Medical puncture robot

Abstract

The utility model relates to the technical field of medical instruments and discloses a medical puncture robot which comprises a bed body, a U-shaped adjusting groove is formed in the outer side of the top surface of the bed body, a sawtooth groove is fixedly formed in the inner bottom face of the adjusting groove, a driving block is arranged at the top of the adjusting groove, and a plurality of sections of mechanical arms are arranged at the top of the driving block. A mounting block is movably connected to one side of the tail end mechanical arm through a rotating shaft, a puncture needle is movably connected to the bottom of the mounting block, a driving gear is movably connected to the inner side of the bottom of the driving block through a connecting shaft and a bearing, and a transmission gear is connected to the top of the driving gear in an engaged mode. The driving block is arranged in the mechanical arm, the sawtooth groove is formed in the driving block, the driving motor and the transmission gear drive the driving block to rotate, so that the driving gear and the sawtooth groove move relatively, the purpose of adjusting the position of the driving block is achieved, the mechanical arm and the tail end structure of the mechanical arm are driven to adjust the position, and the comprehensiveness of the puncture covering position is greatly improved.

Description

Technical Field

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

[0002] As a medical surgical robot, the puncture surgical robot has broad application prospects in minimally invasive surgery, radioactive particle implantation surgery, puncture biopsy, vascular intervention, minimally invasive interventional surgery in pain medicine and other fields.

[0003] According to patent No. CN202211348286.3, a medical puncture robot is disclosed, including a support bed, the left side wall of the support bed is fixedly connected to a linear motor, the output end of the linear motor is fixedly connected to a sliding block, the upper side wall of the sliding block is fixedly connected to a support plate, the outer side wall of the support plate is rotatably connected to a supporting main arm, and one end of the supporting main arm is rotatably connected to a supporting auxiliary arm; the lower side wall of the rotating motor is fixedly connected to a steering module; the lower end of the steering module is rotatably connected to a connecting sleeve, the lower side wall of the connecting sleeve is fixedly connected to an electric cylinder, and the output end of the electric cylinder is fixedly connected to a puncture needle assembly.

[0004] The above solution still has certain technical defects during use. Since the main support arm is set on the side of the support bed through a linear motor and a sliding block, it is subject to certain limitations during use and it is difficult to perform puncture operations on the right side or both ends. Therefore, we propose a medical puncture robot to solve the above-mentioned problems. Utility Model Content

[0005] In view of the above problems, the utility model provides a medical puncture robot, which has more comprehensive adjustment positions, can cover a wider range of puncture positions, and is smoother and more stable during adjustment.

[0006] The technical solution of the utility model is:

[0007] A medical puncture robot comprises a bed, a serrated groove and a driving block, wherein a U-shaped adjustment groove is provided on the outer side of the top surface of the bed, a serrated groove is fixedly provided on the inner bottom surface of the adjustment groove, a driving block is arranged on the top of the adjustment groove, a multi-section mechanical arm is movably connected to the top of the driving block, a mounting block is movably connected to one side of the end mechanical arm through a rotating shaft, a puncture needle is movably connected to the bottom of the mounting block, a driving gear is movably connected to the inner side of the bottom of the driving block through a connecting shaft and a bearing, a transmission gear is meshedly connected to the top of the driving gear, the bottom of the driving gear is meshedly connected to the inside of the serrated groove, and a connecting shaft end on one side of the transmission gear is fixedly connected to an output shaft end of a driving motor provided inside the driving block.

[0008] In a further technical solution, an imaging component is fixedly embedded on one side of the bottom of the mounting block, a puncture sleeve is fixedly installed on the inner middle end of the mounting block, a connecting sleeve is provided inside the puncture sleeve, the connecting sleeve is fixedly sleeved on the outer periphery of the puncture needle, threaded blocks are provided on both sides of the outside of the connecting sleeve, movable grooves are provided on both sides of the inside of the puncture sleeve, a micro motor is fixedly installed on the inner top wall of the movable groove, a screw is provided at the end of the output shaft of the micro motor, both ends of the screw are movably connected to the inner walls of both ends of the movable groove through bearings, and the threaded block is sleeved on the outer periphery of the screw and spirally connected to it.

[0009] In a further technical solution, limiting sliding grooves are provided on both sides of the interior of the adjusting groove, and the limiting sliding grooves are opened at the middle ends of the inner wall surfaces on both sides of the interior of the adjusting groove.

[0010] In a further technical solution, limiting blocks are fixedly installed on both sides of the bottom of the driving block by welding, and the limiting blocks extend into the interior of the limiting sliding groove and are slidably connected to the inner wall thereof.

[0011] In a further technical solution, the limit block is an L-shaped structure, and a bottom end of the limit block extends to one side of the inside of the limit slot and is provided with a plurality of rollers, and the rollers are in contact with the inner wall of the limit slot.

[0012] In a further technical solution, a lifting platform is provided at the bottom of the bed, and the lifting platform is fixedly installed at the bottom center of the bed.

[0013] The beneficial effects of the utility model are:

[0014] 1. A U-shaped adjustment groove is provided on the outer periphery of the top surface of the bed body, and a sawtooth groove is provided inside the groove. The driving gear at the bottom of the driving block is driven to rotate by the driving motor and the transmission gear, so that the driving gear and the sawtooth groove move relative to each other, thereby achieving the purpose of adjusting the position of the driving block, so that the position of the driving block is adjusted with the mechanical arm and its end structure, so as to facilitate puncture of the patient. Compared with the technical solutions in the above-mentioned comparative documents, the comprehensiveness of the puncture coverage position is greatly improved;

[0015] 2. By opening limit sliding grooves on the inner walls on both sides of the adjustment groove, cooperating with L-shaped limit blocks and rollers, the driving block can be supported and limited, and the rollers can be used to improve the smoothness of the limit blocks and the driving blocks when sliding, avoiding the occurrence of jamming and affecting the stability of the adjustment. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the overall structure of the embodiment of the utility model;

[0017] Figure 2It is a schematic diagram of the structure of the driving block according to an embodiment of the utility model;

[0018] Figure 3 It is a schematic diagram of the cross-sectional structure of the driving block according to the embodiment of the utility model;

[0019] Figure 4 It is a schematic diagram of the structure of the puncture needle described in the embodiment of the utility model.

[0020] Description of reference numerals:

[0021] 1. Bed; 2. Lifting platform; 3. Adjustment slot; 4. Sawtooth slot; 5. Drive block; 6. Mechanical arm; 7. Rotating shaft; 8. Mounting block; 9. Puncture needle; 10. Puncture cannula; 11. Movable slot; 12. Micro motor; 13. Screw; 14. Thread block; 15. Connecting sleeve; 16. Drive gear; 17. Transmission gear; 18. Drive motor; 19. Limit block; 20. Roller; 21. Limit slide slot. DETAILED DESCRIPTION

[0022] The embodiments of the present utility model will be further described below in conjunction with the accompanying drawings.

[0023] Embodiment 1:

[0024] like Figure 1-Figure 4 As shown, a medical puncture robot comprises a bed body 1, a serrated groove 4 and a driving block 5, a U-shaped adjusting groove 3 is provided on the outer side of the top surface of the bed body 1, a serrated groove 4 is fixedly provided on the inner bottom surface of the adjusting groove 3, a driving block 5 is arranged on the top of the adjusting groove 3, a multi-section mechanical arm 6 is movably connected to the top of the driving block 5, a mounting block 8 is movably connected to one side of the end mechanical arm 6 through a rotating shaft 7, a puncture needle 9 is movably connected to the bottom of the mounting block 8, a driving gear 16 is movably connected to the inner side of the bottom of the driving block 5 through a connecting shaft and a bearing, a transmission gear 17 is meshedly connected to the top of the driving gear 16, the bottom of the driving gear 16 is meshedly connected to the inside of the serrated groove 4, and a connecting shaft end of one side of the transmission gear 17 is fixedly connected to an output shaft end of a driving motor 18 arranged inside the driving block 5.

[0025] In a further technical solution, an imaging component is fixedly embedded on one side of the bottom of the mounting block 8, a puncture sleeve 10 is fixedly installed on the inner middle end of the mounting block 8, a connecting sleeve 15 is provided inside the puncture sleeve 10, the connecting sleeve 15 is fixedly sleeved on the outer periphery of the puncture needle 9, threaded blocks 14 are provided on both sides of the outer side of the connecting sleeve 15, movable grooves 11 are opened on both sides of the interior of the puncture sleeve 10, a micro motor 12 is fixedly installed on the inner top wall of the movable groove 11, a screw 13 is provided at the end of the output shaft of the micro motor 12, and both ends of the screw 13 are movably connected to the inner walls of the two ends of the movable groove 11 through bearings, and the threaded block 14 is sleeved on the outer periphery of the screw 13 and spirally connected thereto.

[0026] In a further technical solution, limiting sliding grooves 21 are provided on both sides of the inside of the adjusting groove 3 , and the limiting sliding grooves 21 are opened at the middle ends of the inner wall surfaces on both sides of the inside of the adjusting groove 3 .

[0027] In a further technical solution, the limiting blocks 19 are fixedly installed on both sides of the bottom of the driving block 5 by welding, and the limiting blocks 19 extend into the interior of the limiting sliding groove 21 and are slidably connected to the inner wall thereof.

[0028] In a further technical solution, the limit block 19 is an L-shaped structure, and a plurality of rollers 20 are provided on one side of the bottom end of the limit block 19 extending to the inside of the limit slot 21 , and the rollers 20 are in contact with the inner wall of the limit slot 21 .

[0029] In a further technical solution, a lifting platform 2 is provided at the bottom of the bed body 1 , and the lifting platform 2 is fixedly installed at the bottom center position of the bed body 1 .

[0030] The working principle of the above technical solution is as follows:

[0031] During use, by connecting to an external control device, according to actual needs, the drive motor 18 is started to drive the transmission gear 17 to rotate and transmit power to the drive gear 16. Since the bottom of the drive gear 16 is meshed and connected with the serrated groove 4, when the drive gear 16 rotates, it will form a relative motion device with the serrated groove 4, thereby driving the drive block 5 to slide on the top surface of the adjustment groove 3, so as to achieve the purpose of adjusting the position of the mechanical arm 6, the rotating shaft 7 and the puncture needle 9. Since the adjustment groove 3 is a U-shaped structure, the drive block 5 can cover all positions on the bed 1 in an all-round way, so as to facilitate puncture of the corresponding position on the patient's body according to needs, which greatly improves the comprehensiveness of the equipment adjustment, and drives the screw 13 to rotate through the micro motor 12, thereby driving the threaded block 14 to slide inside the movable groove 11, and cooperate with the connecting sleeve 15 to drive the puncture needle 9 to achieve the purpose of puncture.

[0032] The above-mentioned embodiments only express the specific implementation methods of the utility model, and the description is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the utility model. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the utility model, which all belong to the protection scope of the utility model.

Claims

1. A medical puncture robot, comprising a bed, a sawtooth groove and a drive block, characterized in that: A U-shaped adjustment groove is provided on the outer side of the top surface of the bed, a serrated groove is fixedly provided on the inner bottom surface of the adjustment groove, a driving block is arranged on the top of the adjustment groove, the top of the driving block is movably connected to a plurality of mechanical arms, one side of the end of the mechanical arm is movably connected to a mounting block through a rotating shaft, the bottom of the mounting block is movably connected to a puncture needle, the inner side of the bottom of the driving block is movably connected to a driving gear through a connecting shaft and a bearing, the top of the driving gear is meshedly connected to a transmission gear, the bottom of the driving gear is meshedly connected to the inside of the serrated groove, and the end of a connecting shaft on one side of the transmission gear is fixedly connected to the end of an output shaft of a driving motor provided inside the driving block.

2. A medical puncture robot according to claim 1, characterized in that: An imaging component is fixedly embedded on one side of the bottom of the mounting block, a puncture sleeve is fixedly installed on the middle end of the interior of the mounting block, a connecting sleeve is provided inside the puncture sleeve, the connecting sleeve is fixedly sleeved on the outer periphery of the puncture needle, threaded blocks are provided on both sides of the outside of the connecting sleeve, movable grooves are provided on both sides of the interior of the puncture sleeve, a micro motor is fixedly installed on the inner top wall of the movable groove, a screw is provided at the end of the output shaft of the micro motor, both ends of the screw are movably connected to the inner walls of both ends of the movable groove through bearings, and the threaded block is sleeved on the outer periphery of the screw and spirally connected with it.

3. A medical puncture robot according to claim 1, characterized in that: Limiting sliding grooves are arranged on both sides of the interior of the adjusting groove, and the limiting sliding grooves are opened at the middle ends of the inner wall surfaces on both sides of the interior of the adjusting groove.

4. A medical puncture robot according to claim 1, characterized in that: Limit blocks are fixedly installed on both sides of the bottom of the driving block by welding, and the limit blocks extend into the interior of the limit sliding groove and are slidably connected with the inner wall thereof.

5. A medical puncture robot according to claim 4, characterized in that: The limiting block is an L-shaped structure, and a bottom end of the limiting block extends to one side of the inside of the limiting slide groove and is provided with a plurality of rollers, and the rollers are in contact with the inner wall of the limiting slide groove.

6. The medical puncture robot according to claim 1, characterized in that: A lifting platform is arranged at the bottom of the bed body, and the lifting platform is fixedly installed at the center position of the bottom of the bed body.

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