleeve 3 can be torn into two halves by hand. After the puncture needle 4 pierces the area to be punctured and the puncture sleeve 3 is separated from the first clamp 231 and the second clamp 232, the puncture sleeve 3 can be torn into two halves by hand to remove the puncture sleeve 3 from the puncture needle 4, so as to prevent the puncture sleeve 3 from remaining on the puncture needle 4 and causing the puncture needle 4 to tilt under force. In the case where multiple needle punctures are required during surgery, the removal of the puncture sleeve 3 can prevent or reduce interference between the puncture needles 4. When tearing the puncture sleeve 3 by hand, pinch the two sides of the handheld clip 32 with two hands to tear the puncture sleeve 3 into two halves.

[0070] Preferably, the cross-section of the sleeve member 31 is a polygon, and a clamping hole 27 whose shape matches the sleeve member 31 and is used to accommodate the sleeve member 31 is formed between the first clamping jaw 231 and the second clamping jaw 232. The polygonal shape can prevent the puncture sleeve 3 from rotating after the first clamping jaw 231 and the second clamping jaw 232 clamp the puncture sleeve 3.

[0071] Of course, in other embodiments, the two halves of the puncture sleeve 3 can also be detachably connected by means of buckles, magnetic attraction, etc., so as to be reused. Specifically, it can be applied to a multi-needle puncture scenario in one operation. When multiple needle punctures are performed, one puncture sleeve 3 can be reused, which saves resources and costs. Of course, under the conditions of sterilization, the detachably connected puncture sleeve 3 can also be reused in multiple operations.

[0072] The working process of the utility model is further described below:

[0073] See also Figures 9 to 15 When in use, first adjust the angles of the first shell 221, the second shell 222 and the mounting bracket 21 according to the use requirements to cope with different surgical scene requirements.

[0074] Then rotate the knob 25 to align it with the "off" mark. The rotation of the knob 25 drives the first rotating shaft 242 and the rotor 241 to rotate. When the rotor 241 rotates, it drives the first clamping jaw 231 to rotate. The rotation of the first clamping jaw 231 drives the second clamping jaw 232 to rotate in the opposite direction thereto, so that the first clamping jaw 231 and the second clamping jaw 232 are opened, and at the same time, the ball head of the ball head plunger 26 falls into one of the hemispherical grooves 2412, so that the rotor 241 is positioned and locked.

[0075] Then, the puncture sleeve 3 is placed between the first clamping jaw 231 and the second clamping jaw 232 , and the knob 25 is rotated in the opposite direction to align it with the “on” mark, thereby driving the first clamping jaw 231 and the second clamping jaw 232 to rotate toward each other and clamp the puncture sleeve 3 , so as to complete the fixation of the puncture sleeve 3 .

[0076] Then, the puncture operation is performed, the puncture needle 4 is inserted into the puncture sleeve 3, and the puncture needle 4 performs a linear puncture motion in the puncture sleeve 3 under the auxiliary guidance of the puncture sleeve 3.

[0077] After the puncture is completed, the knob 25 is rotated to align it with the "off" mark, and the first clamp 231 and the second clamp 232 are opened again. The puncture sleeve 3 is torn into two halves by pinching the two sides of the hand-held clip 32 with two hands to remove the puncture sleeve 3 from the puncture needle 4.

[0078] Example 2

[0079] See also Figures 1 to 15 Another core of the utility model is to provide a puncture robot, including a robot arm 1 for surgery and a puncture assisting device 2 of embodiment 1, wherein the puncture assisting device 2 is arranged on the robot arm 1. The robot arm 1 drives the puncture assisting device 2 to move to the area to be punctured.

[0080] Specifically, the mounting bracket 21 is fixedly connected to the mechanical arm 1 by a third screw 213. A control button 5 is also included, which is arranged on the puncture auxiliary device 2, specifically located in the mounting groove 214 of the mounting bracket 21. The control button 5 is connected to the mechanical arm 1 signal, and is used to release the self-locking of the mechanical arm 1 to realize manual movement of the mechanical arm 1. When the puncture needle 4 pierces the area to be punctured and the first clamping jaw 231 and the second clamping jaw 232 release the puncture sleeve 3, the control button 5 can be conveniently pressed manually to release the self-locking of the mechanical arm 1, and then the mechanical arm 1 can be manually moved away, making the operation more convenient.

[0081] A positioner 6 is included, which is used to locate the spatial position of the puncture assisting device 2. Specifically, it is arranged between the first shell 221 and the second shell 222, and is located in the receiving groove 224 on the first shell 221 and the second shell 222. In this embodiment, the positioner 6 is specifically a magnetic sensor, which can identify the spatial position of the puncture assisting device 2 under the action of the magnetic field, so that the mechanical arm 1 can automatically drive the puncture assisting device 2 to move to the target position.

[0082] The working process of the utility model is further described below:

[0083] First, the puncture assisting device 2 is moved to the target position by the robot arm 1. After the puncture is assisted by the puncture assisting device 2, the control button 5 is pressed to release the self-locking of the robot arm 1, and the robot arm 1 is manually moved away to make the puncture assisting device 2 away from the puncture needle 4 and the puncture sleeve 3, and then the puncture sleeve 3 is torn open.

[0084] The utility model adopts meshing gear transmission, has high transmission accuracy and good wear resistance, and solves the problem of poor repeated positioning accuracy. After the puncture sleeve 3 is separated from the puncture auxiliary device 2, it can be separated from the puncture needle 4, and the mechanical arm 1 can also be quickly moved away, realizing rapid and lossless recovery without affecting the puncture needle 4.

[0085] The above is a detailed description of the embodiments of the present invention in conjunction with the accompanying drawings, but the present invention is not limited to the above embodiments. Even if various changes are made to the present invention, if these changes fall within the scope of the claims of the present invention and their equivalents, they still fall within the protection scope of the present invention.

Claims

1. A puncture assisting device, characterized in that: It comprises a base, a first clamping jaw, a second clamping jaw, a puncture sleeve and a driving assembly, wherein the first clamping jaw and the second clamping jaw are both rotatably connected to the base, the driving assembly is movably connected to the base, and the puncture needle is inserted into the puncture sleeve; The first clamping jaw and the second clamping jaw are connected by meshing teeth transmission so that they can rotate toward or away from each other synchronously, and the puncture sleeve is arranged between the first clamping jaw and the second clamping jaw; The driving assembly is connected to the first clamping jaw via meshing gear transmission. When the driving assembly moves relative to the base, it drives the first clamping jaw to rotate, and the first clamping jaw drives the second clamping jaw to rotate toward or away from it to clamp or release the puncture sleeve.

2. The puncture assist device according to claim 1, characterized in that: The driving assembly includes a rotor and a driving part. The rotor is rotatably connected to the base. The driving part is connected to the rotor to drive the rotor to rotate. The rotor is connected to the first clamp through meshing teeth.

3. The puncture assist device according to claim 2, characterized in that: It comprises a first rotating shaft, which is rotatably connected to the base, and the first rotating shaft is passed through the rotor and fixedly connected thereto; the driving part is connected to one end of the first rotating shaft.

4. The puncture assist device according to claim 3, characterized in that: The driving part is a knob, and the knob is manually rotated to drive the first rotating shaft and the rotor to rotate.

5. The puncture assisting device according to claim 2, characterized in that: A plurality of first meshing teeth are arranged on the outer wall of the rotor along its rotation center circumference, a plurality of second meshing teeth are arranged on the outer wall of the first clamping jaw along its rotation center circumference, and a plurality of third meshing teeth are arranged on the outer wall of the second clamping jaw along its rotation center circumference, the first meshing teeth mesh with the second meshing teeth, and the second meshing teeth mesh with the third meshing teeth.

6. The puncture assisting device according to claim 1, characterized in that: The driving assembly is provided with a first positioning portion and a second positioning portion at intervals, and the base is provided with a positioning matching portion; or the positioning matching portion is provided on the driving assembly, and the first positioning portion and the second positioning portion are provided on the base; The first positioning portion is configured to cooperate with the positioning matching portion to position the drive assembly when the first clamping jaw and the second clamping jaw rotate away from each other to release the puncture sleeve; the second positioning portion is configured to cooperate with the positioning matching portion to position the drive assembly when the first clamping jaw and the second clamping jaw rotate toward each other to clamp the puncture sleeve.

7. The puncture assisting device according to claim 6, characterized in that: The positioning matching portion is a ball plunger, and the first positioning portion and the second positioning portion are grooves matching the ball head shape of the ball plunger; Alternatively, the first positioning portion and the second positioning portion are the ball plungers, and the positioning matching portion is the groove.

8. The puncture assisting device according to any one of claims 1 to 7, characterized in that: A limiting portion is respectively protruded from one side of the first clamping jaw and the second clamping jaw away from each other. The limiting portion is located outside the base and extends toward the outer side wall of the base. The limiting portion can abut against the outer side wall of the base to limit the position of the first clamping jaw and the second clamping jaw rotating in opposite directions.

9. The puncture assisting device according to claim 1, characterized in that: The base includes a first shell and a second shell, and the first clamping jaw and the second clamping jaw are arranged between the first shell and the second shell.

10. The puncture assisting device according to claim 1, characterized in that: It comprises a mounting bracket, and the base is connected to the mounting bracket in an adjustable angle, so that the angle of the base relative to the mounting bracket is adjustable.

11. The puncture assisting device according to claim 10, characterized in that: The mounting bracket is provided with two lugs, one end of the base is arranged between the two lugs, and the lug is connected to the base by screws.

12. The puncture assisting device according to claim 1, characterized in that: The puncture sleeve is provided with a separation groove, which divides the puncture sleeve into two halves. The separation groove is provided with a plurality of connection points along its length direction, which are used to connect the two halves of the puncture sleeve, and the connection points can be torn manually; The puncture sleeve comprises a sleeve component and a hand-held clip. The sleeve component is provided with a needle hole for piercing the puncture needle. The dividing groove divides the needle hole into two halves and extends to the hand-held clip.

13. The puncture assisting device according to claim 12, characterized in that: The cross section of the sleeve member is polygonal, and a clamping hole whose shape matches that of the sleeve member and is used to accommodate the sleeve member is formed between the first clamping jaw and the second clamping jaw.

14. A puncture robot, characterized in that: It comprises a mechanical arm and a puncture assisting device as claimed in any one of claims 1 to 13, wherein the puncture assisting device is arranged on the mechanical arm.

15. The puncture robot according to claim 14, characterized in that: It includes a control button, which is arranged on the puncture auxiliary device. The control button is connected to the mechanical arm signal and is used to release the self-locking of the mechanical arm to realize manual movement of the mechanical arm.

16. The puncture robot according to claim 14, characterized in that: A locator is included for locating the spatial position of the puncture assisting device.

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