Ultrasonic-assisted multi-degree-of-freedom vascular puncture robot
By designing an ultrasonic-assisted multi-degree-of-freedom vascular puncture robot, the parallel mechanism of multi-degree-of-freedom adjustment and an automatically executed needle-input mechanism are used to solve the problems of difficulty in adjusting the puncture angle and inflexible control in traditional vascular puncture technology, achieving higher puncture accuracy and safety.
Patent Information
- Application Number
- CN202421497891.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-06-27
- Publication Date
- 2025-06-17
- Estimated Expiration
- 2034-06-27
AI Technical Summary
Traditional vascular puncture technology lacks visual guidance, which leads to difficulty in adjusting the puncture angle, inflexible control, and complex operation, increasing the risk of complications.
An ultrasonic-assisted multi-degree-of-freedom vascular puncture robot is designed, using a multi-degree-of-freedom adjustment parallel mechanism and an automatic needle insertion mechanism, combined with a puncture needle quick disassembly mechanism with a force sensor to achieve flexible angle adjustment and precise control of the puncture needle.
Through the multi-degree-of-freedom adjustment parallel mechanism, the rotational movement of the puncture needle is achieved at a larger angle range, which improves the flexibility and accuracy of the puncture angle, and reduces the difficulty of operation and the risk of complications.
Smart Images
Figure CN222983123U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of puncture assistance devices, and particularly relates to an ultrasonic-assisted multi-degree-of-freedom vascular puncture robot. Background Art
[0002] Blood vessels connect arteries and veins, mainly used to transport nutrients to large parenchymal organs and attach to them. Vascular puncture intervention surgery is a minimally invasive treatment method that uses professional instruments such as guide wires or catheters to reach the diseased area through vascular intervention for examination or treatment purposes.
[0003] Traditional vascular puncture techniques lack visual guidance and mainly rely on surface landmarks to locate blood vessels, having various limitations: (1) Based on the assumption of no anatomical variations, while there are normal variations in a few cases; (2) Unable to determine whether there are lesions in the blood vessels; (3) Unable to determine the specific positions of the puncture needle and guide wire; (4) Damage to adjacent tissue structures; (5) The surface landmarks of some patients cannot be observed or touched.
[0004] When using ultrasound-guided vascular puncture, it has the following advantages: (1) The ultrasound instrument is small in size, easy to move, low in price, without radioactive hazards, and has real-time images; (2) Ultrasound guidance can more accurately evaluate the position of blood vessels, filling degree, and real-time observe the insertion of the guide wire / catheter; (3) Reduce the number of operations and lower the probability of operations caused by repeated operations; (4) Reduce the incidence of complications.
[0005] In the clinical puncture operation guided by ultrasound, the operator holds an ultrasound probe in one hand to scan the target blood vessel, and inserts the puncture needle with the other hand. It is difficult to coordinate both hands to accurately insert the puncture needle into the target blood vessel, which requires a high level of operating skills and experience at the operation site, a long learning cycle, and a low one-time puncture success rate, and is likely to cause complications to patients.
[0006] In addition, in clinical puncture operations, it is required that the needle forms a certain angle with the skin, such as 20°, 35°, etc., and there are certain requirements for the position of the needle, such as requiring the needle bevel to face upward, which varies depending on the puncture site, etc. However, in current technologies, it is difficult to adjust the puncture angle of the needle, and there are problems such as inflexible control and difficulty in precise control. Content of the Utility Model
[0007] In order to solve the above deficiencies existing in the prior art, the purpose of the present utility model is to provide an ultrasonic-assisted multi-degree-of-freedom vascular puncture robot, which solves the problems of difficult adjustment of the puncture angle and inflexible control during existing punctures.
[0008] To achieve the above purpose, the technical solutions adopted by the present utility model are as follows:
[0009] An ultrasound-assisted multi-degree-of-freedom vascular puncture robot, comprising an ultrasound probe clamping mechanism, a parallel mechanism with multi-degree-of-freedom adjustment, an automatically-executed needle insertion mechanism, and a puncture needle quick-release mechanism with a force sensor; wherein: the ultrasound probe clamping mechanism is used for clamping the ultrasound probe and can be quickly disassembled; the parallel mechanism with multi-degree-of-freedom adjustment is used to realize the movement of the puncture needle in multiple degrees of freedom; the automatically-executed needle insertion mechanism is used to realize the needle insertion movement; the puncture needle quick-release mechanism with a force sensor is used for clamping the puncture needle and fixing the force sensor; the specific structures of each part are as follows:
[0010] The ultrasound probe clamping mechanism includes an ultrasound clamping cover, a rotating shaft I, and an ultrasound clamping shell. The ultrasound clamping shell is fixedly connected to the ultrasound clamping cover through the rotating shaft I, and the clamping and quick disassembly of the ultrasound probe can be realized through the rotating opening and closing movement.
[0011] Furthermore, the ultrasound clamping cover and the ultrasound clamping shell are respectively provided with a corresponding clamping groove I and a clamping hook I, and the clamping and locking and disassembly of the ultrasound probe are realized through the cooperation of the clamping groove I and the clamping hook I.
[0012] The parallel mechanism with multi-degree-of-freedom adjustment includes a lead screw central support, a parallel base, a guide rail, a slider, a lead screw support, a bearing, a lead screw, a motor I, a motor support, a pulley I, a belt I, a parallel arm, a slider adapter block, a parallel arm adapter block, and a needle insertion adapter block; the lead screw central support is fixedly connected to the parallel base, the parallel base is provided with a guide rail, a lead screw support, and a motor support, the motor I is installed on the motor support, the lead screw is installed on the lead screw support through the bearing, and the motor I drives the lead screw through the pulley I and the belt I; the lead screw drives the slider to slide on the guide rail, the slider is connected to the parallel arm through the slider adapter block, and the parallel arm is connected to the needle insertion adapter block through the parallel arm adapter block, finally realizing the movement in multiple degrees of freedom.
[0013] Furthermore, in the parallel mechanism with multi-degree-of-freedom adjustment, the lead screw includes a lead screw I and a lead screw II, and the length of the lead screw I is greater than that of the lead screw II, which can realize the rotational movement of the puncture needle in a larger angle range.
[0014] The automatically-executed needle insertion mechanism includes a needle insertion base, a motor II, a pulley II, a belt II, a support, a needle insertion slider, a needle insertion guide rail, and a needle insertion lead screw, wherein: the needle insertion base is provided with a support and a needle insertion guide rail; the motor II and the needle insertion lead screw are both installed on the support, and the motor II drives the needle insertion lead screw through the pulley II and the belt II; the rotation of the needle insertion lead screw drives the needle insertion slider to slide on the needle insertion guide rail, realizing the needle insertion movement.
[0015] Furthermore, the automatically-executed needle insertion mechanism further includes a puncture needle guide frame, and the puncture needle guide frame and the needle insertion base are of an integral structure to realize stable needle insertion.
[0016] The puncture needle quick-release mechanism with a force sensor includes a force sensor, a puncture needle clamping base, a rotating shaft II, a puncture needle clamping cover, and a puncture needle. Among them: The puncture needle clamping base is fixedly connected to the force sensor, and the puncture needle clamping cover is connected to the puncture needle clamping base through the rotating shaft II, and the quick release of the puncture needle can be realized through the rotating opening and closing movement.
[0017] Further, the puncture needle clamping cover and the puncture needle clamping base are respectively provided with adapted card slots II and hooks II, and the locking and disassembly of the puncture needle are realized through the card slots II and the hooks II.
[0018] Compared with the prior art, the ultrasonic-assisted parallel vascular puncture robot provided by the present utility model has the following beneficial effects:
[0019] 1. The ultrasonic-assisted multi-degree-of-freedom vascular puncture robot of the present utility model is mainly used for puncturing the target blood vessel. Among them, the parallel mechanism can realize the adjustment of the puncture angle of multiple degrees of freedom, making the control of the puncture needle more flexible.
[0020] 2. In the puncture robot of the present utility model, the length of the vertical lead screw I of the parallel mechanism is greater than the other two lead screws II, and a larger angle range of rotational movement of the puncture needle can be realized.
[0021] 3. In the puncture robot of the present utility model, the force sensor can record the puncture force in real time to facilitate timely adjustment of the puncture force. Description of the Drawings
[0022] Figure 1 It is the front view of the puncture robot of the present utility model.
[0023] Figure 2 It is the exploded view of the quick-release mechanism for clamping the ultrasound.
[0024] Figure 3 It is the exploded view of the parallel mechanism for multi-degree-of-freedom adjustment.
[0025] Figure 4 It is the structural schematic diagram of the needle insertion mechanism for automatic execution.
[0026] Figure 5 It is the exploded view of the puncture needle quick-release mechanism with a force sensor.
[0027] In the figure: 1 - Ultrasonic probe clamping mechanism; 101 - Ultrasonic clamping cover; 102 - Rotating shaft I; 103 - Ultrasonic clamping shell; 104 - Ultrasonic probe; 105 - Slot I; 106 - Hook I; 2 - Parallel mechanism with multi - degree - of - freedom adjustment; 201 - Central support; 202 - Parallel base; 203 - Guide rail; 204 - Slide block; 205 - Lead screw support; 206 - Bearing; 2071 - Lead screw I; 2072 - Lead screw II; 208 - Motor I; 209 - Motor support; 2010 - Pulley I; 2011 - Belt I; 2012 - Parallel arm; 2013 - Slide block adapter block; 2014 - Parallel arm adapter block; 2015 - Needle - inserting adapter block; 3 - Automatic needle - inserting mechanism; 301 - Needle - inserting base; 302 - Motor II; 303 - Pulley II; 304 - Belt II; 305 - Support; 306 - Needle - inserting slide block; 307 - Needle - inserting guide rail; 308 - Needle - inserting lead screw; 309 - Puncture needle guide frame; 4 - Puncture needle quick - release mechanism with force sensor; 401 - Force sensor; 402 - Puncture needle clamping base; 403 - Rotating shaft II; 404 - Puncture needle clamping cover; 405 - Puncture needle; 406 - Slot II; 407 - Hook II. Detailed implementation mode
[0028] To further understand the present utility model, the following describes the present utility model in combination with examples. However, the examples are only used to further elaborate the features and advantages of the present utility model, rather than limiting the claims of the present utility model.
[0029] The present utility model provides an ultrasonic - assisted multi - degree - of - freedom vascular puncture robot, and its overall structure is as Figure 1 . The puncture robot is composed of an ultrasonic probe clamping mechanism 1, a parallel mechanism 2 with multi - degree - of - freedom adjustment, an automatic needle - inserting mechanism 3, and a puncture needle quick - release mechanism 4 with a force sensor. Among them: The ultrasonic probe clamping mechanism 1 is used for clamping the ultrasonic probe and can be quickly disassembled. The parallel mechanism 2 with multi - degree - of - freedom adjustment is fixed on the ultrasonic clamping shell 103 of the ultrasonic probe clamping mechanism 1 through its parallel base 202;
[0030] The parallel mechanism 2 with multi - degree - of - freedom adjustment is connected to the needle - inserting base 301 of the needle - inserting mechanism 3 through the needle - inserting adapter block 2015. The needle - inserting slide block 306 of the needle - inserting mechanism is fixedly connected to the puncture needle clamping base 402 of the puncture needle quick - release mechanism 4. The puncture needle quick - release mechanism 4 is used for connecting the sensor and clamping the puncture needle.
[0031] The parallel mechanism 2 with multi - degree - of - freedom adjustment drives the connected needle - inserting mechanism 3, puncture needle quick - release mechanism 4, and puncture needle to perform multi - degree - of - freedom movement relative to the ultrasonic probe clamping mechanism 1.
[0032] The specific structures of each part of the ultrasonic - assisted parallel - type vascular puncture robot of the present utility model are as follows:
[0033] As shown Figure 2 in FIG. 1, the ultrasonic probe clamping mechanism 1 includes an ultrasonic clamping cover 101, a rotating shaft I 102, an ultrasonic clamping housing 103 and an ultrasonic probe 104; shaft holes are provided on opposite sides of the ultrasonic clamping housing 103 and the ultrasonic clamping cover 101, and the rotating shaft I 102 can be inserted into the shaft holes, that is, the ultrasonic clamping housing 103 is rotatably connected to the ultrasonic clamping cover 101 through the rotating shaft I 102, and the clamping and quick release of the ultrasonic probe 104 can be realized through the rotation and opening / closing movement; on the other corresponding sides of the ultrasonic clamping housing 103 and the ultrasonic clamping cover 101, a corresponding slot I 105 and a hook I 106 are provided, and the ultrasonic probe 104 is clamped and locked and disassembled through the cooperation of the slot I 105 and the hook I 106.
[0034] As shown Figure 3 in FIG. 2, the parallel mechanism 2 with multi-degree-of-freedom adjustment includes a lead screw central support 201, a parallel base 202, a guide rail 203, a slider 204, a lead screw support 205, a bearing 206, a lead screw, a motor I 208, a motor support 209, a pulley I 2010, a belt I 2011, a parallel arm 2012, a slider adapter block 2013, a parallel arm adapter block 2014, and a needle insertion adapter block 2015; specifically:
[0035] The lead screw central support 201 is fixedly connected to the central position of the parallel base 202; a guide rail 203, a lead screw support 205 and a motor support 209 are installed on the parallel base 202; grooves for installing the corresponding structures of the guide rail 203, the lead screw support 205 and the motor support 209 are provided on the parallel base 202; there are three guide rails 203, which are evenly distributed radially around the lead screw central support 201; the motor I 208 is installed on the motor support 209, the lead screw is installed on the lead screw support 205 through the bearing 206, and the slider 204 can slide along the guide rail 203; the motor I 208 drives the lead screw through the pulley I 2010 and the belt I 2011; the lead screw drives the slider 204 to slide on the guide rail 203, the slider 204 is connected to the outer end of the parallel arm 2012 through the slider adapter block 2013, and the inner end of the parallel arm 2012 is connected to the needle insertion adapter block 2015 through the parallel arm adapter block 2014, finally realizing the movement of the needle insertion adapter block 2015 with three degrees of freedom (one translation and two rotations); wherein the lead screw includes a lead screw I 2071 and two lead screws II 2072, and the length of the lead screw I 2071 is greater than that of the lead screw II 2072, which can realize a larger angle range of rotational movement.
[0036] Preferably, a through groove matching the guide rail 203 is provided at the bottom of the slider 204 so that it can slide along the guide rail 203; a columnar head is provided at the upper part of the slider 204, and the slider 204 is connected with the through hole in the center of the slider adapter block 2013 through the columnar head; the slider adapter block 2013 is hinged to the outer end of the parallel arm 2012; the upper part of the parallel arm adapter block 2014 has a through hole connected to the needle insertion adapter block, and the parallel arm adapter block 2014 is hinged to the inner end of the parallel wall. When the sliders move synchronously inwards or outwards on the guide rail, the movement of the plane where the needle insertion adapter block 2015 is located along the perpendicular direction of the plane where the parallel base is located is realized (the puncture needle is parallel to the plane where the needle insertion adapter block 2015 is located); when the three sliders move non-synchronously on the guide rail, the rotational movement of the needle insertion adapter block 2015 relative to the plane where the parallel base is located is realized.
[0037] As Figure 4 As shown, the automatically actuated needle insertion mechanism 3 includes a needle insertion base 301, a motor II 302, a pulley II 303, a belt II 304, a support 305, a needle insertion slider 306, a needle insertion guide rail 307, and a needle insertion lead screw 308. The rear side (the side where the motor II 302 is placed) of the needle insertion base 301 of the needle insertion mechanism 3 is fixedly connected to the needle insertion adapter block 2015 of the parallel mechanism.
[0038] One end of the needle insertion base 301 is provided with a support 305, the needle insertion guide rail 307 is axially installed on the needle insertion base 301, and a puncture needle guide frame 309 is installed at the other end of the needle insertion base 301; the motor II 302 is installed on the support 305, one end of the needle insertion lead screw 308 is installed on the support 305, the other end of the needle insertion lead screw 308 is installed on the puncture needle guide frame 309, and the needle insertion lead screw 308 is arranged parallel to the needle insertion guide rail 307; the motor II 302 drives the needle insertion lead screw 308 through the pulley II 303 and the belt II 304; the rotation of the needle insertion lead screw 308 drives the needle insertion slider 306 to slide on the needle insertion guide rail 307 to realize the needle insertion movement; the puncture needle guide frame 309 and the needle insertion base 301 are integrated, so as to realize stable needle insertion.
[0039] As Figure 5 As shown, the puncture needle quick-release mechanism 4 with a force sensor includes a force sensor 401, a puncture needle clamping base 402, a rotating shaft II 403, a puncture needle clamping cover 404, and a puncture needle 405.
[0040] The puncture needle clamping base 402 is fixedly connected to the force sensor 401. The puncture needle clamping cover 404 is connected to the puncture needle clamping base 402 through the rotating shaft II 403 and can perform a rotational opening and closing movement, thereby realizing the clamping and quick release of the puncture needle 405 through the rotational opening and closing movement. The puncture needle clamping cover 404 and the puncture needle clamping base 402 are locked and disassembled through a snap connection. Preferably, a matching slot II 406 and a hook II 407 are provided at the corresponding positions of the puncture needle clamping cover 404 and the puncture needle clamping base 402 to realize locking and disassembly.
Claims
1. An ultrasound-assisted multi-degree-of-freedom vascular puncture robot, characterized in that: The puncture robot comprises an ultrasonic probe clamping mechanism (1), a parallel mechanism with multi-degree-of-freedom adjustment (2), an automatically executed needle insertion mechanism (3) and a puncture needle quick-release mechanism (4) with a force sensor; wherein: Ultrasonic probe clamping mechanism (1): used for clamping the ultrasonic probe and enabling quick disassembly; A parallel mechanism (2) with multiple degrees of freedom adjustment: the parallel mechanism (2) is fixed to an ultrasonic clamping shell (103) of an ultrasonic probe clamping mechanism (1) through its parallel base (202) and is used to realize the movement of a puncture needle with multiple degrees of freedom; the parallel mechanism (2) comprises a screw center support (201), a parallel base (202), a guide rail (203), a slider (204), a screw support (205), a bearing (206), a screw, a motor I (208), a motor support (209), a pulley I (2010), a belt I (2011), a parallel arm (2012), a slider adapter block (2013), a parallel arm adapter block (2014) and a needle insertion adapter block (2015); the screw center support (201) is fixedly connected to the parallel base (202), and a guide rail (203) is installed on the parallel base (202). A guide rail (203), a lead screw support (205) and a motor support (209) are provided. A motor I (208) is mounted on the motor support (209). A lead screw is mounted on the lead screw support (205) via a bearing (206). The motor I (208) drives the lead screw (207) via a pulley I (2010) and a belt I (2011). The lead screw drives a slider (204) to slide on the guide rail (203). The slider (204) is connected to a parallel arm (2012) via a slider adapter block (2013). The parallel arm (2012) is connected to a needle insertion adapter block (2015) via a parallel arm adapter block (2014), thereby finally realizing movement with multiple degrees of freedom. The parallel mechanism (2) with multiple degrees of freedom adjustment is connected to a needle insertion base (301) of a needle insertion mechanism (3) via a needle insertion adapter block (2015). An automatically executed needle insertion mechanism (3) is used to realize needle insertion movement; the needle insertion slider (306) of the needle insertion mechanism is fixedly connected to the puncture needle clamping base (402) of the puncture needle quick release mechanism (4) with a force sensor; The puncture needle quick release mechanism (4) with a force sensor is used for clamping the puncture needle and fixing the force sensor.
2. The ultrasound-assisted multi-degree-of-freedom vascular puncture robot according to claim 1, characterized in that: The ultrasonic probe clamping mechanism comprises an ultrasonic clamping cover (101), a rotating shaft I (102) and an ultrasonic clamping shell (103); the ultrasonic clamping shell (103) is fixedly connected to the ultrasonic clamping cover (101) via the rotating shaft I (102), and can clamp and quickly release the ultrasonic probe (104) through a rotating opening and closing movement.
3. The ultrasound-assisted multi-degree-of-freedom vascular puncture robot according to claim 2, characterized in that: The ultrasonic clamping cover (101) and the ultrasonic clamping shell (103) are respectively provided with a corresponding clamping groove I (105) and a clamping hook I (106), and the clamping groove I (105) and the clamping hook I (106) are used to realize the clamping and locking of the ultrasonic probe and the disassembly thereof.
4. The ultrasound-assisted multi-degree-of-freedom vascular puncture robot according to claim 1, characterized in that: In the parallel mechanism (2) with multiple degrees of freedom adjustment, the lead screw comprises a lead screw I (2071) and a lead screw II (2072), and the length of the lead screw I (2071) is greater than that of the lead screw II (2072), so that the puncture needle can achieve rotational movement within a larger angle range.
5. The ultrasound-assisted multi-degree-of-freedom vascular puncture robot according to claim 1, characterized in that: The automatically executed needle insertion mechanism (3) comprises a needle insertion base (301), a motor II (302), a pulley II (303), a belt II (304), a support (305), a needle insertion slider (306), a needle insertion guide rail (307) and a needle insertion screw rod (308), wherein: the support (305) and the needle insertion guide rail (307) are installed on the needle insertion base (301); the motor II (302) and the needle insertion screw rod (308) are both installed on the support (305); the motor II (302) drives the needle insertion screw rod (308) through the pulley II (303) and the belt II (304); the needle insertion screw rod (308) rotates to drive the needle insertion slider (306) to slide on the needle insertion guide rail (307) to realize the needle insertion movement.
6. The ultrasound-assisted multi-degree-of-freedom vascular puncture robot according to claim 5, characterized in that: The automatically executed needle insertion mechanism (3) further comprises a puncture needle guide frame (309), wherein the puncture needle guide frame (309) and the needle insertion base (301) are an integrated structure to achieve stable needle insertion.
7. The ultrasound-assisted multi-degree-of-freedom vascular puncture robot according to claim 1, characterized in that: The puncture needle quick-release mechanism (4) with a force sensor comprises a force sensor (401), a puncture needle clamping base (402), a rotating shaft II (403), a puncture needle clamping cover (404) and a puncture needle (405), wherein: the puncture needle clamping base (402) is fixedly connected to the force sensor (401), and the puncture needle clamping cover (404) is connected to the puncture needle clamping base (402) via the rotating shaft II (403), and the puncture needle (405) can be clamped and quickly released by a rotating opening and closing movement.
8. The ultrasound-assisted multi-degree-of-freedom vascular puncture robot according to claim 7, characterized in that: The puncture needle clamping cover (404) and the puncture needle clamping base (402) are respectively provided with a corresponding clamping slot II (406) and a clamping hook II (407), and the puncture needle can be locked and disassembled through the clamping slot II (406) and the clamping hook II (407).