Robot puncture positioning device

Abstract

The utility model relates to the technical field of medical equipment, in particular to a robot puncture positioning device which comprises a supporting structure, a linear moving guide rail is fixedly installed on the supporting structure, a sliding table driven by a power device to move is arranged on the linear moving guide rail, and a mechanical arm moving in a vertical plane is installed on the sliding table. A puncture positioning and guiding device is fixedly mounted at the tail end of the mechanical arm; during puncture, medical staff do not need to hold the puncture needle positioning and guiding device body by hand, the puncture needle positioning and guiding device is not prone to shaking in the puncture process, the workload of the medical staff is reduced, and the puncture precision is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to medical equipment technical field, concretely relates to robot puncture positioning device. BACKGROUND

[0002] With the rapid development of medical imaging technology, especially the wide application of computer tomography (CT) technology in clinic, accurate positioning and puncture technology play an increasingly important role in medical diagnosis and treatment. In the diagnosis and treatment of cancer, neurology, cardiovascular disease and other diseases, accurate acquisition of lesion tissue samples or accurate treatment operation has great significance for improving diagnosis and treatment effect and reducing complications. However, the traditional puncture operation often depends on the experience and intuition of doctors, and there are problems of inaccurate positioning, complex operation, high risk of complications and the like.

[0003] In the prior art, the utility model discloses a kind of laser angle guides for puncture in application No. CN202321187082.6, including hand-held shell and laser angle instrument, hand-held shell inside can be dismantled and enclosed the laser angle instrument, laser angle instrument bottom is laser emission end, and hand-held shell outer wall is equipped with puncture needle fixing seat, for fixing puncture needle. When needing puncture, the XY axis angle between the connecting line of pre-CT scanning focus point and skin positioning point and horizontal plane is utilized, then the cross positioning laser of laser angle instrument is opened, holds hand-held shell and aims at puncture point position with puncture needle, by the aid of cross positioning laser, by observing the two numerical values shown in window, the needle insertion angle of puncture needle can be accurately adjusted, and the success rate of puncture is improved.

[0004] However, using the above guide, since lacking supporting structure, medical staff need to hold the guide to complete puncture, the stability of hand-held guide is poor, thereby leading to the decrease of puncture precision, and also increasing the workload of medical staff. SUMMARY

[0005] The utility model aims at providing robot puncture positioning device, and the angle provided for puncture needle positioning guide device is supported by mechanical arm, to solve the defects in the above background art.

[0006] To achieve the above object, the utility model provides the following technical scheme:

[0007] Robot puncture positioning device, including support structure, the support structure is fixedly installed with linear movement guide rail, the linear movement guide rail is equipped with sliding table moved by power device, the sliding table is installed with mechanical arm moving in vertical plane, and the end joint of the mechanical arm is fixedly installed with puncture positioning guide device.

[0008] Preferably, the plane in which the mechanical arm moves is perpendicular to the length direction of the linear motion guide, and the end axis of the mechanical arm can have any inclination angle with the horizontal plane.

[0009] Preferably, the puncture positioning and guiding device is provided with a laser emitter and a puncture guide tube, and the midpoint of the line connecting the centers of the laser emitter and the puncture guide tube is located on the end axis of the mechanical arm.

[0010] Preferably, the support structure comprises a trolley, and the bottom of the trolley is provided with moving wheels.

[0011] Preferably, the trolley is fixedly provided with a mechanical arm control cabinet, and a support plate is arranged above the mechanical arm control cabinet, and the support plate is provided with a mechanical arm control handle and a display.

[0012] Preferably, the laser emitter projects a positioning mark in a direction parallel to the puncture guide tube.

[0013] Compared with the prior art, the utility model has the beneficial effects that:

[0014] When puncturing, a medical staff does not need to hold the puncture needle positioning and guiding device body, and the puncture needle positioning and guiding device is not easy to shake during puncturing, thereby reducing the work burden of the medical staff and improving the puncture precision.

[0015] The puncture needle positioning and guiding device is moved in a vertical plane by the mechanical arm, so as to adjust the puncture angle of the puncture needle and move up and down and left and right to align the puncture position, the mechanical arm and the puncture needle positioning and guiding device are synchronously moved by the slide table, so as to adjust left and right to align the puncture position, and the adjustment of the puncture needle positioning and guiding device is flexible and convenient.

[0016] When puncturing, the laser emitter projects a positioning mark on the patient's body surface to align the puncture point, the puncture guide tube is accurately aligned with the puncture position after the end joint of the mechanical arm is rotated by a certain angle, and the puncture needle is punctured after being inserted into the puncture guide tube. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical scheme in the embodiments of the utility model or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced below, and obviously, the drawings in the following description are only some embodiments of the utility model, and other drawings can be obtained by those skilled in the art without creative labor.

[0018] Figure 1 is a structural schematic view of the embodiment of the utility model;

[0019] Figure 2 is Figure 1 a structural schematic view of the back surface;

[0020] Figure 3 is a structural schematic view of an embodiment of the puncture needle positioning and guiding device implemented by the present application;

[0021] Figure 4 is a structural schematic view of another embodiment of the puncture needle positioning and guiding device implemented by the present application.

[0022] In the figure: 1 - support structure; 2 - linear movement guide rail; 3 - sliding table; 4 - mechanical arm; 5 - puncture needle positioning and guiding device; 6 - puncture catheter; 7 - laser emitter; 9 - moving wheel; 10 - mechanical arm control cabinet; 11 - mechanical arm control handle; 12 - display screen; 51 - mounting seat; 52 - mounting base; 53 - extension rod; 54 - positioning rod; 13 - support table plate. DETAILED DESCRIPTION

[0023] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0024] As Figures 1 to 4 shown, the robot puncture positioning device comprises a support structure 1, a transversely extending linear movement guide rail 2 is fixedly installed on the support structure 1, a sliding table 3 driven to move by a power device is arranged on the linear movement guide rail 2, for example, the power device is a motor, the motor is installed on one end of the linear movement guide rail 2 through bolts, a screw rod is coaxially fixedly installed on the rotating shaft of the motor, and the sliding table 3 is threadedly connected to the screw rod, so that the sliding table 3 is driven to slide left and right along the linear movement guide rail 2 through rotation of the screw rod.

[0025] A mechanical arm 4 moving in a vertical plane is installed on the sliding table 3, the vertical plane is a plane perpendicular to the top plane of the sliding table 3. One end of the mechanical arm 4 is fixedly installed on the top of the sliding table 3 through a base, and an end joint is arranged at the end of the mechanical arm 4 away from the sliding table 3. A puncture needle positioning and guiding device 5 is fixedly installed on the end joint of the mechanical arm 4. The number of joints of the mechanical arm 4 can be set according to actual needs, as long as the end joint can rotate and the end axis forms an arbitrary inclination angle with the horizontal plane.

[0026] In the embodiment, the puncture needle positioning guide device 5 is provided with a puncture guide pipe 6 for the puncture needle to pass through and provide guidance, and a laser emitter 7 is installed on the puncture needle positioning guide device 5, which projects a positioning mark in a direction parallel to the puncture guide pipe 6, which can be a circular, square frame, or a cross, etc.

[0027] In use, the doctor first plans the puncture path and obtains the best puncture angle according to the CT scan picture. The doctor inputs the best puncture angle into the puncture positioning robot, and adjusts the mechanical arm to fix the best puncture angle. The doctor controls the power device to drive the slide table 3 to move left and right along the linear movement guide rail 2 by operating the control handle, and the slide table 3 drives the mechanical arm 4 and the puncture needle positioning guide device 5 to move synchronously, so as to adjust the puncture site left and right. The doctor can also adjust the position of the puncture needle positioning guide device up and down and front and back by operating the control handle to control the mechanical arm to move up and down and front and back. After moving the puncture positioning guide device to the best position, the laser emitter 7 projects a positioning mark on the patient's body surface, which is exactly aligned with the puncture point marked by the doctor on the patient's body surface according to the CT scan. After accurately positioning the best puncture point, the puncture needle positioning guide device 5 is rotated by a certain angle, so that the puncture guide pipe is aligned with the puncture point, and then the puncture needle is inserted through the puncture guide pipe 6 according to the set length for puncture. The puncture needle positioning guide device 5 does not need to be held by medical staff during puncture, and it is not easy to shake during puncture, which reduces the work burden of medical staff and improves the puncture precision.

[0028] The plane in which the mechanical arm 4 moves is perpendicular to the length direction of the linear movement guide rail 2, so as to flexibly adjust the puncture site in up and down, front and back, left and right directions.

[0029] The support structure includes a trolley 8, and the linear movement guide rail 2 is fixedly installed on the top of the trolley 8 by bolts. The bottom of the trolley 8 is provided with moving wheels 9, so as to facilitate the movement of the whole device. The moving wheels 9 are universal wheels with brakes, which can be braked during puncture, so that the whole device is not easy to shake, further improving the puncture precision.

[0030] The support structure 1 is fixedly provided with a mechanical arm control cabinet 10, and a support table plate is arranged above the mechanical arm control cabinet 10. The support table plate is provided with a mechanical arm control handle 11, and is also provided with a display screen 12, which is convenient for controlling the mechanical arm 4. The bottom of the support table plate is fixed on the support structure 1, and its height can be set according to the height of the operator, or it can be connected with the support structure 1 through a lifting device.

[0031] In one example, as shown in FIG. 1, Figure 3As shown, the puncture needle positioning and guiding device 5 includes a T-shaped mounting base 51. A battery module is disposed inside the end of the mounting base 51, and the battery module supplies power to the laser emitter 7. The puncture catheter 6 and the laser emitter 7 are symmetrically distributed at equal distances at both ends of the horizontal arm of the T-shaped mounting base 51. One end of the vertical arm of the T-shaped mounting base 51 is vertically fixed to the end face of the end joint of the robotic arm 4 by screws. The midpoint of the line connecting the center of the laser emitter 7 and the center of the puncture catheter 6 is located on the axis of the end joint of the robotic arm 4.

[0032] In another embodiment, such as Figure 4 As shown, the puncture needle positioning and guiding device 5 includes a mounting base 52 fixedly installed on the end joint face of the robotic arm 4. The mounting base 52 is equipped with a power module connected to the laser emitter 7. An extension rod 53 is provided at one end of the mounting base 52 away from the robotic arm 4. The laser emitter 7 is fixedly installed at the end of the extension rod 53. A positioning rod 54 is also vertically provided on one side of the end of the extension rod 53. A puncture catheter 6 is provided in the semi-circular groove at the end of the positioning rod 54. A U-shaped clamp is provided at the top of the puncture catheter 6. The two sides of the U-shaped clamp are slidably engaged with the two sides of the positioning rod 54. A semi-circular groove adapted to the puncture catheter 6 is also provided in the middle of the U-shaped clamp.

[0033] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely preferred examples and are not intended to limit the utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed utility model. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. A robotic puncture positioning device, characterized by: The application relates to a support structure, wherein a linear movement guide rail is fixedly arranged on the support structure, a sliding table driven by a power device is arranged on the linear movement guide rail, a mechanical arm moving in a vertical plane is arranged on the sliding table, and a puncture positioning guide device is fixedly arranged at the end of the mechanical arm.

2. The robotic puncture positioning device of claim 1, wherein: The plane in which the mechanical arm moves is perpendicular to the length direction of the linear movement guide rail, and the end axis of the mechanical arm can have any inclination angle with the horizontal plane.

3. The robotic puncture positioning device of claim 1, wherein: A laser emitter and a puncture guide tube are arranged on the puncture positioning guide device, and the midpoint of the line connecting the center of the laser emitter and the center of the puncture guide tube is located on the end axis of the mechanical arm.

4. The robotic puncture positioning device of claim 1, wherein: The support structure comprises a trolley, and moving wheels are arranged on the bottom of the trolley.

5. The robotic puncture positioning device of claim 4, wherein: A mechanical arm control cabinet is fixedly arranged on the trolley, a support table plate is arranged above the mechanical arm control cabinet, a mechanical arm control handle and a display are arranged on the support table plate.

6. The robotic puncture positioning device of claim 3, wherein: The laser emitter projects a positioning mark in the direction parallel to the puncture guide tube.

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