Tail end guide device of puncture robot

Abstract

The utility model provides a tail end guiding device of a puncture robot. The tail end guiding device comprises a supporting arm, a mechanical arm connecting base, an ultrasonic probe, an optical positioning workpiece, a display screen and a clamping jaw, wherein the mechanical arm connecting base and the ultrasonic probe are connected to the two ends of the supporting arm respectively; the clamping jaw comprises a first clamping plate capable of being opened and closed, a second clamping plate, a first clamping piece rotationally connected to the surface of the first clamping plate and a second clamping piece rotationally connected to the surface of the second clamping plate, the rotating axis of the first clamping piece and the rotating axis of the second clamping piece are located on the same straight line, and a first groove and a positioning hole are formed in the surface, facing the second clamping piece, of the first clamping piece; the surface, facing the first clamping piece, of the second clamping piece is provided with a second groove and a positioning column, when the first clamping plate and the second clamping plate are folded, the first groove and the second groove are in butt joint and communicated, a clamping cavity for clamping a puncture needle can be formed, meanwhile, the positioning column is inserted into the positioning hole, the first clamping piece and the second clamping piece can synchronously rotate, and therefore the clamping cavity is driven to rotate; adjustment of puncture guiding is achieved, adjustment operation is easy and convenient, and applicability is high.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a terminal guide device of a puncture robot. Background Art

[0002] Puncture robots are common devices that assist interventional physicians in performing puncture surgeries. For example, Chinese patents CN213156402U and CN211213489U disclose such puncture robots. However, the guide positioning structure of the former is relatively mechanical, and puncture can only be performed according to the positioning guidance of the guide. It cannot be adjusted in real time according to the complex surgical environment. In addition, there is no real-time image display of navigation during the puncture process, and judgment can only be made based on the CT image after the puncture. The actual application effect is not good. Although the latter can adjust the guide positioning structure, the adjusted guide path and posture cannot be simulated in real time through images. It is shown that the adjustment of the guide positioning structure depends solely on the experience of the interventional physician, and the probability of the puncture position deviating from the lesion after adjustment is high; there are also puncture robots that display the puncture position and posture in real time through ultrasonic images. For example, Chinese patent CN116407291A discloses such a puncture robot, but the adjustment of the guide positioning structure of the puncture robot is achieved by the mechanical arm driving the entire terminal guide device to move in space. The adjustment range is relatively large, and it is not suitable for fine adjustment. After adjustment, since the position of the entire terminal guide device has changed, it needs to be re-aligned, and the adjustment operation is not convenient. Utility Model Content

[0003] The purpose of the utility model is to overcome one or more disadvantages of the prior art and to provide a puncture robot terminal guide device with adjustable puncture guide, which is easy to operate and has strong applicability when adjusting the puncture guide.

[0004] To achieve the above-mentioned purpose, the technical solution adopted by the utility model is that the terminal guide device of the puncture robot includes a support arm, a mechanical arm connection seat and an ultrasonic probe respectively connected to the two ends of the support arm, and an optical positioning workpiece, a display screen and a clamping claw arranged on the support arm;

[0005] The clamp is connected to the support arm and is arranged close to the ultrasonic probe, the clamp includes a first clamp, a second clamp, and a clamp arranged between the first clamp and the second clamp, the clamp includes a first clamp rotatably connected to the surface of the first clamp facing the second clamp and a second clamp rotatably connected to the surface of the second clamp facing the first clamp, the rotation axis of the first clamp and the second clamp are located in the same straight line, the surface of the first clamp facing the second clamp is provided with a first groove and a positioning hole, the surface of the second clamp facing the first clamp is provided with a second groove and a positioning column, when the first clamp and the second clamp are closed, the first groove is connected to the second groove to form a clamping cavity for clamping the puncture needle, the positioning column is inserted into the positioning hole, so that the first clamp and the second clamp can rotate synchronously to drive the clamping cavity to rotate, thereby realizing the adjustment of the puncture guide.

[0006] Preferably, a first boss for supporting the rotation of the first clamp is provided on the surface of the first clamp facing the first clamp, a first blind hole matching the first boss is provided on the surface of the first clamp facing the first clamp, and the first boss is inserted in the first blind hole; a second boss for supporting the rotation of the second clamp is provided on the surface of the second clamp facing the second clamp, a second blind hole matching the second boss is provided on the surface of the second clamp facing the second clamp, and the second boss is inserted in the second blind hole.

[0007] Further preferably, a first limiting groove is provided on the surface of the first clip facing the second clip, the first limiting groove is an arc-shaped groove, the center of the first limiting groove falls on a straight line where the rotation axis of the first clip is located, a first limiting column is inserted in the first limiting groove, and the first limiting column is connected to the first clamp; a second limiting groove is provided on the surface of the second clip facing the first clip, the second limiting groove is an arc-shaped groove, the center of the second limiting groove falls on a straight line where the rotation axis of the second clip is located, a second limiting column is inserted in the second limiting groove, and the second limiting column is connected to the second clamp.

[0008] Further preferably, the first limit groove is a countersunk groove, the first limit column is a first bolt threadedly connected to the first clamping plate, the first groove is connected to the first limit groove, and the shortest distance between the opening of the first groove on the groove wall of the first limit groove and the bottom wall of the first limit groove is greater than the height of the screw head of the first bolt; the second limit groove is a countersunk groove, the second limit column is a second bolt threadedly connected to the second clamping plate, the second groove is connected to the second limit groove, and the shortest distance between the opening of the second groove on the groove wall of the second limit groove and the bottom wall of the second limit groove is greater than the height of the screw head of the second bolt.

[0009] Further preferably, the positions of the first limiting groove correspond to those of the second limiting groove, and when the first clamping plate and the second clamping plate are closed, the first limiting groove and the second limiting groove are butted and connected.

[0010] Further preferably, there are two first limiting grooves, which are spaced apart along the extension direction of the first groove; and there are two second limiting grooves, which are spaced apart along the extension direction of the second groove.

[0011] Further preferably, the surface of the first clip facing the first clamp plate is provided with a first limiting rib protruding outward, the first limiting rib is located on the side of the first clamp close to the first blind hole, the surface of the first clamp plate facing the first clip is provided with a first avoidance groove matching the first limiting rib, and when the first clip is in an initial position, the first limiting rib is in contact with the groove wall of the first avoidance groove; the surface of the second clip facing the second clamp plate is provided with a second limiting rib protruding outward, the second limiting rib is located on the side of the second clamp close to the second blind hole, the surface of the second clamp plate facing the second clip is provided with a second avoidance groove matching the second limiting rib, and when the second clip is in the initial position, the second limiting rib is in contact with the groove wall of the second avoidance groove.

[0012] Further preferably, a first return torsion spring is sleeved on the first boss, and the end of the first return torsion spring presses against the first limit rib, and the first return torsion spring has a tendency to drive the first clip to rotate to an initial position; a second return torsion spring is sleeved on the second boss, and the end of the second return torsion spring presses against the second limit rib, and the second return torsion spring has a tendency to drive the first clip to rotate to an initial position.

[0013] Further preferably, a first receiving groove for accommodating the first return torsion spring is provided on the surface of the first clamping plate facing the first clamping piece, the first receiving groove is communicated with the first avoidance groove, one end of the first return torsion spring is pressed against the first limiting rib, and the other end of the first return torsion spring is pressed against the groove wall of the first receiving groove; a second clamping plate is provided on the surface of the second clamping plate facing the second clamping piece with a second receiving groove for accommodating the second return torsion spring, the second receiving groove is communicated with the second avoidance groove, one end of the second return torsion spring is pressed against the second limiting rib, and the other end of the second return torsion spring is pressed against the groove wall of the second receiving groove.

[0014] Further preferably, there are two first limit guards, which are vertically connected, and the vertical connection parts of the two first limit guards form a first beveled boss, and the end of the first return torsion spring is pressed against the beveled side of the first beveled boss; there are two second limit guards, which are vertically connected, and the vertical connection parts of the two second limit guards form a second beveled boss, and the end of the second return torsion spring is pressed against the beveled side of the second beveled boss.

[0015] Preferably, a rotating lever extending outward is vertically connected to the surface of the first clip facing the first clamping plate, and a notch is provided on the side wall of the first clamping plate for accommodating the rotating lever. When the first clip is in an initial position, the rotating lever is located in the notch, and the end of the rotating lever away from the first clip protrudes outward from the first clamping plate.

[0016] Further preferably, the clamp comprises an active optical positioning ball, the active optical positioning ball is connected to the end of the rotating lever away from the first clamp, and the optical positioning workpiece and the active optical positioning ball are located on the same side of the support arm.

[0017] Preferably, a locking bolt is passed through the second clamping plate, and the locking bolt is threadedly connected to the second clamping plate. When the locking bolt is locked, the end of the locking bolt presses against the surface of the second clamp facing the second clamping plate, so that the relative positions of the second clamping plate and the second clamping plate are locked. When the locking bolt is loosened, the end of the locking bolt is disengaged from the surface of the second clamp facing the second clamping plate, and the second clamp can rotate relative to the second clamping plate.

[0018] Further preferably, a locking blind hole is provided on the surface of the second clip facing the second clamping plate, and when the second clip is in an initial position and the locking bolt is locked, the end of the locking bolt is inserted into the locking blind hole.

[0019] Preferably, there are two positioning holes, which are located at two sides of the first groove; and there are two positioning columns, which are located at two sides of the second groove.

[0020] Due to the application of the above technical solution, the utility model has the following advantages compared with the prior art:

[0021] The synchronous rotation of the first clamp and the second clamp can drive the clamping cavity to rotate, so that the puncture needle can rotate relative to the support arm, thereby realizing the adjustment of the puncture guide. During adjustment, the spatial positions of the support arm, the ultrasonic probe and the optical positioning workpiece do not change, and there is no need for realignment. The adjustment operation is simple and convenient. By controlling the synchronous rotation angle of the first clamp and the second clamp, the adjustment amplitude of the puncture guide can be controlled, and it is more suitable for fine adjustment. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a three-dimensional schematic diagram of a preferred embodiment of the utility model.

[0023] Figure 2 , Figure 3 yes Figure 1 The assembly disassembly diagram of the middle clamp is for easy observation. Figure 3 Adjusted the view angle.

[0024] Figure 4 yes Figure 1 Schematic diagram of the left side of the middle clamping jaw, at this time, the first clamping piece and the second clamping piece are in the initial position.

[0025] Figure 5 yes Figure 4 A three-dimensional schematic diagram of .

[0026] Figure 6 yes Figure 1 A left view of the middle clamping jaw, at which the first clamping piece and the second clamping piece are in the use position after being rotated.

[0027] Figure 7 yes Figure 6 A three-dimensional schematic diagram of .

[0028] Wherein: 10. Support arm; 20. Robotic arm connection seat; 30. Ultrasonic probe; 40. Optical positioning workpiece; 41. Bracket; 42. Passive optical positioning ball; 50. Display screen; 60. Clamping claw; 61. First clamping plate; 611. First boss; 612. First avoidance groove; 613. First receiving groove; 614. Notch; 62. Second clamping plate; 621. Second boss; 622. Second avoidance groove; 623. Second receiving groove; 624. Locking bolt; 63. First Clip; 631. First groove; 632. Positioning hole; 633. First blind hole; 634. First limiting groove; 635. First limiting rib; 636. First beveled boss; 637. Rotating lever; 64. Second clip; 641. Second groove; 642. Positioning column; 643. Second blind hole; 644. Second limiting groove; 645. Second limiting rib; 646. Second beveled boss; 647. Locking blind hole; 65. Clamping cavity; 66. Active optical positioning ball. DETAILED DESCRIPTION

[0029] The preferred embodiments of the present invention are described in detail below in conjunction with the accompanying drawings so that the advantages and features of the present invention can be more easily understood by those skilled in the art.

[0030] like Figures 1 to 7As shown, the puncture robot terminal guide device provided by the utility model includes a support arm 10, a mechanical arm connecting seat 20, an ultrasonic probe 30, an optical positioning workpiece 40, a display screen 50 and a clamp 60, wherein the mechanical arm connecting seat 20 is connected to one end of the support arm 10, and the mechanical arm connecting seat 20 is used to connect the mechanical arm terminal flange, so that the mechanical arm and the support arm 10 form a rigid connection, and when the mechanical arm drives the support arm 10 to move, the positioning accuracy can be ensured; the ultrasonic probe 30 is arranged at the other end of the support arm 10 and is located on the opposite side of the mechanical arm connecting seat 20, and the ultrasonic probe 30 is used to observe the real-time image of the patient's lesion position, and monitor in real time the position of the lesion through the puncture robot terminal guide device. The real-time position information of the puncture needle of the device in the patient's body is obtained, and real-time images are provided to the interventional physician, so as to perform real-time navigation and positioning for the puncture; the optical positioning workpiece 40 includes a bracket 41 connected to the side wall of the support arm 10, and a passive optical positioning ball 42 arranged at the end of the bracket 41. There are four passive optical positioning balls 42, and the structure formed by the center connection line of the four passive optical positioning balls 42 is special-shaped, and the distance between any two passive optical positioning balls 42 is greater than 45mm, so as to ensure that the NDI optical tracking and positioning system can identify the optical positioning workpiece 40, thereby determining the position and posture of the entire puncture robot terminal guide device; the display screen 50 is connected to the support arm 10, and the display screen 50 is used for ultra-high-definition positioning. The real-time image of the ultrasonic probe 30 (including the puncture needle) and the guide path of the puncture needle displayed on the real-time image allow the interventional physician to know in advance the situation along the way through the patient's body when puncturing through this guide path, ensuring that the needle is in place; the clamp 60 is connected to the mechanical arm 10 and is arranged close to the ultrasonic probe 30, the clamp 60 includes a first clamp 61 and a second clamp 62 that can be opened and closed, and a clamp arranged between the first clamp 61 and the second clamp 62, the clamp includes a first clamp 63 rotatably connected to the surface of the first clamp 61 facing the second clamp 62 and a second clamp 64 rotatably connected to the surface of the second clamp 62 facing the first clamp 61, the first clamp 63 and the second clamp 64 are rotatably connected to the surface of the second clamp 62 facing the first clamp 61, and the rotation of the first clamp 63 and the second clamp 64 The moving axis center lines are located in the same straight line, and the surface of the first clamp 63 facing the second clamp 64 is provided with a first groove 631 and a positioning hole 632, and the surface of the second clamp 64 facing the first clamp 63 is provided with a second groove 641 and a positioning column 642, the second groove 641 is arranged corresponding to the first groove 631, and the positioning column 642 is arranged corresponding to the positioning hole 632. When the first clamp 61 and the second clamp 62 are closed, the first groove 631 and the second groove 641 are connected and connected to form a clamping cavity 65 for clamping the puncture needle, and the positioning column 632 is inserted into the positioning hole 642, so that the first clamp 63 and the second clamp 64 can rotate synchronously to drive the clamping cavity 65 to rotate, thereby realizing the adjustment of the puncture guide.

[0031] The advantage of such a setting is that the synchronous rotation of the first clamp and the second clamp can drive the clamping cavity to rotate, so that the puncture needle can rotate relative to the support arm, thereby realizing the adjustment of the puncture guide. During adjustment, the spatial positions of the support arm, the ultrasonic probe and the optical positioning workpiece do not change, and there is no need to realign. The adjustment operation is simple and convenient. By controlling the angle of the synchronous rotation of the first clamp and the second clamp, the amplitude of the puncture guide adjustment can be controlled, and it is more suitable for fine adjustment.

[0032] In this embodiment, a first boss 611 for supporting the rotation of the first clamp 63 is provided on the surface of the first clamp 61 facing the first clamp 63, and a first blind hole 633 matching the first boss 611 is provided on the surface of the first clamp 63 facing the first clamp 61. The first boss 611 is inserted in the first blind hole 633, so that the first clamp 63 can rotate relative to the first clamp 61; a second boss 621 for supporting the rotation of the second clamp 64 is provided on the surface of the second clamp 62 facing the second clamp 64, and a second blind hole 641 matching the second boss 621 is provided on the surface of the second clamp 64 facing the second clamp 62. The second boss 621 is inserted in the second blind hole 641, so that the second clamp 64 can rotate relative to the second clamp 62.

[0033] In order to prevent the first clip 63 from separating from the first clamping plate 61 and to limit the maximum rotation angle of the first clip 63 when rotating, in this embodiment, a first limiting groove 634 is provided on the surface of the first clip 63 facing the second clip 64. The first limiting groove 634 is an arc-shaped groove. The center of the first limiting groove 634 falls on the straight line where the rotation axis of the first clip 63 is located. A first limiting column is inserted in the first limiting groove 634. The first limiting column is connected to the first clamping plate 61. Specifically, the first limiting column is a first bolt (not shown in the figure) threadedly connected to the first clamping plate 61. In order to prevent the screw head of the first bolt from protruding from the first clamp 63 toward the second clamp 64 surface, further, the first limiting groove 634 is a countersunk groove. At the same time, in order to increase the rotation angle of the first clamp 63 as much as possible, in the present embodiment, the first groove 631 is connected with the first limiting groove 634. In order to avoid the screw head of the first bolt extending into the clamping cavity 65 and interfering with the puncture needle when the first clamp 63 rotates, further, the shortest distance between the opening of the first groove 631 on the groove wall of the first limiting groove 634 and the bottom wall of the first limiting groove 634 is greater than the screw head height of the first bolt. It should be noted that in order to ensure that the first clamp 63 can rotate, there is a gap between the screw head of the first bolt and the bottom wall of the first limiting groove 634.

[0034] Similarly, in order to prevent the second clip 64 from separating from the second clamping plate 62 and to limit the maximum rotation angle of the second clip 64 when rotating, in the present embodiment, a second limiting groove 644 is provided on the surface of the second clip 64 facing the first clip 63, and the second limiting groove 644 is an arc-shaped groove, and the center of the second limiting groove 644 falls on the straight line where the rotation axis of the second clip 64 is located, and a second limiting column is inserted in the second limiting groove 644, and the second limiting column is connected to the second clamping plate 62. Specifically, the second limiting column is a second bolt (not shown in the figure) threadedly connected to the second clamping plate 62. In order to prevent the screw head of the second bolt from protruding from the second clip 64 toward the first clamp The surface of 63, further, the second limiting groove 644 is a countersunk groove. At the same time, in order to increase the rotation angle of the second clamp 64 as much as possible, in the present embodiment, the second groove 641 is connected with the second limiting groove 644. In order to avoid the screw head of the second bolt extending into the clamping cavity 65 and interfering with the puncture needle when the second clamp 64 rotates, further, the shortest distance between the opening of the second groove 641 on the groove wall of the second limiting groove 644 and the bottom wall of the second limiting groove 644 is greater than the screw head height of the second bolt. It should be noted that, in order to ensure that the second clamp 64 can rotate, there is a gap between the screw head of the second bolt and the bottom wall of the second limiting groove 644.

[0035] In this embodiment, the positions of the first limiting groove 634 and the second limiting groove 644 correspond. When the first clamp plate 61 and the second clamp plate 62 are closed, the first limiting groove 634 and the second limiting groove 644 are connected to each other. To ensure that the maximum rotation angles of the first clamp plate 63 and the second clamp plate 64 are the same, the positions of the first bolt and the second bolt are also set accordingly.

[0036] In order to enhance the anti-slip effect of the first clip 63 and the second clip 64, in the present embodiment, there are two first limiting grooves 634, which are spaced apart along the extension direction of the first groove 631 and are arranged close to the two end portions of the first groove 631; there are two second limiting grooves 644, which are spaced apart along the extension direction of the second groove 641 and are arranged close to the two end portions of the second groove 641.

[0037] In order to facilitate the reset of the first clip 63 and the second clip 64 after rotation so that they have the same initial position, in this embodiment, the surface of the first clip 63 facing the first clamping plate 61 is provided with a first limiting rib 635 protruding outward, the first limiting rib 635 is located on the side of the first clip 63 close to the first blind hole 633, there are two first limiting ribs 635, the two first limiting ribs 635 are vertically connected, the vertical connection part of the two first limiting ribs 635 forms a first beveled boss 636, and the surface of the first clamping plate 61 facing the first clip 63 is provided with a first limiting rib protruding outward. The first avoidance groove 612 that matches the edge 635 is formed. When the first clip 63 is in the initial position, the first limiting retaining edge 635 fits with the groove wall of the first avoidance groove 612. A first return torsion spring (not shown in the figure) is sleeved on the first protruding column 611. A first accommodating groove 613 for accommodating the first return torsion spring is provided on the surface of the first clamping plate 61 facing the first clip 63. The first accommodating groove 613 is connected with the first avoidance groove 612. One end of the first return torsion spring is pressed against the hypotenuse of the first hypotenuse boss 636, and the other end is pressed against the groove wall of the first accommodating groove 613. The first return torsion spring The second clamping plate 62 has a tendency to drive the first clamping piece 63 to rotate to the initial position; the surface of the second clamping piece 64 facing the second clamping plate 62 is provided with a second limiting rib 645 protruding outward, and the second limiting rib 645 is located on the side of the second clamping piece 64 close to the second blind hole 643. There are two second limiting ribs 645, and the two second limiting ribs 645 are vertically connected. The vertical connection part of the two second limiting ribs 645 forms a second beveled boss 646. The surface of the second clamping plate 62 facing the second clamping piece 64 is provided with a second avoidance groove 622 matching the second limiting rib 645. When the sheet 64 is in the initial position, the second limiting edge 645 fits against the groove wall of the second avoidance groove 622, and a second return torsion spring (not shown in the figure) is sleeved on the second protrusion 621. The surface of the second clamping plate 62 facing the second clamping sheet 64 is provided with a second accommodating groove 623 for accommodating the second return torsion spring. The second accommodating groove 623 is connected with the second avoidance groove 622. One end of the second return torsion spring is pressed against the hypotenuse of the second hypotenuse boss 646, and the other end is pressed against the groove wall of the second accommodating groove 623. The second return torsion spring has a tendency to drive the second clamping sheet 64 to rotate to the initial position.

[0038] To facilitate the rotation of the first clamp 63, in the present embodiment, a rotating lever 637 extending outward is vertically connected to the surface of the first clamp 63 facing the first clamp plate 61, and a notch 614 is provided on the side wall of the first clamp plate 61 for circumventing the rotating lever 637. When the first clamp 63 is in the initial position, the rotating lever 637 is located in the notch 614, and the end of the rotating lever 637 away from the first clamp 614 protrudes outward from the first clamp plate 61.

[0039] Furthermore, the clamp also includes an active optical positioning ball 66 , which is connected to the end of the rotating lever 637 away from the first clamp 63 , and the optical positioning workpiece 40 and the active optical positioning ball 66 are located on the same side of the support arm 10 .

[0040] The advantage of this setting is that the NDI optical tracking and positioning system can calculate and determine the current position and posture of the terminal guide device of the puncture robot by identifying the position of the active optical positioning ball 66 and the position information of the optical positioning workpiece 40, thereby displaying the guide path of the puncture needle in real time on the display screen 50, facilitating the operation of the interventional physician.

[0041] In order to conveniently lock the first clip 63 and the second clip 64 at a suitable angle, in the present embodiment, a locking bolt 624 is passed through the second clamp plate 62, and the locking bolt 624 is threadedly connected to the second clamp plate 62. When the locking bolt 624 is locked, the end of the locking bolt 624 presses against the surface of the second clamp plate 64 facing the second clamp plate 62, so that the relative position of the second clamp plate 64 and the second clamp plate 62 is locked. When the locking bolt 624 is loosened, the end of the locking bolt 624 is disengaged from the surface of the second clamp plate 64 facing the second clamp plate 62, and the second clamp plate 64 can rotate relative to the second clamp plate 62.

[0042] To conveniently lock the second clip 64 in the initial position, a locking blind hole 647 is further provided on the surface of the second clip 64 facing the second clamp plate 62. When the second clip 64 is in the initial position and the locking bolt 624 is locked, the end of the locking bolt 624 is inserted into the locking blind hole 647.

[0043] To improve the synchronization effect between the first clamp 63 and the second clamp 64 , further, there are two positioning holes 632 located on both sides of the first groove 631 , and there are two positioning posts 642 located on both sides of the second groove 641 .

[0044] Due to the application of the above technical solution, the terminal guide device of the puncture robot has two states: a fixed puncture guide and an adjustable puncture guide. The puncture guide can be switched between the fixed puncture guide and the adjustable puncture guide by simply locking or loosening the locking bolt. The interventional physician can make adjustments according to actual conditions and his own experience, and can choose to switch to the fixed puncture guide state or the adjustable puncture guide state after the adjustment. After the puncture is completed, the locking bolt can be loosened for resetting, which does not affect the subsequent use of the terminal guide device of the puncture robot. At the same time, the puncture guide path of the terminal guide device of the puncture robot can be displayed on the patient's digital human body in real time, so that the interventional physician can clearly understand whether the puncture performed by the terminal guide device of the puncture robot has punctured the target lesion, and whether the puncture will encounter bones and important organs along the way, which solves the problem of blind puncture by the interventional physician, improves the accuracy and quality of puncture, shortens the operation time, can reduce the secondary harm of the operation to the patient, reduces the difficulty and risk of interventional surgery, and reduces the dependence of the operation on the experience and ability of the interventional physician.

[0045] The above embodiments are only for illustrating the technical concept and features of the utility model, and their purpose is to enable people familiar with the technology to understand the content of the utility model and implement it accordingly, and they cannot be used to limit the protection scope of the utility model. Any equivalent changes or modifications made according to the spirit of the utility model should be included in the protection scope of the utility model.

Claims

1. A puncture robot end guide device, comprising a support arm, a mechanical arm connection seat and an ultrasonic probe respectively connected to both ends of the support arm, and an optical positioning workpiece, a display screen and a clamping claw arranged on the support arm; Features: The clamp is connected to the support arm and is arranged close to the ultrasonic probe, the clamp includes a first clamp, a second clamp, and a clamp arranged between the first clamp and the second clamp, the clamp includes a first clamp rotatably connected to the surface of the first clamp facing the second clamp and a second clamp rotatably connected to the surface of the second clamp facing the first clamp, the rotation axis of the first clamp and the second clamp are located in the same straight line, the surface of the first clamp facing the second clamp is provided with a first groove and a positioning hole, the surface of the second clamp facing the first clamp is provided with a second groove and a positioning column, when the first clamp and the second clamp are closed, the first groove is connected to the second groove to form a clamping cavity for clamping the puncture needle, the positioning column is inserted into the positioning hole, so that the first clamp and the second clamp can rotate synchronously to drive the clamping cavity to rotate, thereby realizing the adjustment of the puncture guide.

2. The puncture robot end guide device according to claim 1, characterized in that: The surface of the first clamp facing the first clamp is provided with a first boss for supporting the rotation of the first clamp, the surface of the first clamp facing the first clamp is provided with a first blind hole matching the first boss, and the first boss is inserted into the first blind hole; the surface of the second clamp facing the second clamp is provided with a second boss for supporting the rotation of the second clamp, the surface of the second clamp facing the second clamp is provided with a second blind hole matching the second boss, and the second boss is inserted into the second blind hole.

3. The puncture robot end guide device according to claim 2, characterized in that: A first limiting groove is provided on the surface of the first clip facing the second clip, the first limiting groove is an arc-shaped groove, the center of the first limiting groove falls on a straight line where the rotation axis of the first clip is located, a first limiting column is inserted in the first limiting groove, and the first limiting column is connected to the first clamp; a second limiting groove is provided on the surface of the second clip facing the first clip, the second limiting groove is an arc-shaped groove, the center of the second limiting groove falls on a straight line where the rotation axis of the second clip is located, a second limiting column is inserted in the second limiting groove, and the second limiting column is connected to the second clamp.

4. The puncture robot end guide device according to claim 3, characterized in that: The first limiting groove is a countersunk groove, the first limiting column is a first bolt threadedly connected to the first clamping plate, the first groove is connected to the first limiting groove, and the shortest distance between the opening of the first groove on the groove wall of the first limiting groove and the bottom wall of the first limiting groove is greater than the height of the screw head of the first bolt; the second limiting groove is a countersunk groove, the second limiting column is a second bolt threadedly connected to the second clamping plate, the second groove is connected to the second limiting groove, and the shortest distance between the opening of the second groove on the groove wall of the second limiting groove and the bottom wall of the second limiting groove is greater than the height of the screw head of the second bolt.

5. The puncture robot end guide device according to claim 3, characterized in that: The positions of the first limiting groove correspond to those of the second limiting groove. When the first clamping plate and the second clamping plate are closed, the first limiting groove and the second limiting groove are butted and connected.

6. The puncture robot end guide device according to claim 3, characterized in that: There are two first limiting grooves, which are spaced apart along the extension direction of the first groove; there are two second limiting grooves, which are spaced apart along the extension direction of the second groove.

7. The puncture robot end guide device according to claim 2, characterized in that: A first limiting rib protruding outward is provided on the surface of the first clip facing the first clamping plate, and the first limiting rib is located on the side of the first clip close to the first blind hole; a first avoidance groove matching the first limiting rib is provided on the surface of the first clamping plate facing the first clamping plate, and when the first clamping plate is in an initial position, the first limiting rib is in contact with the groove wall of the first avoidance groove; a second limiting rib protruding outward is provided on the surface of the second clip facing the second clamping plate, and the second limiting rib is located on the side of the second clamp close to the second blind hole; a second avoidance groove matching the second limiting rib is provided on the surface of the second clamping plate facing the second clamping plate, and when the second clamp is in an initial position, the second limiting rib is in contact with the groove wall of the second avoidance groove.

8. The puncture robot end guide device according to claim 7, characterized in that: A first return torsion spring is sleeved on the first boss, and the end of the first return torsion spring presses against the first limit rib, and the first return torsion spring has a tendency to drive the first clip to rotate to an initial position; a second return torsion spring is sleeved on the second boss, and the end of the second return torsion spring presses against the second limit rib, and the second return torsion spring has a tendency to drive the first clip to rotate to an initial position.

9. The puncture robot end guide device according to claim 8, characterized in that: A first receiving groove for accommodating the first return torsion spring is provided on the surface of the first clamping plate facing the first clamping piece, the first receiving groove is communicated with the first avoidance groove, one end of the first return torsion spring is pressed against the first limiting rib, and the other end of the first return torsion spring is pressed against the groove wall of the first receiving groove; a second receiving groove for accommodating the second return torsion spring is provided on the surface of the second clamping plate facing the second clamping piece, the second receiving groove is communicated with the second avoidance groove, one end of the second return torsion spring is pressed against the second limiting rib, and the other end of the second return torsion spring is pressed against the groove wall of the second receiving groove.

10. The puncture robot end guide device according to claim 8, characterized in that: There are two first limit guards, which are vertically connected. The vertical connection parts of the two first limit guards form a first beveled boss, and the end of the first return torsion spring is pressed against the beveled side of the first beveled boss; there are two second limit guards, which are vertically connected. The vertical connection parts of the two second limit guards form a second beveled boss, and the end of the second return torsion spring is pressed against the beveled side of the second beveled boss.

11. The puncture robot end guide device according to claim 1, characterized in that: A rotating lever extending outward is vertically connected to the surface of the first clip facing the first clamp plate, and a notch is provided on the side wall of the first clamp plate for accommodating the rotating lever. When the first clip is in an initial position, the rotating lever is located in the notch, and the end of the rotating lever away from the first clip protrudes outward from the first clamp plate.

12. The puncture robot end guide device according to claim 11, characterized in that: The clamping jaw comprises an active optical positioning ball, which is connected to the end of the rotating lever away from the first clamping piece, and the optical positioning workpiece and the active optical positioning ball are located on the same side of the supporting arm.

13. The puncture robot end guide device according to claim 1, characterized in that: A locking bolt is passed through the second clamping plate, and the locking bolt is threadedly connected to the second clamping plate. When the locking bolt is locked, the end of the locking bolt presses against the surface of the second clamp facing the second clamping plate, so that the relative positions of the second clamping plate and the second clamping plate are locked. When the locking bolt is loosened, the end of the locking bolt is disengaged from the surface of the second clamp facing the second clamping plate, and the second clamp can rotate relative to the second clamping plate.

14. The puncture robot end guide device according to claim 13, characterized in that: A locking blind hole is provided on the surface of the second clamping piece facing the second clamping plate. When the second clamping piece is in the initial position and the locking bolt is locked, the end of the locking bolt is inserted into the locking blind hole.

15. The puncture robot end guide device according to claim 1, characterized in that: There are two positioning holes, which are located at two sides of the first groove; there are two positioning posts, which are located at two sides of the second groove.

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