Puncture tail end and puncture robot

Abstract

The utility model relates to a puncture tail end and a puncture robot, the puncture tail end comprises at least one clamping unit, each clamping unit comprises a driving wheel, a fixed seat, a transmission rod, a connecting rod assembly and two clamping arms, the driving wheel is rotationally connected to the fixed seat, one end of the transmission rod is rotationally connected to the driving wheel, and the other end of the transmission rod is rotationally connected to the connecting rod assembly; the two clamping arms are provided with rotating fulcrums rotationally connected to the fixing base, clamping ends and connecting ends, the clamping ends and the connecting ends are arranged on the two sides of the rotating fulcrums, the connecting ends of the two clamping arms are rotationally connected to the connecting rod assembly, and the two clamping ends have the clamping state that the two clamping ends get close to each other to clamp the puncture needle and the releasing state that the two clamping ends get away from each other to release the puncture needle; the driving wheel is configured to rotate so that the two clamping ends can be switched between the clamping state and the releasing state. The connecting rod assembly is driven to move through the transmission rod, the two clamping arms can be synchronously driven to swing, the width of the clamping unit is reduced, the volume ratio is reduced, and therefore an operation can be conveniently conducted in the CT aperture.

Description

TECHNICAL FIELD

[0001] The present application relates to the medical technical field, in particular to a puncture end and a puncture robot. BACKGROUND

[0002] Percutaneous interventional surgery has been widely used in early diagnosis of tumors due to its advantages of small trauma and fast postoperative recovery. In order to accurately locate the lesion, percutaneous interventional surgery is mostly performed under the guidance of CT images. When performing percutaneous interventional surgery, the operator usually uses a puncture robot for operation. The surgical robot includes an execution arm and a puncture end arranged at the end of the execution arm. The puncture end includes a clamping unit for clamping and releasing the adapter. However, the existing clamping unit has a complex structure and a large volume, which is not convenient for use in a small-diameter CT. CONTENT OF THE UTILITY MODEL

[0003] Therefore, it is necessary to provide a puncture end and a puncture robot aiming at the problem of complex structure and large volume of the clamping unit.

[0004] A puncture end, the puncture end comprising at least one clamping unit, the clamping unit comprising:

[0005] a fixed seat;

[0006] a drive wheel rotatably connected to the fixed seat;

[0007] a transmission rod and a linkage assembly, one end of the transmission rod being rotatably connected to the drive wheel, and the other end being rotatably connected to the linkage assembly;

[0008] two clamping arms, each having a rotation fulcrum rotatably connected to the fixed seat, and a clamping end and a connecting end respectively arranged on both sides of the rotation fulcrum, the connecting ends of the two clamping arms being rotatably connected to the linkage assembly, the two clamping ends having a clamping state of approaching each other to clamp a puncture needle, and a release state of moving away from each other to release the puncture needle, the drive wheel being configured to rotate to switch the two clamping ends between the clamping state and the release state.

[0009] In one of the embodiments, the linkage assembly comprises a first rod and a second rod, the first rod and the second rod being rotatably connected to one end of the transmission rod away from the drive wheel through a first rotation shaft, and one end of the first rod and the second rod away from the transmission rod being rotatably connected to the two connecting ends one by one.

[0010] In one of the embodiments, when in the clamping state, the connecting shaft connecting the transmission rod and the driving wheel, the first rotating shaft and the rotating pivot point are arranged along a first direction, the first rotating shaft and the two connecting ends are arranged along a second direction, and the first direction is perpendicular to the second direction.

[0011] In one of the embodiments, one end of the first rod away from the transmission rod is connected to one of the connecting ends through a second rotating shaft, and one end of the second rod away from the transmission rod is connected to the other connecting end through a third rotating shaft.

[0012] When in the clamping state, the first rotating shaft is located between the connecting shaft and the rotating pivot point, and the first rotating shaft is located between the second rotating shaft and the third rotating shaft.

[0013] In one of the embodiments, the rotating axis of the driving wheel is not collinear with the axis of the connecting shaft.

[0014] In one of the embodiments, a guide groove extending along the first direction is arranged on the fixed seat, and the first rotating shaft at least partially extends into the guide groove and can slide along the guide groove.

[0015] In one of the embodiments, the clamping end comprises a connecting part, an avoiding part and an abutting part, two ends of the avoiding part are respectively connected to the connecting part and the abutting part, one end of the connecting part away from the avoiding part is connected to the connecting end, the avoiding part extends from one end of the connecting part away from the rotating pivot point to the side close to the puncture object along the puncture direction, and the abutting part is used for abutting to the puncture needle.

[0016] In one of the embodiments, the driving wheel is configured to rotate by a preset angle along a third direction to switch the two clamping ends from the released state to the clamping state, wherein the third direction is the direction of rotating clockwise or counterclockwise around the puncture direction.

[0017] A limiting piece is arranged on the fixed seat, and the limiting piece is used for abutting to the transmission rod when the rotating angle of the driving wheel along the third direction is greater than the rotating preset angle, so as to self-lock the clamping unit.

[0018] In one of the embodiments, an adapter and / or a needle guide are sleeved on the puncture needle.

[0019] The clamping unit further comprises a positioning piece connected to the fixed seat, the positioning piece is arranged between the two clamping ends, a positioning groove is arranged on the positioning piece, the groove wall of the positioning groove is matched with the outer wall of the adapter, or the groove wall of the positioning groove is matched with the outer wall of the needle guide.

[0020] In one of the embodiments, the puncture tip comprises a first clamping driving unit, the first clamping driving unit comprises a transmission shaft and a first driving member, the output end of the first driving member is connected to the transmission shaft, the transmission shaft is connected to the driving wheel, and the first driving member can drive the transmission shaft to rotate to drive the driving wheel to rotate.

[0021] In one of the embodiments, the first clamping driving unit further comprises a first belt wheel, a first transmission member, and a second belt wheel, the first belt wheel is connected to the output end of the first driving member, the second belt wheel is connected to the transmission shaft, and the first transmission member connects the first belt wheel and the second belt wheel.

[0022] In one of the embodiments, the clamping unit is provided with two groups, one of which is a first clamping unit and the other is a second clamping unit, the first clamping unit and the second clamping unit are arranged in the puncture direction, and the second clamping unit is arranged between the first clamping unit and the puncture object, the transmission shaft is connected to the driving wheel of the first clamping unit and the driving wheel of the second clamping unit, and the axial direction of the transmission shaft is the puncture direction.

[0023] In one of the embodiments, the puncture tip comprises a second clamping driving unit, the second clamping driving unit comprises a second driving member, the second driving member is connected to the fixed seat of the first clamping unit, and the second driving member can drive the first clamping unit to move in the puncture direction to make the first clamping unit and the second clamping unit approach or move away from each other.

[0024] In one of the embodiments, the first driving member, the first transmission member, and the transmission shaft form an accommodation space, and the second clamping driving unit is arranged in the accommodation space.

[0025] In one of the embodiments, the second clamping driving unit further comprises a third belt wheel, a fourth belt wheel, and a second transmission member connecting the third belt wheel and the fourth belt wheel, the output end of the second driving member is connected to the third belt wheel, the fourth belt wheel is rotationally connected to the fixed seat of the second clamping unit, the second transmission member is connected to the fixed seat of the first clamping unit, and the second transmission member can drive the first clamping unit to move in the puncture direction.

[0026] In one of the embodiments, the second clamping driving unit further comprises a first sliding rail and a first sliding block in sliding fit, the first sliding rail extends in the puncture direction and is connected to the fixed seat of the second clamping unit, and the first sliding block is connected to the fixed seat of the first clamping unit.

[0027] In one of the embodiments, the puncture tip further comprises a housing and a centering unit, the centering unit comprises a fixing member and an execution adapter, the execution adapter is used to connect to an execution arm, the housing is connected to the clamping unit, the fixing member and the execution adapter, and the fixing member and the housing are all in sliding fit, and the sliding path of the fixing member and the sliding path of the housing are both arc-shaped.

[0028] In one of the embodiments, the execution adapter and the housing can slide relatively, so that the axis of the puncture needle, the rotation axis of the execution arm connected by the execution adapter, and the center of the sliding path coincide.

[0029] In one of the embodiments, the centering unit further comprises a first centering driving assembly and a second centering driving assembly, the first centering driving assembly and the second centering driving assembly are respectively arranged on both sides of the fixing member along the thickness direction, the driving end of the first centering driving assembly is connected to the housing, and the driving end of the second centering driving assembly is connected to the execution adapter.

[0030] In one of the embodiments, the first centering driving assembly comprises a first centering pulley, a second centering pulley, and a first centering transmission member connecting the first centering pulley and the second centering pulley, the first centering pulley and the second centering pulley are both rotationally connected to the fixing member, and the first centering transmission member is connected to the housing.

[0031] The second centering driving assembly comprises a third centering pulley, a fourth centering pulley, and a second centering transmission member connecting the third centering pulley and the fourth centering pulley, the third centering pulley and the fourth centering pulley are both rotationally connected to the fixing member, and the second centering transmission member is connected to the execution adapter.

[0032] In one of the embodiments, the centering unit further comprises a centering driving source, the centering driving source has two output ends, and the two output ends of the centering driving source are respectively connected to the first centering pulley and the third centering pulley.

[0033] In one of the embodiments, the centering unit further comprises a first guide assembly and a second guide assembly, the first guide assembly and the second guide assembly are respectively arranged on both sides of the fixing member along the thickness direction.

[0034] The first guide assembly comprises a second sliding rail and a second sliding block in sliding fit with the second sliding rail, the second sliding rail is arc-shaped and connected to the fixing member, and the second sliding block is connected to the housing.

[0035] The second guiding assembly comprises a third sliding rail and a third sliding block in sliding cooperation with the third sliding rail, the third sliding rail is in an arc shape and is connected to the fixing member, and the third sliding block is connected to the executing adapter.

[0036] The application further provides a puncture robot comprising an executing arm and the puncture tip of any one of the above-mentioned embodiments, wherein the executing arm is connected to the puncture tip.

[0037] The puncture tip comprises at least one clamping unit, each clamping unit comprises a fixing base, a driving wheel, a transmission rod, a connecting rod assembly and two clamping arms, the driving wheel is installed on the fixing base in rotational cooperation, and the driving wheel and the connecting rod assembly are connected through the transmission rod, the two clamping arms are both rotatably connected to the fixing base, the connection positions of the two clamping arms and the fixing base are rotational fulcrums, and the two clamping arms can swing around the rotational fulcrums, the connection ends of the two clamping arms are both rotatably connected to the connecting rod assembly, when the driving wheel rotates, the transmission rod and the connecting rod assembly are driven to rotate, thereby causing the two clamping ends of the two clamping arms to swing around the rotational fulcrums, the two clamping ends are close to or away from each other, when the two clamping ends of the two clamping arms are close to each other and clamp the puncture needle, at this moment, the two clamping ends are in a clamping state, and when the two clamping ends are away from each other and release the puncture needle, at this moment, the two clamping ends are in a releasing state. The two clamping arms can be swung through the transmission rod and the connecting rod assembly, thereby clamping or releasing the puncture needle, the clamping unit has a simple structure and only needs a small driving force to clamp or release the puncture needle. Compared with the existing driving structure configured for each clamping arm, the two clamping arms can be synchronously driven to swing through the transmission rod driving the connecting rod assembly to move, thereby reducing the volume of the clamping unit and facilitating the surgery in the CT aperture. BRIEF DESCRIPTION OF DRAWINGS

[0038] Figure 1 A structure schematic diagram of the puncture robot provided by the embodiment of the application is shown.

[0039] Figure 2 A structure schematic diagram of the puncture tip of the puncture robot provided by the embodiment of the application extending into the CT aperture is shown.

[0040] Figure 3 A structure schematic diagram of the puncture tip provided by the embodiment of the application is shown.

[0041] Figure 4 A structure schematic diagram of the clamping unit provided by the embodiment of the application is shown.

[0042] Figure 5 A structure schematic diagram of the clamping unit in a clamping state provided by the embodiment of the application is shown.

[0043] Figure 6A structure schematic view of the clamping unit provided by the embodiment of the present application in a released state.

[0044] Figure 7 A structure schematic view of the clamping unit provided by the embodiment of the present application away from the adapter.

[0045] Figure 8 A structure schematic view of the clamping unit provided by the embodiment of the present application clamping the puncture needle for puncture.

[0046] Figure 9 A structure schematic view of the positioning member cooperating with the adapter provided by the embodiment of the present application.

[0047] Figure 10 A structure schematic view of the first clamping driving unit provided by the embodiment of the present application from a first perspective.

[0048] Figure 11 A structure schematic view of the first clamping driving unit provided by the embodiment of the present application from a second perspective.

[0049] Figure 12 A structure schematic view of the second clamping driving unit provided by the embodiment of the present application from a first perspective.

[0050] Figure 13 A structure schematic view of the second clamping driving unit provided by the embodiment of the present application from a second perspective.

[0051] Figure 14 A structure schematic view of the second clamping driving unit provided by the embodiment of the present application from a third perspective.

[0052] Figure 15 A structure schematic view of the centering unit provided by the embodiment of the present application from a first perspective.

[0053] Figure 16 A structure schematic view of the centering unit provided by the embodiment of the present application from a second perspective.

[0054] Figure 17 A structure schematic view of the centering unit provided by the embodiment of the present application from a third perspective.

[0055] Figure 18 A contrast structure schematic view of the centering unit provided by the embodiment of the present application before and after planning a puncture path.

[0056] In the figure:

[0057] 100, clamping unit; 110, driving wheel; 120, transmission rod; 121, connecting shaft; 130, linkage assembly; 131, first rod; 132, second rod; 133, first rotating shaft; 134, second rotating shaft; 135, third rotating shaft; 140, clamping arm; 141, clamping end; 1411, connecting part; 1412, avoiding part; 1413, abutting part; 142, connecting end; 143, rotating fulcrum; 150, fixed seat; 151, accommodating cavity; 152, guide groove; 160, limiting piece; 170, positioning piece; 171, positioning groove; 180, first clamping unit; 190, second clamping unit;

[0058] 200, first clamping driving unit; 210, transmission shaft; 220, first driving piece; 230, first belt wheel; 240, first transmission piece; 250, second belt wheel; 260, operation knob;

[0059] 300, second clamping driving unit; 310, second driving piece; 320, first connecting piece; 330, first sliding rail; 340, first sliding block; 350, second transmission piece; 360, second connecting piece; 370, third belt wheel; 380, fourth belt wheel;

[0060] 400, centering unit; 410, fixed piece; 420, execution adapter; 421, base; 422, rotating shaft; 430, first centering driving assembly; 431, first centering belt wheel; 432, second centering belt wheel; 433, first centering transmission piece; 440, second centering driving assembly; 441, third centering belt wheel; 442, fourth centering belt wheel; 443, second centering transmission piece; 450, second sliding rail; 451, third sliding rail; 460, first adapter; 470, second adapter; 480, centering driving source;

[0061] 490, housing;

[0062] 500, execution arm;

[0063] 600, puncture end;

[0064] 700, adapter;

[0065] 800, puncture needle;

[0066] 900, puncture area. DETAILED DESCRIPTION

[0067] In order to make the above objectives, features and advantages of the present application more clear and comprehensible, the specific embodiments of the present application will be described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. However, the present application can be practiced in a number of different ways beyond the specific embodiments described herein and by one of ordinary skill in the art without departing from the spirit and scope of the present application, and it is therefore intended that all such variations be considered as falling within the scope of the present application. It should be understood that the use of the terms "include", "comprise" or "contain" herein should not be understood as limiting the present application to the features or steps described herein, but rather the use of these terms is intended to cover the presence of the features or steps described herein as well as the presence of other features or steps not described herein.

[0068] In the description of the present application, it should be understood that, if these terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0069] In addition, if these terms "first", "second" appear, these terms are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features referred to. Therefore, the features defined with "first", "second" can include at least one of the features explicitly or implicitly. In the description of the present application, if the term "a plurality of" appears, the meaning of "a plurality of" is at least two, for example, two, three, etc., unless otherwise explicitly specified.

[0070] In the present application, unless otherwise explicitly specified and limited, if the terms "mount", "connect", "connect", "fix" and the like appear, these terms should be interpreted broadly. For example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise explicitly limited. For those of ordinary skill in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0071] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0072] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0073] One embodiment of this application provides a puncture robot, such as Figure 1 and Figure 2 As shown, the puncture robot includes an actuator arm 500 and a puncture tip 600, with the actuator arm 500 connected to the puncture tip 600. The puncture tip 600 is mounted on the actuator arm 500, and a puncture needle 800 is mounted on the puncture tip 600. The actuator arm 500 moves the puncture tip 600 and the puncture needle 800 into the CT aperture to perform the puncture operation.

[0074] Specifically, the puncture robot also includes a housing, to which the actuator arm 500 is connected. The housing can slide relative to the ground, thereby driving the actuator arm 500 and the puncture tip 600 to move.

[0075] One embodiment of the present application provides a puncture tip 600, the puncture tip 600 comprising at least one clamping unit 100, the clamping unit 100 comprising a driving wheel 110, a fixed seat 150, a transmission rod 120, a linkage assembly 130, and two clamping arms 140, the driving wheel 110 being rotationally connected to the fixed seat 150, one end of the transmission rod 120 being rotationally connected to the driving wheel 110, and the other end being rotationally connected to the linkage assembly 130; the two clamping arms 140 each having a rotation fulcrum 143 rotationally connected to the fixed seat 150, and a clamping end 141 and a connecting end 142 arranged on both sides of the rotation fulcrum 143, the connecting end 142 of each of the two clamping arms 140 being rotationally connected to the linkage assembly 130, and the two clamping ends 141 having a clamping state of approaching each other to clamp the puncture needle 800, and a release state of moving away from each other to release the puncture needle 800, the driving wheel 110 being configured to rotate to switch the two clamping ends 141 between the clamping state and the release state.

[0076] The puncture tip 600 comprises at least one clamping unit 100, each clamping unit 100 comprising a fixed seat 150, a driving wheel 110, a transmission rod 120, a linkage assembly 130, and two clamping arms 140, the driving wheel 110 being mounted on the fixed seat 150 and rotationally cooperating with the fixed seat 150, and the driving wheel 110 and the linkage assembly 130 being connected through the transmission rod 120. The two clamping arms 140 are each rotationally connected to the fixed seat 150, and the connection positions of the two clamping arms 140 and the fixed seat 150 are rotation fulcrums 143, and the two clamping arms 140 can swing around the rotation fulcrums 143. The two connecting ends 142 of the two clamping arms 140 are each rotationally connected to the linkage assembly 130. When the driving wheel 110 rotates, the transmission rod 120 and the linkage assembly 130 are driven to rotate, and the clamping ends 141 of the two clamping arms 140 are swung around the rotation fulcrums 143, and the two clamping ends 141 move closer to or away from each other. When the two clamping ends 141 of the two clamping arms 140 move closer to each other and clamp the puncture needle 800, the two clamping ends 141 are in the clamping state, and when the two clamping ends 141 move away from each other and release the puncture needle 800, the two clamping ends 141 are in the release state. The present application can swing the two clamping arms 140 through the transmission rod 120 and the linkage assembly 130, and then clamp or release the adapter 700. The clamping unit 100 has a simple structure, and only a small driving force is needed to clamp or release the puncture needle 800. Compared with the existing driving structure of each clamping arm 140, the present application can synchronously drive the two clamping arms 140 to swing through the transmission rod 120 driving the linkage assembly 130 to move, and the size of the clamping unit 100 is reduced, thereby facilitating the surgery in the CT aperture.

[0077] Specifically, as Figure 3As shown, the adapter 700 and the needle guide are sleeved on the puncture needle 800, the puncture end 600 includes two clamping units 100, the two clamping units 100 are arranged in the puncture direction, among the two clamping units 100, one clamping unit 100 far away from the puncture object is the first clamping unit 180, and the other clamping unit 100 close to the puncture object is the second clamping unit 190, that is, in Figure 3 As shown in the view angle, the clamping unit 100 located on the upper side is the first clamping unit 180, and the clamping unit 100 located on the lower side is the second clamping unit 190. The first clamping unit 180 is used for clamping the adapter 700, and the second clamping unit 190 is used for clamping the needle guide. The inner diameter of the adapter 700 is adjustable, and the needle guide has a guiding effect on the puncture needle 800.

[0078] It should be noted that the puncture direction includes the axial direction of the puncture needle 800 and the direction parallel to the axial direction of the puncture needle 800.

[0079] It should be noted that the drive wheels 110, the fixed seats 150, the transmission rods 120, the link assemblies 130 and the two clamping arms 140 provided in the first clamping unit 180 and the second clamping unit 190 have the same structure, and the difference lies in that the first clamping unit 180 and the second clamping unit 190 are arranged at different positions, and the connection objects of the fixed seats 150 of the first clamping unit 180 and the second clamping unit 190 are different.

[0080] Further, as shown in Figures 4 to 7 The end of the transmission rod 120 away from the link assembly 130 is rotationally connected to the drive wheel 110 through the connecting shaft 121.

[0081] Specifically, as shown in Figures 4 to 7 The rotation axis of the drive wheel 110 is not collinear with the axis of the connecting shaft 121, that is, the drive wheel 110 and the connecting shaft 121 do not share a common rotation shaft. The drive wheel 110 is a cam structure, which is driven to rotate and in turn drives the transmission rod 120 to swing.

[0082] More specifically, in an embodiment of the present application, the connecting shaft 121 is connected to the outer peripheral surface of the drive wheel 110. In other embodiments, the connecting shaft 121 is connected to any position of the drive wheel 110, for example, the connecting shaft 121 can be connected to the end surface of the drive wheel 110, as long as the rotation axis of the drive wheel 110 is not collinear with the axis of the connecting shaft 121.

[0083] Further, as shown in Figures 4 to 7As shown, the linkage assembly 130 includes a first rod 131 and a second rod 132, both of which are rotatably connected to the transmission rod 120 at one end away from the driving wheel 110 through a first rotation shaft 133, and the other ends of the first rod 131 and the second rod 132 are rotatably connected to the two connecting ends 142 respectively. The one end of the first rod 131 and the second rod 132 is connected to the transmission rod 120 through the first rotation shaft 133, the other end of the first rod 131 is connected to the connecting end 142 of one of the two clamping arms 140, and the other end of the second rod 132 is connected to the connecting end 142 of the other clamping arm 140. When the driving wheel 110 rotates, it drives the transmission rod 120, the first rod 131 and the second rod 132 to rotate, thereby driving the two clamping arms 140 to swing relative to the rotation fulcrum 143, and switching between the clamping state and the release state. The clamping unit 100 of the present application can drive the two clamping arms 140 to swing through one transmission rod 120, one first rod 131 and one second rod 132. Compared with the prior art in which each clamping arm 140 is provided with a separate driving structure, the transmission rod 120 and the linkage assembly 130 of the present application reduce the volume of the clamping unit 100.

[0084] It should be noted that, as Figures 4 to 7 shown, the driving wheel 110 is configured to rotate and transmit force to the transmission rod 120. Because the transmission rod 120 is rotatably connected to the linkage assembly 130, the force transmitted by the transmission rod 120 is divided into two components, which are transmitted to the first rod 131 and the second rod 132 respectively, and then act on the two clamping arms 140.

[0085] Specifically, in one embodiment of the present application, as Figures 4 to 7 shown, the end of the first rod 131, the end of the transmission rod 120 and the end of the second rod 132 are arranged in the axial direction of the first rotation shaft 133, i.e. the end of the transmission rod 120 is sandwiched between the end of the first rod 131 and the end of the second rod 132, and the first rotation shaft 133 passes through the end of the first rod 131, the end of the transmission rod 120 and the end of the second rod 132, thereby rotatably connecting the first rod 131, the second rod 132 and the transmission rod 120.

[0086] In other embodiments, the relative positions of the end of the first rod 131, the end of the second rod 132 and the end of the transmission rod 120 are arranged according to actual operation needs, for example, the end of the first rod 131, the end of the second rod 132 and the end of the transmission rod 120 are arranged in the axial direction of the first rotation shaft 133.

[0087] Specifically, as Figures 4 to 7As shown, one end of the first rod 131 away from the transmission rod 120 is connected to the connecting end 142 of one of the two clamping arms 140 through the second rotating shaft 134, and one end of the second rod 132 away from the transmission rod 120 is connected to the connecting end 142 of the other of the two clamping arms 140 through the third rotating shaft 135.

[0088] Specifically, as shown in Figures 4 to 7 when in the clamping state, the connecting shaft 121 connecting the transmission rod 120 and the driving wheel 110, the first rotating shaft 133, and the rotating branch point 143 are arranged along a first direction, the first rotating shaft 133 and the two connecting ends 142 are arranged along a second direction, and the first direction is perpendicular to the second direction. When in the clamping state, the connecting shaft 121, the first rotating shaft 133, and the rotating branch point 143 are arranged along the first direction, and the first rotating shaft 133 and the two connecting ends 142 are arranged along the second direction, i.e., the force direction of the driving wheel 110 is perpendicular to the dead point force direction of the linkage assembly 130. When driving the clamping unit 100, only a small driving force is needed for the driving wheel 110 to achieve the closing (clamping state) or opening (release state) of the clamping arm 140. At the same time, the dead point is arranged on the rotation center plane of the clamping arm 140, and a small movement can achieve a large opening angle of the clamping arm 140, thereby reducing the width of the clamping unit 100, and reducing the volume of the clamping unit 100 and the occupied space of the puncture tip 600 in the small CT aperture.

[0089] It should be noted that the force direction of the driving wheel 110 is the direction along the length direction of the transmission rod 120 towards the side close to the linkage assembly 130, i.e., in the perspective of Figure 5 , the force direction of the driving wheel 110 is along the first direction to the left.

[0090] The dead point force direction of the linkage assembly 130 includes two directions, one of which is the direction along the length direction of the first rod 131 extending away from the first rotating shaft 133, and the other of which is the direction along the length direction of the second rod 132 extending away from the first rotating shaft 133, i.e., in the perspective of Figure 5 , the dead point force direction of the linkage assembly 130 is respectively along the second direction upward and along the second direction downward.

[0091] It should be noted that, as shown in Figures 4 to 7 , the first direction is the length direction of the fixed seat 150, and the second direction is the width direction of the fixed seat 150.

[0092] It should be noted that, as shown in Figure 5 when in the clamping state, the first rotating shaft 133 and the two connecting ends 142 are arranged along the second direction, i.e., the second rotating shaft 134, the first rotating shaft 133, and the third rotating shaft 135 are arranged along the second direction.

[0093] More specifically, as shown in Figure 5 , when the two clamping ends 141 are in the clamping state, the first pivot axis 133 is located between the connecting shaft 121 and the rotation fulcrum 143, and the first pivot axis 133 is located between the second pivot axis 134 and the third pivot axis 135. That is, when the two clamping ends 141 clamp the adapter 700 or the needle guide in the clamping state, the first pivot axis 133 is arranged at the middle position, the extension directions of the first rod 131 and the second rod 132 are opposite, and the length direction of the transmission rod 120 is perpendicular to the extension directions of the first rod 131 and the second rod 132, so that the forces of the two clamping arms 140 are balanced. Moreover, the first pivot axis 133 is arranged at the middle position, so that a larger opening angle of the clamping arm 140 can be achieved by a small movement, the width of the fixed seat 150 is reduced, and the volume of the clamping unit 100 is reduced.

[0094] More specifically, as shown in Figure 5 , the line connecting the second pivot axis 134 and the third pivot axis 135 forms a first virtual straight line, and the line connecting the connecting shaft 121 and the rotation fulcrum 143 forms a second virtual straight line. When the two clamping ends 141 are in the clamping state, the first pivot axis 133 is arranged at the intersection of the first virtual straight line and the second virtual straight line.

[0095] More specifically, as shown in Figure 5 , the lengths of the first rod 131 and the second rod 132 are the same, and when in the clamping state, the dimension between the end of the first rod 131 away from the second rod 132 and the first pivot axis 133 along the second direction is equal to the dimension between the end of the second rod 132 away from the first rod 131 and the first pivot axis 133 along the second direction.

[0096] More specifically, as shown in Figure 6 and Figure 7 , when the two clamping ends 141 are in the releasing state, the connecting ends 142 of the first rod 131, the second rod 132, and the two clamping arms 140 form a head-to-tail quadrilateral structure. Moreover, the included angle between the transmission rod 120 and the first rod 131 and the included angle between the transmission rod 120 and the second rod 132 are obtuse angles.

[0097] Specifically, as shown in Figures 4 to 7 , the fixed seat 150 has a receiving cavity 151, and the drive wheel 110, the transmission rod 120, and the linkage assembly 130 are arranged in the receiving cavity 151. Moreover, the two connecting ends 142 of the two clamping arms 140 extend into the receiving cavity 151 and are connected to the linkage assembly 130, and the two clamping ends 141 of the two clamping arms 140 are arranged outside the receiving cavity 151.

[0098] Specifically, as shown in Figures 4 to 7 , the fixed seat 150 has a receiving cavity 151, and the drive wheel 110, the transmission rod 120, and the linkage assembly 130 are arranged in the receiving cavity 151. Moreover, the two connecting ends 142 of the two clamping arms 140 extend into the receiving cavity 151 and are connected to the linkage assembly 130, and the two clamping ends 141 of the two clamping arms 140 are arranged outside the receiving cavity 151.As shown, the fixed seat 150 is provided with a guide groove 152 extending along the first direction, and the first rotating shaft 133 is at least partially inserted into the guide groove 152 and can slide along the guide groove 152. The guide groove 152 is arranged on the cavity wall of the accommodating cavity 151 of the fixed seat 150, and the first rotating shaft 133 is partially inserted into the guide groove 152, so as to limit the sliding of the first rotating shaft 133 along the guide groove 152, that is, when the two clamping ends 141 are switched between the clamping state and the release state, the first rotating shaft 133 can only slide along the first direction. Since the first rotating shaft 133 is connected with the first rod 131, the second rod 132 and the transmission rod 120, by limiting the sliding direction of the first rotating shaft 133, the rotating directions of the first rod 131, the second rod 132 and the transmission rod 120 are also limited, and by combining the principle of the connecting rod and the principle of the lever, the two clamping ends 141 are switched between the clamping state and the release state.

[0099] Specifically, as shown in the figure, Figures 4 to 7 The driving wheel 110 is configured to rotate by a preset angle along a third direction to switch the two clamping ends 141 from the release state to the clamping state, where the third direction is a direction of rotating clockwise or counterclockwise around the puncture direction. The fixed seat 150 is provided with a limiting piece 160, which is used to abut against the transmission rod 120 when the rotating angle of the driving wheel 110 is greater than the preset angle of rotation, so as to self-lock the clamping unit 100. By arranging the limiting piece 160 in the accommodating cavity 151 of the fixed seat 150, when the rotating angle of the driving wheel 110 is greater than the preset angle of rotation, the limiting piece 160 abuts against the transmission rod 120, which limits the further rotation of the driving wheel 110, and also limits the swing of the transmission rod 120, that is, limits the relative position of the transmission rod 120 and the fixed seat 150, so as to realize the self-locking of the clamping unit 100, and prevent the clamping unit 100 from rotating too much after achieving the clamping state.

[0100] More specifically, as shown in the figure, Figures 4 to 7 In one embodiment of the present application, the limiting piece 160 is a columnar structure. In other embodiments, the limiting piece 160 can be arranged in any structure as long as it can abut against the limiting piece.

[0101] It should be noted that the preset angle of rotation of the driving wheel 110 is determined according to actual operation needs. For example, in some embodiments, the preset angle of rotation of the driving wheel 110 is 90°, and the limiting piece 160 can abut against the transmission rod 120 when the rotating angle of the driving wheel 110 is slightly greater than 90°, that is, after the driving wheel 110 rotates by 90°. In other embodiments, the preset angle of rotation of the driving wheel 110 can be greater than 90° or less than 90°.

[0102] More specifically, when Figures 4 to 7As shown, the driving wheel 110 is configured to rotate a preset angle along a fourth direction to switch the two clamping ends 141 from the clamping state to the releasing state, wherein the fourth direction is opposite to the third direction; when the driving wheel 110 rotates along the fourth direction, the connecting end 142 connected to the second rod 132 can abut against the first rod 131 to limit the further rotation of the driving wheel 110 along the fourth direction.

[0103] More specifically, in one embodiment of the present application, the third direction is a clockwise rotation direction around the puncture direction, and the fourth direction is an anticlockwise rotation direction around the puncture direction. In other embodiments, the third direction is an anticlockwise rotation direction around the puncture direction, and the fourth direction is a clockwise rotation direction around the puncture direction.

[0104] Further, as shown, Figures 4 to 8 The two clamping arms 140 are both rotatably connected to the fixed seat 150, and the connecting positions of the two clamping arms 140 and the fixed seat 150 form the rotation fulcrum 143. By swinging the two connecting ends 142 of the two clamping arms 140 through the linkage assembly 130, the two clamping ends 141 of the two clamping arms 140 can be brought close to or away from each other, thereby switching between the clamping state and the releasing state.

[0105] Specifically, as shown, Figures 4 to 8 The clamping end 141 includes a connecting portion 1411, an avoiding portion 1412, and an abutting portion 1413. The two ends of the avoiding portion 1412 are respectively connected to the connecting portion 1411 and the abutting portion 1413. The end of the connecting portion 1411 away from the avoiding portion 1412 is connected to the connecting end 142. The avoiding portion 1412 extends from the end of the connecting portion 1411 away from the rotation fulcrum 143 to the side close to the puncture object along the puncture direction. The abutting portion 1413 is used for abutting against the puncture needle 800. By setting the abutting portion 1413, the two abutting portions 1413 of the two clamping arms 140 cooperate with each other to clamp the adapter 700 or the needle guide sleeve set on the puncture needle 800. The connecting portion 1411 of the clamping end 141 is connected to the connecting end 142, and the avoiding portion 1412 connects the connecting portion 1411 and the abutting portion 1413. The avoiding portion 1412 extends from the end of the connecting portion 1411 away from the rotation fulcrum 143 to the side close to the puncture object along the puncture direction, that is, in the perspective view, Figures 4 to 7 the avoiding portion 1412 extends downward from the connecting portion 1411 along the puncture direction, that is, there is a height difference between the abutting portion 1413 and the connecting portion 1411. By setting the avoiding portion 1412, the effective puncture depth can be deeper, and it is beneficial for multi-needle puncture.

[0106] It should be noted that the puncture direction includes a needle insertion direction and a needle withdrawal direction, the needle insertion direction is a direction extending along the axial direction of the puncture needle 800 to the side close to the puncture object, or a direction parallel to the axial direction of the puncture needle 800 and extending to the side close to the puncture object, and the needle withdrawal direction is opposite to the needle insertion direction. In an embodiment of the present application, the avoiding portion 1412 extends to the side close to the puncture object along the puncture direction, that is, the avoiding portion 1412 extends along the needle insertion direction.

[0107] More specifically, the first direction, the second direction and the puncture direction are perpendicular to each other.

[0108] Specifically, as shown in Figures 4 to 8 , the avoiding portion 1412 protrudes to the side close to the puncture object along the puncture direction, and extends to the side away from the fixed seat 150 along the second direction.

[0109] In the embodiment, as shown in Figures 4 to 8 , the avoiding portion 1412 is provided as two straight plate portions arranged at an included angle, and the ends of the two straight plate portions away from each other are connected to the connecting portion 1411 and the abutting portion 1413 respectively.

[0110] It should be noted that, as shown in Figures 4 to 8 , the included angle between the two straight plate portions refers to the included angle between the two straight plate portions on the side away from the puncture object of the clamping end 141.

[0111] More specifically, in an embodiment of the present application, the included angle between the two straight plate portions is an obtuse angle, so that the side close to the puncture object of the avoiding portion 1412 forms a protruding area, and in other embodiments, the two straight plate portions are arranged perpendicularly.

[0112] In other embodiments, the shape of the avoiding portion 1412 is not limited, as long as it protrudes to the side close to the puncture object along the puncture direction and extends to the side away from the fixed seat 150 along the second direction, for example, the avoiding portion 1412 can be provided as an arc-shaped structure protruding downward (as shown in Figure 5 protruding downward along the puncture direction).

[0113] It should be noted that, as shown in Figure 8 a and c, the various regions of the existing clamping arm 140 are in the same horizontal plane, as shown in Figure 8 b and d, in an embodiment of the present application, the clamping arm 140 is provided with the avoiding portion 1412 at the clamping end 141, the avoiding portion 1412 protrudes to the side close to the puncture object along the puncture direction and extends away from the fixed seat 150, so that the clamping end 141 of the clamping arm 140 protrudes downward. The initial position of the existing puncture tip 600 clamping the puncture needle 800 is as shown in Figure 8As shown in a of FIG. 6, the initial position of the puncture tip 600 of one embodiment of the present application clamping the puncture needle 800 is as shown in b of FIG. 6. Figure 8 As shown in c of FIG. 6, the position of the puncture tip 600 of one embodiment of the present application clamping the puncture needle 800 for puncturing the puncture region 900 of the puncture object is as shown in d of FIG. 6. Figure 8 As shown in c of FIG. 6, the position of the puncture tip 600 of one embodiment of the present application clamping the puncture needle 800 for puncturing the puncture region 900 of the puncture object is as shown in d of FIG. 6. Figure 8 As shown in d of FIG. 6, when the clamping unit 100 clamps the puncture needle 800 and performs the puncture operation, compared with Figure 8 a and c of FIG. 6, Figure 8 b and d of FIG. 6,

[0114] More specifically, as shown in a of FIG. 14, the connecting portion 1411 and the connecting end 142 are in the same horizontal plane, and the connecting portion 1411 and the connecting end 142 are arranged at an angle, and the connecting position of the connecting portion 1411 and the connecting end 142 is the position of the rotation support point 143. Figures 4 to 8

[0115] More specifically, as shown in a of FIG. 14, the connecting portion 1411 and the connecting end 142 are in the same horizontal plane, and the connecting portion 1411 and the connecting end 142 are arranged at an angle, and the connecting position of the connecting portion 1411 and the connecting end 142 is the position of the rotation support point 143. Figures 4 to 8

[0116] Specifically, as shown in a of FIG. 14, the connecting portion 1411 and the connecting end 142 are in the same horizontal plane, and the connecting portion 1411 and the connecting end 142 are arranged at an angle, and the connecting position of the connecting portion 1411 and the connecting end 142 is the position of the rotation support point 143. Figures 4 to 9

[0117] ​​​When it is needed to clamp the adapter 700 on the puncture needle or the needle guide, the clamping unit 100 is first moved to the area near the adapter 700 or the needle guide by the execution arm 500, and at least part of the adapter 700 or the needle guide is arranged in the positioning groove 171 to be in contact with the groove wall of the positioning groove 171. At this time, the two clamping ends 141 of the clamping unit 100 are switched to the clamping state by rotating the driving wheel 110, so as to clamp the adapter 700.

[0118] It should be noted that the first clamping unit 180 can clamp the adapter 700, and the groove wall of the positioning groove 171 on the positioning member 170 of the first clamping unit 180 is matched with the outer wall of the adapter 700; the second clamping unit 190 can clamp the needle guide, and the groove wall of the positioning groove 171 on the positioning member 170 of the second clamping unit 190 is matched with the outer wall of the needle guide.

[0119] More specifically, as shown in Figures 4 to 9 , the positioning member 170 is arranged outside the accommodating cavity 151.

[0120] More specifically, as shown in Figure 9 , in an embodiment of the present application, the cross section of the positioning groove 171 is trapezoidal or arc-shaped. In other embodiments, the cross section of the positioning groove 171 is V-shaped.

[0121] Further, in order to drive the driving wheel 110 of the clamping unit 100 to rotate, as shown in Figure 10 and Figure 11 , the puncture tip 600 comprises a first clamping driving unit 200, the first clamping driving unit 200 comprises a transmission shaft 210 and a first driving member 220, the output end of the first driving member 220 is connected to the transmission shaft 210, the transmission shaft 210 is connected to the driving wheel 110, and the first driving member 220 can drive the transmission shaft 210 to rotate to drive the driving wheel 110 to rotate. The transmission shaft 210 of the first clamping driving unit 200 is connected to the driving wheel 110, and the transmission shaft 210 is driven to rotate by the first driving member 220 of the first clamping driving unit 200, thereby driving the driving wheel 110 to rotate.

[0122] Specifically, as shown in Figure 10 and Figure 11 , the transmission shaft 210 passes through the driving wheel 110 of the first clamping unit 180 and the driving wheel 110 of the second clamping unit 190 in sequence, and is in interference fit with the two driving wheels 110. By rotating the transmission shaft 210, the driving wheel 110 of the first clamping unit 180 and the driving wheel 110 of the second clamping unit 190 are driven to rotate synchronously, thereby enabling the first clamping unit 180 and the second clamping unit 190 to perform clamping or releasing actions synchronously.

[0123] Specifically, as shown in Figure 10 andFigure 11 As shown in the drawings, in one embodiment of the present application, the transmission shaft 210 is a square shaft, and the transmission shaft 210 penetrates the driving wheel 110 and is fixed to the driving wheel 110.

[0124] In other embodiments, the transmission shaft 210 can be a circular or any structure, as long as the transmission shaft 210 can transmit the power of the first driving member 220 to the driving wheel 110.

[0125] Specifically, as shown in the drawings, Figure 10 and Figure 11 the axial direction of the transmission shaft 210 is the penetrating direction.

[0126] Specifically, as shown in the drawings, Figure 10 and Figure 11 the first clamping driving unit 200 further comprises a first pulley 230, a first transmission member 240, and a second pulley 250, the first pulley 230 is connected to the output end of the first driving member 220, the second pulley 250 is connected to the transmission shaft 210, and the first transmission member 240 is connected to the first pulley 230 and the second pulley 250. By rotating the first pulley 230 driven by the first driving member 220, the second pulley 250 is further rotated by the first transmission member 240, and because the second pulley 250 is sleeved on the transmission shaft 210, the transmission shaft 210 and the driving wheel 110 are rotated by the second pulley 250.

[0127] More specifically, as shown in the drawings, Figure 10 and Figure 11 in one embodiment of the present application, the second pulley 250 is coaxial with the transmission shaft 210. The second pulley 250 is sleeved on the transmission shaft 210, and the second pulley 250 is in interference fit with the transmission shaft 210, the second pulley 250 is rotated by the first transmission member 240, thereby rotating the transmission shaft 210. Moreover, the second pulley 250 is coaxial with the transmission shaft 210, thereby making the transmission structure of the first clamping driving unit 200 simple, and the structure is compact, further reducing the volume of the penetrating end.

[0128] More specifically, as shown in the drawings, Figure 10 and Figure 11 the first pulley 230 and the second pulley 250 are arranged along the first direction, and the movement direction of the first transmission member 240 is parallel to the first direction, that is, the movement direction of the first transmission member 240 is perpendicular to the penetrating direction.

[0129] More specifically, as shown in the drawings, Figure 10 and Figure 11As shown in the drawings, in one embodiment of the present application, the first clamping driving unit 200 is a belt transmission assembly, the first transmission member 240 is a belt, and the outer circumferential surface of the first transmission member 240 is engaged with the first belt pulley 230 and the second belt pulley 250. In other embodiments, the first transmission member 240 is a rope transmission assembly, and the first transmission member 240 is a transmission rope.

[0130] Specifically, as shown in the drawings, Figure 10 and Figure 11 the first clamping driving unit 200 further includes an operation knob 260 sleeved on one end of the transmission shaft 210. When the first driving member 220 fails or needs to be manually operated, the operation knob 260 can be manually rotated to drive the transmission shaft 210 to rotate.

[0131] More specifically, in one embodiment of the present application, as shown in the drawings, Figure 12 to 14 and Figure 12 to 14 the operation knob 260 is located on the side of the second belt pulley 250 away from the first clamping unit 180. In other embodiments, the operation knob 260 can also be arranged at any position as long as it can drive the transmission shaft 210 to rotate.

[0132] Further, as shown in the drawings, Figures 10 to 14 when it is necessary to perform a puncture operation on the puncture region 900 of the puncture object, the first clamping unit 180 drives the puncture needle 800 to move along the puncture direction to the side close to the puncture object, thereby driving the puncture needle 800 to move along the puncture direction to the side close to the puncture object, and then performing a puncture operation on the puncture region 900 of the puncture object.

[0133] Specifically, as shown in the drawings, Figures 10 to 14 the puncture tip 600 includes a second clamping driving unit 300, and the second clamping driving unit 300 includes a second driving member 310 connected to the fixed seat 150 of the first clamping unit 180. The second driving member 310 can drive the first clamping unit 180 to move along the puncture direction, so that the first clamping unit 180 and the second clamping unit 190 are close to or away from each other. The output end of the second driving member 310 is connected to the fixed seat 150 of the first clamping unit 180. By driving the fixed seat 150 of the first clamping unit 180 to move along the puncture direction through the second driving member 310, that is, the second driving member 310 drives the first clamping unit 180 as a whole to move along the puncture direction, so that the first clamping unit 180 is close to or away from the second clamping unit 190, thereby performing a puncture or needle withdrawal operation.

[0134] More specifically, the first clamping unit 180 is driven by the second driving member 310 to move towards the side close to the puncture object along the puncture direction, so as to perform the puncture operation, and the first clamping unit 180 is driven by the second driving member 310 to move towards the side away from the puncture object along the puncture direction, so as to perform the needle withdrawal operation.

[0135] Specifically, as shown in Figures 10 to 14 the puncture end 600 comprises a shell 490, and the fixed seat 150 of the first clamping unit 180, the fixed seat 150 of the second clamping unit 190, the first clamping driving unit 200 and the second clamping driving unit 300 are all arranged in the shell 490. The first clamping unit 180 can move along the puncture direction relative to the shell 490, and the fixed seat 150 of the second clamping unit 190 is fixedly connected to the shell 490.

[0136] Specifically, as shown in Figures 10 to 14 the second clamping driving unit 300 further comprises a third pulley 370, a fourth pulley 380 and a second transmission member 350 connecting the third pulley 370 and the fourth pulley 380, the output end of the second driving member 310 is connected to the third pulley 370, the fourth pulley 380 is connected to the fixed seat 150 of the second clamping unit 190, the second transmission member 350 is connected to the fixed seat 150 of the first clamping unit 180, and the second transmission member 350 can drive the first clamping unit 180 to move along the puncture direction. The fourth pulley 380 of the second clamping driving unit 300 is rotatably installed on the fixed seat 150 of the second clamping unit 190, the third pulley 370 is driven to rotate by the second driving member 310, thereby driving the second transmission member 350 to move along the puncture direction, and the second transmission member 350 is connected to the fixed seat 150 of the first clamping unit 180, so that the first clamping unit 180 is driven to move along the puncture direction by the second transmission member 350.

[0137] More specifically, as shown in Figure 10 the fourth pulley 380 is rotatably installed on the fixed seat 150 of the second clamping unit 190, and the axial direction of the fourth pulley 380 is perpendicular to the puncture direction.

[0138] More specifically, as shown in Figure 11 the movement direction of the second transmission member 350 is the puncture direction, that is, the movement direction of the second transmission member 350 is perpendicular to the movement direction of the first transmission member 240.

[0139] More specifically, as shown in Figures 10 to 14 and Figures 10 to 14As shown in the embodiment of the present application, the second clamping driving unit 300 is a belt transmission assembly, the second transmission member 350 is a belt, and the outer circumferential surface of the second transmission member 350 is engaged with the third belt wheel 370 and the fourth belt wheel 380. In other embodiments, the second transmission member 350 is a rope transmission assembly, and the second transmission member 350 is a transmission rope.

[0140] Specifically, as Figures 12 to 14 shown, the first driving member 220, the first transmission member 240, and the transmission shaft 210 surround to form an accommodation space, and the second clamping driving unit 300 is arranged in the accommodation space. By surrounding the first driving member 220, the first transmission member 240, and the transmission shaft 210 of the first clamping driving unit 200 to form an accommodation space, the space formed after the first clamping driving unit 200 is installed (the accommodation space) can be used to place the second clamping driving unit 300. The first clamping driving unit 200 and the second clamping driving unit 300 do not interfere with each other, and can be maintained separately, which reduces the difficulty of maintenance and makes the structure of the puncture end 600 more simple and compact.

[0141] It should be noted that in order to enable the second transmission member 350 to move in the puncture direction, the third belt wheel 370 and the fourth belt wheel 380 are arranged in the puncture direction, and the length direction of the second transmission member 350 is the puncture direction. And because the axial direction of the transmission shaft 210 is the puncture direction, the length direction or movement direction of the second transmission member 350 must be parallel to the axial direction of the transmission shaft 210, and the length direction or movement direction of the second transmission member 350 must be perpendicular to the length direction or movement direction of the first transmission member 240.

[0142] It should be noted that because the puncture direction includes the axial direction of the puncture needle 800 and a plurality of directions parallel to the axial direction of the puncture needle 800. The axial direction of the transmission shaft 210, the length direction of the second transmission member 350, and the arrangement direction of the third belt wheel 370 and the fourth belt wheel 380 are all puncture directions. In order to realize the arrangement of each structural member of the puncture end 600, the transmission shaft 210, the second transmission member 350, the third belt wheel 370, and the fourth belt wheel 380 must be arranged at different positions to prevent each structural member from abutting and hindering the movement of the structural member.

[0143] Specifically, as Figures 15 to 18As shown, the second clamping driving unit 300 further comprises a first sliding rail 330 and a first sliding block 340, the first sliding rail 330 extends along the puncture direction and is connected to the fixed seat 150 of the second clamping unit 190, and the first sliding block 340 is connected to the fixed seat 150 of the first clamping unit 180. By arranging the first sliding rail 330 and the first sliding block 340, the first sliding rail 330 is connected to the fixed seat 150 of the second clamping unit 190 and extends along the puncture direction, and the first sliding block 340 is connected to the fixed seat 150 of the first clamping unit 180. When the second transmission member 350 drives the fixed seat 150 of the first clamping unit 180 to move along the puncture direction, the first sliding block 340 is further driven to slide along the first sliding rail 330, so that the sliding direction of the first clamping unit 180 is further limited, and the first clamping unit 180 can only slide along the puncture direction.

[0144] More specifically, as shown in Figures 15 to 18 The second clamping driving unit 300 further comprises a first connecting member 320 and a second connecting member 360, the first sliding block 340 is connected to the fixed seat 150 of the first clamping unit 180 through the first connecting member 320, and the first sliding block 340 is connected to the second transmission member 350 through the second connecting member 360.

[0145] Further, in order to adjust the posture of the puncture tip 600, that is, when it is necessary to adjust the relative position of the first clamping unit 180, the second clamping unit 190, the first clamping driving unit 200, the second clamping driving unit 300 and the puncture object, in addition to adjusting the posture by driving the puncture tip 600 as a whole through the execution arm 500, the relative position of the two clamping units 100, the first clamping driving unit 200, the second clamping driving unit 300 and the puncture object can also be adjusted through the centering unit 400.

[0146] Specifically, as shown in Figures 15 to 18 The puncture tip 600 further comprises a shell 490, the first clamping unit 180, the second clamping unit 190, the first clamping driving unit 200 and the second clamping driving unit 300 are arranged in the shell 490, and the clamping ends 141 of the first clamping unit 180 and the second clamping unit 190 extend out of the shell 490. The fixed seat 150 of the second clamping unit 190 is connected to the inner wall of the shell 490.

[0147] Specifically, as shown in Figures 15 to 18As shown, the puncture end 600 further comprises a centering unit 400, which comprises a fixing member 410 and an execution adapter 420 for connecting to the execution arm 500, and the shell 490 is connected to the clamping unit 100, the fixing member 410 and the execution adapter 420, and the fixing member 410 and the shell 490 are both in sliding fit, and the sliding path of the fixing member 410 and the sliding path of the shell 490 are both arc-shaped. By connecting the execution adapter 420 and the shell 490 to the fixing member 410, and connecting the execution adapter 420 to the execution arm 500, the relative position of the shell 490 and the execution arm 500 is adjusted by the relative sliding of the execution adapter 420 and the shell 490, so as to adjust the relative position of the first clamping unit 180, the second clamping unit 190, the first clamping driving unit 200 and the second clamping driving unit 300 in the shell 490 and the puncture object.

[0148] Specifically, as shown in the figure, Figures 15 to 18 The execution adapter 420 comprises a connecting shaft 422 and a base 421, the base 421 is in sliding fit with the fixing member 410, and the connecting shaft 422 is connected to the execution arm 500.

[0149] It should be noted that in the art, the centering point is the skin entry point or the lesion target point, after the puncture needle 800 enters the puncture area 900 of the puncture object, due to the displacement caused by respiratory movement and tissue stress, the lesion will deviate from the pre-planned position, in order to ensure the puncture accuracy, at this time, the posture of the puncture end 600 needs to be adjusted, the centering point can ensure that the rotation center of the puncture needle 800 is at the skin entry point during the adjustment process, the movement range of the puncture needle 800 is reduced, and the force acting on the human body is significantly reduced, thereby avoiding scratching the human body.

[0150] Specifically, as shown in the figure, Figure 18 In one embodiment of the present application, the execution arm 500 drives the whole puncture end 600 to move, thereby realizing the intra-layer adjustment, and the relative position of the first clamping unit 180, the second clamping unit 190, the first clamping driving unit 200 and the second clamping driving unit 300 and the puncture object is adjusted by the relative sliding of the execution adapter 420 and the fixing member 410, thereby realizing the inter-layer adjustment, that is, after the puncture needle 800 enters the puncture area 900, further posture adjustment is performed.

[0151] It should be noted that when performing inter-layer adjustment, the execution adapter 420 and the fixing member 410 can be relatively stationary, the shell 490 can slide relative to the fixing member 410, the shell 490 and the fixing member 410 can be relatively stationary, the execution adapter 420 can slide relative to the fixing member 410, or the execution adapter 420 and the shell 490 can both slide relative to the fixing member 410.

[0152] More specifically, as shown in Figure 18 , when the interlayer adjustment is performed, the execution adapter 420 and the housing 490 are allowed to slide relative to each other so that the axis of the puncture needle 800, the rotation axis of the execution arm 500 connected by the execution adapter 420, and the center of the sliding path coincide. After the puncture needle 800 penetrates into the puncture area 900, the rotation axis of the execution arm 500, the center of the sliding path, and the axis of the puncture needle 800 coincide by the relative sliding of the execution adapter 420 and the housing 490, so that the puncture path of the puncture needle 800 is re-planned, facilitating the subsequent puncture operation.

[0153] More specifically, as shown in Figure 18 , Figure 18 , a in a is the original puncture path, and b is the path structure diagram after the interlayer adjustment by the centering unit 400, Figure 18 , b in a is the original puncture path, and b is the path structure diagram after the interlayer adjustment by the centering unit 400, Figure 18 , although the interlayer adjustment is performed, the adjusted path still has a certain deviation from the lesion, as shown in b in a, Figures 15 to 18 , when the puncture path of the puncture tip 600 needs to be adjusted, the centering point is first confirmed, and then the execution adapter 420 and / or the housing 490 are slid relative to each other, so that the axis of the puncture needle 800, the rotation axis of the execution arm 500 connected by the execution adapter 420, and the center of the sliding path coincide, and then the axial direction of the puncture needle 800 at the current position after adjustment is adjusted, that is, the adjusted puncture path. As can be seen from a in Figures 15 to 17 , the puncture path after the interlayer adjustment by the centering unit 400 has higher accuracy when moving in the puncture direction towards the puncture area 900.

[0154] Specifically, as shown in Figures 15 to 17 , the centering unit 400 further comprises a first centering driving assembly 430 and a second centering driving assembly 440, the first centering driving assembly 430 and the second centering driving assembly 440 are respectively arranged on both sides of the fixed part 410 in the thickness direction, the driving end of the first centering driving assembly 430 is connected to the housing 490, and the driving end of the second centering driving assembly 440 is connected to the execution adapter 420. By arranging the first centering driving assembly 430 and the second centering driving assembly 440 on both sides of the fixed part 410 in the thickness direction, the first centering driving assembly 430 drives the housing 490 to slide relative to the fixed part 410, and the second centering driving assembly 440 drives the execution adapter 420 to slide relative to the fixed part 410.

[0155] More specifically, as shown in Figures 15 to 17As shown, the first centering driving assembly 430 includes a first centering pulley 431, a second centering pulley 432, and a first centering transmission member 433 connecting the first centering pulley 431 and the second centering pulley 432, the first centering pulley 431 and the second centering pulley 432 are both rotationally connected to the fixing member 410, and the first centering transmission member 433 is connected to the outer shell 490; the second centering driving assembly 440 includes a third centering pulley 441, a fourth centering pulley 442, and a second centering transmission member 443 connecting the third centering pulley 441 and the fourth centering pulley 442, the third centering pulley 441 and the fourth centering pulley 442 are both rotationally connected to the fixing member 410, and the second centering transmission member 443 is connected to the execution adapter 420.

[0156] The first centering transmission member 433 of the first centering driving assembly 430 is connected to the outer shell 490, and the outer shell 490 is driven to move relative to the fixing member 410 through the first centering transmission member 433. The second centering transmission member 443 of the second centering driving assembly 440 is connected to the execution adapter 420, and the execution adapter 420 is driven to move relative to the fixing member 410 through the second centering transmission member 443.

[0157] More specifically, as shown, Figures 15 to 17 The first centering transmission member 433 is connected to the outer shell 490 through the first adapter 460, and the second centering transmission member 443 is connected to the execution adapter 420 through the second adapter 470.

[0158] More specifically, as shown, Figures 15 to 17 The centering unit 400 further includes a centering driving source 480, the centering driving source 480 has two output ends, and the two output ends of the centering driving source 480 are respectively connected to the first centering pulley 431 and the third centering pulley 441. The two output ends of the centering driving source 480 are respectively connected to the first centering pulley 431 and the third centering pulley 441, and the first centering pulley 431 and the third centering pulley 441 are driven to rotate by the centering driving source 480, thereby driving the first centering transmission member 433 and the second centering transmission member 443 to move correspondingly.

[0159] More specifically, in an embodiment of the present application, the centering driving source 480 is a double-head motor, which has two output shafts. In other embodiments, the centering driving source 480 includes two motors, and the first centering driving assembly 430 and the second centering driving assembly 440 are each configured with one motor.

[0160] Specifically, as shown, ​As shown, the centering unit 400 further comprises a first guide assembly and a second guide assembly, which are respectively arranged on two sides of the fixing member 410 along the thickness direction; the first guide assembly comprises a second sliding rail 450 and a second sliding block in sliding cooperation with the second sliding rail 450, the second sliding rail 450 is in an arc shape and is connected to the fixing member 410, and the second sliding block is connected to the shell 490; the second guide assembly comprises a third sliding rail 451 and a third sliding block in sliding cooperation with the third sliding rail 451, the third sliding rail 451 is in an arc shape and is connected to the fixing member 410, and the third sliding block is connected to the execution adapter 420.

[0161] By arranging the first guide assembly and the second guide assembly on two sides of the fixing member 410 along the thickness direction respectively, the second sliding rail 450 and the third sliding rail 451 are both connected to the fixing member 410, and the second sliding rail 450 and the third sliding rail 451 are respectively arranged on two sides of the fixing member 410 along the thickness direction, and the second sliding block and the third sliding block are respectively connected to the shell 490 and the execution adapter 420, the first guide assembly guides the sliding direction of the shell 490, and the second guide assembly guides the sliding direction of the execution adapter 420, so that the sliding paths of the shell 490 and the execution adapter 420 are in an arc shape.

[0162] Specifically, in an embodiment of the present application, as shown in ​ The fixing member 410 is an arc-shaped plate.

[0163] In other embodiments, the fixing member 410 can be of any structure as long as the sliding paths of the execution adapter 420 and the shell 490 are in an arc shape, for example, the fixing member 410 can also be a cuboid structure.

[0164] It should be noted that the vertical mentioned herein includes two arrangement forms, one is direct vertical, that is, the included angle between the two is 90°, and the other is approximate vertical, that is, the included angle between the two is in the range of 85°-90°.

[0165] It can be understood that approximate vertical means that two structural members, or two directions, or two planes are vertical as observed by the naked eye.

[0166] The vertical directions herein are: the force direction of the driving wheel 110 is vertical to the dead point force direction of the linkage assembly 130, the first direction is vertical to the second direction, the second direction is vertical to the puncture direction, and the puncture direction is vertical to the first direction.

[0167] It should be noted that the parallel mentioned herein includes two arrangement forms, one is direct parallel, and the other is approximate parallel, that is, there is an included angle between the two.

[0168] It is understood that approximately parallel means that two structural members, or two directions, or two planes, are parallel as observed by the naked eye.

[0169] The directions that are parallel herein include the movement direction of the first transmission member 240 being parallel to the first direction.

[0170] The technical features of the above embodiments can be combined in any manner. In order to make the description simple, all possible combinations of the technical features in the above embodiments are not described, however, as long as the combinations of the technical features do not contradict, they should be considered as falling within the scope of the present disclosure.

[0171] The above embodiments only express several implementation manners of the present application, and the description is relatively specific and detailed, but it should not be understood as a limitation on the patent scope of the present application. It should be pointed out that, for ordinary skilled persons in the art, several modifications and improvements can be made without departing from the concept of the present application, and these all fall within the protection scope of the present application. Therefore, the patent protection scope of the present application should be subject to the appended claims.

Claims

1. A piercing tip (600) characterized by, The puncture tip (600) comprises at least one clamping unit (100), the clamping unit (100) comprises: a fixed seat (150); a driving wheel (110) rotationally connected to the fixed seat (150); a transmission rod (120) and a linkage assembly (130), one end of the transmission rod (120) is rotationally connected to the driving wheel (110), and the other end is rotationally connected to the linkage assembly (130); two clamping arms (140), each having a rotation fulcrum (143) rotationally connected to the fixed seat (150), and a clamping end (141) and a connecting end (142) respectively arranged on both sides of the rotation fulcrum (143), the connecting ends (142) of the two clamping arms (140) are rotationally connected to the linkage assembly (130), and the two clamping ends (141) have a clamping state of approaching each other to clamp a puncture needle (800), and a release state of moving away from each other to release the puncture needle (800), and the driving wheel (110) is configured to rotate to switch the two clamping ends (141) between the clamping state and the release state.

2. The puncture tip (600) of claim 1, characterized in that The linkage assembly (130) comprises a first rod (131) and a second rod (132), and the first rod (131) and the second rod (132) are both rotationally connected to one end of the transmission rod (120) away from the driving wheel (110) through a first rotation shaft (133), and one end of the first rod (131) and the second rod (132) away from the transmission rod (120) is rotationally connected to one of the connecting ends (142) in a one-to-one correspondence.

3. The puncture tip (600) of claim 2, characterized in that When in the clamping state, a connecting shaft (121) connecting the transmission rod (120) and the driving wheel (110), the first rotation shaft (133), and the rotation fulcrum (143) are arranged along a first direction, the first rotation shaft (133) and the two connecting ends (142) are arranged along a second direction, and the first direction is perpendicular to the second direction.

4. The puncture tip (600) of claim 3, characterized in that One end of the first rod (131) away from the transmission rod (120) is connected to one of the connecting ends (142) through a second rotation shaft (134), and one end of the second rod (132) away from the transmission rod (120) is connected to the other connecting end (142) through a third rotation shaft (135); When in the clamping state, the first rotation shaft (133) is located between the connecting shaft (121) and the rotation fulcrum (143), and the first rotation shaft (133) is located between the second rotation shaft (134) and the third rotation shaft (135).

5. The puncture tip (600) of claim 3, wherein, The rotation axis of the driving wheel (110) is not collinear with the axis of the connecting shaft (121).

6. The puncture tip (600) of claim 3, wherein, The fixed seat (150) is provided with a guide groove (152) extending along the first direction, and the first rotation shaft (133) at least partially extends into the guide groove (152) and can slide along the guide groove (152).

7. The puncture tip (600) of claim 3, wherein, The clamping end (141) comprises a connecting portion (1411), a avoiding portion (1412) and an abutting portion (1413), two ends of the avoiding portion (1412) are connected to the connecting portion (1411) and the abutting portion (1413) respectively, one end of the connecting portion (1411) away from the avoiding portion (1412) is connected to the connecting end (142), the avoiding portion (1412) extends from one end of the connecting portion (1411) away from the rotation fulcrum (143) to the side close to the puncture object along the puncture direction, and the abutting portion (1413) is used for abutting to the puncture needle (800).

8. The puncture tip (600) of claim 1, wherein, The driving wheel (110) is configured to rotate by a preset angle in a third direction, so that the two clamping ends (141) are switched from the release state to the clamping state, wherein the third direction is a direction of clockwise or counterclockwise rotation around the puncture direction; The fixed seat (150) is provided with a limiting piece (160), which is used for abutting to the transmission rod (120) when the rotation angle of the driving wheel (110) in the third direction is greater than the rotation preset angle, so that the clamping unit (100) is self-locking.

9. The puncture tip (600) of claim 1, wherein, The puncture needle (800) is sleeved with an adapter (700) and / or a needle guide; The clamping unit (100) further comprises a positioning piece (170) connected to the fixed seat (150), the positioning piece (170) is arranged between the two clamping ends (141), the positioning piece (170) is provided with a positioning groove (171), the groove wall of the positioning groove (171) is matched with the outer wall of the adapter (700), or the groove wall of the positioning groove (171) is matched with the outer wall of the needle guide.

10. The puncture tip (600) of claim 1, wherein, The puncture end (600) comprises a first clamping driving unit (200), the first clamping driving unit (200) comprises a transmission shaft (210) and a first driving piece (220), the output end of the first driving piece (220) is connected to the transmission shaft (210), the transmission shaft (210) is connected to the driving wheel (110), and the first driving piece (220) can drive the transmission shaft (210) to rotate, so as to drive the driving wheel (110) to rotate.

11. The puncture tip (600) of claim 10, characterized in that The first clamping driving unit (200) further comprises a first belt wheel (230), a first transmission piece (240) and a second belt wheel (250), the first belt wheel (230) is connected to the output end of the first driving piece (220), the second belt wheel (250) is connected to the transmission shaft (210), and the first transmission piece (240) connects the first belt wheel (230) and the second belt wheel (250).

12. The puncture tip (600) of claim 11, characterized in that, The clamping unit (100) is provided with two groups, one of which is a first clamping unit (180), and the other is a second clamping unit (190). The first clamping unit (180) and the second clamping unit (190) are arranged along the puncture direction, and the second clamping unit (190) is arranged between the first clamping unit (180) and the puncture object. The transmission shaft (210) is connected to the drive wheel (110) of the first clamping unit (180) and the drive wheel (110) of the second clamping unit (190), wherein the axial direction of the transmission shaft (210) is the puncture direction.

13. The puncture tip (600) of claim 12, characterized in that, The puncture end (600) comprises a second clamping driving unit (300), and the second clamping driving unit (300) comprises a second driving member (310) connected to the fixed seat (150) of the first clamping unit (180). The second driving member (310) can drive the first clamping unit (180) to move along the puncture direction, so that the first clamping unit (180) and the second clamping unit (190) are close to or away from each other.

14. The puncture tip (600) of claim 13, characterized in that, The first driving member (220), the first transmission member (240), and the transmission shaft (210) form an accommodation space, and the second clamping driving unit (300) is arranged in the accommodation space.

15. The puncture tip (600) of claim 13, wherein, The second clamping driving unit (300) further comprises a third belt wheel (370), a fourth belt wheel (380), and a second transmission member (350) connecting the third belt wheel (370) and the fourth belt wheel (380). The output end of the second driving member (310) is connected to the third belt wheel (370), the fourth belt wheel (380) is rotationally connected to the fixed seat (150) of the second clamping unit (190), and the second transmission member (350) is connected to the fixed seat (150) of the first clamping unit (180). The second transmission member (350) can drive the first clamping unit (180) to move along the puncture direction.

16. The puncture tip (600) of claim 13, wherein, The second clamping driving unit (300) further comprises a first sliding rail (330) and a first sliding block (340) in sliding fit. The first sliding rail (330) extends along the puncture direction and is connected to the fixed seat (150) of the second clamping unit (190). The first sliding block (340) is connected to the fixed seat (150) of the first clamping unit (180).

17. The puncture tip (600) of claim 1, wherein, The puncture end (600) further comprises a housing (490) and a centering unit (400), the centering unit (400) comprises a fixing member (410) and an execution adapter (420) for connecting to an execution arm (500), the housing (490) is connected to the clamping unit (100), the fixing member (410) and the execution adapter (420), and the fixing member (410) and the housing (490) are all slidingly matched, and the sliding path of the fixing member (410) and the sliding path of the housing (490) are both arc-shaped.

18. The puncture tip (600) of claim 17, wherein, The execution adapter (420) and the housing (490) can slide relatively, so that the axis of the puncture needle (800), the rotation axis of the execution arm (500) connected by the execution adapter (420), and the center of the sliding path coincide.

19. The puncture tip (600) of claim 17, wherein, The centering unit (400) further comprises a first centering drive assembly (430) and a second centering drive assembly (440), the first centering drive assembly (430) and the second centering drive assembly (440) are respectively arranged on both sides of the fixing member (410) in the thickness direction, the driving end of the first centering drive assembly (430) is connected to the housing (490), and the driving end of the second centering drive assembly (440) is connected to the execution adapter (420).

20. The puncture tip (600) of claim 19, wherein, The first centering drive assembly (430) comprises a first centering pulley (431), a second centering pulley (432), and a first centering transmission member (433) connecting the first centering pulley (431) and the second centering pulley (432), the first centering pulley (431) and the second centering pulley (432) are both rotationally connected to the fixing member (410), and the first centering transmission member (433) is connected to the housing (490). The second centering drive assembly (440) comprises a third centering pulley (441), a fourth centering pulley (442), and a second centering transmission member (443) connecting the third centering pulley (441) and the fourth centering pulley (442), the third centering pulley (441) and the fourth centering pulley (442) are both rotationally connected to the fixing member (410), and the second centering transmission member (443) is connected to the execution adapter (420).

21. The puncture tip (600) of claim 20, wherein, The centering unit (400) further comprises a centering drive source (480), the centering drive source (480) has two output ends, and the two output ends of the centering drive source (480) are respectively connected to the first centering pulley (431) and the third centering pulley (441).

22. The puncture tip (600) of claim 19, wherein, The centering unit (400) further comprises a first guide assembly and a second guide assembly, the first guide assembly and the second guide assembly are respectively arranged on both sides of the fixing member (410) in the thickness direction; The first guiding assembly comprises a second sliding rail (450) and a second sliding block in sliding cooperation with the second sliding rail (450), the second sliding rail (450) is in an arc shape and is connected to the fixing member (410), and the second sliding block is connected to the shell (490); The second guiding assembly comprises a third sliding rail (451) and a third sliding block in sliding cooperation with the third sliding rail (451), the third sliding rail (451) is in an arc shape and is connected to the fixing member (410), and the third sliding block is connected to the execution adapter (420).

23. A puncture robot characterized by, An execution arm (500) connected to the puncture tip (600) according to any one of claims 1-22.

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