Robot puncture positioning equipment

Abstract

The utility model discloses robot puncture positioning equipment, and relates to the technical field of medical instruments. The manipulator can move at six degrees of automation; the support frame is connected to the manipulator; the first puncture assembly is provided with a first puncture channel, and the puncture assembly is connected to the side wall of the supporting frame and can rotate relative to the side wall of the supporting frame so as to change the deflection angle of the first puncture channel; the ultrasonic probe assembly is connected to the supporting frame and can rotate relative to the supporting frame, the puncture assembly is located in the middle of one side of the ultrasonic probe assembly, and when the puncture needle passes through a first puncture channel of the puncture assembly to reach a preset length, the ultrasonic probe assembly rotates by a preset angle; therefore, the needle point position of the puncture needle is detected. In the non-coplanar puncture process, the puncture precision is improved, and damage to tissues such as blood vessels is reduced.

Description

Technical Field

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

[0002] Puncture is a common medical procedure used to obtain fluid or tissue samples from the body for diagnosis, monitoring and treatment. Accurately hitting the planned target means that the interventional channel is successfully established, and subsequent treatment methods can be carried out smoothly. Before the puncture operation, the doctor will plan the puncture needle path based on the patient's CT or MRI images. During the puncture operation, the doctor needs to use image guidance equipment to clarify the target position of the puncture. Ultrasound can achieve real-time image guidance without radiation.

[0003] When the puncture needle travels in the same plane as the preoperative imaging scan level, it is a coplanar puncture. The planning of the coplanar puncture needle path, the avoidance of important tissue structures, and the selection of the sampling area are relatively easy to control. Therefore, after using ultrasound or CT to determine the puncture target area, puncture is performed preferentially at the imaging level. However, this level may be blocked by bone structures, chest wall vessels, intrathoracic vessels, or other normal tissue structures, and is limited by the operator's experience and techniques, the influence of the patient's soft tissue deformation (passive), changes in the patient's muscle tension (active), and interference from respiratory movements (active). Factors such as the influence often require non-coplanar puncture technology, that is, after determining the cross-section of the human body where the target is located, select a lateral offset to the cross-section, find a suitable entry point, and plan the needle entry path.

[0004] In coplanar and non-coplanar punctures, doctors can observe the relative relationship between the target area and the puncture needle in real time under the guidance of ultrasound images. However, it is difficult to judge the relationship between the puncture path and the surrounding tissues based on two-dimensional ultrasound images alone, and hand shaking or needle bending can easily cause the puncture needle to exceed the imaging plane, thereby losing the puncture needle, increasing the difficulty of puncture and causing more damage to the patient.

[0005] In order to reduce the risk of hand shaking during puncture, a puncture robot has appeared on the market, which includes an ultrasound probe and a needle guide on one side of the ultrasound probe. The angle of the needle guide is changed by adjusting the rack and the slide rail to reduce the risk of hand shaking during puncture. Although it solves the technical problem of accurate needle insertion, the needle body and needle tip are not visible during non-coplanar puncture, which makes it easy for the puncture needle to disengage and puncture the blood vessel, causing complications.

[0006] Therefore, in the process of non-coplanar puncture, how to improve the puncture accuracy and reduce the damage to blood vessels and other tissues has become a technical problem that needs to be solved urgently. Utility Model Content

[0007] The main purpose of the utility model is to provide a robot puncture positioning device, which aims to improve the puncture accuracy and reduce the damage to blood vessels and other tissues during non-coplanar puncture.

[0008] In order to achieve the above-mentioned purpose, the utility model proposes a robot puncture positioning device, comprising:

[0009] The robot can move in six degrees of automation;

[0010] A support frame connected to the manipulator;

[0011] A first puncture assembly having a first puncture channel, wherein the puncture assembly is connected to the side wall of the support frame and can rotate relative to the side wall of the support frame to change the deflection angle of the first puncture channel; and

[0012] The ultrasonic probe assembly is connected to the support frame and can rotate relative to the support frame. The puncture assembly is located in the middle of one side of the ultrasonic probe assembly. When the puncture needle passes through the first puncture channel of the puncture assembly to reach a predetermined length, the ultrasonic probe assembly rotates a predetermined angle to detect the needle tip position of the puncture needle.

[0013] In one embodiment of the present application, the first puncture assembly comprises:

[0014] A first puncture support seat is fixedly connected to the support frame, the first puncture support seat is provided with a first through hole, and the top of the side wall of the first through hole is provided with two first arc-shaped grooves arranged opposite to each other; and

[0015] A first puncture frame is provided with a first puncture channel, a first rotating part is provided on the first puncture frame, the first rotating part is rotatably connected to the inner wall of the first through hole, a first limiting part is provided on the first puncture frame, the first limiting part is clamped in the first arc-shaped groove and can reciprocate along the length direction of the arc-shaped groove to change the angle of the first puncture frame outlet, and the horizontal height of the first limiting part is greater than the horizontal height of the first rotating part; and

[0016] The locking member is arranged on the puncture frame. When the first limiting portion of the first puncture frame moves to a specified position, the locking member abuts against the first puncture support seat.

[0017] In one embodiment of the present application, the first puncture assembly further includes:

[0018] The first puncture frame driving member has an output shaft connected to the rotating portion of the first puncture frame and is used to drive the first puncture frame to rotate along the rotating portion.

[0019] In one embodiment of the present application, the ultrasound probe assembly includes:

[0020] A probe support seat, rotatably connected to the support frame; and

[0021] The ultrasonic probe is connected to the probe support seat and can rotate with the probe support seat.

[0022] In one embodiment of the present application, the ultrasound probe assembly further includes:

[0023] The ultrasonic probe driving component is connected to the probe supporting seat and is used to drive the probe supporting seat.

[0024] In one embodiment of the present application, a second puncture assembly is also included, and the second puncture assembly includes:

[0025] A second puncture support seat is fixedly connected to the probe support seat, the second puncture support seat is provided with a second through hole, and the top of the side wall of the second through hole is provided with two second arc-shaped grooves arranged opposite to each other; and

[0026] A second puncture frame is provided with a second puncture channel, a second rotating part is provided on the second puncture frame, the second rotating part is rotatably connected to the inner wall of the second through hole, a second limiting part is provided on the second puncture frame, the second limiting part is clamped in the second arc-shaped groove and can reciprocate along the length direction of the second arc-shaped groove to change the angle of the second puncture frame outlet, and the horizontal height of the second limiting part is greater than the horizontal height of the second rotating part; and

[0027] The second locking member is arranged on the second puncture frame. When the limiting portion of the second puncture frame moves to a designated position, the second locking member abuts against the second puncture support seat.

[0028] In one embodiment of the present application, the second puncture frame further includes:

[0029] The second puncture frame driving member has an output shaft connected to the second rotating portion of the second puncture frame, and is used to drive the second puncture frame to rotate along the second rotating portion.

[0030] In one embodiment of the present application, the support frame is provided with a fine-tuning knob electrically connected to the first puncture frame driving member, which is used to drive the first puncture frame driving member to rotate during the puncture process to achieve fine-tuning of the puncture needle.

[0031] By adopting the above technical solution, the manipulator provides six degrees of freedom of movement, so that the system can achieve precise positioning and operation. By rotating the first puncture component, the deflection angle of the puncture channel can be changed, so that the puncture needle can be adjusted for different target areas, so that the puncture needle always enters the lesion at an angle facing the target lesion, thereby improving the puncture accuracy. When the puncture needle reaches a predetermined length through the first puncture channel of the puncture component, the ultrasonic probe assembly rotates a predetermined angle to detect the needle tip position of the puncture needle. It can be realized how to improve the puncture accuracy and avoid damage to blood vessels and other tissues during non-coplanar puncture. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The present invention is described in detail below with reference to specific embodiments and accompanying drawings, wherein:

[0033] Figure 1 This is a schematic diagram of the structure of the first embodiment of the utility model;

[0034] Figure 2 It is an enlarged structural schematic diagram of the puncture assembly and the ultrasonic probe assembly in the second embodiment of the utility model;

[0035] Figure 3 It is a schematic diagram of the process structure of the first embodiment of the utility model;

[0036] 10. Manipulator; 20. Support frame; 30. First puncture assembly; 40. Ultrasonic probe assembly; 31. First puncture support seat; 32. First puncture frame; 33. First puncture frame drive; 41. Ultrasonic probe; 42. Probe support seat; 43. Ultrasonic probe drive; 51. Second puncture support seat; 52. Second puncture frame; 53. Second puncture frame drive. DETAILED DESCRIPTION

[0037] In order to make the purpose, technical solution and advantages of the utility model clearer, the utility model is described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the following specific embodiments are only used to explain the utility model and do not constitute a limitation on the utility model.

[0038] like Figure 1 to Figure 2 As shown, in order to achieve the above purpose, the utility model proposes a robot puncture positioning device, comprising:

[0039] Manipulator 10, capable of six degrees of motion;

[0040] A support frame 20 connected to the manipulator 10;

[0041] A first puncture assembly 30 having a first puncture channel, the puncture assembly being connected to the side wall of the support frame 20 and being rotatable relative to the side wall of the support frame 20 to change the deflection angle of the first puncture channel; and

[0042] The ultrasonic probe assembly 40 is connected to the support frame 20 and can rotate relative to the support frame 20. The puncture assembly is located in the middle of one side of the ultrasonic probe assembly 40. When the puncture needle passes through the first puncture channel of the puncture assembly to reach a predetermined length, the ultrasonic probe assembly 40 rotates a predetermined angle to detect the needle tip position of the puncture needle.

[0043] Specifically, the manipulator 10 is a six-degree-of-freedom motion system, consisting of multiple joints and actuators. Each joint can perform rotational or telescopic motion, so that the manipulator 10 can achieve translation and rotation in three-dimensional space. For ease of operation, the manipulator 10 in this application adopts a zero-resistance manipulator 10.

[0044] The support frame 20 is made of metal material, such as aluminum alloy material, alloy steel material, etc. The support frame 20 made of metal material has the advantages of strong supporting capacity and wear resistance. The support frame 20 and the manipulator 10 are connected in a fixed connection manner, such as welding. The fixed connection manner can improve the connection strength between the support frame 20 and the manipulator 10. Of course, according to the design requirements, the support frame 20 and the manipulator 10 can also be connected in a detachable manner, such as screw connection, bolt connection, etc. The support frame 20 and the manipulator 10 are connected in a detachable manner, which is convenient for the installation and disassembly of the support frame 20 and for subsequent maintenance.

[0045] The first puncture assembly 30 has a first puncture channel. The first puncture assembly 30 is connected to the side wall of the support frame 20 and has a rotatable mechanism. By rotating the first puncture assembly 30, the deflection angle of the puncture channel can be changed, thereby adjusting the entry direction and angle of the puncture needle.

[0046] The ultrasonic probe assembly 40 is connected to the support frame 20 for ultrasonic detection. The ultrasonic probe assembly 40 is generally composed of an ultrasonic sensor, a signal processing circuit and a connection interface. The ultrasonic probe assembly 40 can be rotated relative to the support frame 20 to adapt to different puncture angles and detection requirements.

[0047] In the whole system, the first puncture assembly 30 is located in the middle of one side of the ultrasonic probe assembly 40. When the puncture needle passes through the channel of the first puncture assembly 30 to a predetermined length, the ultrasonic probe assembly 40 will rotate a predetermined angle to detect the needle tip position of the puncture needle. It can be imagined that the outlet of the puncture channel of the first puncture assembly 30 is on the same horizontal plane as the center point of the ultrasonic probe 41.

[0048] The working process is as follows:

[0049] When puncturing the side of the ultrasonic probe, the ultrasonic probe is moved to the top of the lesion by the manipulator 10 to mark the position of the lesion. Since the horizontal distance between the first puncture component and the ultrasonic probe is a known parameter, the distance between the lesion and the ultrasonic probe can be detected. By converting trigonometric functions, the rotation angle of the first puncture component 30 can be obtained, and the puncture depth of the puncture needle can be obtained, which is convenient for the user to perform puncture.

[0050] By adopting the above technical solution, the manipulator 10 provides six degrees of freedom of movement, so that the system can achieve precise positioning and operation. By rotating the first puncture assembly 30, the deflection angle of the puncture channel can be changed, so that the puncture needle can be adjusted for different target areas, so that the puncture needle always enters the lesion at an angle facing the target lesion, thereby improving the puncture accuracy. When the puncture needle reaches a predetermined length through the first puncture channel of the puncture assembly, the ultrasonic probe assembly 40 rotates a predetermined angle to detect the needle tip position of the puncture needle. It can be realized how to improve the puncture accuracy and avoid damage to blood vessels and other tissues during non-coplanar puncture.

[0051] In one embodiment of the present application, the first puncture assembly 30 includes:

[0052] A first puncture support seat 31, fixedly connected to the support frame 20, the first puncture support seat 31 is provided with a first through hole, and the top of the side wall of the first through hole is provided with two first arc-shaped grooves arranged opposite to each other; and

[0053] The first puncture frame 32 is provided with a first puncture channel, the first puncture frame 32 is provided with a first rotating part, the first rotating part is rotatably connected to the inner wall of the first through hole, the first puncture frame 32 is provided with a first limiting part, the first limiting part is clamped in the first arc groove and can reciprocate along the length direction of the arc groove to change the angle of the outlet of the first puncture frame 32, and the horizontal height of the first limiting part is greater than the horizontal height of the first rotating part; and

[0054] The first locking member is disposed on the first puncture frame 32 . When the first limiting portion of the first puncture frame 32 moves to a specified position, the first locking member abuts against the first puncture support seat 31 .

[0055] Specifically, the first puncture support seat 31 is fixedly connected to the support frame 20. The first puncture support seat 31 has a first through hole. The top of the side wall of the first through hole is provided with two first arc grooves arranged opposite to each other.

[0056] The first puncture frame 32 has a first puncture channel. The first puncture frame 32 is provided with a first rotating part thereon, and the first rotating part is connected to the inner side wall of the first through hole. The first puncture frame 32 also includes a first limiting part, which can be inserted into the first arc groove and reciprocate along the length direction of the arc groove to change the angle of the outlet of the first puncture frame 32. The horizontal height of the first limiting part is greater than the horizontal height of the first rotating part.

[0057] The first locking member is mounted on the first puncture frame 32. When the first position-limiting portion of the first puncture frame 32 moves to a designated position, the first locking member contacts the first puncture support seat 31 to achieve position fixing.

[0058] By adopting the above technical solution, the angle of the outlet of the first puncture frame 32 can be changed by the reciprocating movement of the first limiter in the first arc groove. This allows the puncture angle to be adjusted as needed, with a simple structure and easy implementation. The first puncture support seat 31 is fixedly connected to the support frame 20, providing a stable structural support. The first locking member contacts the first puncture support seat 31 and is used to lock the first puncture frame 32 in a specified position. In this way, the system can be easily fixed to ensure stability and reliability during operation.

[0059] In one embodiment of the present application, the first puncture assembly 30 further includes:

[0060] The second puncture frame driving member 33 has an output shaft connected to the rotating portion of the first puncture frame 32, and is used to drive the first puncture frame 32 to rotate along the rotating portion.

[0061] With the above technical solution, the first puncture frame 32 can be automatically controlled by using the second puncture frame driving member 33. The operator can control the puncture direction and angle by controlling the driving member without manually rotating the first puncture frame 32. This provides a more convenient and accurate control method. The driving member can provide more accurate rotation control to ensure the accurate position and angle of the first puncture frame 32 during operation. This can increase the accuracy and consistency of puncture and reduce possible errors and variations.

[0062] In one embodiment of the present application, the ultrasound probe assembly 40 includes:

[0063] A probe support seat 42, rotatably connected to the support frame 20; and

[0064] The ultrasonic probe 41 is connected to the probe support 42 and can rotate along with the probe support 42 .

[0065] Specifically, the probe support base 42 is rotatably connected to the support frame 20. The probe support base 42 provides support and rotation functions, and can fix and control the position and direction of other components.

[0066] The ultrasonic probe 41 is connected to the probe support 42. The ultrasonic probe 41 is a device for ultrasonic imaging, which can transmit and receive ultrasonic signals to obtain images of the internal structure of the human body. The ultrasonic probe 41 can rotate with the rotation of the probe support 42 to change the direction of the ultrasonic wave and achieve imaging from different perspectives.

[0067] The probe support seat 42 is rotatably connected to the support frame 20, providing the functions of fixing and rotating the probe. The support seat can rotate freely on the support frame 20 and maintain a stable position.

[0068] The ultrasonic probe 41 is connected to the probe support 42 and can rotate with the support 42 under the support of the support. This connection mode allows the ultrasonic probe 41 to rotate at different angles and directions to meet different imaging needs and operation requirements.

[0069] By adopting the above technical solution, the ultrasonic probe 41 is driven to rotate by the rotation function of the probe support 42, and the system can realize multi-angle ultrasonic imaging. In this way, more comprehensive and detailed image information can be obtained, which helps doctors or operators to accurately evaluate and diagnose the position of the puncture needle.

[0070] In one embodiment of the present application, the ultrasound probe assembly 40 further includes:

[0071] The ultrasonic probe 41 driving member is connected to the probe supporting seat 42 and is used to drive the probe supporting seat 42 .

[0072] Specifically, by using the ultrasonic probe 41 drive, the probe support 42 can be automatically controlled. The operator can adjust the angle and direction of the probe support 42 by controlling the drive without manual rotation or adjustment. This provides a more convenient, accurate and reliable control method. The ultrasonic probe 41 drive can provide more precise control to ensure the accurate position and angle of the probe support 42 during operation. This can increase the accuracy and consistency of ultrasonic imaging and reduce possible errors and changes.

[0073] In one embodiment of the present application, a second puncture assembly is also included, and the second puncture assembly includes:

[0074] A second puncture support seat 51 is fixedly connected to the probe support seat 42, the second puncture support seat 51 is provided with a second through hole, and the top of the side wall of the second through hole is provided with two second arc grooves arranged oppositely; and

[0075] The second puncture frame 52 is provided with a second puncture channel, the second puncture frame 52 is provided with a second rotating part, the second rotating part is rotatably connected to the inner wall of the second through hole, the second puncture frame 52 is provided with a second limiting part, the second limiting part is clamped in the second arc groove and can reciprocate along the length direction of the second arc groove to change the angle of the outlet of the second puncture frame 52, and the horizontal height of the second limiting part is greater than the horizontal height of the second rotating part; and

[0076] The second locking member is disposed on the second puncture frame 52 . When the limiting portion of the second puncture frame 52 moves to a specified position, the second locking member abuts against the second puncture support seat 51 .

[0077] Specifically, the second puncture support seat 51 is fixedly connected to the probe support seat 42. The second puncture support seat 51 has a second through hole, and the top of the side wall of the second through hole is provided with two second arc grooves arranged opposite to each other.

[0078] The second puncture frame 52 has a second puncture channel. A second rotating part is provided on the second puncture frame 52, and the second rotating part is connected to the inner side wall of the second through hole and can rotate. A second limiting part is also provided on the second puncture frame 52, and the second limiting part can be engaged with the second arc groove and reciprocate along the length direction of the second arc groove to change the angle of the outlet of the second puncture frame 52. The horizontal height of the second limiting part is greater than the horizontal height of the second rotating part.

[0079] The second locking member is mounted on the second puncture frame 52 . When the limiting portion of the second puncture frame 52 moves to a designated position, the second locking member contacts the second puncture support seat 51 .

[0080] The second puncture component is arranged on one side of the support seat of the ultrasonic probe 41, which can facilitate puncture at the head end of the ultrasonic probe 41. This is a coplanar puncture. By arranging a puncture frame on the front or side of the ultrasonic probe 41, the flexibility of the equipment can be improved, the structure is simple, and it is easy to implement.

[0081] By adopting the above technical solution, the design of the second puncture support seat 51 and the second puncture frame 52 enables the system to accurately control the angle of the outlet of the second puncture frame 52. The outlet angle of the puncture frame can be adjusted by the reciprocating motion of the second limiter in the second arc groove. Through the rotation and angle adjustment function of the second puncture frame 52, the system can achieve multi-angle puncture. In this way, it can adapt to different puncture operation requirements and improve the accuracy and success rate of puncture.

[0082] In one embodiment of the present application, the second puncture frame 52 further includes:

[0083] The second puncture frame driving member 53 has an output shaft connected to the second rotating portion of the second puncture frame 52, and is used to drive the second puncture frame 52 to rotate along the second rotating portion.

[0084] With the above technical solution, the second puncture frame driver 53 can be used to realize automatic control of the second puncture frame 52. The operator can adjust the rotation angle of the second puncture frame 52 by controlling the driver without manual rotation or adjustment. This provides a more convenient, accurate and reliable control method. The second puncture frame driver 53 can provide more precise control to ensure the accurate position and angle of the second puncture frame 52 during operation. This can improve the accuracy and consistency of the puncture operation and reduce possible errors and changes.

[0085] In one embodiment of the present application, the support frame 20 is provided with a fine-tuning knob electrically connected to the second puncture frame driving member 33 for driving the second puncture frame driving member 33 to rotate during the puncture process to achieve fine-tuning of the puncture needle.

[0086] Specifically, the presence of the fine-tuning knob allows the operator to make real-time adjustments during the puncture process. According to actual conditions and needs, the position and angle of the puncture needle can be fine-tuned at any time to meet specific operating requirements. This provides greater flexibility and operational performance. The use of the fine-tuning knob simplifies the fine-tuning process and reduces the workload of the operator. It provides an intuitive and convenient control method, making the fine-tuning operation easier and more efficient. The fine-tuning knob can provide fine control capabilities, allowing the operator to accurately control the fine-tuning amplitude and speed of the puncture needle. This helps to avoid excessive or insufficient adjustments and ensures the smoothness and stability of the fine-tuning operation.

[0087] like Figure 3 As shown, the present application also discloses a method for using a robot puncture positioning device, comprising the following steps:

[0088] Obtain the target lesion location, drag the manipulator 10 to place the ultrasound probe 41 assembly 40 above the target lesion;

[0089] Obtain the depth parameter of the lesion and the shortest distance between the exit of the first puncture channel and the ultrasonic probe 41, and calculate the length and angle of the puncture needle reaching the target lesion;

[0090] Adjust the first puncture frame 32 so that the outlet of the first puncture channel faces the target lesion, and perform puncture;

[0091] When the puncture needle travels a preset length, the ultrasonic probe 41 rotates to an angle corresponding to the position. When the needle tip position of the puncture needle is obtained, it indicates that the current puncture path is correct. When the needle tip position of the puncture needle is not obtained, the fine-tuning knob is adjusted to adjust the angle between the outlet of the first puncture channel and the target lesion, and the needle tip position of the puncture needle continues to be obtained to ensure smooth puncture.

[0092] Specifically, image-guided techniques, such as CT scanning, MRI or ultrasound imaging, are used to obtain location information of the target lesion.

[0093] The ultrasound probe assembly 40 is accurately placed above the target lesion by the control of the manipulator 10. The manipulator 10 has multiple joints and degrees of freedom to achieve precise positioning and placement.

[0094] Using ultrasound imaging technology, the depth parameter of the lesion, that is, the distance between the lesion and the skin surface, is obtained from the ultrasound probe 41. At the same time, the shortest distance between the outlet of the first puncture channel and the ultrasound probe 41 (this value is a fixed value) is obtained to calculate the length required for the puncture needle to reach the target lesion.

[0095] According to the acquired depth parameter and the shortest distance, the operator adjusts the position and angle of the first puncture frame 32 so that the outlet of the first puncture channel is accurately aligned with the target lesion.

[0096] The puncture is performed manually to guide the puncture needle to the target lesion. When the puncture needle travels a preset length, the ultrasonic probe 41 rotates to an angle corresponding to the position.

[0097] The needle tip position of the puncture needle is obtained through real-time ultrasound imaging. If the needle tip position of the puncture needle is successfully obtained, it means that the current puncture path is correct.

[0098] If the needle tip position cannot be obtained, fine adjustments may be required to correct the puncture path.

[0099] The operator fine-tunes the position and angle of the first puncture frame 32 through the fine-tuning knob to obtain a more accurate puncture path. The fine-tuning knob is connected to the second puncture frame driving member 33 and realizes the fine-tuning operation through the control signal.

[0100] By adopting the above technical solution, by using the ultrasonic probe 41 and the manipulator 10, the target lesion can be accurately located, and the puncture channel can be accurately placed above the target position. By using ultrasonic imaging technology, the relationship between the position of the puncture needle and the target lesion can be monitored in real time to ensure the accuracy and safety of the puncture path. By fine-tuning the knob, the operator can fine-tune the position and angle of the first puncture frame 32 to obtain a more accurate puncture path and improve the success rate of puncture. This workflow can provide real-time feedback and warnings, and when the puncture path is incorrect, the operator can be prompted in time to reduce the risk of misoperation.

[0101] In one embodiment of the present application, the predetermined length is half of the length of the puncture needle reaching the target lesion.

[0102] By adopting the above technical solution, by setting the predetermined length to half, it is ensured that the puncture needle only enters a part of the target lesion. This can reduce the potential risk of injury and prevent the puncture needle from passing through the lesion or entering nearby important structures. By setting the predetermined length to half of the length of the puncture needle reaching the target lesion, it can be closer to the center of the target lesion. This can improve the accuracy of the puncture and make the puncture needle closer to the core area of ​​the target lesion. When performing the puncture operation, there are certain operational errors and uncertainties. By setting the predetermined length to half of the length of the puncture needle reaching the target lesion, these errors can be corrected to a certain extent and the deviation caused by inaccurate operation can be reduced.

[0103] The above description is only a preferred embodiment of the utility model, and does not limit the patent scope of the utility model. All equivalent structural changes made by using the contents of the utility model specification and drawings under the utility model concept, or directly / indirectly used in other related technical fields are included in the patent protection scope of the utility model.

Claims

1. A robot puncture positioning device, characterized in that: include: A manipulator (10) capable of six degrees of freedom movement; A support frame (20) connected to the manipulator (10); A first puncture assembly (30) having a first puncture channel, the puncture assembly being connected to the side wall of the support frame (20) and being rotatable relative to the side wall of the support frame (20) to change the deflection angle of the first puncture channel; as well as The ultrasonic probe (41) assembly (40) is connected to the support frame (20) and can rotate relative to the support frame (20). The puncture assembly is located in the middle of one side of the ultrasonic probe (41) assembly (40). When the puncture needle passes through the first puncture channel of the puncture assembly to reach a predetermined length, the ultrasonic probe (41) assembly (40) rotates to a predetermined angle to detect the needle tip position of the puncture needle.

2. The robot puncture positioning device according to claim 1, characterized in that: The first puncture assembly (30) comprises: A first puncture support seat (31) is fixedly connected to the support frame (20), the first puncture support seat (31) is provided with a first through hole, and the top of the side wall of the first through hole is provided with two first arc-shaped grooves arranged opposite to each other; and A first puncture frame (32) is provided with a first puncture channel, a first rotating part is provided on the first puncture frame (32), the first rotating part is rotatably connected to the inner wall of the first through hole, a first limiting part is provided on the first puncture frame (32), the first limiting part is clamped in the first arc-shaped groove and can reciprocate along the length direction of the arc-shaped groove to change the angle of the outlet of the first puncture frame (32), and the horizontal height of the first limiting part is greater than the horizontal height of the first rotating part; and The locking member is arranged on the puncture frame, and when the first limiting portion of the first puncture frame (32) moves to a specified position, the locking member abuts against the first puncture support seat (31).

3. The robot puncture positioning device according to claim 2, characterized in that: The first puncture assembly (30) further comprises: The first puncture frame (32) driving member has an output shaft connected to the rotating part of the first puncture frame (32) and is used to drive the first puncture frame (32) to rotate along the rotating part.

4. The robot puncture positioning device according to any one of claims 1 to 3, characterized in that: The ultrasonic probe (41) assembly (40) comprises: A probe support seat (42) rotatably connected to the support frame (20); and The ultrasonic probe (41) is connected to the probe support seat (42) and can rotate along with the probe support seat (42).

5. The robot puncture positioning device according to claim 4, characterized in that: The ultrasonic probe (41) assembly (40) further comprises: The ultrasonic probe (41) driving member is connected to the probe supporting seat (42) and is used to drive the probe supporting seat (42).

6. The robot puncture positioning device according to claim 4, characterized in that: Also included is a second puncture assembly, the second puncture assembly comprising: A second puncture support seat, fixedly connected to the probe support seat (42), the second puncture support seat is provided with a second through hole, and the top of the side wall of the second through hole is provided with two second arc-shaped grooves arranged opposite to each other; and A second puncture frame is provided with a second puncture channel, a second rotating part is provided on the second puncture frame, the second rotating part is rotatably connected to the inner wall of the second through hole, a second limiting part is provided on the second puncture frame, the second limiting part is clamped in the second arc-shaped groove and can reciprocate along the length direction of the second arc-shaped groove to change the angle of the second puncture frame outlet, and the horizontal height of the second limiting part is greater than the horizontal height of the second rotating part; and The second locking member is disposed on the second puncture frame. When the limiting portion of the second puncture frame moves to a specified position, the second locking member abuts against the second puncture support seat.

7. The robot puncture positioning device according to claim 6, characterized in that: The second puncture frame also includes: The second puncture frame driving member has an output shaft connected to the second rotating portion of the second puncture frame, and is used to drive the second puncture frame to rotate along the second rotating portion.

8. The robot puncture positioning device according to claim 3, characterized in that: The support frame (20) is provided with a fine-tuning knob electrically connected to the first puncture frame (32) driving member, which is used to drive the first puncture frame (32) driving member to rotate during the puncture process to achieve fine-tuning of the puncture needle.

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