Mechanical positioning robot

Abstract

The utility model provides a mechanical positioning robot which comprises a plane puncture mechanism, a puncture needle fixing box and a plane puncture mechanism positioning device. The plane puncture mechanism is installed on the plane puncture mechanism positioning device, and the puncture needle fixing box is installed on the plane puncture mechanism. The plane puncture mechanism is configured to control a puncture needle installed in a puncture needle fixing box to move in three freedom degrees of transverse front-and-back, vertical up-and-down and pitching angle adjustment. The plane puncture mechanism positioning device is configured to control the whole plane puncture mechanism to rotate. The ablation needle and the ultrasonic probe are integrally designed, so that a puncture needle can be observed in an ultrasonic sagittal plane in real time. The robot controls the needle inlet point of the puncture instrument and controls the puncture position, angle and depth of the puncture instrument.

Description

Technical Field

[0001] The utility model relates to the technical field of medical equipment, in particular to a mechanical positioning robot. Background Art

[0002] In recent years, prostate cancer has gradually become a common tumor disease in men, and the incidence rate increases with age. With the development of imaging, ultrasound, CT and magnetic resonance guided robot puncture and intervention have become new minimally invasive diagnosis and treatment methods. Prostate puncture guided by transrectal ultrasound (TRUS) has gradually become the main treatment for prostate diseases. Traditional transrectal ultrasound (TRUS) guided prostate puncture is mainly carried out by the operator holding ultrasound and puncture needle for manual puncture. The results are easily affected by factors such as manual needle accuracy and biopsy needle insertion posture restrictions, and the accuracy is low. Doctors are prone to fatigue when operating manually, the operation is complicated, the degree of standardization is not high, patient satisfaction is low, and positioning and tracking are complex and difficult. In addition, there are important organs such as the urethra around the prostate, and manual puncture is prone to serious accidental damage due to inaccurate control of depth and approach.

[0003] Precise targeted puncture requires accurate calculation of the location of the lesion and the ability to control the puncture instrument to accurately reach the lesion area. It requires high positioning and tracking accuracy and the ability to compensate for target displacement caused by tissue deformation under physiological movement and instrument interaction. In recent years, some research has been conducted on prostate puncture ablation at home and abroad, mainly including multimodal image fusion such as rectal ultrasound and nuclear magnetic resonance as a means of image guidance, and robotic puncture is to load the puncture needle through a multi-degree-of-freedom robot, such as the Chinese Academy of Sciences' dual-arm collaborative robot, iSR'obot Mona Lisa, Artemis, etc.

[0004] The above-mentioned traditional puncture robots are partly industrial robots, which are too large and lack precision. The ultrasound imaging surface is flat, the puncture route is not in the ultrasound plane, and the puncture process cannot be monitored. In addition, the navigation means use optical, magnetic and other external navigation positioning and tracking instruments, which are expensive. Utility Model Content

[0005] The utility model provides a mechanical positioning robot to solve the technical problems of the existing mechanical positioning robot for robot puncture, such as large size, lack of precision, inability to be coplanar, and no fixed geometrical relationship between the hand and the eye (hand: puncture instrument, eye: ultrasonic probe).

[0006] The technical solution provided by the utility model is as follows:

[0007] One object of the utility model is to provide a mechanical positioning robot, the mechanical positioning robot comprising a planar puncture mechanism, a puncture needle fixing box and a planar puncture mechanism positioning device;

[0008] The planar puncture mechanism is installed on the planar puncture mechanism positioning device, and the puncture needle fixing box is installed on the planar puncture mechanism;

[0009] The planar puncture mechanism is configured to: control the movement of the puncture needle installed in the puncture needle fixing box along three degrees of freedom: horizontal front and back, vertical up and down, and pitch angle adjustment;

[0010] The planar puncture mechanism positioning device is configured to control the planar puncture mechanism to perform rotational movement as a whole.

[0011] In a preferred embodiment, the planar puncture mechanism comprises: a rotating block, a first lifting linear slide, a second lifting linear slide and a depth linear slide;

[0012] The first lifting linear slide and the second lifting linear slide are arranged in parallel along the vertical direction;

[0013] The rotating block is provided with a bearing mounting hole and a straight slot hole, and the rotating block is rotatably mounted on the second spline shaft through the bearing mounting hole;

[0014] A first spline shaft is installed in the straight slot hole, and the first spline shaft rotates and translates relative to the straight slot hole to form a rotating pair and a moving pair;

[0015] The first spline shaft is fixed to the sliding block of the first lifting linear slide through a first adapter plate; the second spline shaft is fixed to the sliding block of the second lifting linear slide through a second adapter plate;

[0016] The depth linear slide is fixed to the rotating block, and the sliding block of the depth linear slide is fixed to the puncture needle fixing box.

[0017] In a preferred embodiment, the planar puncture mechanism further comprises: a first fixing plate, a second fixing plate and a base;

[0018] The first lifting linear slide is fixed to the first fixing plate; the second lifting linear slide is fixed to the first fixing plate;

[0019] The first lifting linear slide is fixed to the second fixed plate; the second lifting linear slide is fixed to the second fixed plate.

[0020] The first lifting linear slide is fixed to the base; the second lifting linear slide is fixed to the base.

[0021] In a preferred embodiment, the first lifting linear slide, the second lifting linear slide and the depth linear slide have the same structure;

[0022] The first lifting linear slide comprises: a slide base and a motor; a lead screw is rotatably mounted on the slide base, a lead screw nut is threadedly connected on the lead screw; a sliding block is fixed on the lead screw nut;

[0023] The output shaft of the motor is connected to the lead screw and is used to drive the lead screw to rotate and drive the sliding block to move along the axis of the lead screw.

[0024] In a preferred embodiment, the puncture needle fixing box is an adjustable-distance puncture needle fixing box, in which two or more puncture needles are arranged, and the two or more puncture needles are located in the same plane and the distance between them is adjustable.

[0025] In a preferred embodiment, the two puncture needles are respectively an ablation puncture needle and a temperature sensing probe, and the ablation puncture needle and the temperature sensing probe are located in a horizontal or vertical plane.

[0026] In a preferred embodiment, the adjustable distance puncture needle fixing box comprises: a fixing box body, a quick-release slot component, a button card and a needle cover baffle;

[0027] The fixed box body comprises a top surface, a bottom surface and a side surface, the fixed box body is fixed to the quick-installation slot component, and the quick-installation slot component is located between the top surface and the side surface of the fixed box body;

[0028] The bottom of the quick-install slot component defines a first space, the side of the quick-install slot component defines a second space, the top surface of the fixed box body blocks the first space, and the side of the fixed box body blocks the second space;

[0029] The button card is installed in the first space opened at the bottom of the quick-install slot component, and a button card spring is installed between the button card and the side wall of the first space;

[0030] The needle guard baffle is installed in the second space opened on the side of the quick-release slot component, and the needle guard baffle passes through the top surface of the fixed box body; at least one baffle spring is installed between the needle guard baffle and the top of the second space;

[0031] A third space is formed between the top surface and the bottom surface of the fixed box body, and the third space runs through the fixed box body; an ablation puncture needle and a temperature sensing probe are installed in the third space;

[0032] In a preferred embodiment, the end of the ablation puncture needle is fixed with an ablation puncture needle sleeve, an ablation puncture needle core is installed in the ablation puncture needle sleeve, and the ablation puncture needle core blocks the ablation puncture needle;

[0033] A temperature sensing probe needle sleeve is fixed at the end of the temperature sensing probe, a temperature sensing probe needle core is installed in the temperature sensing probe needle sleeve, and the temperature sensing probe needle core blocks the temperature sensing probe;

[0034] When the ablation puncture needle is inserted into the third space, the needle cover of the ablation puncture needle squeezes the needle cover baffle to move upward; when the ablation puncture needle is completely inserted into the third space, the needle cover baffle is reset under the action of the baffle spring to block the ablation puncture needle;

[0035] When the temperature sensing probe is inserted into the third space, the temperature sensing probe needle sleeve squeezes the needle sleeve baffle to move upward; when the temperature sensing probe is completely inserted into the third space, the needle sleeve baffle is reset under the action of the baffle spring to block the temperature sensing probe.

[0036] In a preferred embodiment, the adjustable-distance puncture needle fixing box further comprises: a quick-release pin, the quick-release pin being fixed to the planar puncture mechanism;

[0037] A slot is formed on the top of the quick-release slot member, and the slot is connected to the first space; the quick-release pin is used to be inserted into the slot to install the adjustable-distance puncture needle fixing box on the planar puncture mechanism;

[0038] The quick-release pin has a slot; when the quick-release pin is inserted into the slot, the quick-release pin squeezes the button card; when the quick-release pin is fully inserted into the slot, the button card is reset and snapped into the slot of the quick-release pin under the action of the button card spring.

[0039] In a preferred embodiment, it further comprises a C-shaped arm installed between the planar puncture mechanism and the planar puncture mechanism positioning device, wherein the C-shaped arm comprises a C-shaped arm bracket, a C-shaped arm rack, a C-shaped arm driving gear and a C-shaped arm driving motor;

[0040] The outer surface of the C-shaped arm bracket is slidably connected to the C-shaped arm rack, the planar puncture mechanism is fixedly connected to one end edge of the C-shaped arm rack, and the central axis of the circle where the C-shaped arm bracket is located coincides with the axis of the probe of the planar puncture positioning device;

[0041] The C-arm driving gear is rotatably mounted on the C-arm bracket, and the C-arm driving gear is meshed with the C-arm rack, and the output shaft of the C-arm driving motor is connected to the C-arm driving gear;

[0042] The rotation of the C-arm driving motor drives the C-arm driving gear to rotate, and the gears cooperate to drive the C-arm rack to slide and rotate along the outer surface of the C-arm bracket, thereby driving the dynamic plane puncture mechanism to rotate.

[0043] In a preferred embodiment, an ultrasonic probe is installed on the planar puncture mechanism positioning device; the planar puncture mechanism positioning device is configured to control the planar puncture mechanism and the ultrasonic probe to rotate around the axis of the ultrasonic probe.

[0044] Compared with the prior art, the above technical solution of the utility model has at least the following beneficial effects:

[0045] The utility model provides a mechanical positioning robot that can work in conjunction with an ultrasound probe to form an integrated hand-eye system. The error is small and the cost is low. The ablation needle and the ultrasound probe are designed to be integrated, and the puncture needle can be observed in real time in the ultrasound sagittal plane. The robot controls the insertion point of the puncture instrument and controls its puncture position, angle and depth. At the same time, it can solve the problems of high operating difficulty, few insertion angles and poor precision caused by the need to operate the ultrasound probe and the puncture needle at the same time due to space limitations in the existing ultrasound-guided puncture process. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0047] Figure 1 The utility model is a schematic diagram of the overall structure of a mechanical positioning robot.

[0048] Figure 2 It is an exploded view of the planar puncture mechanism of the utility model.

[0049] Figure 3 It is a structural schematic diagram of the first lifting linear slide of the utility model.

[0050] Figure 4 It is a schematic diagram of the motion process of the ablation puncture needle and the temperature sensing probe of the utility model along the horizontal front and back, vertical up and down, and pitch angle adjustment with three degrees of freedom.

[0051] Figure 5 It is an exploded view of the adjustable-distance puncture needle fixing box of the utility model.

[0052] Figure 6 It is a schematic diagram of a half-cut fixed box body of the utility model.

[0053] Figure 7 It is a schematic diagram of the process of installing the ablation puncture needle and the temperature sensing probe in the adjustable-distance puncture needle fixing box of the utility model.

[0054] Figure 8The utility model is a schematic diagram of the installation process of the quick-release pin of the adjustable-distance puncture needle fixing box.

[0055] Fig. 9 The utility model is a schematic diagram of the use process of the adjustable distance puncture needle fixing box.

[0056] Fig.10 It is a structural schematic diagram of the positioning device of the plane puncture mechanism of the utility model.

[0057] Fig.11 It is a schematic diagram of the overall structure of a mechanical positioning robot provided with a C-shaped arm in another embodiment of the utility model. DETAILED DESCRIPTION

[0058] In order to make the purpose, technical solution and advantages of the embodiment of the utility model clearer, the technical solution of the embodiment of the utility model will be clearly and completely described below in conjunction with the drawings of the embodiment of the utility model. Obviously, the described embodiment is a part of the embodiment of the utility model, not all of the embodiments. Based on the described embodiment of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0059] Unless otherwise defined, the technical or scientific terms used in the present invention shall have the usual meanings understood by persons with ordinary skills in the field to which the present invention belongs. The words "first", "second" and similar terms used in the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. Similarly, words such as "one", "an" or "the" do not indicate a quantity limitation, but indicate the existence of at least one. Words such as "include" or "comprise" mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. Words such as "connect" or "connected" and similar terms are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect.

[0060] It should be noted that the terms "up", "down", "left", "right", "front", "back", etc. used in the present invention are only used to indicate relative position relationships. When the absolute position of the object being described changes, the relative position relationship may also change accordingly.

[0061] like Figure 1 As shown, according to an embodiment of the present utility model, a mechanical positioning robot is provided, comprising a planar puncture mechanism 1, a puncture needle fixing box and a planar puncture mechanism positioning device 3.

[0062] The puncture needle fixing box is an adjustable-distance puncture needle fixing box 2, in which two or more puncture needles are arranged. The two or more puncture needles are located in the same plane and the distance between them is adjustable.

[0063] Furthermore, the two puncture needles are respectively an ablation puncture needle 5 and a temperature sensing probe 6 , and the ablation puncture needle 5 and the temperature sensing probe 6 are located in a horizontal or vertical plane.

[0064] The plane puncture mechanism 1 is mounted on the plane puncture mechanism positioning device 3, and the adjustable distance puncture needle fixing box 2 is mounted on the plane puncture mechanism 1. The adjustable distance puncture needle fixing box 2 is installed with an ablation puncture needle 5 and a temperature sensing probe 6, and the ablation puncture needle 5 and the temperature sensing probe 6 are located on a horizontal plane. A certain horizontal distance is maintained between the ablation puncture needle 5 and the temperature sensing probe 6.

[0065] The planar puncture mechanism 1 is configured to control the ablation puncture needle 5 and the temperature sensing probe 6 installed in the adjustable-distance puncture needle fixing box 2 to adjust the movement of three degrees of freedom along the horizontal front and back, vertical up and down, and pitch angle, such as Figure 1 shown.

[0066] The planar puncture mechanism positioning device 3 is configured to control the planar puncture mechanism 1 to rotate as a whole. Further, the planar puncture mechanism positioning device 3 is an ultrasound probe positioning device. The ultrasound probe 4 is mounted on the planar puncture mechanism positioning device 3. The planar puncture mechanism positioning device 3 is configured to control the planar puncture mechanism 1 and the ultrasound probe 4 to rotate around the axis of the ultrasound probe 4.

[0067] The ultrasound probe 4 is a medical intracavitary probe that can be inserted into natural cavities such as the rectum and vagina. It can emit ultrasound waves to the sagittal plane S (or cross section) and has the function of ultrasound imaging in the sagittal plane S (or cross section) or in two planes.

[0068] The plane puncture mechanism 1 controls the movement of the ablation puncture needle 5 on the adjustable-distance puncture needle fixing box 2 to form a working space plane that coincides with the sagittal plane S of the ultrasound probe 4 or is perpendicular to the cross section and passes through the sensing midpoint of the cross section.

[0069] The various components of the mechanical positioning robot of the utility model are described in detail below.

[0070] Combination Figures 2 to 4 According to an embodiment of the utility model, the planar puncture mechanism 1 includes: a motor cover 101, a first fixed plate 102, a rotating block 103, a first spline shaft 104, a second fixed plate 105, a first adapter plate 106, a base 107, a second adapter plate 108, a second spline shaft 109, a first bearing 110, a second bearing 111, a first lifting linear slide 7, a second lifting linear slide 8 and a depth linear slide 9.

[0071] like Figure 2 As shown, the first lifting linear slide 7 and the second lifting linear slide 7 are arranged in parallel along the vertical direction. The rotating block 103 is provided with a bearing mounting hole and a straight slot hole 1031, and the rotating block 103 is rotatably mounted with the second spline shaft 109 through the bearing mounting hole. The first spline shaft 104 is mounted in the straight slot hole 1031, and the first spline shaft 104 rotates and translates relative to the straight slot hole 1031, forming a rotating pair and a moving pair.

[0072] Specifically, the first bearing 110 and the second bearing 111 are combined in parallel and installed in the corresponding bearing mounting holes on the rotating block 103. The second spline shaft 109 cooperates with the first bearing 110 and the second bearing 111 on the rotating block 103 to form a rotating pair, thereby rotating the second spline shaft 109 in the bearing mounting hole of the rotating block 103.

[0073] The first spline shaft 104 is matched with the corresponding straight slot hole 1031 of the rotating block 103, the shaft surface is tangent to the slot surface, and the front end surface of the shaft is parallel to the side surface of the rotating block 103. During movement, the first spline shaft 104 rotates and translates relative to the straight hole slot 1031 to form a rotating pair and a moving pair.

[0074] The first lifting linear slide 7 , the second lifting linear slide 8 and the depth linear slide 9 of the utility model have the same structure. In this embodiment, the first lifting linear slide 7 is taken as an example.

[0075] like Figure 3 As shown, the first lifting linear slide 7 includes: a cover plate 701, a first guide rod 702, a third bearing 703, a lead screw 704, a second guide rod 705, a slide base 706, a sliding block 707, a first linear bearing 708, a lead screw nut 709, a seat bearing 710, a coupling 711, a motor 712, and a second linear bearing 713.

[0076] The guide screw 704 is rotatably mounted on the slide base 706 , the guide screw 704 is threadedly connected with a guide screw nut 709 , and a sliding block 707 is fixed on the guide screw nut 709 .

[0077] The output shaft of the motor 712 is connected to the lead screw 704 and is used to drive the lead screw 704 to rotate, thereby driving the lead screw nut 709 and the sliding block 707 to move along the axis of the lead screw 704 .

[0078] Furthermore, threaded holes are designed on the seat bearing 710 and the slide base 706, and the two are fixedly connected by screws. The first guide rail 702 and the second guide rail 705 are fixedly connected with the slide base 706 by corresponding holes and grooves, and the two are horizontally parallel.

[0079] The third bearing 703 is installed in the corresponding bearing installation hole of the slide base 706. The first linear bearing 708 and the second linear bearing 713 are installed on the first guide rod 702 and the second guide rod 705 respectively.

[0080] The lead screw nut 709 is provided with a threaded mounting hole, which is connected and fixed to the sliding block 707 by screws. The first linear bearing 708 and the second linear bearing 713 are symmetrically mounted in the bearing mounting holes on the sliding block 707. The lead screw 704 and the lead screw nut 709 are threadedly matched to form a moving pair.

[0081] The two ends of the lead screw 704 are respectively connected with the third bearing 703 and the seat bearing 710 to form a rotating pair, and the rotation centers of the third bearing 703, the lead screw 704, the seat bearing 710, the coupling 711, and the output shaft of the motor 712 coincide. The central axes of the lead screw 704, the first guide rod 702, and the second guide rod 705 are located in the same horizontal plane and are parallel to each other.

[0082] The output shaft side end face of the motor 712 is provided with a threaded hole, which is fixed to the slide base 706 by screws. The two ends of the coupling 711 are respectively connected to the lead screw 704 and the output shaft of the motor 712. The cover plate 701 is provided with a threaded mounting hole, which is fixed to the slide base 706 by screws.

[0083] The output shaft of the motor 712 transmits the rotational motion to the screw 704 through the coupling 711, and the screw 704 and the screw nut 709 form a linear motion to control the sliding block 707 to move back and forth along the axis of the screw 704, and the sliding block 707 can keep the upper plane parallel to the upper plane of the cover 701.

[0084] The first lifting linear slide 7 is consistent in size with the second lifting linear slide 8 , and the size of the depth linear slide 9 can be different from that of the first lifting linear slide 7 and the second lifting linear slide 8 , or it can be consistent with the size of the first lifting linear slide 7 and the second lifting linear slide 8 .

[0085] Back to Figure 2 The first spline shaft 104 is fixed to the sliding block 707 of the first lifting linear slide 7 through the first adapter plate 106. The second spline shaft 109 is fixed to the sliding block of the second lifting linear slide 8 through the second adapter plate 108.

[0086] Specifically, the tail end axial surfaces of the first spline shaft 104 and the second spline shaft 109 are provided with splines and mounting threaded holes, and the splines of the tail end axial surfaces of the first spline shaft 104 and the second spline shaft 109 are respectively installed in the corresponding spline grooves of the first adapter plate 106 and the second adapter plate 108 and fixed with screws and gaskets.

[0087] Countersunk screw through holes are provided on the first adapter plate 106 and the second adapter plate 108, and countersunk screws are used to fix the sliding block 707 of the first lifting linear slide 7 and the sliding block on the second lifting linear slide 8 respectively.

[0088] The depth linear slide 9 is fixed to the rotating block 103 , and the sliding block of the depth linear slide 9 is fixed to the adjustable distance puncture needle fixing box 2 .

[0089] Specifically, a through hole is provided on the rotating block 103, which is connected and fixed with a threaded mounting hole of the slide base of the depth linear slide 9 by screws. The sliding block of the depth linear slide 9 is fixed to the adjustable distance puncture needle fixing box 2 (the structure of the adjustable distance puncture needle fixing box 2 is described in detail below).

[0090] The first lifting linear slide 7 is fixed to the first fixing plate 102, and the second lifting linear slide 8 is fixed to the first fixing plate 102. The first lifting linear slide 7 is fixed to the second fixing plate 105, and the second lifting linear slide 8 is fixed to the second fixing plate 105.

[0091] Specifically, through holes are provided on the first fixing plate 102 and the second fixing plate 105 , and are fixed to the threaded holes of the first lifting linear slide 7 and the second lifting linear slide 8 by screws.

[0092] Taking the fixation of the first fixed plate 102 and the first lifting linear slide 7 as an example, the first fixed plate 102 is fixed to the threaded holes on both sides of the slide base 706 of the first lifting linear slide 7 by screws, thereby fixing the first fixed plate 102 and the first lifting linear slide 7.

[0093] The first lifting linear slide 7 is fixed to the base 107 , and the second lifting linear slide 8 is fixed to the base 107 .

[0094] Specifically, two rectangular grooves are symmetrically arranged on the base 107, and the bottom surfaces of the first lifting linear slide 7 and the second lifting linear slide 8 can be respectively inserted into the rectangular grooves for fixing. Through holes are arranged on both sides of the base 107, and screws are used to connect and fix with the threaded holes of the slide base 706 of the first lifting linear slide 7 and the slide base of the second lifting linear slide 8.

[0095] The motor cover 101 is provided with tenons at the front and rear, which are fixed with the corresponding tenons on the first fixing plate 102 and the second fixing plate 105 to cover the motor 712 of the first lifting linear slide 7 and the motor of the second lifting linear slide 8.

[0096] like Figure 4As shown, when the motor 712 of the first lifting linear slide 7 and the motor of the second lifting linear slide 8 output rotational motion, the sliding blocks of the two drive the first adapter plate 106 and the second adapter plate 108 to move linearly along their respective screw axes, and then drive the rotating block 103 to perform up and down translation and pitch motion through the corresponding first spline shaft 104 and second spline shaft 109 on the first adapter plate 106 and the second adapter plate 108.

[0097] When the sliding block 707 of the first lifting linear slide 7 and the sliding block of the second lifting linear slide 8 move up and down together by the same unit distance, the rotating block 103 and the depth linear slide 9 connected thereto are driven to move up and down linearly, thereby driving the adjustable distance puncture needle fixing box 2 to move up and down linearly.

[0098] Figure 4 (a) The rotating block 103 and the depth linear slide 9 connected thereto move downward, driving the adjustable distance puncture needle fixing box 2 to move downward to the bottom. Figure 4 (b) The rotating block 103 and the depth linear slide 9 connected thereto move upward, driving the adjustable distance puncture needle fixing box 2 to move upward to the top.

[0099] When the sliding block 707 of the first lifting linear slide 7 and the sliding block of the second lifting linear slide 8 move linearly in the same direction for different distances or move linearly in opposite directions, the rotating block 103 rotates with the central axis of the second spline shaft 109 as the rotation center, driving the depth linear slide 9 to perform a pitching motion, thereby driving the adjustable distance puncture needle fixing box 2 to perform a pitching motion, such as Figure 4 (c) as shown.

[0100] When the motor of the depth linear slide 9 moves the sliding block of the depth linear slide 9 along the axis of its lead screw, the adjustable distance puncture needle fixing box 2 is driven to move forward and backward horizontally, thereby guiding the ablation puncture needle 5 and the temperature sensing probe 6 to complete the puncture task. Figure 4 (d) as shown.

[0101] Combination Figures 5 to 9 According to an embodiment of the utility model, the adjustable distance puncture needle fixing box 2 includes: a button card spring 201, a quick-release pin 202, a quick-release slot component 203, a first baffle spring 204, a second baffle spring 205, a needle sleeve baffle 206, a button card 207, a fixing box body 208 and a needle core baffle 209.

[0102] like Figure 5 As shown, the fixed box body 208 includes a top surface 2081, a bottom surface 2082 and a side surface 2083. The fixed box body 208 is fixed to the quick-install slot component 203, and the quick-install slot component 203 is located between the top surface 2081 and the side surface 2083 of the fixed box body 208.

[0103] Specifically, the quick-release slot component 203 has four mounting holes at the bottom, which can be matched with the threaded holes on the top surface 2081 of the fixed box body 208 and connected using bolts. At the same time, the side 2083 of the fixed box body 208 has three mounting holes, which can be matched with the three threaded holes on the side of the quick-release slot component 203 and connected using bolts.

[0104] like Figure 5 and Figure 6 As shown, a first space K1 is defined at the bottom of the quick-release slot component 203 , a second space K2 is defined at the side of the quick-release slot component 203 , a top surface 2081 of the fixed box body 208 blocks the first space K1 , and a side surface 2083 of the fixed box body 208 blocks the second space K2 .

[0105] A button card 207 is installed in the first space K1 opened at the bottom of the quick-install slot component 203 , and a button card spring 201 is installed between the button card 207 and the side wall of the first space K1 .

[0106] The needle guard baffle 206 is installed in the second space K2 opened on the side of the quick-install slot 203, and the needle guard baffle 206 passes through the top surface 2081 of the fixed box body 208. At least one baffle spring is installed between the needle guard baffle 206 and the top of the second space K2. In this embodiment, there are two baffle springs, namely, a first baffle spring 204 and a second baffle spring 205.

[0107] A third space K3 is formed between the top surface 2081 and the bottom surface 2083 of the fixed box body 208. The third space K3 penetrates the fixed box body 208. The ablation puncture needle 5 and the temperature sensing probe 6 are installed in the third space K3. The ablation puncture needle 5 and the temperature sensing probe 6 are hollow needles.

[0108] like Figure 5 As shown, according to an embodiment of the utility model, the end of the ablation puncture needle 5 is fixed with an ablation puncture needle sleeve 501, and an ablation puncture needle core 502 is installed in the ablation puncture needle sleeve 501. The ablation puncture needle core 502 blocks the ablation puncture needle 5 to prevent tissue from entering the ablation puncture needle 5 during the puncture process.

[0109] A temperature sensing probe needle sleeve 601 is fixed to the end of the temperature sensing probe 6, and a temperature sensing probe needle core 602 is installed in the temperature sensing probe needle sleeve 601. The temperature sensing probe needle core 602 blocks the temperature sensing probe 6 to prevent tissue from entering the temperature sensing probe 6 during the puncture process.

[0110] like Figure 7 As shown, when the ablation puncture needle 5 is inserted into the third space K3, the ablation puncture needle sleeve 501 squeezes the needle sleeve baffle 206 to move upward. After the ablation puncture needle 5 is completely inserted into the third space K3, the needle sleeve baffle 206 is reset under the action of the baffle spring (the first baffle spring 204 and the second baffle spring 205) to block the ablation puncture needle 5.

[0111] When the temperature sensing probe 6 is inserted into the third space K3, the temperature sensing probe sleeve 601 squeezes the sleeve stop piece 206 to move upward. After the temperature sensing probe 6 is completely inserted into the third space K3, the sleeve stop piece 206 is reset under the action of the stop piece spring (the first stop piece spring 204 and the second stop piece spring 205) to lock the temperature sensing probe 6.

[0112] Figure 7 (a) is a schematic diagram showing that the sleeve stop piece 206 locks the ablation puncture needle 5 and the temperature sensing probe 6 after the ablation puncture needle 5 and the temperature sensing probe 6 are completely inserted into the third space K3.

[0113] Figure 7 (b) is a schematic diagram showing that the sleeve stop piece 206 moves upward when the ablation puncture needle 5 and the temperature sensing probe 6 are inserted into the third space K3.

[0114] According to an embodiment of the present invention, the quick-release pin 202 is fixed to the planar puncture mechanism 1. Specifically, the quick-release pin 202 is fixed to the slider of the depth linear slide 9 of the planar puncture mechanism 1.

[0115] The top of the quick-release slot member 203 is provided with a slot C, and the slot C communicates with the first space K1. The quick-release pin 202 is used to insert into the slot C to connect with the quick-release slot member 203, and the adjustable-distance puncture needle fixing box 2 is fixedly installed on the slider of the depth linear slide 9 of the planar puncture mechanism 1.

[0116] The quick-release pin 202 is provided with a card slot 2021. When the quick-release pin 202 is inserted into the slot C, the quick-release pin 202 presses the button card 207. After the quick-release pin 202 is completely inserted into the slot C, the button card 207 is reset under the action of the button card spring 201 and snaps into the card slot 2021 of the quick-release pin 202.

[0117] As Figure 8 shown, Figure 8 (a) is a schematic diagram of the quick-release pin 202 inserted into the slot C, and figure (b) is a schematic diagram of the quick-release pin 202 pressing the button card 207. Figure 8 (c) is a schematic diagram of the button card 207 snapped into the card slot 2021 of the quick-release pin 202.

[0118] Combined with Figure 5 、 Figure 6 and Figure 7 , according to an embodiment of the present invention, the cross-sections of the ablation puncture needle sleeve 501 and the temperature sensing probe sleeve 601 are in the shape of a Chinese character 'Shen'. A third space K3 with a slot is formed between the top surface 2081 and the bottom surface 2083 of the fixed box body 208, and the ablation puncture needle sleeve 501 and the temperature sensing probe sleeve 601 are inserted into the slots of the third space K3. The fixed box body 208 marks the spacing of the slots in the third space K3, as Figure 7As shown in (b), the numbers marked 4, 6.5, and 9 represent that the distances between the two pins installed in the slot of the third space K3 are 4 mm, 6.5 mm, and 9 mm respectively.

[0119] According to the embodiment of the present utility model, after the ablation puncture needle 5 and the temperature sensing probe 6 are inserted into the third space K3 , the third space K3 of the box body 208 is blocked and fixed by the needle core blocking piece 209 .

[0120] Combination Fig. 9 The use process of the adjustable distance puncture needle fixing box 2 of the utility model is as follows:

[0121] The ablation needle core 502 is installed in the ablation needle sheath 501, and the temperature sensing probe core 602 is installed in the temperature sensing probe sheath 601. Fig. 9 (a) shown.

[0122] The ablation puncture needle 5 and the temperature sensing probe 6 are inserted into the third space K3 of the fixed box body 208, and the needle cover baffle 206 is pressed to move upward. Fig. 9 (b) as shown.

[0123] When the ablation puncture needle 5 and the temperature sensing probe 6 are completely inserted into the third space K3 of the fixed box body 208, the needle cover baffle 206 is reset under the action of the baffle spring (the first baffle spring 204 and the second baffle spring 205) to lock the ablation puncture needle 5 and the temperature sensing probe 6. Fig. 9 (c) as shown.

[0124] The needle core blocking piece 209 is inserted into the fixed box body 208 to block the third space K3 of the fixed box body 208. Fig. 9 (d) as shown.

[0125] The quick-release pin 202 is inserted into the slot C and connected to the quick-release slot member 203 , so that the adjustable-distance puncture needle fixing box 2 is installed on the planar puncture mechanism 1 .

[0126] Then, the ablation puncture needle 5 and the temperature sensing probe 6 are used to perform tissue puncture. After the puncture is completed, the needle core baffle 209 is pulled out from the third space K3 of the fixed box body 208, the ablation puncture needle core 502 is taken out from the ablation puncture needle sleeve 501, the temperature sensing probe core 602 is taken out from the temperature sensing probe sleeve 601, and the optical fiber is inserted into the ablation puncture needle 5 to perform ablation. Fig. 9 (e) as shown.

[0127] Combination Fig.10 According to an embodiment of the utility model, the planar puncture mechanism positioning device 3 includes: an ultrasonic probe clamping mechanism 10, an ultrasonic probe base 11 and an ultrasonic propulsion transmission mechanism 12. The ultrasonic probe clamping mechanism 10 is used to clamp the ultrasonic probe 4. The base 107 of the planar puncture mechanism 1 is mounted on the ultrasonic probe clamping mechanism 10 by bolts.

[0128] The ultrasonic probe clamping mechanism 10 is mounted on the ultrasonic propulsion transmission mechanism 12 , and the ultrasonic propulsion transmission mechanism 12 is mounted on the ultrasonic probe base 11 .

[0129] The ultrasonic probe base 11 is powered by an ultrasonic rotary motor and an ultrasonic propulsion motor. The ultrasonic propulsion transmission mechanism 12 converts the power transmitted by the ultrasonic probe base 11 into two degrees of freedom, rotation and linear movement, to control the rotation and linear movement of the ultrasonic probe clamping mechanism 10. Specifically, for example, the ultrasonic probe base 11 controls the rotation of the ultrasonic probe clamping mechanism 10 by means of gear matching with the power transmitted by the ultrasonic rotary motor. The ultrasonic probe base 11 controls the linear movement of the ultrasonic probe clamping mechanism 10 by means of a screw and a screw nut matching with the power transmitted by the ultrasonic propulsion motor.

[0130] like Fig.11 As shown, in another embodiment, the mechanical positioning robot of the utility model further includes a C-shaped arm 13 installed between the planar puncture mechanism 1 and the planar puncture mechanism positioning device 3 .

[0131] The C-arm 13 includes a C-arm support 1301 , a C-arm rack 1302 , a C-arm driving gear 1303 and a C-arm driving motor 1304 .

[0132] The outer surface of the C-arm bracket 1301 is slidably connected to the C-arm rack 1302, the base 107 of the planar puncture mechanism 1 is fixedly connected to one end edge of the C-arm rack 1302 by bolts, and the C-arm bracket 1301 is fixedly connected to the ultrasonic probe base 11 of the planar puncture mechanism positioning device 3 or connected to other bases. The central axis of the circle where the C-arm bracket 1301 is located coincides with the axis of the ultrasonic probe 4 clamped by the ultrasonic probe clamping mechanism 10.

[0133] The C-arm driving gear 1303 is rotatably mounted on the C-arm support 1301 , and the C-arm driving gear 1303 is meshed with the C-arm rack 1302 , and the output shaft of the C-arm driving motor 1304 is connected to the C-arm driving gear 1303 .

[0134] The rotation of the C-arm driving motor 1304 drives the C-arm driving gear 1303 to rotate, and through the gear cooperation, drives the C-arm rack 1302 to slide and rotate along the outer surface of the C-arm bracket 1301, thereby driving the planar puncture mechanism 1 to rotate.

[0135] The C-arm rack 1302 of the present invention rotates synchronously with the ultrasonic probe 4, respectively driving the planar puncture mechanism 1 and the ultrasonic probe 4 to rotate synchronously and coaxially. In some embodiments, the C-arm rack 1302 and the ultrasonic probe 4 rotate asynchronously, so that the planar puncture mechanism 1 and the ultrasonic probe 4 rotate asynchronously but coaxially.

[0136] There are a few points to note:

[0137] (1) The drawings of the embodiments of the present utility model only relate to the structures related to the embodiments of the present utility model, and other structures may refer to the conventional designs.

[0138] (2) For the sake of clarity, in the drawings used to describe the embodiments of the present invention, the thickness of the layers or regions is enlarged or reduced, that is, these drawings are not drawn according to the actual scale. It is understood that when an element such as a layer, film, region or substrate is referred to as being "on" or "under" another element, the element may be "directly" "on" or "under" the other element or there may be an intermediate element.

[0139] (3) In the absence of conflict, the embodiments of the present invention and the features therein may be combined with each other to obtain new embodiments.

[0140] The above are only specific implementation methods of the present utility model, but the protection scope of the present utility model is not limited thereto. The protection scope of the present utility model shall be based on the protection scope of the claims.

Claims

1. A mechanical positioning robot, characterized in that: The mechanical positioning robot comprises a planar puncture mechanism, a puncture needle fixing box and a planar puncture mechanism positioning device; The planar puncture mechanism is installed on the planar puncture mechanism positioning device, and the puncture needle fixing box is installed on the planar puncture mechanism; The planar puncture mechanism is configured to: control the movement of the puncture needle installed in the puncture needle fixing box along three degrees of freedom: horizontal front and back, vertical up and down, and pitch angle adjustment; The planar puncture mechanism positioning device is configured to control the planar puncture mechanism to perform rotational movement as a whole.

2. The mechanical positioning robot according to claim 1, characterized in that: The plane puncture mechanism comprises: a rotating block, a first lifting linear slide, a second lifting linear slide and a depth linear slide; The first lifting linear slide and the second lifting linear slide are arranged in parallel along the vertical direction; The rotating block is provided with a bearing mounting hole and a straight slot hole, and the rotating block is rotatably mounted on the second spline shaft through the bearing mounting hole; A first spline shaft is installed in the straight slot hole, and the first spline shaft rotates and translates relative to the straight slot hole to form a rotating pair and a moving pair; The first spline shaft is fixed to the sliding block of the first lifting linear slide through a first adapter plate; the second spline shaft is fixed to the sliding block of the second lifting linear slide through a second adapter plate; The depth linear slide is fixed to the rotating block, and the sliding block of the depth linear slide is fixed to the puncture needle fixing box.

3. The mechanical positioning robot according to claim 2, characterized in that: The planar puncture mechanism further includes: a first fixing plate, a second fixing plate and a base; The first lifting linear slide is fixed to the first fixing plate; the second lifting linear slide is fixed to the first fixing plate; The first lifting linear slide is fixed to the second fixing plate; the second lifting linear slide is fixed to the second fixing plate; The first lifting linear slide is fixed to the base; the second lifting linear slide is fixed to the base.

4. The mechanical positioning robot according to claim 2, characterized in that: The first lifting linear slide, the second lifting linear slide and the depth linear slide have the same structure; The first lifting linear slide comprises: a slide base and a motor; a lead screw is rotatably mounted on the slide base, a lead screw nut is threadedly connected on the lead screw; a sliding block is fixed on the lead screw nut; The output shaft of the motor is connected to the lead screw and is used to drive the lead screw to rotate and drive the sliding block to move along the axis of the lead screw.

5. The mechanical positioning robot according to claim 1, characterized in that: The puncture needle fixing box is an adjustable-distance puncture needle fixing box, in which two or more puncture needles are arranged, and the two or more puncture needles are located in the same plane and the distance between them is adjustable; The two puncture needles are respectively an ablation puncture needle and a temperature sensing probe, and the ablation puncture needle and the temperature sensing probe are located in a horizontal or vertical plane.

6. The mechanical positioning robot according to claim 5, characterized in that: The adjustable distance puncture needle fixing box comprises: a fixing box body, a quick-release slot component, a button card and a needle cover baffle; The fixed box body comprises a top surface, a bottom surface and a side surface, the fixed box body is fixed to the quick-installation slot component, and the quick-installation slot component is located between the top surface and the side surface of the fixed box body; The bottom of the quick-install slot component defines a first space, the side of the quick-install slot component defines a second space, the top surface of the fixed box body blocks the first space, and the side of the fixed box body blocks the second space; The button card is installed in the first space opened at the bottom of the quick-install slot component, and a button card spring is installed between the button card and the side wall of the first space; The needle guard baffle is installed in the second space opened on the side of the quick-release slot component, and the needle guard baffle passes through the top surface of the fixed box body; at least one baffle spring is installed between the needle guard baffle and the top of the second space; A third space is formed between the top surface and the bottom surface of the fixed box body, and the third space runs through the fixed box body; an ablation puncture needle and a temperature sensing probe are installed in the third space.

7. The mechanical positioning robot according to claim 6, characterized in that: The end of the ablation puncture needle is fixed with an ablation puncture needle sleeve, an ablation puncture needle core is installed in the ablation puncture needle sleeve, and the ablation puncture needle core blocks the ablation puncture needle; A temperature sensing probe needle sleeve is fixed at the end of the temperature sensing probe, a temperature sensing probe needle core is installed in the temperature sensing probe needle sleeve, and the temperature sensing probe needle core blocks the temperature sensing probe; When the ablation puncture needle is inserted into the third space, the needle cover of the ablation puncture needle squeezes the needle cover baffle to move upward; when the ablation puncture needle is completely inserted into the third space, the needle cover baffle is reset under the action of the baffle spring to block the ablation puncture needle; When the temperature sensing probe is inserted into the third space, the temperature sensing probe needle sleeve squeezes the needle sleeve baffle to move upward; when the temperature sensing probe is completely inserted into the third space, the needle sleeve baffle is reset under the action of the baffle spring to block the temperature sensing probe.

8. The mechanical positioning robot according to claim 6, characterized in that: The adjustable-distance puncture needle fixing box further comprises: a quick-release pin, which is fixed to the planar puncture mechanism; A slot is formed on the top of the quick-release slot member, and the slot is connected to the first space; the quick-release pin is used to be inserted into the slot to install the adjustable-distance puncture needle fixing box on the planar puncture mechanism; The quick-release pin has a slot; when the quick-release pin is inserted into the slot, the quick-release pin squeezes the button card; when the quick-release pin is fully inserted into the slot, the button card is reset and snapped into the slot of the quick-release pin under the action of the button card spring.

9. The mechanical positioning robot according to claim 1, characterized in that: It also includes a C-shaped arm installed between the planar puncture mechanism and the planar puncture mechanism positioning device, the C-shaped arm including a C-shaped arm bracket, a C-shaped arm rack, a C-shaped arm drive gear and a C-shaped arm drive motor; The outer surface of the C-shaped arm bracket is slidably connected to the C-shaped arm rack, the planar puncture mechanism is fixedly connected to one end edge of the C-shaped arm rack, and the central axis of the circle where the C-shaped arm bracket is located coincides with the axis of the probe of the planar puncture positioning device; The C-arm driving gear is rotatably mounted on the C-arm bracket, and the C-arm driving gear is meshed with the C-arm rack, and the output shaft of the C-arm driving motor is connected to the C-arm driving gear; The rotation of the C-arm driving motor drives the C-arm driving gear to rotate, and the gears cooperate to drive the C-arm rack to slide and rotate along the outer surface of the C-arm bracket, thereby driving the dynamic plane puncture mechanism to rotate.

10. The mechanical positioning robot according to claim 1 or 9, characterized in that: An ultrasonic probe is installed on the planar puncture mechanism positioning device; the planar puncture mechanism positioning device is configured to control the planar puncture mechanism and the ultrasonic probe to rotate around the axis of the ultrasonic probe.

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