Puncture robot system capable of achieving master-slave operation

Abstract

The utility model discloses a puncture robot system capable of being operated in a master-slave mode. The puncture robot system comprises a workbench, a mechanical arm and a precise puncture mechanism, wherein the mechanical arm is installed on one side of the workbench and used for multi-angle posture change, and the precise puncture mechanism is installed at one end of the mechanical arm. The precise puncturing mechanism comprises a fixing box fixed to one end of the mechanical arm, a servo motor fixed to the front face of the fixing box and a driving gear fixed to the output end of the servo motor. After the workbench is placed in a use area, a doctor can perform master-slave operation under the cooperation of a controller, a mechanical arm, a fixing box, a servo motor, a driving gear, a rack and a puncture needle, the puncture needle is stably and accurately driven to puncture a patient, the workload of the doctor can be relieved, the precision and efficiency of an operation are improved, and the working efficiency is improved. Meanwhile, the situation that the puncture deviates from the target position due to shaking or improper operation caused by manual puncture is avoided, so that the surgical risk is greatly reduced, and the puncture effect is improved.

Description

Technical Field

[0001] This utility model relates to the field of medical device technology, and in particular to a puncture robot system that can be operated by a master or slave. Background Technology

[0002] In the medical field, biopsy is a common treatment method widely used in the diagnosis and treatment of various diseases. Traditional biopsies are usually performed manually by doctors, which is complex and requires a high level of skill. With the continuous advancement of medical technology and the increasing demands of patients, manual biopsy has gradually revealed many shortcomings, especially in terms of operational precision, surgical efficiency, and the workload of doctors.

[0003] Biopsy requires extremely high surgical skills. The surgeon must maintain a high level of concentration during the procedure to ensure the needle reaches the target location accurately. Even slight hand tremors or improper manipulation during the procedure can cause the needle to deviate from its intended position, leading to surgical complications. This not only increases the patient's surgical risk but also prolongs the procedure time and recovery period. Summary of the Invention

[0004] This invention overcomes the shortcomings of the prior art and provides a puncture robot system that can be operated by a master or slave.

[0005] To achieve the above objectives, the technical solution adopted by this utility model is as follows: a puncture robot system that can be operated by a master and slave, comprising: a worktable, a robotic arm installed on one side of the worktable for multi-angle posture changes, and a precision puncture mechanism installed at one end of the robotic arm.

[0006] The precision puncture mechanism includes: a fixed box fixed to one end of the robotic arm, a servo motor fixed to the front of the fixed box, and a drive gear fixed to the output end of the servo motor; a rack is provided on the inner side of the fixed box, the drive gear meshes with the rack, and a puncture needle is fixed on the side of the rack located outside the fixed box.

[0007] The inner side of the fixing box is provided with a limiting component for realizing the rack to perform stable linear motion, and the top of the workbench is equipped with a controller for doctors to perform master-slave operation to control the movement of the robotic arm and the precision puncture mechanism.

[0008] In a preferred embodiment of this utility model, the fixed box has a rectangular structure with an opening on one side, and the side of the drive gear is rotatably connected to the inside of the fixed box.

[0009] In a preferred embodiment of this invention, the controller is electrically connected to both the robotic arm and the servo motor.

[0010] In a preferred embodiment of this utility model, the limiting member includes: a plurality of slide bars fixed to the side of the rack; the sides of the plurality of slide bars are slidably connected to the inner side of the fixing box.

[0011] In a preferred embodiment of this utility model, a connecting rod is hinged to the bottom of the middle side of the robotic arm, and a flexible contact strip for supporting and positioning is fixed to the bottom end of the connecting rod.

[0012] In a preferred embodiment of this invention, the flexible contact strip is made of either rubber or silicone.

[0013] In a preferred embodiment of this invention, the front of the workbench is slidably connected with a plurality of storage frames for storing medical supplies.

[0014] In a preferred embodiment of this utility model, the bottom of the workbench is equipped with several casters for easy movement of the entire unit.

[0015] In a preferred embodiment of this utility model, the bottom of the workbench is equipped with a plurality of support feet for providing stable support to the workbench.

[0016] This utility model solves the defects existing in the background technology, and has the following beneficial effects:

[0017] (1) This utility model provides a puncture robot system that can be operated by master and slave. By installing a precision puncture mechanism at one end of the robotic arm, after the worktable is placed in the use area, the doctor can perform master and slave operation through the cooperation of the controller, robotic arm, fixed box, servo motor, drive gear, rack and pinion and puncture needle. The puncture needle can be driven to the patient in a stable and accurate manner to perform puncture operation, which can reduce the workload of doctors, improve the accuracy and efficiency of surgery, and avoid the situation of tremors or improper operation caused by manual puncture, which leads to the puncture deviating from the target position, thereby greatly reducing the surgical risk and improving the puncture effect.

[0018] (2) In this utility model, by hinged connecting rod on the middle side of the robotic arm, when the robotic arm is controlled to move toward the patient, the connecting rod hinged on the middle side of the robotic arm is vertically downward aligned with the side of the patient's puncture site, and the flexible contact strip is gradually brought into contact with the patient's skin surface. In this way, while providing support and positioning for the robotic arm, it can also press down on the patient, which can prevent the patient from moving or deviating to a certain extent and further improve the stability of the puncture. Attached Figure Description

[0019] The present invention will be further described below with reference to the accompanying drawings and embodiments;

[0020] Figure 1This is a perspective structural diagram of a preferred embodiment of the present invention;

[0021] Figure 2 This is a structural diagram of the connection between the robotic arm and the fixed box in a preferred embodiment of this utility model;

[0022] Figure 3 This is a structural diagram of the meshing point between the drive gear and the rack, which is a preferred embodiment of this utility model.

[0023] Figure 4 This is a structural diagram of the connection between the slider and the fixing box in a preferred embodiment of this utility model;

[0024] In the diagram: 1. Workbench; 2. Robotic arm; 3. Precision puncture mechanism; 31. Fixing box; 32. Servo motor; 33. Drive gear; 34. Rack; 35. Puncture needle; 4. Controller; 5. Slide bar; 6. Connecting rod; 61. Flexible contact bar; 7. Storage box; 8. Casters; 9. Support feet. Detailed Implementation

[0025] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. These drawings are simplified schematic diagrams, which are only used to illustrate the basic structure of the present invention in a schematic manner, and therefore only show the components related to the present invention.

[0026] like Figure 1 , Figure 2 and Figure 3 As shown, a master-slave puncture robot system includes: a workbench 1, a robotic arm 2 mounted on one side of the workbench 1 for multi-angle posture changes, and a precision puncture mechanism 3 mounted on one end of the robotic arm 2; the precision puncture mechanism 3 includes: a fixing box 31 fixed to one end of the robotic arm 2, a servo motor 32 fixed to the front of the fixing box 31, and an active gear 33 fixed to the output end of the servo motor 32; a rack 34 is provided inside the fixing box 31, the active gear 33 meshes with the rack 34, and a puncture needle 35 is fixed on the side of the rack 34 located outside the fixing box 31; a limiting member is provided inside the fixing box 31 to enable the rack 34 to perform stable linear motion, and a controller 4 is installed on the top of the workbench 1 for the doctor to perform master-slave operation control of the robotic arm 2 and the precision puncture mechanism 3.

[0027] It should be noted that the fixed box 31 has a rectangular structure with an open side. The side of the active gear 33 is rotatably connected to the inside of the fixed box 31. The controller 4 is electrically connected to the robotic arm 2 and the servo motor 32. After the worktable 1 is placed in the use area, the doctor controls the robotic arm 2 through the controller 4 to perform master-slave operation. The robotic arm 2 is responsible for moving the fixed box 31 and the puncture needle 35 on one side of the fixed box 31 according to the doctor's instructions, so that the bottom of the puncture needle 35 is accurately aligned with the patient's puncture area. The controller 4 controls the servo motor 32 to drive the active gear 33 at the output end to rotate. Through the meshing of the active gear 33 and the rack 34, a constant transmission ratio can be ensured, so that the active gear 33 can be stably and accurately driven to puncture the patient. This can reduce the doctor's workload, improve the accuracy and efficiency of the operation, and avoid the situation where the puncture deviates from the target position due to shaking or improper operation caused by manual puncture. This greatly reduces the surgical risk and improves the puncture effect.

[0028] like Figure 4 As shown, in some embodiments, the limiting member includes: a plurality of slide bars 5 fixed to the side of the rack 34; the sides of the plurality of slide bars 5 are slidably connected to the inner side of the fixing box 31; by setting the slide bars 5, the rack 34 can be limited to the inner side of the fixing box 31 when the rack 34 meshes with the drive gear 33, thereby enabling the rack 34 to slide up and down along the inner side of the fixing box 31 through the slide bars 5, thereby improving its stability.

[0029] like Figure 2 As shown, in some embodiments, a connecting rod 6 is hinged to the bottom of the middle side of the robotic arm 2, and a flexible contact strip 61 for supporting and positioning is fixed to the bottom end of the connecting rod 6.

[0030] It should be noted that the flexible contact strip 61 is made of either rubber or silicone. When the robotic arm 2 moves toward the patient, the connecting rod 6 hinged on the side of the middle section of the robotic arm 2 is aligned vertically downwards next to the patient's puncture site, and the flexible contact strip 61 is gradually brought into contact with the patient's skin surface. This not only provides support and positioning for the robotic arm 2, but also presses down on the patient, which to some extent prevents the patient from moving or shifting, and further improves the stability of the puncture.

[0031] like Figure 1 As shown, in some embodiments, the front of the workbench 1 is slidably connected with a plurality of storage boxes 7 for storing medical supplies; the arrangement of the plurality of storage boxes 7 facilitates medical staff to store and place the medical supplies required for puncture.

[0032] In some embodiments, the bottom of the workbench 1 is equipped with several casters 8 for easy movement of the whole unit; the presence of several casters 8 makes it easy for medical staff to move the whole unit.

[0033] In some embodiments, the bottom of the workbench 1 is equipped with a plurality of support feet 9 for providing stable support to the workbench 1; by setting a plurality of support feet 9, the workbench 1 can be supported, so that the casters 8 can be lifted off the ground, thereby achieving the effect of stable support.

[0034] In use, this invention utilizes several casters 8 to move the entire structure, placing the worktable 1 within the operating area. Several support feet 9 lift the casters 8 off the ground, supporting the worktable 1. The doctor controls the robotic arm 2 via the controller 4, which moves the fixing box 31 and the puncture needle 35 on one side of the fixing box 31 according to the doctor's instructions. This aligns the connecting rod 6, hinged on the side of the middle section of the robotic arm 2, vertically downwards to the side of the patient's puncture site, gradually bringing the flexible contact strip 61 into contact with the patient's skin surface. This ensures the bottom of the puncture needle 35 accurately aligns with the patient's puncture area. The controller 4 then controls the servo motor 32, driving the output gear 33 to rotate. The meshing of the gear 33 and rack 34 ensures a constant transmission ratio, allowing for stable and accurate puncture of the needle 35 towards the patient. This reduces the doctor's workload, improves surgical precision and efficiency, and avoids the vibrations or improper operation that can cause manual punctures, leading to deviations from the target position. This significantly reduces surgical risks and improves puncture effectiveness.

[0035] Based on the above description and the preferred embodiments of this utility model, it will be apparent to those skilled in the art that this utility model is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this utility model. Therefore, the embodiments should be considered exemplary and non-limiting in all respects. The scope of this utility model is defined by the appended claims rather than the foregoing description, and thus all variations falling within the meaning and scope of equivalents of the claims are intended to be included within this utility model. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0036] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A puncture robot system operable in master-slave, characterized by, Including: Workbench (1), mechanical arm (2) for multi-angle posture change installed on one side of the workbench (1), and precise puncture mechanism (3) installed at one end of the mechanical arm (2); The precise puncture mechanism (3) comprises: a fixed box (31) fixed at one end of the mechanical arm (2), a servo motor (32) fixed on the front of the fixed box (31), and a driving gear (33) fixed at the output end of the servo motor (32); The inner side of the fixed box (31) is provided with a rack (34), the driving gear (33) is engaged with the rack (34), and the rack (34) is fixed with a puncture needle (35) on one side outside the fixed box (31). The inner side of the fixed box (31) is provided with a limiting piece for realizing stable linear motion of the rack (34), and the top of the workbench (1) is provided with a controller (4) for realizing master-slave operation control of the mechanical arm (2) and the precise puncture mechanism (3) by the doctor.

2. The master-slave operable puncture robot system according to claim 1, characterized in that: The structure of the fixed box (31) is rectangular and one side is open, and the side surface of the driving gear (33) is rotatably connected to the inner side of the fixed box (31).

3. The master-slave operable puncture robot system according to claim 1, characterized in that: The controller (4) is electrically connected with the mechanical arm (2) and the servo motor (32) respectively.

4. The master-slave operable puncture robot system according to claim 1, characterized in that: The limiting piece comprises: a plurality of slide bars (5) fixed on the side surface of the rack (34); The side surface of the plurality of slide bars (5) is slidably connected with the inner side of the fixed box (31).

5. The master-slave operable puncture robot system according to claim 1, characterized in that: The bottom of the side surface of the middle segment of the mechanical arm (2) is hingedly connected with a connecting rod (6), and the bottom end of the connecting rod (6) is fixed with a flexible contact strip (61) for supporting and positioning.

6. A master-slave operable puncture robot system according to claim 5, characterized in that: The material of the flexible contact strip (61) is one of rubber or silicone.

7. The master-slave operable puncture robot system according to claim 1, characterized in that: The front surface of the workbench (1) is slidably connected with a plurality of storage boxes (7) for storing medical supplies.

8. The master-slave operable puncture robot system according to claim 1, characterized in that: The bottom of the workbench (1) is provided with a plurality of universal wheels (8) for facilitating the movement of the whole.

9. The master-slave operable puncture robot system according to claim 1, characterized in that: The bottom of the workbench (1) is provided with a plurality of support foot cups (9) for stabilizing the support of the workbench (1).

Images