Puncture surgical robot, puncture device and puncture needle auxiliary fixing mechanism thereof

Abstract

The utility model relates to a puncture surgical robot, a puncture device and a puncture needle auxiliary fixing mechanism of the puncture device. The puncture needle auxiliary fixing mechanism comprises an adapter, the adapter comprises a first clamping part and a second clamping part which are rotationally connected, clamping grooves are formed in the first clamping part and the second clamping part respectively, the two clamping grooves are used for clamping the root of a puncture needle, a locking structure is arranged on one of the first clamping part and the second clamping part, and the locking structure is used for locking the root of the puncture needle. And a matching structure matched with the locking structure is arranged on the other one. During use, the root of the puncture needle can be directly clamped between the two clamping grooves by rotating the first clamping part or the second clamping part, installation is convenient and rapid, the first clamping part and the second clamping part can be reversely rotated during disassembly, and disassembly is also convenient.

Description

Technical Field

[0001] The present application relates to the field of medical device technology, and in particular to a puncture surgical robot, a puncture device and an auxiliary fixing mechanism for a puncture needle thereof. Background Art

[0002] Puncture surgery is a commonly used method for tumor diagnosis and treatment in clinical practice. The use of puncture surgical robots has greatly improved the convenience and success rate of the surgery.

[0003] Among them, the puncture needle is generally fixed on the mechanical arm of the puncture surgical robot through a puncture needle auxiliary fixing mechanism. In the related technology, the puncture needle generally needs to be inserted into the positioning hole of the puncture needle auxiliary fixing mechanism to fix the puncture needle through the puncture needle auxiliary fixing mechanism.

[0004] However, due to the long length of the puncture needle, when inserting the puncture needle, the puncture needle handle needs to be held and the puncture needle needs to be raised at the same time so that the puncture needle can be inserted from the needle tip into the positioning hole. In this process, on the one hand, the distance between the holding position and the needle tip is far, making it difficult to align the needle tip with the positioning hole, and on the other hand, the puncture needle needs to be continuously inserted until the puncture needle auxiliary fixing mechanism is sleeved outside the puncture needle or outside the handle, that is, the puncture needle cannot be quickly installed and removed. Utility Model Content

[0005] Based on this, it is necessary to provide a puncture surgical robot, a puncture device and a puncture needle auxiliary fixing mechanism thereof to address the problem that the puncture needle cannot be quickly installed and removed in the related technology.

[0006] A puncture needle auxiliary fixing mechanism, the puncture needle auxiliary fixing mechanism includes an adapter, the adapter includes a first clamping part and a second clamping part that are rotatably connected, the first clamping part and the second clamping part are respectively provided with clamping grooves, the two clamping grooves are used to clamp the puncture needle, one of the first clamping part and the second clamping part is provided with a locking structure, and the other is provided with a matching structure that matches the locking structure.

[0007] In one embodiment, the first clamping portion and the second clamping portion respectively include a deformation portion capable of elastic deformation, and the clamping groove is opened on the deformation portion. Along the length direction of the puncture needle, the diameter of at least part of the clamping groove is smaller than the diameter of the puncture needle.

[0008] In one embodiment, the adapter has an upper end surface and a lower end surface, and the diameter of the clamping groove gradually decreases along the direction from the upper end surface to the lower end surface, and the minimum diameter of the clamping groove is smaller than the diameter of the puncture needle.

[0009] In one embodiment, a limiting structure is provided between the upper end surface and the lower end surface, and the limiting structure is used to cooperate with a matching structure of the puncture device;

[0010] The upper end surface and / or the lower end surface is provided with a mark, and the mark is used to indicate the insertion direction of the puncture needle.

[0011] In one embodiment, the first clamping part and the second clamping part respectively include a fixing part, the hardness of the fixing part is greater than that of the deformation part, the fixing part is semi-enclosed outside the deformation part, and the fixing part of the first clamping part is rotatably connected to the fixing part of the second clamping part.

[0012] In one embodiment, the first clamping portion has a first clamping plane, the second clamping portion has a second clamping plane, the locking structure is a lock buckle provided on one of the fixing portions, and the matching structure is a lock groove provided on the other fixing portion, and when the first clamping plane is in contact with the second clamping plane, the lock buckle is used to buckle into the lock groove.

[0013] In one of the embodiments, at least one of the fixing parts is provided with a groove.

[0014] In one embodiment, the auxiliary fixing mechanism of the puncture needle includes a needle guide, and the needle guide includes a body and a fastener connected to the body. A guide hole is opened in the body, and the fastener is used to limit the free movement of the needle guide on the puncture needle.

[0015] In one of the embodiments, the fastener is a rubber sleeve, and the rubber sleeve is wrapped around one end of the body along the guide hole to seal one end of the guide hole.

[0016] In one embodiment, the fastener is an elastomer, which is arranged outside one end of the body along the guide hole. A through hole connected to the guide hole is opened in the elastomer, and the diameter of the through hole is smaller than the diameter of the puncture needle.

[0017] In one embodiment, the fastener is a telescopic member, one end of which is connected to the adapter, and the other end of which is connected to the needle guide.

[0018] A puncture device comprises a puncture frame, one end of the puncture needle is fixed on the puncture frame through the needle guide, and the other end of the puncture needle is used to be fixed on the puncture frame through the needle guide.

[0019] In one embodiment, a manual control is provided on the puncture device, and the manual control is triggered to manually clamp or release the auxiliary fixing mechanism of the puncture needle.

[0020] In one embodiment, an instrument confirmation control is provided on the puncture device, and when the instrument confirmation control is triggered, the puncture device drives the puncture needle to puncture.

[0021] A puncture surgical robot comprises a mechanical arm and a puncture device, wherein the puncture device is arranged on the mechanical arm.

[0022] The above-mentioned puncture surgical robot, puncture device and auxiliary fixing mechanism for puncture needle, when the first clamping part or the second clamping part rotates to the side away from each other, the adapter opens, at this time, any position of the puncture needle can be embedded in any clamping groove; when the first clamping part or the second clamping part rotates to the side close to each other so that the two clamping grooves are closed, the locking structure and the matching structure are matched, the adapter is closed, and the puncture needle is fastened between the two clamping grooves. That is, when in use, the puncture needle can be directly clamped between the two clamping grooves by rotating the first clamping part or the second clamping part, which is convenient and fast to install. When disassembling, the first clamping part and the second clamping part can be rotated in the opposite direction, which is also convenient to disassemble. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 Schematic diagram of the structure in which the auxiliary fixing mechanism of the puncture needle is fixed on the puncture needle in one embodiment.

[0024] Figure 2 It is a schematic diagram of the structure when the adapter is opened in one embodiment.

[0025] Figure 3 It is a schematic diagram of the structure when the adapter is closed in one embodiment.

[0026] Figure 4 Schematic diagram of the external and internal structures of a needle guide in one embodiment.

[0027] Figure 5 for Figure 4 Schematic diagram of the external and internal structure of the needle guide fixed on the puncture needle.

[0028] Figure 6 Schematic diagram of the external and internal structures of a needle guide in another embodiment.

[0029] Figure 7 for Figure 6 Schematic diagram of the external and internal structure of the needle guide fixed on the puncture needle.

[0030] Figure 8 It is a schematic diagram of the structure of another embodiment when the needle guide is not fixed to the puncture needle and when it is fixed to the puncture needle.

[0031] Fig. 9 Schematic diagram of the structure of a puncture device in one embodiment.

[0032] Figure numerals: 11, puncture frame; 12, puncture needle; 13, matching structure; 14, instrument confirmation control; 100, adapter; 110, first clamping part; 111, deformation part; 112, fixing part; 1121, groove; 113, first clamping plane; 120, second clamping part; 121, second clamping plane; 130, clamping groove; 140, locking structure; 150, matching structure; 160, limiting structure; 170, upper end surface; 180, lower end surface; 200, needle guide; 210, body; 211, guide hole; 220, fastener; 221, rubber sleeve; 222, elastic body; 223, telescopic member; 240, first limiting ring; 250, second limiting ring. DETAILED DESCRIPTION

[0033] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0034] In the description of the present application, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0035] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, if the term "plurality" appears, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0036] In this application, unless otherwise clearly specified and limited, if the terms "installed", "connected", "connected", "fixed" and the like appear, these terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0037] In the present application, unless otherwise clearly specified and limited, if there is a description that a first feature is "above" or "below" a second feature, etc., or similar descriptions appear, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0038] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. If an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only implementation method.

[0039] See also Figure 1-Figure 3 An auxiliary fixing mechanism for a puncture needle is provided in one embodiment of the present application. The auxiliary fixing mechanism for a puncture needle includes an adapter 100. The adapter 100 includes a first clamping portion 110 and a second clamping portion 120 that are rotatably connected. The first clamping portion 110 and the second clamping portion 120 are respectively provided with clamping grooves 130. The two clamping grooves 130 are used to clamp the puncture needle 12. A locking structure 140 is provided on one of the first clamping portion 110 and the second clamping portion 120, and a matching structure 150 that matches the locking structure 140 is provided on the other.

[0040] In this embodiment, when the first clamping portion 110 or the second clamping portion 120 rotates away from each other, the adapter 100 is opened. Figure 2At this time, any position on the puncture needle 12 can be embedded in any clamping groove 130; when the first clamping portion 110 or the second clamping portion 120 rotates toward the side close to each other, so that the two clamping grooves 130 are closed, the locking structure 140 is matched with the matching structure 150, and the adapter 100 is closed. Figure 3 The puncture needle 12 is fastened between the two clamping grooves 130. That is, when in use, the puncture needle 12 can be directly clamped between the two clamping grooves 130 by rotating the first clamping part 110 or the second clamping part 120, which is convenient and fast to install. When disassembling, the first clamping part 110 and the second clamping part 120 can be rotated in the opposite direction, which is also convenient to disassemble.

[0041] The first clamping portion 110 and the second clamping portion 120 are rotatably connected via a rotating shaft.

[0042] In some embodiments, the first clamping portion 110 and the second clamping portion 120 respectively include a deformation portion 111 capable of elastic deformation, and the clamping groove 130 is opened on the deformation portion 111. Along the length direction of the puncture needle 12, the diameter of at least part of the clamping groove 130 is smaller than the diameter of the puncture needle 12.

[0043] The deformable portion 111 can be elastically deformed, such as soft rubber. Along the length direction of the puncture needle 12, the diameter of at least part of the clamping groove 130 is smaller than the diameter of the puncture needle 12. That is, when the clamping groove 130 clamps the puncture needle 12, since the side wall material of the clamping groove 130 is relatively soft and deformable, the puncture needle 12 can be pressed into the clamping groove 130 whose diameter is smaller than the puncture needle 12, thereby clamping the puncture needle 12 through the clamping groove 130.

[0044] Of course, the deformation portion 111 may also be deformed by an elastic member. For example, the clamping groove 130 is located between two elastic members, and the puncture needle 12 can be clamped by the two elastic members.

[0045] Furthermore, the adapter has an upper end surface 170 and a lower end surface 180, and the diameter of the clamping groove 130 gradually decreases along the direction from the upper end surface 170 to the lower end surface 180, and the minimum diameter of the clamping groove 130 is smaller than the diameter of the puncture needle 12. The direction from the root to the tip of the puncture needle 12 is consistent with the direction from the upper end surface to the lower end surface, and the user can change the use direction of the adapter according to needs during use.

[0046] In this embodiment, the clamping groove 130 is a V-shaped structure, which is used to locate the center of the puncture needle 12. Along the direction from the upper end surface 170 to the lower end surface 180, the diameter of the clamping groove 130 gradually decreases, and the end with a larger diameter of the clamping groove 130 facilitates the insertion of the puncture needle 12, and the end with a smaller diameter is used to clamp and fix the puncture needle 12.

[0047] In addition, the diameter of the clamping groove 130 gradually decreases, which is also convenient for adapting to puncture needles 12 of different diameters, further improving the applicability of the adapter 100.

[0048] In some embodiments, a limiting structure 160 is disposed between the upper end surface 170 and the lower end surface 180, and the limiting structure 160 is used to cooperate with the matching structure 13 of the puncture device. Figure 2 Two protrusions arranged at intervals along the length direction of the puncture needle 12 are respectively arranged outside the first clamping part 110 and outside the second clamping part 120, and a groove is formed between the two protrusions, which is a limiting structure 160. A matching structure 13 is arranged on the puncture frame 11 of the puncture device, and the matching structure 13 is clamped between adjacent limiting structures 160 to clamp the adapter 100. The protrusion on the first clamping part 110 extends outwardly along the radial direction of the first clamping part 110, and the protrusion on the second clamping part 120 extends outwardly along the radial direction of the second clamping part 120.

[0049] Of course, the limiting structure can also be a protrusion arranged on the first clamping part and the second clamping part, and a groove is arranged on the matching structure. The limiting structure cooperates with the matching structure and can be clamped by the matching structure.

[0050] Specifically, the upper end surface 170 and / or the lower end surface 180 are provided with marks, and the marks are used to indicate the insertion direction of the puncture needle 12. For example, upward words, English letters or upward arrows are marked on the upper end surface 170.

[0051] In some embodiments, the first clamping portion 110 and the second clamping portion 120 respectively include a fixing portion 112, the hardness of the fixing portion 112 is greater than that of the deformation portion 111, the fixing portion 112 is semi-surrounded by the deformation portion 111, and the fixing portion 112 of the first clamping portion 110 is rotatably connected to the fixing portion 112 of the second clamping portion 120.

[0052] The fixing part 112 has a greater hardness than the deformation part 111 , for example, the fixing part 112 may be made of hard rubber, metal, or ceramic. The fixing part 112 is used to drive the deformation part 111 to rotate so that the clamping grooves 130 on the two deformation parts 111 clamp the puncture needle 12 .

[0053] Specifically, after the locking structure 140 and the matching structure 150 lock the adapter 100 in a closed state, the deformable portion 111 contacts the puncture needle 12, and the squeezing force of the fixing portion 112 on the deformable portion 111 generates friction between the adapter and the puncture needle, thereby clamping the puncture needle.

[0054] In some embodiments, the first clamping portion 110 has a first clamping plane 113, the second clamping portion 120 has a second clamping plane 121, the locking structure 140 is a lock buckle arranged on one of the fixing portions 112, and the matching structure 150 is a lock groove arranged on the other fixing portion 112. When the first clamping plane 113 is in contact with the second clamping plane 121, the lock buckle is used to buckle into the lock groove.

[0055] In this embodiment, when the first clamping portion 110 or the second clamping portion 120 rotates toward the side close to each other so that the first clamping plane 113 and the second clamping plane 121 are in contact with each other, the notch of one of the two clamping grooves 130 is connected with the notch of the other clamping groove 130. At this time, the two clamping grooves 130 form a closed hole for clamping the puncture needle 12. For example, the clamping groove 130 is a semicircular structure. When the first clamping plane 113 and the second clamping plane 121 are in contact with each other, the two semicircular clamping grooves 130 form a circular hole, and the puncture needle 12 is clamped in the circular hole.

[0056] When the first clamping plane 113 and the second clamping plane 121 are in contact with each other, the lock buckle is used to buckle into the lock groove, thereby directly locking the first clamping portion 110 and the second clamping portion 120. The lock buckle can be various elastic lock buckles in the prior art, which will not be described in detail here.

[0057] In some embodiments, at least one fixing portion 112 is provided with a groove 1121. Two fixing portions 112 are provided with grooves 1121, and the grooves 1121 are used to reduce the rigidity of the fixing portion 112, so that when the lock buckle is buckled into the lock slot, the fixing portion 112 is more easily deformed, so that the lock buckle can be quickly buckled into the lock slot.

[0058] In some embodiments, the puncture needle auxiliary fixing mechanism includes a needle guide 200, which includes a body 210 and a fastener 220 connected to the body 210. A guide hole 211 is opened in the body 210, and the fastener 220 is used to limit the free movement of the needle guide 200 on the puncture needle 12.

[0059] In this embodiment, combined with Figure 4-Figure 8 After the adapter 100 is fixed to the root of the puncture needle 12, the puncture needle 12 is passed through the guide hole 211 in the center of the needle guide 200 and the fastener 220 in sequence, and the body 210 is suspended on the tip of the puncture needle 12 through the fastener 220. After the needle guide 200 is connected to the puncture frame 11 of the puncture device, the puncture frame 11 can guide and position the tip of the puncture needle 12 through the needle guide 200.

[0060] Specifically, the needle guide 200 includes a first limiting ring 240 and a second limiting ring 250, which are respectively arranged outside the body 210, and the first limiting ring 240 and the second limiting ring 250 are arranged at intervals along the axial direction. In actual use, the matching structure 13 of the puncture device is used to clamp between the first limiting ring 240 and the second limiting ring 250 to fix the needle guide 200 on the puncture device. The first limiting ring 240 and / or the second limiting ring 250 are manufactured separately, and after manufacturing, they are sleeved outside the body 210, or are directly formed integrally with the body 210.

[0061] In some embodiments, in combination Figure 4 and Figure 5 The fastener 220 is a rubber sleeve 221 , which is wrapped around one end of the body 210 along the guide hole 211 to block one end of the guide hole 211 .

[0062] In this embodiment, the rubber sleeve 221 can be a soft rubber sleeve that facilitates the puncture of the puncture needle 12. The rubber sleeve 221 and the needle guide 200 are two parts. After cleaning, the rubber sleeve 221 is sleeved on the outside of one end of the body 210. After the adapter 100 and the root of the puncture needle 12 are fixed, the puncture needle 12 is passed through the guide hole 211 in the center of the needle guide 200, and the puncture needle 12 pierces the rubber sleeve 221 and is exposed. Since the rubber sleeve 221 itself is elastic, after the puncture needle 12 pierces the rubber sleeve 221, it is kept together with the puncture needle 12 under the elastic binding force of the rubber sleeve 221, and will not fall under the action of gravity, thereby avoiding the ground contamination of the needle guide 200.

[0063] In some other embodiments, in combination Figure 6 and Figure 7 The fastener 220 is an elastic body 222, which is arranged outside one end of the body 210 along the guide hole 211. A through hole 2221 connected to the guide hole 211 is opened in the elastic body 222, and the diameter of the through hole 2221 is smaller than the diameter of the puncture needle 12.

[0064] In this embodiment, the main body 210 and the elastic body 222 are formed into a part by injection molding. A through hole 2221 is provided in the center of the elastic body 222. The size of the through hole 2221 is smaller than the outer diameter of the puncture needle 12. The size of the through hole 2221 can be set according to different models of the puncture needle 12. After the adapter 100 is fixed to the root of the puncture needle 12, the puncture needle 12 is passed through the guide hole 211 in the center of the needle guide 200 and the through hole 2221 in the center of the elastic body 222 in sequence and then exposed. Since the elastic body 222 itself is elastic, after the puncture needle 12 passes through the elastic body 222, it is kept together with the puncture needle 12 under the elastic binding force of the elastic body 222, and will not fall under the action of gravity, thereby avoiding the ground contamination of the needle guide 200.

[0065] Furthermore, in order to increase the elastic binding force of the elastic body 222 on the puncture needle 12, the height of the elastic body 222 may be increased so as to increase the contact area between the elastic body 222 and the puncture needle 12 and increase the friction between the two.

[0066] The elastomer may be made of at least one of silicone, TPE, TPU and rubber.

[0067] In some other embodiments, combined with Figure 8 The fastener 220 is a telescopic member 223 , one end of the telescopic member 223 is connected to the adapter 100 , and the other end is connected to the needle guide 200 .

[0068] In this embodiment, the telescopic member 223 can be a telescopic rod, an elastic rope, or an elastic band. For example, the telescopic member 223 is an elastic rope. The adapter 100 and the needle guide 200 are connected by an elastic rope, and the elastic rope can be extended or retracted. When in use, the adapter 100 is first fixed to the root of the puncture needle 12. At this time, the needle guide 200 and the adapter 100 are connected by an elastic rope, and the needle guide 200 will not fall. After the adapter 100 is installed, the needle guide 200 is pulled hard along the direction of the puncture needle 12. Under the action of the force, the elastic rope will stretch. At this time, the puncture needle 12 is aligned with the guide hole 211 in the middle of the needle guide 200, and the puncture needle 12 is inserted into the guide hole 211. The needle guide 200 is released, and the elastic rope retracts. Under the tension of the rope, the needle guide 200 and the puncture needle 12 are installed together. After installation, the needle guide 200 is connected to the adapter 100 under the action of the rope, and will not fall due to gravity.

[0069] The adapter 100 and the needle guide 200 are both disposable sterile instruments, and are used together with the puncture needle 12 of the corresponding model during surgery.

[0070] Combined, 1 and Fig. 9 An embodiment of the present application further provides a puncture device, which includes a puncture frame 11, one end of a puncture needle 12 is fixed to the puncture frame 11 through an adapter 100, and the other end of the puncture needle 12 is fixed to the puncture frame 11 through a needle guide 200.

[0071] The root of the puncture needle 12 can be fixed on the puncture frame 11 through the adapter 100 , and the needle portion of the puncture needle 12 can be fixed on the puncture frame 11 through the needle guide 200 .

[0072] In this embodiment, the puncture frame 11 has two matching structures 13, which are detachably connected to the adapter 100 and the needle guide 200, respectively, and are used to fix the adapter 100 and the needle guide 200, respectively. The fixing method of the matching structure 13 includes but is not limited to buckle fixing, clamping fixing, and screw fixing. For example, Fig. 9In the embodiment, the matching structure 13 includes two arc-shaped clamping structures, and the adapter 100 is clamped between the limiting structures 160 by the two arc-shaped structures.

[0073] When in use, the auxiliary fixing mechanism for the puncture needle is first fixed to the puncture needle 12, and then connected to the adapter 100 and the needle guide 200 respectively through the two matching structures 13, so as to fix the root and the tip of the puncture needle 12 respectively, thereby achieving the fixing and guiding effect on the puncture needle 12. After the puncture operation is completed, the auxiliary fixing mechanism for the puncture needle is removed.

[0074] In some embodiments, a manual control is provided on the puncture device, and the manual control is triggered to manually clamp or release the auxiliary fixing mechanism of the puncture needle. The manual control can be used to release the puncture needle in an emergency when the power is off.

[0075] In some embodiments, an instrument confirmation control 14 is provided on the puncture device. When the instrument confirmation control is triggered, the puncture device drives the puncture needle 12 to puncture.

[0076] The manual control and the instrument confirmation control 14 can be any one of a button or a knob.

[0077] An embodiment of the present application further provides a puncture surgical robot, which includes a robotic arm and a puncture device, wherein the puncture device is disposed on the robotic arm.

[0078] In actual use, when the puncture needle is installed on the puncture rack 11 through the puncture needle auxiliary fixing mechanism, the instrument confirmation control can be triggered. When the instrument confirmation control is triggered, the puncture surgery robot controls the mechanical arm to adjust the posture so that the puncture device reaches a suitable posture, thereby realizing automatic puncture surgery.

[0079] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0080] The above embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. A puncture needle auxiliary fixing mechanism, characterized in that: The puncture needle auxiliary fixing mechanism includes an adapter (100), and the adapter (100) includes a first clamping part (110) and a second clamping part (120) which are rotatably connected. The first clamping part (110) and the second clamping part (120) are respectively provided with clamping grooves (130), and the two clamping grooves (130) are used to clamp the puncture needle (12). One of the first clamping part (110) and the second clamping part (120) is provided with a locking structure (140), and the other is provided with a matching structure (150) that matches the locking structure (140).

2. The auxiliary fixing mechanism for the puncture needle according to claim 1, characterized in that: The first clamping portion (110) and the second clamping portion (120) respectively include a deformation portion (111) capable of elastic deformation, and the clamping groove (130) is opened on the deformation portion (111), along the length direction of the puncture needle (12), and the diameter of at least part of the clamping groove (130) is smaller than the diameter of the puncture needle (12).

3. The auxiliary fixing mechanism for the puncture needle according to claim 2, characterized in that: The adapter has an upper end surface (170) and a lower end surface (180), and the diameter of the clamping groove (130) gradually decreases along the direction from the upper end surface (170) to the lower end surface (180), and the minimum diameter of the clamping groove (130) is smaller than the diameter of the puncture needle (12).

4. The auxiliary fixing mechanism for the puncture needle according to claim 3, characterized in that: A limiting structure (160) is provided between the upper end surface (170) and the lower end surface (180), and the limiting structure (160) is used to cooperate with the matching structure (13) of the puncture device; The upper end surface (170) and / or the lower end surface (180) are provided with marks, and the marks are used to indicate the insertion direction of the puncture needle (12).

5. The auxiliary fixing mechanism for the puncture needle according to claim 2, characterized in that: The first clamping portion (110) and the second clamping portion (120) respectively include a fixing portion (112), the hardness of the fixing portion (112) is greater than that of the deformation portion (111), the fixing portion (112) is semi-enclosed outside the deformation portion (111), and the fixing portion (112) of the first clamping portion (110) is rotatably connected to the fixing portion (112) of the second clamping portion (120).

6. The auxiliary fixing mechanism for the puncture needle according to claim 5, characterized in that: The first clamping portion (110) has a first clamping plane (113), the second clamping portion (120) has a second clamping plane (121), the locking structure (140) is a lock buckle arranged on one of the fixing portions (112), and the matching structure (150) is a lock groove arranged on the other fixing portion (112); when the first clamping plane (113) and the second clamping plane (121) are in contact with each other, the lock buckle is used to buckle into the lock groove.

7. The auxiliary fixing mechanism for the puncture needle according to claim 5, characterized in that: At least one of the fixing parts (112) is provided with a groove (1121).

8. The auxiliary fixing mechanism for puncture needle according to any one of claims 1 to 7, characterized in that: The puncture needle auxiliary fixing mechanism comprises a needle guide (200), wherein the needle guide (200) comprises a body (210) and a fastener (220) connected to the body (210), wherein a guide hole (211) is provided in the body (210), and the fastener (220) is used to limit the free movement of the needle guide (200) on the puncture needle (12).

9. The auxiliary fixing mechanism for the puncture needle according to claim 8, characterized in that: The fastener (220) is a rubber sleeve (221), and the rubber sleeve (221) is wrapped around one end of the body (210) along the guide hole (211) to block one end of the guide hole (211).

10. The auxiliary fixing mechanism for the puncture needle according to claim 8, characterized in that: The fastener (220) is an elastic body (222), and the elastic body (222) is arranged outside one end of the main body (210) along the guide hole (211). A through hole connected to the guide hole (211) is opened in the elastic body (222), and the diameter of the through hole is smaller than the diameter of the puncture needle (12).

11. The auxiliary fixing mechanism for the puncture needle according to claim 8, characterized in that: The fastener (220) is a telescopic member (223), one end of the telescopic member (223) is connected to the adapter (100), and the other end is connected to the needle guide (200).

12. A puncture device, characterized in that: The puncture device comprises a puncture frame (11), one end of the puncture needle (12) is used to be fixed to the puncture frame (11) through the adapter (100) described in any one of claims 1 to 7, and the other end of the puncture needle (12) is used to be fixed to the puncture frame (11) through the needle guide (200) described in any one of claims 8 to 11.

13. The puncture device according to claim 12, characterized in that: A manual control is provided on the puncture device, and triggering the manual control is used to manually clamp or release the puncture needle auxiliary fixing mechanism.

14. The puncture device according to claim 12, characterized in that: An instrument confirmation control (14) is provided on the puncture device, and when the instrument confirmation control (14) is triggered, the puncture device drives the puncture needle (12) to puncture.

15. A puncture surgery robot, characterized in that: The puncture surgical robot comprises a robotic arm and the puncture device according to any one of claims 12 to 14, and the puncture device is arranged on the robotic arm.

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