Angle adjusting mechanism of puncture robot system and puncture robot system

Abstract

The utility model discloses an angle adjusting mechanism of a puncture robot system, which comprises a moving part, the moving part comprises a connecting rod group and an output connecting rod, the connecting rod group can be driven by a driving device to move, and the output connecting rod is connected with the connecting rod group and can be driven by the connecting rod group to move. One end of the output connecting rod is connected with a tail end executing device through a first connecting piece; the supporting assembly is arranged below the output connecting rod and is provided with a structure for supporting the output connecting rod and guiding the output connecting rod to move; the fixing part is arranged below the supporting assembly and is connected with the tail end executing device through a second connecting piece; when angle adjustment is carried out, the connecting rod set of the moving part is driven by the driving device to move, so that the position of the end, connected with the tail end execution device, of the output connecting rod is changed relative to the position of the end, connected with the tail end execution device, of the fixed part. And the angle adjustment of the tail end executing device is realized.

Description

Technical Field

[0001] The utility model relates to the technical field of surgical instruments, in particular to a puncture robot system and an angle adjustment mechanism thereof. Background Art

[0002] Puncture needles are widely used in modern minimally invasive surgery. Their uses mainly include sampling of tracheal tissue (involving biopsy puncture needles), injection therapy (involving injection puncture needles) and drainage (involving drainage puncture needles). Safely and accurately guiding the tip of the puncture needle to the target area has always been one of the surgeon's focuses.

[0003] In recent years, many medical devices for planning and guiding puncture needles have been developed. Some of them are manually adjusted to the desired angle and position using scales, indicators, etc., some are automatic guided devices that use CT images for automatic planning and guidance and are manually performed by the operator, and some are devices that combine automatic planning and inserting the puncture needle toward the target.

[0004] Currently, doctors generally perform punctures manually under the guidance of ultrasound, MRI or CT images. This causes doctors to be exposed to a certain dose of radiation during the puncture process. At the same time, the puncture success rate and puncture accuracy also place extremely high demands on the doctor's skills, which to a certain extent limits the clinical use of related technologies. The percutaneous puncture robot system that has emerged in recent years can effectively solve the problem of puncture positioning. In the puncture robot system, the automatic guidance of the puncture needle not only requires moving it to the desired position, but also often requires appropriate adjustment of the angle to avoid key blood vessels or bones, etc., and accurately adjusting the angle while having good rigidity and retention is one of the important indicators that the automatic guidance mechanism needs to achieve. Utility Model Content

[0005] The utility model provides an angle adjustment mechanism of a puncture robot system and a puncture robot system, which can accurately adjust the angle while having good rigidity and holding force.

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

[0007] An angle adjustment mechanism of a puncture robot system, comprising:

[0008] A moving part, the moving part includes a connecting rod group and an output connecting rod, wherein the connecting rod group can be driven to move by a driving device, the output connecting rod is connected to the connecting rod group and can be driven to move by the connecting rod group, and one end of the output connecting rod is connected to an end effector through a first connecting member;

[0009] A support assembly, the support assembly is arranged below the output connecting rod and is provided with a structure for supporting and guiding the movement of the output connecting rod;

[0010] A fixing part, which is disposed below the supporting assembly and connected to the end effector through a second connecting member;

[0011] Among them, when performing angle adjustment, the connecting rod group of the moving part is driven by the driving device to move, so that the position of one end of the output connecting rod connected to the end effector changes relative to the position of one end of the fixed part connected to the end effector, thereby realizing the angle adjustment of the end effector.

[0012] In a preferred embodiment, the connecting rod group includes two connecting rod assemblies, the first ends of the two connecting rod assemblies are coaxial and connected to the output connecting rod, and the second ends of the two connecting rod assemblies are directly or indirectly connected to one of the driving devices.

[0013] In a preferred embodiment, the support assembly is a guide rail slider support assembly.

[0014] In a further embodiment, the guide rail slider support assembly includes a guide rail slider adapter plate, and the guide rail slider adapter plate is provided with a structure for supporting and guiding the output connecting rod. The structure for supporting and guiding the output connecting rod includes two transverse vertical guide rail slider groups respectively arranged at both ends of the guide rail slider adapter plate, and a transverse horizontal guide rail slider group arranged on the guide rail slider adapter plate and located between the two transverse vertical guide rail slider groups. Correspondingly, the output connecting rod is also provided with a structure that cooperates with the two transverse vertical guide rail slider groups and the transverse horizontal guide rail slider group.

[0015] In a specific embodiment, the transverse vertical guide rail slider group includes a transverse vertical guide rail and a slider mounted on the transverse vertical guide rail, the transverse horizontal guide rail slider group includes a transverse horizontal guide rail and a slider mounted on the transverse horizontal guide rail, and the structure of the output connecting rod that cooperates with the two transverse vertical guide rail slider groups and the transverse horizontal guide rail slider group is a stepped groove.

[0016] In one embodiment, the guide rail slider support assembly further includes two slider adapter plates, each slider of the transverse vertical guide rail slider group is respectively connected to a slider adapter plate, and the slider adapter plate is connected to the output connecting rod.

[0017] In one embodiment, in the guide rail slider support assembly, the structure for supporting and guiding the movement of the output connecting rod also includes two slider adapter plates, and each slider of the horizontal vertical guide rail slider group is respectively connected to a slider adapter plate, and the slider adapter plate is connected to the output connecting rod at the end.

[0018] In one embodiment, the guide rail slider support assembly further includes one or more vertical guide rail slider groups, and the vertical guide rail slider groups are arranged between the guide rail slider adapter plate and the fixing portion.

[0019] In a specific embodiment, there are two vertical guide rail slider groups, each of which includes a vertical guide rail and two sliders sleeved on the vertical guide rail, the two sliders are connected to the guide rail slider adapter plate, and the two vertical guide rails are arranged side by side.

[0020] In one embodiment, the driving device includes two output motor groups and two reducer groups installed on the fixed part, each output motor group drives a reducer group, each reducer group is connected to an active connecting rod group, and each active connecting rod group is connected to one of the connecting rod assemblies to drive the connecting rod assembly to move.

[0021] In one embodiment, the fixing portion includes a fixing base, a force sensor assembly is installed at the end of the fixing base, the force sensor assembly includes a pressure sensor, an upper mounting seat, a base connecting block, an output connecting seat assembly, a guide shaft sleeve group, and a lower mounting seat, and the end effector is installed on the output connecting seat assembly.

[0022] The utility model also provides a puncture robot system, which is provided with any of the above-mentioned angle adjustment mechanisms.

[0023] Compared with the prior art, the beneficial effects of the utility model are as follows:

[0024] First, in the angle adjustment mechanism of the utility model, an output connecting rod and a support assembly are arranged at the end of the connecting rod group, and the support assembly is used to support the output connecting rod, which limits the displacement of the moving part in the vertical direction, so that the displacement of the moving part is limited in the horizontal direction, thereby improving the overall rigidity of the angle adjustment connecting rod, and achieving the effect of minimizing the overall size while ensuring the angle travel requirements of the end actuator;

[0025] Second, the transverse vertical guide rail, the transverse horizontal guide rail, and the vertical guide rail are all linear guide rails. The linear guide rail itself has little resistance along its moving direction. The structure of the utility model can minimize the resistance brought by the support itself, thereby achieving the purpose of efficient power transmission;

[0026] Third, in the preferred embodiment of the utility model, a force sensor assembly can be further installed to provide feedback on the force condition of the end.

[0027] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1A-B shows the angle adjustment mechanism provided in the embodiment of the utility model, wherein: Figure 1A The overall structure after assembly is shown. Figure 1B An exploded view is shown;

[0029] Figure 2A -B shows the principle components of the angle adjustment mechanism provided in the embodiment of the utility model: the related structure of the first and second connecting rod components, wherein: Figure 2A The assembly view of two sets of connecting rod assemblies is shown. Figure 2B An exploded view of two sets of connecting rod assemblies is shown;

[0030] Figure 3A -D shows the guide rail slider support assembly of the angle adjustment mechanism provided in the embodiment of the utility model; wherein, Figure 3A The assembly diagram of the guide rail slider support assembly and the fixed base is shown. Figure 3B An exploded view of the guide rail slider support assembly and fixed base is shown. Figure 3C A schematic diagram showing the end output link A connected to the guide rail slider support assembly E, Figure 3D The side view of the output connecting rod A at the end and the guide rail slider support assembly E after assembly is shown;

[0031] Figure 4A -C shows the end output structure of the angle adjustment mechanism provided in the embodiment of the utility model and its adjustment to the end effector, wherein: Figure 4A Shows the universal joint assembly mounted on the fixed base and the end of the output connecting rod. Figure 4B The end effector is mounted on the universal joint assembly in a vertical, non-angled posture in the latter implementation state. Figure 4C A scene in which the angle adjustment mechanism adjusts the end effector to a tilted posture in another implementation state after installation is shown;

[0032] Figure 5A -B shows a schematic diagram of the angle adjustment mechanism provided in the embodiment of the utility model provided with a force sensor assembly installed, wherein: Figure 5A shows the force sensor assembly assembly diagram, Figure 5B An exploded view of the force sensor assembly is shown. DETAILED DESCRIPTION

[0033] In the current puncture robot system, the connecting rod of the angle adjustment mechanism lacks support. In this unsupported situation, the force received by the end of the connecting rod will be directly transmitted to the power end. When the end of the connecting rod is far away from the power end and the hinge size is limited and cannot provide extremely high rigidity, fixing only the power end will result in poor overall rigidity of the connecting rod and large displacement of the end when the connecting rod end is subjected to force. On the other hand, the structural design of the power end is mainly for transmitting motor power, and has low resistance to external forces in non-power directions. When the end of the connecting rod is subjected to force in non-power directions, the force will be transmitted to the power end, resulting in the risk of damage to the power end.

[0034] Based on the above situation, the purpose of the utility model is to improve the strength and rigidity of the terminal connecting rod without increasing the volume of the overall equipment, that is, the external force that the terminal can withstand is increased, and the displacement generated by the terminal after the force is applied is reduced. Through structural innovation, the overall size of the equipment is minimized and the structural rigidity of the output end is maximized while meeting the required degrees of freedom.

[0035] The technical solution of the utility model will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0036] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying 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 limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0037] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0038] In this document, in order to make the description concise, not all possible combinations of various technical features in various embodiments or examples are described. Therefore, as long as there is no contradiction in the combination of these technical features, the various technical features in various embodiments or examples can be combined arbitrarily, and all possible combinations should be considered to be within the scope of this specification.

[0039] Example

[0040] See also Figure 1A and Figure 1B ,in, Figure 1A The overall structure of a specific angle adjustment mechanism provided by this embodiment is shown. Figure 1B An exploded view of the angle adjustment mechanism is shown.

[0041] The angle adjustment mechanism includes: an output connecting rod A at the end, a first connecting rod assembly / a second connecting rod assembly B, an active connecting rod assembly C, a speed reducer assembly D, a guide rail slider support assembly E, a fixed base F, an output motor assembly G, and an end output universal joint assembly H, wherein the output motor assembly G, the speed reducer assembly D, the active connecting rod assembly C, and the first connecting rod assembly / a second connecting rod assembly B respectively include two groups, and each group of the output motor assembly G, the speed reducer assembly D, the active connecting rod assembly C, and the connecting rod assembly B constitute a complete force drive and transmission mechanism. In the angle adjustment mechanism, the output motor assembly G is installed at the corresponding installation structure on the fixed base F, and the power output of the output motor assembly G is decelerated by the speed reducer assembly D and then drives the active connecting rod assembly C to make it rotate, and the power end of the connecting rod assembly B is eccentrically installed on the active connecting rod assembly C. The speed reducer assembly D is a harmonic speed reducer.

[0042] See also Figure 2A and Figure 2B , which shows the principle assembly of the angle adjustment mechanism of this embodiment. By inserting the connecting rod of the power end of the connecting rod assembly B into the slot of the corresponding accommodation structure arranged outside the circumference of the active connecting rod group C, the eccentric installation of the power end of the connecting rod assembly B on the active connecting rod group C is realized. Such a structure can convert the rotational motion of the active connecting rod group C into the translational motion of the end of the connecting rod assembly B. Figure 2B The exploded view of two connecting rod assemblies B and an active connecting rod assembly C is shown, wherein B is the first connecting rod assembly and the second connecting rod assembly, and C is the first active connecting rod assembly and the second active connecting rod assembly. Figure 2A and Figure 2B As shown in the figure, the connecting rods of the power ends of the two connecting rod assemblies B are respectively installed on the corresponding mounting structures of the two active connecting rod groups C and fixed. The corresponding mounting structure of the active connecting rod group C is a columnar mounting platform located outside its circumference, and the center of the columnar mounting platform has a mounting slot hole that matches the connecting rod of the power end of the connecting rod assembly B.

[0043] Figure 3A -D shows the guide rail slider support assembly and related structures used to improve the rigidity of the angle adjustment mechanism of this embodiment. Figure 3A It is a schematic diagram of installing the output connecting rod A at the end to the guide rail slider support assembly E, and the guide rail slider support assembly E is installed on the fixed base F. Figure 3B An exploded schematic diagram of the guide rail slider support assembly E and the fixed base F is shown.

[0044] The guide rail slider support assembly E includes: a guide rail slider adapter plate E01, two groups of transverse vertical guide rail slider groups E02 (including transverse vertical guide rails and sliders sleeved on the transverse vertical guide rails) installed at both ends of the guide rail slider adapter plate E01, and a transverse horizontal guide rail slider group E03 (including transverse horizontal guide rails and sliders sleeved on the transverse horizontal guide rails) installed on the guide rail slider adapter plate E01, wherein the transverse horizontal guide rail slider group E03 is located between the two groups of transverse vertical guide rail slider groups E02. Specifically, the two groups of transverse vertical guide rail slider groups E02 are respectively installed on the outside of the vertical structural members at both ends of the guide rail slider adapter plate E01, and the transverse horizontal guide rail slider group E03 is installed on the inside of the vertical structural member at one end of the guide rail slider adapter plate E01, specifically, the inside of the vertical structural member close to the power end. In addition, the output connecting rod A has a structure that matches the two transverse vertical guide rail slider groups and the transverse horizontal guide rail slider group, and the structure is a stepped groove in this embodiment.

[0045] Furthermore, the guide rail slider support assembly E in this embodiment further includes: two slider adapter plates E05, which are respectively mounted on the sliders of the two sets of horizontal vertical guide rail slider groups E02. Figure 3A -D. The slider adapter plate E05 is used to connect the slider of the horizontal vertical guide slider group E02 and the output connecting rod A at the end.

[0046] In the specific structure of the guide rail slider support assembly E provided in the present embodiment, three groups of guide rail slider groups (two groups of transverse vertical guide rail slider groups E02 and one group of transverse horizontal guide rail slider group E03) adopt two different placement angles (transverse vertical and transverse horizontal). This orthogonal placement method improves the maximum load and maximum tolerable torque of the guide rail slider support assembly E and the angle adjustment mechanism of the present embodiment in different directions.

[0047] Furthermore, in this embodiment, the guide rail slider support assembly E also includes: two groups of vertical guide rail slider groups E04. Specifically, the guide rail slider adapter plate E01, which has installed two groups of horizontal vertical guide rail slider groups E02 and one group of horizontal horizontal guide rail slider groups E03, is connected to the two groups of vertical guide rail slider groups E04 installed on the fixed base F. In the exemplary specific structure provided in this embodiment, two sliders are installed on the guide rails of each group of vertical guide rail slider groups E04, which can reduce the angular displacement generated when the guide rail slider adapter plate E0 is subjected to the force acting on the guide rails of the vertical guide rail slider groups E04. Please refer to Figure 3C shown. Figure 3C The schematic diagram of the installation of the output connecting rod A at the end connected to the guide rail slider support assembly E is shown, and the dotted line in the figure shows the corresponding installation position on the guide rail slider support assembly E after the screw passes through the output connecting rod A at the end.

[0048] Figure 3D The side view of the output connecting rod A at the end and the guide rail slider support assembly E after assembly is shown. Figure 3D It can be seen that at least two mating surfaces AE formed by the two sliders of the guide rail slider support assembly E and the corresponding structures on the output connecting rod A at the end ensure that there is no backlash between the output connecting rod A at the end and the guide rail slider support assembly E when it moves passively.

[0049] Figure 4A -C shows the end output structure of the angle adjustment mechanism provided in the embodiment of the utility model and its adjustment to the end effector, wherein: Figure 4A The specific structure of the terminal output universal joint group H is shown, and the terminal output universal joint group H includes an output universal joint H01 and a base universal joint H02, wherein the output universal joint H01 is installed at the end of the terminal output connecting rod A, and the base universal joint H02 is installed at the end of the fixed base F. In addition, the position of the terminal interface of the fixed base F is fixed, and the terminal interface of the terminal output connecting rod A can move horizontally based on the power transmission from the first connecting rod assembly / the second connecting rod assembly B to the terminal output connecting rod A, thereby changing the angle of the terminal actuator connected to the universal joint group. Figure 4B The end effector J is mounted on the universal joint assembly H in a vertical and non-angled posture in the latter implementation state. Figure 4C A schematic diagram of a scene in which the angle adjustment mechanism of this embodiment adjusts the end effector J to a tilted posture in another implementation state after installation is shown.

[0050] In the alternative implementation of the above specific implementation structure, a force sensor assembly can be installed at the end of the fixed base F, such as Figure 5A -B. See Figure 5AThe force sensor assembly I is used to measure the force transmitted to the angle adjustment mechanism by the end effector J. Figure 5A and Figure 5B The force sensor assembly I is composed of a pressure sensor I1, an upper mounting seat I2, a base connection block I3, an output connection seat assembly I4, a guide shaft sleeve group I5 and a lower mounting seat I6, wherein the output connection seat assembly I4 includes a square component in the middle and components on both sides, and the guide shaft sleeve group I5 includes two groups arranged on the lower mounting seat I6. The end effector J is installed on the output connection seat assembly I4 through a base universal joint. The output connection seat assembly I4 can have a slight displacement in the force sensor assembly I. The force exerted on the end effector J causes the output connection seat assembly I4 to have a slight displacement, thereby triggering the pressure sensor I1. The displacement of the output connection seat assembly I4 is limited in the vertical direction by the guide shaft sleeve group I5, so that it can trigger the pressure sensor I1 while ensuring the best rigidity. Furthermore, in some embodiments, the end effector is an automatic puncture device. In this replacement embodiment, the force sensor assembly I installed on the angle adjustment mechanism can feed back the resistance encountered by the puncture to the corresponding control device corresponding to the angle adjustment mechanism, and then feed back to the operator, so that the operator can understand the patient's surgical position status feedback, thereby improving the safety of the operation.

[0051] This embodiment also provides a puncture robot system, which uses any of the angle adjustment mechanisms provided above, and the remaining structure of the puncture robot system can refer to the prior art.

[0052] It can be seen from the utility model and the above-mentioned embodiments that in the puncture robot system provided herein, the end effector is connected to the angle adjustment mechanism by two universal joints, and when the position of the lower universal joint (i.e., the base universal joint) is fixed, the purpose of adjusting the angle posture of the end effector is achieved by adjusting the horizontal position of the upper universal joint (i.e., the output universal joint).

[0053] The angle adjustment mechanism is provided with rotational power by two motor-reducer modules at the proximal end (the harmonic reducer end is tentatively defined as the proximal end and the end actuator end is defined as the distal end in the utility model), and the rotational power is converted into displacement in the horizontal plane through two active connecting rod groups and the first / second connecting rod assemblies, and finally the power is transmitted to the end hinge through an output connecting rod.

[0054] At the far end of the angle adjustment mechanism, a support assembly located between the moving part and the fixed part, specifically a guide rail slider support assembly, is used to support the output connecting rod of the moving part, limiting the vertical displacement of the output connecting rod, so that its displacement is limited to the horizontal direction, thereby improving the overall rigidity of the moving part. In addition, in this structural design, the active connecting rod group and the first / second connecting rod assembly mainly play the role of providing power, and do not play a big role in supporting the end hinge.

[0055] In an alternative embodiment, the end connection assembly of the fixed portion of the angle adjustment mechanism can be replaced by a force sensor assembly, so that it can be used to measure the force applied to the end effector during operation.

[0056] The advantages of the utility model and the above specific implementation structure are as follows:

[0057] 1. The utility model supports the distal end of the moving part by arranging an output connecting rod at the end of the moving part and arranging a guide rail slider support assembly between the moving part and the fixed part, thereby constraining the freedom of the output connecting rod at the distal end of the moving part, so that it moves almost only within the preset freedom; and the guide rail slider support assembly is arranged at the distal end of the moving part to provide support, thereby achieving the purpose of improving the structural strength. When the end actuator is subjected to force, most of the force will be transmitted to the support structure, so that the bearing capacity of the overall angle adjustment mechanism is greatly increased;

[0058] 2. The guide rail slider group in the guide rail slider support assembly selects a linear guide rail, and the linear guide rail itself has a small resistance along its moving direction. Therefore, the solution of the utility model can minimize the resistance brought by the support assembly itself, and achieve the purpose of efficient power transmission;

[0059] 3. The first / second connecting rod assembly at the proximal end of the angle adjustment mechanism achieves the effect of minimizing the overall size while ensuring the angular travel requirements of the end actuator.

[0060] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the utility model, rather than to limit it; although the utility model is described in detail with reference to the above embodiments, ordinary technicians in this field should understand that they can still modify the technical solutions recorded in the above embodiments, or replace part or all of the technical features therein with equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the utility model. The utility model is only limited by the claims and their full scope and equivalents.

Claims

1. An angle adjustment mechanism of a puncture robot system, characterized in that: include: A moving part, the moving part includes a connecting rod group and an output connecting rod, wherein the connecting rod group can be driven to move by a driving device, the output connecting rod is connected to the connecting rod group and can be driven to move by the connecting rod group, and one end of the output connecting rod is connected to an end effector through a first connecting member; A support assembly, the support assembly is arranged below the output connecting rod and is provided with a structure for supporting and guiding the movement of the output connecting rod; A fixing part, which is disposed below the supporting assembly and connected to the end effector through a second connecting member; Among them, when performing angle adjustment, the connecting rod group of the moving part is driven by the driving device to move, so that the position of one end of the output connecting rod connected to the end effector changes relative to the position of one end of the fixed part connected to the end effector, thereby realizing the angle adjustment of the end effector.

2. The angle adjustment mechanism of the puncture robot system according to claim 1, characterized in that: The connecting rod group includes two connecting rod components, the first ends of the two connecting rod components are coaxial and connected to the output connecting rod, and the second ends of the two connecting rod components are directly or indirectly connected to one of the driving devices.

3. The angle adjustment mechanism of the puncture robot system according to claim 1, characterized in that: The support assembly is a guide rail slider support assembly.

4. The angle adjustment mechanism of the puncture robot system according to claim 3, characterized in that: The guide rail slider support assembly includes a guide rail slider adapter plate, and the guide rail slider adapter plate is provided with a structure for supporting and guiding the output connecting rod. The structure for supporting and guiding the output connecting rod includes two transverse vertical guide rail slider groups respectively arranged at both ends of the guide rail slider adapter plate, and a transverse horizontal guide rail slider group arranged on the guide rail slider adapter plate and located between the two transverse vertical guide rail slider groups. Correspondingly, the output connecting rod is also provided with a structure that cooperates with the two transverse vertical guide rail slider groups and the transverse horizontal guide rail slider group.

5. The angle adjustment mechanism of the puncture robot system according to claim 4, characterized in that: The transverse vertical guide rail slider group includes a transverse vertical guide rail and a slider mounted on the transverse vertical guide rail, the transverse horizontal guide rail slider group includes a transverse horizontal guide rail and a slider mounted on the transverse horizontal guide rail, and the structure of the output connecting rod that cooperates with the two transverse vertical guide rail slider groups and the transverse horizontal guide rail slider group is a stepped groove.

6. The angle adjustment mechanism of the puncture robot system according to claim 5, characterized in that: In the guide rail slider support assembly, the structure for supporting and guiding the movement of the output connecting rod also includes two slider adapter plates, and each slider of the horizontal vertical guide rail slider group is respectively connected to a slider adapter plate, and the slider adapter plate is connected to the output connecting rod.

7. The angle adjustment mechanism of the puncture robot system according to claim 4, characterized in that: The guide rail slider support assembly further includes one or more vertical guide rail slider groups, and the vertical guide rail slider groups are arranged between the guide rail slider adapter plate and the fixing portion.

8. The angle adjustment mechanism of the puncture robot system according to claim 7, characterized in that: There are two vertical guide rail slider groups, each of which includes a vertical guide rail and two sliders sleeved on the vertical guide rail. The two sliders are connected to the guide rail slider adapter plate, and the two vertical guide rails are arranged side by side.

9. The angle adjustment mechanism of the puncture robot system according to claim 2, characterized in that: The driving device includes two output motor groups and two reduction gear groups installed on the fixed part, each output motor group drives a reduction gear group, each reduction gear group is connected to an active connecting rod group, and each active connecting rod group is connected to one of the connecting rod assemblies to drive the connecting rod assembly to move.

10. The angle adjustment mechanism of the puncture robot system according to claim 1, characterized in that: The fixing part includes a fixing base, a force sensor assembly is installed at the end of the fixing base, the force sensor assembly includes a pressure sensor, an upper mounting seat, a base connecting block, an output connecting seat assembly, a guide shaft sleeve group and a lower mounting seat, and the end actuator is installed on the output connecting seat assembly.

11. A puncture robot system, characterized in that: An angle adjustment mechanism as described in any one of claims 1-10 is provided.

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