Mechanical puncture needle micro-pushing robot

Abstract

The utility model relates to a micro-pushing robot for a mechanical puncture needle. The micro-pushing robot comprises a moving seat, a first driving mechanism, a vertical mounting frame, a first rotating frame, a second driving mechanism, a guide column, a third driving mechanism, a telescopic mechanism and a fourth driving mechanism, the movable seat is movably arranged at the side part of the body back plate, and the body back plate is used for a patient to lie down; one end of the first rotating frame is rotationally connected with the upper part of the vertical mounting frame through a horizontal rotating shaft; the fixed end of the second driving mechanism is connected with the vertical mounting frame, and the movable end of the second driving mechanism is connected with the first rotating frame; the guide column is rotationally installed at the end, away from the vertical installation frame, of the first rotating frame through a horizontal rotating shaft. An axial channel allowing the puncture needle to penetrate through is formed in the guide column; through the arrangement, automatic positioning and automatic puncturing work of the puncture needle are achieved, operation is convenient, positioning is accurate, and the working efficiency and the puncturing accuracy rate are improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of medical auxiliary instruments, and particularly relates to a mechanical puncture needle micro-pushing robot. Background Art

[0002] A puncture needle is a medical device used for medical diagnosis and treatment, and its main functions include blood sampling for testing, blood transfusion, infusion, and catheter insertion for angiography, etc. When performing puncture, medical staff hold the puncture needle and manually insert it into the patient's body. Medical staff usually cooperate with CT scan images to observe the insertion position of the puncture needle. The CT scan device and the display screen are usually at a relatively long distance. After the puncture needle is inserted, medical staff need to observe the display screen multiple times and adjust the insertion position of the puncture needle, which is inconvenient to operate. Moreover, medical staff are in contact with the CT scan device for a long time, which causes certain harm to the body. Content of the Utility Model

[0003] The purpose of the utility model is to overcome the shortcomings of the prior art, provide a mechanical puncture needle micro-pushing robot, and solve the technical problems such as inconvenient operation during the puncture process of the traditional puncture needle and harm to the body of medical staff.

[0004] To solve the above problems, the technical solution of the utility model is: a mechanical puncture needle micro-pushing robot, comprising:

[0005] A moving seat, movably arranged on the side of the body backboard, and the body backboard is used for the patient to lie on;

[0006] A first driving mechanism, used to drive the moving seat to move on the side of the body backboard;

[0007] A vertical mounting frame, fixedly connected to the moving seat;

[0008] A first rotating frame, one end of which is rotatably connected to the upper part of the vertical mounting frame through a horizontal rotating shaft;

[0009] A second driving mechanism, its fixed end is connected to the vertical mounting frame, and its movable end is connected to the first rotating frame. The second driving mechanism is used to drive the first rotating frame to rotate on the vertical mounting frame;

[0010] A guiding column, rotatably mounted on one end of the first rotating frame far from the vertical mounting frame through a horizontal rotating shaft; an axial channel for the puncture needle to pass through is provided inside the guiding column;

[0011] A third driving mechanism, its fixed end is fixedly arranged on the first rotating frame, and its movable end is connected to the guiding column. The third driving mechanism is used to drive the guiding column to rotate on the first rotating frame;

[0012] The telescopic mechanism includes a fixed frame and a movable frame. The fixed frame is fixedly connected to a guiding column. The movable frame is slidably arranged on the fixed frame along the axial direction of the guiding column. The upper end of the puncture needle is detachably and fixedly connected to the movable frame.

[0013] The fourth driving mechanism has its fixed end fixedly arranged on the fixed frame and its movable end connected to the movable frame. The fourth driving mechanism is used to drive the movable frame to slide on the fixed frame so as to drive the puncture needle to move.

[0014] Optionally, it further includes a control mechanism. The first driving mechanism, the second driving mechanism, the third driving mechanism and the fourth driving mechanism are all electrically connected or wirelessly connected to the control mechanism.

[0015] Optionally, the control mechanism includes a remote controller or a remote console.

[0016] Optionally, the first driving mechanism includes:

[0017] A horizontal rack, fixedly arranged on the side of the body backboard;

[0018] A motor, fixedly arranged on the moving seat. A speed reducer is connected to the motor. A gear is installed on the output shaft of the speed reducer. The gear is meshed and connected with the horizontal rack. The motor is used to drive the gear to rotate. While the gear rotates, it moves on the horizontal rack, and the gear drives the moving seat to slide on the guiding rod;

[0019] A guiding rod, fixedly arranged on the side of the body backboard. The guiding rod is parallel to the horizontal rack. The moving seat is slidably arranged on the guiding rod.

[0020] Optionally, there are two parallel sets of the cooperating motor, speed reducer and gear. Both gears are meshed and connected with the horizontal rack.

[0021] Optionally, the second driving mechanism, the third driving mechanism and the fourth driving mechanism are all cylinders.

[0022] Optionally, several groups of guide wheels are axially distributed in the axial channel. The several groups of guide wheels are used to guide the movement of the puncture needle in the axial channel.

[0023] Optionally, the guiding column is composed of two symmetrical semi-cylinders spliced by a connecting component. One of the semi-cylinders is rotatably installed on the first rotating frame, and the other semi-cylinder is connected to the second driving mechanism. Axial relief grooves are opened on both semi-cylinders. When the two semi-cylinders are spliced into the guiding column, the two axial relief grooves enclose an axial channel:

[0024] The connecting component includes a fixed seat and a rotating rod. The fixed seat is fixedly arranged on one of the semi-cylinders. A clamping groove is opened at the upper part of the fixed seat. One end of the rotating rod is rotatably installed on the other semi-cylinder, and a clamping block is fixedly arranged at the opposite end of the rotating rod. The clamping block is used to cooperate with and snap into the clamping groove to fixedly connect the two semi-cylinders.

[0025] Optionally, there are several clamping grooves on the fixed seat, which are distributed on the outer periphery of a corresponding semi-cylindrical body. The number of rotating rods corresponds one-to-one with the number of clamping grooves, and the rotating rods are distributed on the outer periphery of the corresponding semi-cylindrical body; the rotation axis of the rotating rod is perpendicular to the axis of the guiding column.

[0026] Optionally, a clamp that can be opened and closed is provided on the movable frame. The clamp includes two clamping jaws. A positioning block is fixedly arranged at the tail end of the puncture needle. Grooves are provided on both clamping jaws. When the clamp is closed, the grooves on the two clamping jaws form a positioning groove that matches the contour of the positioning block, and the positioning block is positioned in the positioning groove to fix the puncture needle on the movable frame.

[0027] Compared with the prior art, the beneficial effects of the present utility model are as follows:

[0028] The mechanical puncture needle micro-pushing robot of the present utility model realizes the automatic adjustment of the position of the puncture needle and the automatic puncture work, is convenient to operate, avoids the medical staff from walking back and forth between the display screen and the patient for many times, saves labor, has high puncture efficiency, reduces human error, improves the puncture accuracy, and the medical staff can remotely operate the mechanical puncture needle micro-pushing robot to perform puncture work, avoiding physical damage caused by the medical staff staying close to the CT scanning equipment for a long time. Description of the Drawings

[0029] Figure 1 It is a schematic structural diagram of a mechanical puncture needle micro-pushing robot in an embodiment;

[0030] Figure 2 It is a schematic structural diagram of the first driving mechanism in an embodiment;

[0031] Figure 3 It is an installation schematic diagram of the vertical mounting frame, the first rotating frame, the guiding column and the telescopic mechanism in an embodiment;

[0032] Figure 4 It is an internal schematic diagram of the semi-cylindrical body in an embodiment;

[0033] Figure 5 It is a schematic diagram of the clamping groove on the fixed seat in an embodiment;

[0034] Figure 6 It is a schematic structural diagram of the rotating rod in an embodiment;

[0035] Figure 7 It is an installation schematic diagram of the clamping jaw and the puncture needle in an embodiment;

[0036] Figure 8 It is a schematic structural diagram of the clamping jaw in an embodiment.

[0037] Reference numerals: 1, moving seat; 2, first driving mechanism; 21, horizontal rack; 22, motor; 23, gear; 24, speed reducer; 25, guide rod; 3, vertical mounting frame; 4, first rotating frame; 41, second driving mechanism; 5, guide post; 51, third driving mechanism; 52, guide wheel; 53, semi-cylindrical body; 531, axial relief groove; 54, connecting assembly; 541, fixed seat; 5411, clamping groove; 542, rotating rod; 5421, clamping block; 6, telescopic mechanism; 61, fourth driving mechanism; 62, fixed frame; 63, movable frame; 7, body back plate; 8, puncture needle; 81, positioning block; 9, fixture; 91, clamping jaw; 911, slotted opening. Detailed implementation manners

[0038] The present utility model will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0039] Embodiment: As Figures 1-8 shown, this embodiment provides a mechanical puncture needle micro-pushing robot, including a moving seat 1, a first driving mechanism 2, a vertical mounting frame 3, a first rotating frame 4, a second driving mechanism 41, a guide post 5, a third driving mechanism 51, a telescopic mechanism 6 and a fourth driving mechanism 61;

[0040] The moving seat 1 is movably arranged on the side of the body back plate 7, and the body back plate 7 is used for a patient to lie on; the first driving mechanism 2 is used to drive the moving seat 1 to move on the side of the body back plate 7; the vertical mounting frame 3 is fixedly connected to the moving seat 1; one end of the first rotating frame 4 is rotationally connected to the upper part of the vertical mounting frame 3 through a horizontal rotating shaft; the fixed end of the second driving mechanism 41 is connected to the vertical mounting frame 3, and the movable end of the second driving mechanism 41 is connected to the first rotating frame 4, and the second driving mechanism 41 is used to drive the first rotating frame 4 to rotate on the vertical mounting frame 3; the guide post 5 is rotationally installed at one end of the first rotating frame 4 far from the vertical mounting frame 3 through a horizontal rotating shaft; an axial channel for the puncture needle 8 to pass through is provided in the guide post 5; the fixed end of the third driving mechanism 51 is fixedly arranged on the first rotating frame 4, and the movable end of the third driving mechanism 51 is connected to the guide post 5, and the third driving mechanism 51 is used to drive the guide post 5 to rotate on the first rotating frame 4; the telescopic mechanism 6 includes a fixed frame 62 and a movable frame 63, the fixed frame 62 is fixedly connected to the guide post 5, the movable frame 63 is slidably arranged on the fixed frame 62 along the axial direction of the guide post 5, and the upper end of the puncture needle 8 is detachably and fixedly connected to the movable frame 63; the fixed end of the fourth driving mechanism 61 is fixedly arranged on the fixed frame 62, and the movable end of the fourth driving mechanism 61 is connected to the movable frame 63, and the fourth driving mechanism 61 is used to drive the movable frame 63 to slide on the fixed frame 62 to drive the puncture needle 8 to move.

[0041] With the above settings, during use, the patient lies on the body backboard 7. The first driving mechanism 2 drives the moving seat 1 to move to a suitable position. The second driving mechanism 41 drives the first rotating frame 4 to rotate to a suitable position. The third driving mechanism 51 drives the guiding column 5 to rotate to a suitable position. The fourth driving mechanism 61 drives the movable frame 63 to move axially, thereby driving the puncture needle 8 to correctly penetrate into the patient's body. Finally, the puncture needle 8 is removed from the movable frame 63 and the guiding column 5 as needed for the next operation. Through the cooperation of the moving seat 1, the first rotating frame 4, and the guiding column 5, and with the cooperation of the first driving mechanism 2, the second driving mechanism 41, the third driving mechanism 51, and the fourth driving mechanism 61, the automatic positioning and automatic puncture of the puncture needle 8 are realized, with convenient operation, accurate positioning, and improved work efficiency and puncture accuracy.

[0042] In a mechanical puncture needle micro-pushing robot of this embodiment, a control mechanism is further included. The first driving mechanism 2, the second driving mechanism 41, the third driving mechanism 51, and the fourth driving mechanism 61 are all electrically connected or wirelessly connected to the control mechanism. With such a setting, the control of the four groups of driving mechanisms is realized through the control mechanism, with convenient operation and high work efficiency. Optionally, the cylinder seat of the second driving mechanism 41 is rotatably connected to the vertical mounting frame 3 through a horizontal rotating shaft, and the cylinder shaft of the second driving mechanism 41 is rotatably connected to the horizontal rotating shaft in the middle of the first rotating frame 4.

[0043] In a mechanical puncture needle micro-pushing robot of this embodiment, the control mechanism includes a remote control or a remote console. Remote control is realized through the remote control or the remote console, with convenient operation and avoiding damage to the body of medical staff due to long-term contact with radiation-emitting medical equipment.

[0044] In a mechanical puncture needle micro-pushing robot of this embodiment, the first driving mechanism 2 includes a horizontal rack 21, a motor 22, and a guiding rod 25. The horizontal rack 21 is fixedly arranged on the side of the body backboard 7. The motor 22 is fixedly arranged on the moving seat 1. A reducer 24 is connected to the motor 22, and a gear 23 is installed on the output shaft of the reducer 24. The gear 23 is meshed and connected with the horizontal rack 21. The motor 22 is used to drive the gear 23 to rotate. While the gear 23 rotates, it moves on the horizontal rack 21, and the gear 23 drives the moving seat 1 to slide on the guiding rod 25. The guiding rod 25 is fixedly arranged on the side of the body backboard 7, the guiding rod 25 is parallel to the horizontal rack 21, and the moving seat 1 is slidably arranged on the guiding rod 25.

[0045] With the above settings, the structure is simple. The automatic movement of the moving seat 1 is realized through the cooperation of the motor 22, the reducer 24, the gear 23, and the horizontal rack 21, which is convenient for adjusting the position of the moving seat 1, with convenient operation and improved work efficiency.

[0046] In a mechanical puncture needle micro-pushing robot according to this embodiment, there are two sets of the motor 22, the reducer 24 and the gear 23 that cooperate with each other and are arranged side by side. Both of the two gears 23 are meshed and connected to the horizontal rack 21. With such a setting, by using two sets of the motor 22, the reducer 24 and the gear 23 to cooperate, the power is strong, and the moving seat 1 moves more quickly and smoothly.

[0047] In a mechanical puncture needle micro-pushing robot according to this embodiment, the second driving mechanism 41, the third driving mechanism 51 and the fourth driving mechanism 61 are all cylinders. The structure is simple, the cost is low, and the adjustment is convenient. Specifically, one end of the cylinder block of the cylinder is the fixed end, and one end of the cylinder shaft of the cylinder is the movable end.

[0048] In a mechanical puncture needle micro-pushing robot according to this embodiment, several groups of guide wheels 52 are axially distributed in the axial channel. The several groups of guide wheels 52 are used to guide the movement of the puncture needle 8 in the axial channel. Through the above setting, when the puncture needle 8 moves in the axial channel, it is guided by the guide wheels 52, which improves the movement stability of the puncture needle 8, and the positioning and puncture accuracy are higher. The puncture needle 8 has a channel for a specific medical fine needle to extend into. After the puncture needle 8 is punctured and positioned on the patient's body, the next operation is carried out by passing through the channel with components such as a specific medical fine needle and entering the patient's body.

[0049] In a mechanical puncture needle micro-pushing robot according to this embodiment, the guide post 5 is composed of two symmetrical semi-cylinders 53 spliced by a connecting component 54. One of the semi-cylinders 53 is rotatably installed on the first rotating frame 4, and the other semi-cylinder 53 is connected to the second driving mechanism 41; axial relief grooves 531 are formed on both of the two semi-cylinders 53. When the two semi-cylinders 53 are spliced into the guide post 5, the two axial relief grooves 531 enclose an axial channel:

[0050] The connecting component 54 includes a fixed seat 541 and a rotating rod 542. The fixed seat 541 is fixedly arranged on one of the semi-cylinders 53. A clamping groove 5411 is formed in the upper part of the fixed seat 541. One end of the rotating rod 542 is rotatably installed on the other semi-cylinder 53, and a clamping block 5421 is fixedly arranged at the opposite end of the rotating rod 542. The clamping block 5421 is used to cooperate with and be clamped into the clamping groove 5411 to fixedly connect the two semi-cylinders 53.

[0051] With the above settings, the guide post 5 is composed of two semi-cylindrical bodies 53 spliced together. The two semi-cylindrical bodies 53 are fixedly connected by a connecting component 54. During the process of adjusting the puncture position of the puncture needle 8, the two semi-cylindrical bodies 53 are in a fixedly connected state. The second driving mechanism 41 drives the guide post 5 to rotate. After the puncture needle 8 is punctured and positioned in the patient's body, the control rotating rod 542 is rotated so that the clamping block 5421 disengages from the clamping groove 5411, and the fixed connection relationship between the two semi-cylindrical bodies 53 is released. Then, the second driving mechanism 41 drives one semi-cylindrical body 53 connected thereto away from the other semi-cylindrical body 53, and the axial channel is opened, thereby facilitating the separation of the guide post 5 from the puncture needle 8.

[0052] In a mechanical puncture needle micro-pushing robot of this embodiment, there are several clamping grooves 5411 on the fixed seat 541, which are distributed on the outer periphery of a corresponding semi-cylindrical body 53. The number of rotating rods 542 corresponds one-to-one with the number of clamping grooves 5411, and the rotating rods 542 are distributed on the outer periphery of the corresponding semi-cylindrical body 53; the rotation axis of the rotating rod 542 is perpendicular to the axis of the guide post 5. With such a setting, through the cooperation and clamping of several clamping blocks 5421 and several clamping grooves 5411, the connection stability between the two semi-cylindrical bodies 53 is improved, thereby improving the movement stability and puncture accuracy of the puncture needle 8.

[0053] In a mechanical puncture needle micro-pushing robot of this embodiment, a clamp 9 that can be opened and closed is provided on the movable frame 63. The clamp 9 includes two clamping jaws 91. A positioning block 81 is fixedly provided at the tail end of the puncture needle 8. Grooves 911 are provided on both clamping jaws 91. When the clamp 9 is closed, the grooves 911 on the two clamping jaws 91 form a positioning groove that matches the contour of the positioning block 81, and the positioning block 81 is positioned in the positioning groove to fix the puncture needle 8 on the movable frame 63. With such a setting, the puncture needle 8 is fixedly connected to the movable frame 63 by using the clamp 9, which has a simple structure, stable connection, and is convenient for disassembling and assembling the puncture needle 8. Optionally, the clamp 9 can use a driver such as a cylinder to realize the automatic opening and closing of the clamp 9, thereby realizing the automatic separation of the movable frame 63 and the puncture needle 8.

[0054] The operation process of the mechanical puncture needle micro-pushing robot of this embodiment is as follows:

[0055] 1. The patient lies / lies prone on the back plate, maintaining a relatively fixed and comfortable posture. Place the skin puncture point at the top to facilitate puncture.

[0056] 2. Control the first driving mechanism to drive the moving seat to move, so as to adjust the moving seat to a suitable position.

[0057] 3. Use the remote control or remote operation console to adjust the positions of the first rotating frame and the guide post, so as to push the puncture needle to the skin puncture point.

[0058] 4. Perform a CT scan to obtain data.

[0059] 5. Set parameters such as the puncture position, angle, depth, and force according to the CT scan results.

[0060] 6. Adjust the moving seat to one side to facilitate routine disinfection of the puncture site, covering with a sterile drape, and injecting local anesthetic.

[0061] 7. Start the power switch of the remote control or remote operation console to perform the puncture. After the puncture is completed, perform a CT scan again to confirm the puncture situation.

[0062] 8. The position of the puncture needle can be finely adjusted, or the puncture can be completed.

[0063] 9. Retain the puncture needle, remove the mechanical puncture needle micro-pushing robot, or control the movement of the moving seat to move away from the patient.

[0064] 10. Insert an ablation needle, radiofrequency needle, or plasma needle along the channel inside the puncture needle to complete ablation and other tasks.

Claims

1. A mechanical puncture needle micro-pushing robot, characterized in that: include: A movable seat (1) is movably arranged on the side of a body back plate (7), and the body back plate (7) is used for a patient to lie down; A first driving mechanism (2) is used to drive the movable seat (1) to move on the side of the body back plate (7); A vertical mounting frame (3) fixedly connected to the movable seat (1); A first rotating frame (4), one end of which is rotatably connected to the upper part of the vertical mounting frame (3) via a horizontal rotating shaft; A second driving mechanism (41), a fixed end of which is connected to the vertical mounting frame (3), and a movable end of which is connected to the first rotating frame (4), the second driving mechanism (41) being used to drive the first rotating frame (4) to rotate on the vertical mounting frame (3); A guide column (5) is rotatably mounted on the first rotating frame (4) via a horizontal rotating shaft at one end away from the vertical mounting frame (3); the guide column (5) has an axial passage for the puncture needle (8) to pass through; A third driving mechanism (51), whose fixed end is fixedly arranged on the first rotating frame (4), and whose movable end is connected to the guide column (5), and the third driving mechanism (51) is used to drive the guide column (5) to rotate on the first rotating frame (4); The telescopic mechanism (6) comprises a fixed frame (62) and a movable frame (63), wherein the fixed frame (62) is fixedly connected to the guide column (5), and the movable frame (63) is slidably arranged on the fixed frame (62) along the axial direction of the guide column (5), and the upper end of the puncture needle (8) is detachably fixedly connected to the movable frame (63); The fourth driving mechanism (61) has a fixed end fixedly disposed on the fixed frame (62) and a movable end connected to the movable frame (63). The fourth driving mechanism (61) is used to drive the movable frame (63) to slide on the fixed frame (62) to drive the puncture needle (8) to move.

2. A mechanical puncture needle micro-pushing robot according to claim 1, characterized in that: It also includes a control mechanism, and the first drive mechanism (2), the second drive mechanism (41), the third drive mechanism (51) and the fourth drive mechanism (61) are all electrically or wirelessly connected to the control mechanism.

3. A mechanical puncture needle micro-pushing robot according to claim 2, characterized in that: The control mechanism includes a remote control or a remote control console.

4. The mechanical puncture needle micro-pushing robot according to claim 1, characterized in that: The first driving mechanism (2) comprises: A horizontal rack (21) is fixedly arranged on the side of the body back plate (7); The motor (22) is fixedly arranged on the moving seat (1), the motor (22) is connected to a reducer (24), the output shaft of the reducer (24) is equipped with a gear (23), and the gear (23) is meshedly connected with the horizontal rack (21); the motor (22) is used to drive the gear (23) to rotate, and the gear (23) moves on the horizontal rack (21) while rotating, and the gear (23) drives the moving seat (1) to slide on the guide rod (25); The guide rod (25) is fixedly arranged on the side of the body back plate (7), the guide rod (25) is parallel to the horizontal rack (21), and the movable seat (1) is slidably arranged on the guide rod (25).

5. The mechanical puncture needle micro-pushing robot according to claim 4, characterized in that: The matched motor (22), reducer (24) and gear (23) have two parallel groups, and the two gears (23) are meshed and connected with the horizontal rack (21).

6. The mechanical puncture needle micro-pushing robot according to claim 1, characterized in that: The second driving mechanism (41), the third driving mechanism (51) and the fourth driving mechanism (61) are all cylinders.

7. The mechanical puncture needle micro-pushing robot according to claim 1, characterized in that: A plurality of groups of guide wheels (52) are axially distributed in the axial channel, and the plurality of groups of guide wheels (52) are used to guide the movement of the puncture needle (8) in the axial channel.

8. The mechanical puncture needle micro-pushing robot according to claim 1, characterized in that: The guide column (5) is composed of two symmetrical semi-cylinders (53) spliced ​​together by a connecting assembly (54), wherein one of the semi-cylinders (53) is rotatably mounted on the first rotating frame (4), and the other semi-cylinder (53) is connected to the second driving mechanism (41); both semi-cylinders (53) are provided with axial clearance grooves (531), and when the two semi-cylinders (53) are spliced ​​together to form the guide column (5), the two axial clearance grooves (531) enclose an axial channel: The connecting assembly (54) comprises a fixing seat (541) and a rotating rod (542); the fixing seat (541) is fixedly arranged on one of the semi-cylinders (53); a clamping groove (5411) is provided on the upper portion of the fixing seat (541); one end of the rotating rod (542) is rotatably mounted on the other semi-cylinder (53); a clamping block (5421) is fixedly arranged on the other end of the rotating rod (542); the clamping block (5421) is used to fit into the clamping groove (5411) to fixedly connect the two semi-cylinders (53).

9. The mechanical puncture needle micro-pushing robot according to claim 8, characterized in that: The fixing seat (541) has a plurality of engaging grooves (5411) distributed on the outer periphery of a corresponding semi-cylinder (53); the number of the rotating rods (542) corresponds to the number of the engaging grooves (5411) one by one; the rotating rods (542) are distributed on the outer periphery of the corresponding semi-cylinder (53); and the rotating axis of the rotating rod (542) is perpendicular to the axis of the guide column (5).

10. The mechanical puncture needle micro-pushing robot according to claim 1, characterized in that: An openable and closable clamp (9) is arranged on the movable frame (63), the clamp (9) comprising two clamping jaws (91), a positioning block (81) is fixedly arranged at the tail end of the puncture needle (8), and slots (911) are arranged on the two clamping jaws (91). When the clamp (9) is closed, the slots (911) on the two clamping jaws (91) form a positioning groove matching the contour of the positioning block (81), and the positioning block (81) is positioned in the positioning groove to fix the puncture needle (8) on the movable frame (63).

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