Puncture tail end structure and guiding and positioning device

Abstract

The utility model relates to a puncture tail end structure and a guiding and positioning device. The puncture tail end structure comprises a rack, a clamping assembly and a driving assembly. The clamping assembly comprises two clamping arms, and the two clamping arms are rotationally connected to the rack in the first direction. The clamping assembly has a clamping state and a releasing state; when the clamping assembly is in a clamping state, the clamping ends of the two clamping arms are used for clamping the puncture instrument; when the clamping assembly is in the release state, a preset gap is formed between the clamping ends of the two clamping arms so as to release the puncture instrument; the driving assembly comprises a transmission module and a first elastic part, the transmission module is used for abutting against at least one clamping arm, one end of the first elastic part is connected to the rack, the other end of the first elastic part is connected to the transmission module, and the first elastic part is used for applying acting force to the transmission module; and the transmission module applies a driving force to at least one clamping arm, so that the clamping ends of the two clamping arms are close to each other, and the clamping assembly is switched from the release state to the clamping state.

Description

Technical Field

[0001] This utility model relates to the field of medical device technology, and in particular to the puncture end structure and guiding and positioning device. Background Technology

[0002] Aspiration is a surgical procedure in which instruments are inserted into the patient's body to perform a biopsy or resection of a lesion. Current techniques often employ robotic-guided aspiration, where the lesion's location is precisely determined by the robotic arm's positioning accuracy and CT imaging. The guiding portion at the end of the robotic arm then holds the aspiration instrument to complete the procedure, enabling robotic-guided aspiration, biopsy, particle implantation, and ablation. However, the guiding portion at the end of the robotic arm cannot directly hold aspiration instruments of different radial dimensions, resulting in low adaptability. Utility Model Content

[0003] Therefore, it is necessary to provide a puncture end structure to address the technical problem that the positioning and guiding part of the end of the robotic arm in the prior art cannot directly clamp puncture instruments of different radial dimensions, resulting in low adaptability.

[0004] A puncture tip structure, comprising:

[0005] frame;

[0006] A clamping assembly includes two clamping arms, both of which are rotatably connected to the frame about a first direction; the clamping assembly has a clamping state and a released state; when the clamping assembly is in the clamping state, the clamping ends of the two clamping arms are used to clamp the puncture instrument; when the clamping assembly is in the released state, a preset gap is formed between the clamping ends of the two clamping arms to release the puncture instrument; and,

[0007] The drive assembly includes a transmission module and a first elastic element. The transmission module is used to abut against at least one of the clamping arms. One end of the first elastic element is connected to the frame, and the other end is connected to the transmission module. The first elastic element is used to apply a force to the transmission module so that the transmission module applies a driving force to at least one of the clamping arms to bring the clamping ends of the two clamping arms closer together, so that the clamping assembly switches from the release state to the clamping state.

[0008] In one embodiment, the first elastic element is used to apply a force along the first direction to the transmission module, so that the transmission module applies a force along a second direction to at least one of the clamping arms, wherein the second direction is perpendicular to the first direction.

[0009] In one embodiment, the transmission module includes a pressure rod and a push rod. The pressure rod is connected to the first elastic element, and one end of the push rod is drively connected to the pressure rod, while the other end is used to abut against at least one of the clamping arms. The pressure rod has a first position and a second position. When the pressure rod is in the first position, the clamping assembly is in the released state. The pressure rod is configured to move toward the second position under the force of the first elastic element to drive the push rod to move toward the clamping arm in a second direction, so that the clamping assembly switches from the released state to the clamping state, wherein the second direction is perpendicular to the first direction.

[0010] In one embodiment, the transmission module further includes a conveyor belt, a conveyor wheel, and a mating wheel. The conveyor wheel and the mating wheel are spaced apart and are connected to the push rod. The mating wheel is rotatably connected to the frame, and the conveyor wheel and the mating wheel tension the conveyor belt. The conveyor belt is connected to the pressure rod, which drives the conveyor belt to move in a circular motion along the arrangement direction of the conveyor wheel and the mating wheel, thereby driving the conveyor wheel to rotate around the second direction, and driving the push rod to move toward the clamping arm.

[0011] In one embodiment, the puncture end structure includes an adjusting seat and an adjusting rod. One end of the adjusting rod is rotatably connected to the frame, and the other end of the adjusting rod is connected to the adjusting seat. The mating wheel is rotatably connected to the adjusting seat. The adjusting rod can drive the adjusting seat to move relative to the frame to tension the conveyor belt.

[0012] In one embodiment, the transmission module further includes a transmission block and a transmission rod extending along the second direction. The transmission rod is coaxially connected to the transmission wheel. The transmission block is sleeved on the transmission rod and threadedly connected to the transmission rod. The transmission rod is configured to drive the transmission block to move along the second direction under the drive of the transmission wheel, so that the transmission block can drive the push rod to move toward the clamping arm, thereby pushing at least one of the two clamping arms to rotate about the first direction.

[0013] In one embodiment, the transmission rod is a self-locking lead screw, and the transmission block is a self-locking nut.

[0014] In one embodiment, the frame has a limiting hole, the end of the transmission rod away from the transmission block is inserted into the limiting hole, and the transmission wheel is sleeved on the transmission rod and connected to the transmission rod.

[0015] In one embodiment, the puncture end structure further includes a locking assembly, the locking including a locking rod slidably connected to the frame, the pressure rod having a mating groove, the locking rod being slidable relative to the frame along its own axial direction, such that a portion of the locking rod extends into the mating groove and abuts against the side of the groove wall near the second position.

[0016] In one embodiment, when the locking rod disengages from the mating groove, the pressure rod moves to the second position under the action of the first elastic element.

[0017] In one embodiment, the length of the first elastic element in the second position is less than its length in the first position, and the first elastic element is used to apply a tensile force to the pressure bar toward the second position; or,

[0018] The length of the first elastic element when it is in the second position is greater than the length when it is in the first position, and the first elastic element is used to apply a thrust toward the second position to the pressure rod.

[0019] In one embodiment, the puncture end structure further includes a detection element comprising a sensor and a sensor plate, one of the sensor and the sensor plate being connected to the pressure bar, and the other of the sensor and the sensor plate being connected to the frame, the sensor plate being configured to trigger the sensor when the pressure bar is in the first position.

[0020] In one embodiment, the frame includes a detachably connected support base and a positioning arm, the clamping arm being connected to the support base and the first elastic element being connected to the positioning arm.

[0021] In one embodiment, the positioning arm is arranged perpendicularly to the support base, and the clamping arm is connected to the end of the support base away from the positioning arm.

[0022] In one embodiment, when the pressure rod is in the first position, there is a gap between the push rod and the clamping arm; when the pressure rod is in the second position, the push rod abuts against the clamping arm.

[0023] In one embodiment, the push rod is connected to the transmission module, and there is a gap between the push rod and the support base; or, the push rod is slidably connected to the support base, and the push rod is connected to or abuts against the transmission module.

[0024] In one embodiment, the clamping arm has a mating end located on the side of the clamping arm away from the center of rotation of the clamping arm, and the mating end is used to abut against the transmission module.

[0025] In one embodiment, the clamping assembly includes a pivot shaft and a torsion spring, the pivot shaft being connected to the frame, the torsion spring being sleeved on the pivot shaft, and at least one of the two clamping arms being rotatably connected to the pivot shaft about the first direction and connected to the torsion spring.

[0026] In one embodiment, both clamping arms are connected to the torsion spring, and the transmission module is used to abut against the two clamping arms.

[0027] In one embodiment, the maximum distance between the opposite sides of the ends of the two clamping ends is not less than 5 mm; and / or, the maximum distance between the opposite sides of the two clamping ends is not greater than 12 mm.

[0028] This utility model also provides a guiding and positioning device that can solve at least one of the above-mentioned technical problems.

[0029] A guiding and positioning device includes the aforementioned puncture end structure and a robotic arm, wherein the frame is connected to the robotic arm.

[0030] Beneficial effects:

[0031] The puncture end structure provided in this embodiment includes a frame, a clamping assembly, and a driving assembly. The clamping assembly includes two clamping arms, both of which are rotatably connected to the frame about a first direction. The clamping assembly has a clamping state and a releasing state. When the clamping assembly is in the clamping state, the clamping ends of the two clamping arms are used to clamp the puncture instrument. When the clamping assembly is in the releasing state, there is a preset gap between the clamping ends of the two clamping arms to release the puncture instrument. The driving assembly includes a transmission module and a first elastic member. The transmission module is used to abut against at least one clamping arm. One end of the first elastic member is connected to the frame, and the other end is connected to the transmission module. The first elastic member is used to apply a force to the transmission module so that the transmission module applies a driving force to at least one clamping arm to bring the clamping ends of the two clamping arms closer to each other, so that the clamping assembly switches from the releasing state to the clamping state. In this application, the clamping assembly is in a released state. When it is necessary to clamp the puncture instrument, the first elastic element applies a force to the transmission module, causing the transmission module to apply a driving force to at least one clamping arm, bringing the clamping ends of the two clamping arms closer together. This causes the clamping assembly to switch from the released state to the clamping state to clamp the puncture instrument. Since the clamping force of the clamping arm on the puncture instrument is generated by the thrust applied by the transmission module, and the thrust applied by the transmission module is achieved by the force applied by the first elastic element, the force applied to the transmission module by the first elastic element can be applied to puncture instruments of different sizes, so that the two clamping arms can clamp the puncture instrument in the limiting cavity, thereby improving the reliability and adaptability of the puncture end structure.

[0032] This utility model also provides a guiding and positioning device, including the above-mentioned puncture end structure, and also includes a robotic arm, with a frame connected to the robotic arm. This guiding and positioning device can achieve at least one of the above-mentioned technical effects. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the puncture end structure provided in one embodiment of the present invention.

[0034] Figure 2 This is a schematic diagram of the clamping component in the clamping state in a puncture end structure provided in an embodiment of the present invention.

[0035] Figure 3 This is a schematic diagram of the clamping component in the released state in a puncture end structure provided in an embodiment of the present invention.

[0036] Figure 4 This is a schematic diagram of the clamping component in a clamping state in a puncture end structure provided in another embodiment of the present invention.

[0037] Figure 5 This is a schematic diagram of the clamping component in the released state in a puncture end structure provided in another embodiment of the present invention.

[0038] Figure 6 This is a partial schematic diagram of the driving component portion in the puncture end structure provided in an embodiment of the present invention.

[0039] Figure 7 This is a cross-sectional view of the driving component portion in the puncture end structure provided in an embodiment of the present invention.

[0040] Figure 8 This is a partial cross-sectional view of the puncture end structure provided in one embodiment of the present invention.

[0041] Figure 9 This is a top view of the puncture end structure and puncture instrument provided in an embodiment of the present invention.

[0042] Figure 10 This is a partial schematic diagram of the clamping component in the puncture end structure provided in an embodiment of the present invention.

[0043] Figure 11 This is a partial schematic diagram of the clamping component in the puncture end structure provided in an embodiment of the present invention.

[0044] Figure 12 This is a schematic diagram of the clamping arm in the puncture end structure provided in one embodiment of the present invention.

[0045] Figure 13 This is a top view of the clamping component in the puncture end structure provided in an embodiment of the present invention. Detailed Implementation

[0046] To make the above-mentioned objects, features, and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a full understanding of this utility model. However, this utility model can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this utility model. Therefore, this utility model is not limited to the specific embodiments disclosed below.

[0047] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0048] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0049] In this utility model, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through 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. "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.

[0050] It should be noted that when 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. When 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. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0051] See Figure 1 and Figure 2 , Figure 1 This is a schematic diagram of the puncture end structure provided in one embodiment of the present invention. Figure 2 This is a schematic diagram showing the clamping component in a clamping state in a puncture end structure according to an embodiment of the present invention. The puncture end structure provided in this embodiment includes a frame 100, a clamping component 200, and a drive component 300. The clamping component 200 includes two clamping arms 210, both of which are rotatably connected to the frame 100 about a first direction. The clamping component 200 has a clamping state and a released state. When the clamping component 200 is in the clamping state, the clamping ends 211 of the two clamping arms 210 are used to clamp the puncture instrument 600. When the clamping component 200 is in the released state, a preset gap exists between the clamping ends 211 of the two clamping arms 210. The puncture instrument 600 is released; the drive assembly 300 includes a transmission module 310 and a first elastic member 380. The transmission module 310 is used to abut against at least one clamping arm 210. One end of the first elastic member 380 is connected to the frame 100 and the other end is connected to the transmission module 310. The first elastic member 380 is used to apply a force to the transmission module 310 so that the transmission module 310 applies a driving force to at least one clamping arm 210 to bring the clamping ends 211 of the two clamping arms 210 closer to each other, so that the clamping assembly 200 switches from a released state to a clamping state.

[0052] Specifically, in this application, the clamping assembly 200 is in a released state. When it is necessary to clamp the puncture instrument 600, the first elastic member 380 applies a force to the transmission module 310, so that the transmission module 310 applies a driving force to at least one clamping arm 210, causing the clamping ends 211 of the two clamping arms 210 to move closer to each other. This causes the clamping assembly 200 to switch from the released state to the clamping state to clamp the puncture instrument 600. Since the clamping force of the clamping arm 210 on the puncture instrument 600 is generated by the thrust applied by the transmission module 310, and the thrust applied by the transmission module 310 is achieved by the force applied by the first elastic member 380, the force applied to the transmission module 310 by the first elastic member 380 can be applied to puncture instruments 600 of different sizes, so that the two clamping arms 210 can clamp the puncture instrument 600 in the limiting cavity 280, thereby improving the reliability and adaptability of the puncture end structure. Preferably, the first elastic element 380 is a spring.

[0053] Furthermore, the transmission module 310 abuts against both clamping arms 210, thereby applying a pushing force to both clamping arms 210 under the action of the first elastic member 380, so that the clamping ends 211 of the two clamping arms 210 move closer to each other, thereby causing the clamping assembly 200 to switch from the released state to the clamping state, so as to stably clamp the puncture instrument 600.

[0054] Furthermore, the frame 100 has a groove 111, in which the first elastic element 380 is accommodated, thereby guiding the extension and retraction of the first elastic element 380, so that the first elastic element 380 applies a stable force to the transmission module 310, thereby improving the reliability of the puncture end structure.

[0055] participate Figure 1 and Figure 2 In one embodiment, the first elastic member 380 applies a force along a first direction to the transmission module 310, causing the transmission module 310 to apply a force along a second direction to at least one clamping arm 210, wherein the second direction is perpendicular to the first direction. This makes the driving end and clamping end of the puncture end structure closer together, facilitating the operator's two-handed manipulation of the components on the puncture end structure, making it easier to apply force, and improving the convenience of the puncture end structure. In some embodiments, the puncture end structure is L-shaped. It should be noted that "vertical" in this application includes both perfect verticality and near-verticality, that is, the included angle range is between 80° and 100°, which can all be considered vertical.

[0056] In other embodiments, the first elastic member 380 may apply a force in the second direction to the transmission module 310, so that the transmission module 310 applies a force in the second direction to at least one clamping arm 210.

[0057] participate Figure 1 and Figure 2 In one embodiment, the transmission module 310 includes a pressure rod 350 and a push rod 320. The pressure rod 350 is connected to a first elastic member 380. One end of the push rod 320 is drivenly connected to the pressure rod 350, and the other end is used to abut against at least one clamping arm 210. The pressure rod 350 has a first position and a second position. When the pressure rod 350 is in the first position, the clamping assembly 200 is in a released state. The pressure rod 350 is configured to move toward the second position under the force of the first elastic member 380 to drive the push rod 320 toward the clamping arm 210 in a second direction, so that the clamping assembly 200 switches from the released state to the clamping state, wherein the second direction is perpendicular to the first direction.

[0058] Specifically, the end of the push rod away from the pressure rod 350 abuts against both clamping arms 210. When the pressure rod 350 is in the first position, the clamping assembly 200 is in the released state, and the first elastic element 380 applies a force to the pressure rod 350 toward the second position. When it is necessary to clamp the puncture instrument 600, the pressure rod 350 moves toward the second position under the force of the first elastic element 380, thereby driving the push rod 320 to move toward the clamping arm 210 in the second direction, so that the push rod 320 pushes the clamping arm 210 to rotate around the first direction, thereby switching the clamping assembly 200 from the released state to the clamping state to stably clamp the puncture instrument 600. That is, when it is necessary to clamp the puncture instrument 600, only the first elastic element 380 needs to apply force to the pressure rod 350, and no additional force needs to be applied manually to the pressure rod 350. This avoids the puncture instrument 600 being clamped too tightly or too loosely due to differences in the user's hand strength, and improves the reliability of the puncture end structure.

[0059] When the pressure rod 350 is in the second position, the clamping assembly 200 is in a clamping state. When it is necessary to release the puncture instrument 600, the pressure rod 350 can be pulled to move towards the first position, thereby causing the pushing force of the push rod 320 on the clamping arm 210 to disappear, so that the clamping arm 210 can release the puncture instrument 600.

[0060] It should be noted that the first position and the second position refer to a region. When the pushing force of the push rod 320 on the clamping arm 210 disappears, the region where the pressure rod 350 is located is the first position. When the push rod 320 applies a pushing force to the clamping arm 210 to clamp the puncture instrument 600, the region where the pressure rod 350 is located is the second position. That is, there are multiple second positions.

[0061] It should be noted that in some embodiments, the first position is fixed, and when the pressure rod 350 is in the first position, the pushing force of the push rod 320 on the clamping arm 210 disappears. In other embodiments, the first position refers to a region, and the region in which the pressure rod 350 is located when the pushing force of the push rod 320 on the clamping arm 210 disappears is the first position.

[0062] In some embodiments, when the second position is determined, the push rod 320 applies a pushing force to the clamping arm 210 to clamp the puncture instrument 600 when the pressure rod 350 is in the second position. In other embodiments, the second position refers to a region, and there are multiple regions, so as to accommodate puncture instruments 600 of different diameters.

[0063] In both the first and second positions, the elastic potential of the first elastic element 380 is not fully released, and the elastic potential energy stored in the first elastic element 380 in the first position is greater than that stored in the first elastic element 380 in the second position.

[0064] It should also be noted that the instruction manual is attached. Figure 2 Taking this example, we define XX' as the first direction, which is the height direction of the puncture tip structure; YY' as the second direction, which is the length direction of the puncture tip structure; and ZZ' as the third direction, which is the width direction of the puncture tip structure. The third direction is perpendicular to both the first and second directions. For ease of description, we will use the first, second, and third directions in the following descriptions.

[0065] See Figure 1 , Figure 2 and Figure 3 , Figure 3 This is a schematic diagram showing the clamping component in the released state of a puncture end structure according to an embodiment of the present invention. In one embodiment, the length of the first elastic member 380 in the second position is less than the length in the first position, and the first elastic member 380 is used to apply a pulling force toward the second position to the pressure rod 350.

[0066] Specifically, the first elastic element 380 is a tension spring, which applies a pulling force to the pressure rod 350 toward the second position, thereby moving the pressure rod 350 from the first position to the second position, so that the clamping assembly 200 switches from the released state to the clamping state.

[0067] Furthermore, the first position is located below the second position, thereby reducing interference with the upper part of the puncture end structure when the pressure rod 350 is pulled to move in the first direction, and requiring less effort under gravity. Furthermore, the fixed end of the tension spring is above, and the elastic potential energy release end of the tension spring is below. In other embodiments, the first position may also be located above the second position. Furthermore, the fixed end of the tension spring is below, and the elastic potential energy release end of the tension spring is above.

[0068] See Figure 4 and Figure 5 , Figure 4 A schematic diagram of the clamping component in the clamping state in another embodiment of the puncture end structure provided by this utility model. Figure 5 This is a schematic diagram showing the clamping assembly in a released state in a puncture end structure according to another embodiment of the present invention. In another embodiment, the length of the first elastic member 380 in the second position is greater than its length in the first position, and the first elastic member 380 is used to apply a thrust toward the second position to the pressure rod 350.

[0069] Specifically, the first elastic element 380 is a compression spring. The first elastic element 380 applies a pulling force to the pressure rod 350 toward the second position, thereby moving the pressure rod 350 from the first position to the second position, so that the clamping assembly 200 switches from the released state to the clamping state. Since the first elastic element 380 is a compression spring, the size of the puncture end structure in the extension direction of the first elastic element 380 can be reduced, thereby miniaturizing it.

[0070] Furthermore, the first position is located above the second position, thereby reducing interference between the pressure rod 350 and the upper part of the puncture end structure. Furthermore, the fixed end of the compression spring is above, and the elastic potential energy release end of the tension spring is below. In other embodiments, the first position may also be located below the second position. Furthermore, the fixed end of the compression spring is below, and the elastic potential energy release end of the tension spring is above.

[0071] See Figure 2 , Figure 3 , Figure 4 and Figure 5 In one embodiment, the puncture end structure further includes a detection element 540, which includes a sensor 541 and a sensor plate 542. One of the sensor 541 and the sensor plate 542 is connected to the pressure bar 350, and the other of the sensor 541 and the sensor plate 542 is connected to the frame 100. The sensor plate 542 is configured to trigger the sensor 541 when the pressure bar 350 is in a first position.

[0072] Specifically, the sensing element 542 is mounted on the frame, and the sensor 541 is mounted on the pressure rod 350. When the pressure rod 350 moves to the first position, the sensing element 542 is positioned in the middle of the sensor 541, preventing the receiving end of the sensor 541 from receiving light information, thereby triggering a signal to detect that the clamping assembly 200 is in a released state. Preferably, the sensor 541 is a photoelectric switch.

[0073] See Figure 1 and Figure 2 In one embodiment, the frame 100 includes a detachably connected support base 120 and a positioning arm 110, a clamping arm 210 connected to the support base 120, and a first elastic member 380 connected to the positioning arm 110.

[0074] Specifically, since the support base 120 and the positioning arm 110 are detachably connected, the clamping arm 210 and the support base 120 can be made of plastic as consumables. The positioning arm 110, the first elastic element 380 and the transmission module 310 are covered with sterile covers, so that the clamping arm 210 and the support base 120 can be directly discarded after the operation.

[0075] In other embodiments, the support base 120 may also be fixedly connected to the positioning arm 110. The clamping arm 210 and the support base 120 may be made of metal and can be disinfected after surgery for reuse.

[0076] See Figure 1 and Figure 2 In one embodiment, the positioning arm 110 is arranged perpendicularly to the support base 120, and the clamping arm 210 is connected to the end of the support base 120 away from the positioning arm.

[0077] Specifically, the positioning arm 110 extends in the same direction as the first elastic member 380, and the push rod 320 extends in the second direction, so that the puncture end structure is L-shaped, which makes it easy for the operator to hold the puncture end structure with one hand and apply force to the pressure rod 350 with the other hand, so that the pressure rod 350 moves from the second position to the first position.

[0078] See Figure 1 , Figure 2 and Figure 5 In one embodiment, when the pressure rod 350 is in the first position, there is a gap between the push rod 320 and the clamping arm 210; when the pressure rod 350 is in the second position, the push rod 320 abuts against the clamping arm 210.

[0079] Specifically, when the pressure rod 350 is in the first position, the clamping assembly 200 is in a released state. Because there is a gap between the push rod 320 and the clamping arm 210, the clamping arm 210 can be easily disassembled after surgery when the clamping arm 210 and support base 120 are discarded, reducing interference with the push rod 320. When the pressure rod 350 is in the second position, the clamping assembly is in a clamping state, and the push rod 320 abuts against the clamping arm 210, allowing the push rod 320 to stably apply a pushing force to the clamping arm 210, so that the clamping assembly 200 stably clamps the puncture instrument 600. In the initial assembly state, the pressure rod 350 is in the first position, which facilitates the insertion of the puncture instrument 600 into the clamping assembly, improving assembly efficiency.

[0080] See Figure 1 , Figure 2 and Figure 6 , Figure 6 This is a partial schematic diagram of the driving component in a puncture end structure according to an embodiment of the present invention. In one embodiment, the push rod 320 is connected to the transmission module 310, and there is a gap between the push rod 320 and the support base 120. This avoids friction between the push rod 320 and the support base 120 when the transmission module 310 drives the push rod 320 to move and drive the clamping arm 210 to rotate. This prevents damage to the sterile cover fitted on the push rod 320 and improves the reliability of the puncture end structure.

[0081] See Figure 1 and Figure 2 In another embodiment, the push rod 320 is slidably connected to the support base 120, and the push rod 320 is connected to or abuts against the transmission module 310. That is, when the transmission module 310 drives the push rod 320 to move and drive the clamping arm 210 to rotate, the support base 120 can play a guiding role, so that the push rod 320 moves accurately in the second direction. Since there is friction between the push rod 320 and the support base 120, it can be adapted to situations where the clamping arm 210 and the support base 120 are made of metal and can be reused after sterilization.

[0082] See Figure 2 and Figure 6 In one embodiment, the transmission module 310 further includes a conveyor belt 311, a conveyor wheel 312, and a mating wheel 313. The conveyor wheel 312 and the mating wheel 313 are spaced apart and are connected to the push rod 320. The mating wheel 313 is rotatably connected to the frame 100. The conveyor wheel 312 and the mating wheel 313 tension the conveyor belt 311. The conveyor belt 311 is connected to the pressure rod 350. The pressure rod 350 is used to drive the conveyor belt 311 to make a circular motion along the arrangement direction of the conveyor wheel 312 and the mating wheel 313, so as to drive the conveyor wheel 312 to rotate around the second direction, so as to drive the push rod 320 to move toward the clamping arm 210.

[0083] Specifically, the first elastic element 380 extends along a first direction, and the conveyor wheel 312 and the mating wheel 313 are spaced apart along the first direction. The pressure rod 350 moves between a first position and a second position, causing one side of the conveyor belt 311 to move along the first direction, thereby driving the conveyor wheel 312 to rotate around a second direction, thus stably driving the push rod 320 to move towards the clamping arm 210 along the second direction. In this application, the transmission arrangement using the conveyor belt 311, the conveyor wheel 312, and the mating wheel 313 increases the arrangement space between the pressure rod 350 and the push rod 320 in the first direction, facilitating manual operation of the pressure rod 350 and reducing interference with other components. The conveyor belt 311 can be a ring-shaped belt structure or a ring-shaped rope structure, as long as it can cooperate with the conveyor wheel 312 and the mating wheel 313. Preferably, the conveyor wheel 312 is a synchronous belt pulley.

[0084] Furthermore, the frame 100 includes a positioning arm 110, and the puncture end structure also includes a first guide assembly 520. The first guide assembly 520 includes a first slider 521 and a first guide rail 522. The first guide rail 522 extends along a first direction and is connected to the positioning arm 110. The first slider 521 is connected to the pressure rod 350 and is slidably connected to the first guide rail 522 along the first direction to guide one side of the conveyor belt 311 driven by the pressure rod 350 to move along the first direction.

[0085] See Figure 6 and Figure 7 , Figure 7 This is a cross-sectional view of the driving component portion in a puncture end structure provided in one embodiment of the present invention. In one embodiment, the puncture end structure includes an adjusting seat 360 and an adjusting rod 370. One end of the adjusting rod 370 is rotatably connected to the frame 100, and the other end of the adjusting rod 370 is connected to the adjusting seat 360. A mating wheel 313 is rotatably connected to the adjusting seat 360. The adjusting rod 370 can drive the adjusting seat 360 to move relative to the frame 100 to tension the conveyor belt 311.

[0086] Specifically, the adjusting rod 370 extends along a first direction, with one end passing through and abutting against the frame 100, and the other end threadedly connected to the adjusting seat 360. By rotating the adjusting rod 370, the adjusting rod 370 can drive the adjusting seat 360 to move along the first direction, thereby adjusting the distance between the mating wheel 313 and the conveying wheel 312 to tension the conveyor belt 311, thus enabling the conveyor belt 311 to stably drive the conveying wheel 312 to rotate.

[0087] See Figure 2 , Figure 7 and Figure 8 , Figure 8This is a partial cross-sectional view of the puncture end structure provided in one embodiment of the present invention. In one embodiment, the transmission module 310 further includes a transmission block 330 and a transmission rod 340 extending along a second direction. The transmission rod 340 is coaxially connected to the transmission wheel 312. The transmission block 330 is sleeved on the transmission rod 340 and threadedly connected to the transmission rod 340. The transmission rod 340 is configured to drive the transmission block 330 to move along the second direction under the drive of the transmission wheel 312, so that the transmission block 330 can drive the push rod 320 to move toward the clamping arm 210, thereby pushing at least one of the two clamping arms 210 to rotate about the first direction.

[0088] Specifically, the transmission block 330 is sleeved on a portion of the transmission rod 340, and the transmission rod 340 is coaxially connected to the transmission wheel 312. Thus, when the conveyor belt 311 drives the transmission wheel 312 to rotate in the second direction, the transmission wheel 312 can synchronously drive the transmission rod 340 to rotate in the second direction. Through threaded transmission, the transmission block 330 drives the push rod 320 to move along the second direction toward the clamping arm 210. This application, by setting up the transmission block 330 and the transmission rod 340, increases the arrangement space between the pressure rod 350 and the push rod 320 in the second direction, thereby facilitating manual operation of the pressure rod 350 and reducing interference with other components.

[0089] Furthermore, the frame 100 also includes a fixed base 130, which is connected to the positioning arm 110. The puncture end structure also includes a second guide assembly 510, which includes a second slider 511 and a second guide rail 512. The second guide rail 512 extends along a second direction and is connected to the fixed base 130. The second slider 511 is connected to the transmission block 330 and is slidably connected to the second guide rail 512 along the second direction to guide the movement of the transmission block 330 along the second direction.

[0090] When the second position is above the first position, the sensing plate 542 is mounted on the fixed base 130. When the pressure rod 350 moves to the first position, the sensor 541 is triggered, and the fixed base 130 abuts against the lower end of the pressure rod 350, thereby achieving a limiting effect. When the second position is below the first position, the sensing plate 542 is mounted on the positioning arm 110.

[0091] See Figure 2 and Figure 7In one embodiment, the push rod 320 is slidably connected to the frame 100 along a second direction, and the push rod 320 is provided with a stop 324, which abuts against the side of the transmission block 330 near the clamping arm 210. When the pressure rod 350 moves from the first position to the second position under the action of the first elastic member 380, it can drive the transmission block 330 to move closer to the clamping arm 210 through the transmission rod 340, so that the transmission block 330 pushes the stop 324 toward the clamping arm 210, thereby causing the push rod 320 to apply a pushing force to the clamping arm 210. When the pressure rod 350 moves from the second position to the first position under the action of an external force, it can drive the transmission block 330 to move away from the clamping arm 210 through the transmission rod 340, so that the transmission block 330 separates from the stop 324, thereby causing the pushing force of the push rod 320 on the clamping arm 210 to disappear. In this application, the push rod 320 abuts against the transmission block 330 via the stop block 324, which reduces the resistance encountered by the pressure rod 350 when it moves from the second position to the first position. Achieve labor saving In other embodiments, the push rod 320 may be connected to the transmission block 330.

[0092] See Figure 2 and Figure 7 In one embodiment, the transmission rod 340 is a self-locking lead screw, and the transmission block 330 is a self-locking nut, thus possessing a stepless self-locking function. This allows for clamping and self-locking for puncture instruments 600 of different diameters, ensuring stable clamping of the puncture instrument 600 and improving the reliability of the puncture end structure. Preferably, the self-locking lead screw and the self-locking nut are trapezoidal.

[0093] See Figure 6 and Figure 7 In one embodiment, the frame 100 has a limiting hole 112, the end of the transmission rod 340 away from the transmission block 330 is inserted into the limiting hole 112, and the transmission wheel 312 is sleeved on the transmission rod 340 and connected to the transmission rod 340.

[0094] Specifically, the limiting hole 112 is provided on the positioning arm 110, and the transmission rod 340 is inserted into the limiting hole 112 to limit and support the transmission rod 340, so that the transmission rod 340 can rotate stably around the second direction under the drive of the transmission wheel 312. Preferably, the transmission wheel 312 is located between the limiting hole 112 and the transmission block 330.

[0095] Furthermore, the puncture end structure also includes a first bearing 113, which is sleeved on the transmission rod 340, and the outer side of the first bearing 113 is rotatably connected to the wall of the limiting hole 112, thereby reducing interference to the rotation of the transmission rod 340.

[0096] See Figure 3 and Figure 6 , Figure 6 This is a cross-sectional view of the locking component and the pressure rod cooperating in a puncture end structure according to an embodiment of the present invention. In one embodiment, the puncture end structure further includes a locking component 400, which includes a locking rod 410. The locking rod 410 is slidably connected to the frame 100. The pressure rod 350 has a mating groove 351. The locking rod 410 can slide relative to the frame 100 along its own axial direction, so that a portion of the locking rod 410 extends into the mating groove 351 and abuts against the side of the groove wall of the mating groove 351 near the second position.

[0097] Specifically, when the pressure bar 350 is in the first position, the locking bar 410 can slide relative to the frame 100 along its own axial direction, so that the locking bar 410 partially extends into the mating groove 351 and abuts against the groove wall of the mating groove 351, thereby restricting the movement of the pressure bar 350 in the first direction, so that the pressure bar 350 is stably maintained in the first position, that is, the clamping assembly 200 is stably maintained in the released state, thereby freeing up the hands and improving the convenience of piercing the end structure. Preferably, the locking bar 410 extends in the second direction.

[0098] See Figure 3 and Figure 6 In one embodiment, when the locking rod 410 disengages from the mating groove 351, the pressure rod 350 moves to the second position under the action of the first elastic member 380. Without the need for manual application of additional force to the pressure rod 350, the clamping assembly 200 can switch from the released state to the clamping state to clamp the puncture instrument 600, thereby improving the convenience of the puncture end structure.

[0099] See Figure 3 and Figure 6 In one embodiment, the locking assembly 400 further includes a second elastic member 420. One end of the second elastic member 420 is connected to the frame 100, and the other end is connected to the locking rod 410. The second elastic member 420 applies a force toward the pressure rod 350 to the locking rod 410, thereby stably inserting the locking rod 410 into the mating groove 351 to apply a stable limiting force to the pressure rod 350. Preferably, the second elastic member 420 is a spring.

[0100] Furthermore, the locking rod 410 is provided with a boss 411, and the second elastic member 420 extends along the second direction. One end of the second elastic member 420 abuts against the positioning arm 110, and the other end abuts against the boss 411, thereby applying a force toward the pressure rod 350 to the boss 411.

[0101] Furthermore, the positioning arm 110 has a mating hole 114, which includes a first hole segment 115 and a second hole segment 116 that are interconnected. The radial dimension of the second hole segment 116 is larger than that of the first hole segment 115, so that a stepped wall 117 is formed between the second hole segment 116 and the first hole segment 115. The locking rod 410 passes through the first hole segment 115 and partially extends into the second hole segment 116, and is slidably connected to the hole wall of the first hole segment 115. The second elastic member 420 is sleeved on the locking rod 410 and accommodated in the second hole segment 116. The end of the second elastic member 420 away from the boss 411 abuts against the stepped wall 117, thereby protecting the second elastic member 420 and allowing the second elastic member 420 to stably apply a thrust toward the pressure rod 350 to the boss 411. Preferably, the boss 411 is arranged around the circumference of the locking rod 410.

[0102] See Figure 2 , Figure 3 and Figure 6 In one embodiment, the locking rod 410 has a ramp 412 on the side near the pressure rod 350, and the pressure rod 350 has a wedge-shaped surface 352 for engaging with the ramp 412. The wedge-shaped surface 352 is located on the side of the mating groove 351 away from the second position. In the direction from the second position to the first position, the distance between the ramp 412 and the pressure rod 350 gradually decreases.

[0103] Specifically, by configuring the wedge-shaped surface 352 to engage with the inclined surface 412, as the pressure rod 350 moves toward the first position along the first direction, the wedge-shaped surface 352 can push the inclined surface 412 to retract away from the pressure rod 350 along the second direction, thus preventing interference with the movement of the pressure rod 350. When the pressure rod 350 moves to the first position, the wedge-shaped surface 352 separates from the inclined surface 412, and the locking rod 410 moves toward the mating groove 351 of the pressure rod 350 under the action of the second elastic element 420, thereby extending into the mating groove 351 to automatically limit the pressure rod 350, thus improving the reliability and convenience of the puncture end structure.

[0104] Specifically, when the second position is above the first position, the inclined surface 412 slopes downward toward the pressure rod 350, and the wedge-shaped surface 352 slopes upward toward the locking rod. When the second position is below the first position, the inclined surface 412 slopes upward toward the pressure rod 350, and the wedge-shaped surface 352 slopes downward toward the locking rod.

[0105] Furthermore, the locking assembly 400 also includes a latch 430, which is located outside the mating hole 114 and connected to the side of the locking rod 410 away from the inclined surface 412. When it is necessary to clamp the puncture instrument 600, the latch 430 can be pulled to move the locking rod 410 away from the pressure rod 350, thereby causing the locking rod 410 to disengage from the mating groove 351 of the pressure rod 350. The pressure rod 350 then moves toward the second position under the action of the first elastic member 380, while the locking rod 410 returns to its initial state under the action of the second elastic member 420.

[0106] When the second position is above the first position, the pressure rod 350 moves upward under the action of the first elastic element 380; when the second position is below the first position, the pressure rod 350 moves downward under the action of the first elastic element 380.

[0107] See Figure 2 , Figure 9 and Figure 10 , Figure 9 This is a top view of the puncture end structure and puncture instrument provided in an embodiment of the present invention. Figure 10 This is a partial schematic diagram of the clamping component in the puncture end structure provided in one embodiment of the present invention. In one embodiment, the clamping arm 210 has a mating end 212, which is located on the side of the rotation center of the clamping arm 210 away from the clamping end 211, and the mating end 212 is used to abut against the transmission module 310.

[0108] Specifically, when the clamping assembly 200 is in the released state, the transmission block 330 drives the push rod 320 to move toward the clamping arm 210, causing the push rod 320 to abut against the inner side of the mating end 212 and apply a pushing force to the mating end 212. This allows the mating end 212 to drive the clamping end 211 to rotate around the first direction, thereby bringing the clamping ends 211 of the two clamping arms 210 closer together, allowing the clamping assembly 200 to switch from the released state to the clamping state. Since the push rod 320 always engages with the inner side of the mating end 212 on the clamping arm 210 away from the puncture instrument 600 during the switch from the released state to the clamping state, and does not contact the clamping end 211, interference with the puncture instrument 600 is reduced. Furthermore, the dimension of the puncture end structure on the side closest to the clamping assembly 200 in the third direction is smaller, making it suitable for multi-needle spacing applications and improving the application scenarios and working conditions of the puncture end structure. The inner side of the mating end 212 refers to the side of the two mating ends 212 facing each other.

[0109] See Figure 2 , Figure 9 and Figure 10In one embodiment, the end of the transmission module 310 has an arc-shaped surface 321, which is used to abut against the mating end 212, so that the arc-shaped surface 321 always maintains line contact with the mating end 212 during the rotation of the clamping arm 210, thereby enabling the push rod 320 to apply a stable pushing force to the clamping arm 210, so that the two clamping arms 210 can stably clamp the puncture instrument 600, improving the reliability of the puncture end structure.

[0110] See Figure 2 , Figure 9 , Figure 10 and Figure 11 , Figure 11 This is a partial schematic diagram of the clamping assembly in a puncture end structure provided in one embodiment of the present invention. In one embodiment, the clamping assembly 200 includes a rotating shaft 220 and a torsion spring 230. The rotating shaft 220 is connected to the frame 100, and the torsion spring 230 is sleeved on the rotating shaft 220. At least one of the two clamping arms 210 is rotatably connected to the rotating shaft 220 about a first direction and is connected to the torsion spring 230.

[0111] Specifically, when the push rod 320 does not apply a pushing force to the clamping arm 210, under the force of the torsion spring 230, the clamping ends 211 of the two clamping arms 210 are in a relatively far apart state, thus enabling the clamping assembly 200 to be in a released state, thereby facilitating the placement of the puncture instrument 600 on the clamping assembly 200. When the pressure rod 350 moves from the second position to the first position, the push rod 320 moves away from the clamping arm 210, causing the clamping ends 211 of the clamping arm 210 to move relatively far apart under the force of the torsion spring 230, thereby enabling the stable release of the puncture instrument 600 and avoiding interference with the puncture instrument 600.

[0112] Furthermore, the frame 100 also includes a support base 120, which is connected to the positioning arm 110, and the rotating shaft 220 is connected to the support base 120.

[0113] See Figure 2 , Figure 9 , Figure 10 and Figure 11 In one embodiment, both clamping arms 210 are connected to torsion springs 230, and a transmission module 310 is used to abut against the two clamping arms 210.

[0114] Specifically, the push rod 320 has two protrusions 323 on the side near the clamping arm 210, and an arc-shaped surface 321 is provided on the protrusions 323. The two protrusions 323 are respectively used to abut against the corresponding mating end 212 through the arc-shaped surface 321, thereby applying a force to the clamping ends 211 of the two clamping arms 210 to move closer to each other, so that the two clamping arms 210 clamp the puncture instrument 600.

[0115] Furthermore, a limiting groove 322 is formed between the two protrusions 323. The limiting groove 322 can be inserted and engaged with the protrusion on the support base 120, thereby playing a guiding role.

[0116] See Figure 2 , Figure 9 , Figure 10 and Figure 11 In one embodiment, there are two rotating shafts 220, which are spaced apart. Each rotating shaft 220 is fitted with a torsion spring 230. One end of each torsion spring 230 abuts against the frame 100, and the other end abuts against the clamping end 211 of the corresponding clamping arm 210.

[0117] Specifically, two rotating shafts 220 are spaced apart along a third direction, and two torsion springs 230 are respectively sleeved on the two rotating shafts 220. One end of the torsion spring 230 abuts against the support base 120, and the other end of the torsion spring 230 abuts against the inner side of the clamping end 211 of the corresponding clamping arm 210. Thus, when the push rod 320 pushes the mating end 212 of the clamping arm 210 to rotate, so that the clamping ends 211 of the two clamping arms 210 come closer to each other, the elastic deformation of the torsion spring 230 can be reduced, thereby reducing the force required to overcome the deformation of the torsion spring 230, and thus saving effort.

[0118] Furthermore, the clamping assembly 200 also includes a second bearing 240. The clamping arm 210 is provided with a mounting hole 214 extending in a vertical direction. The rotating shaft 220 passes through the mounting hole 214 and is rotatably connected through the wall of the mounting hole 214 of the second bearing 240. Preferably, there are two second bearings 240, which are respectively disposed at both ends of the torsion spring 230.

[0119] Furthermore, the clamping assembly 200 also includes a limiting sleeve 270. Two limiting sleeves 270 are fitted on each rotating shaft 220. The two limiting sleeves 270 are respectively located between the torsion spring 230 and the second bearing 240 to limit the position of the torsion spring 230 on the rotating shaft 220.

[0120] See Figure 2 , Figure 9 , Figure 11 and Figure 12 , Figure 12 This is a schematic diagram of the clamping arms in a puncture end structure according to an embodiment of the present invention. In one embodiment, the two clamping arms 210 have toothed structures 250 arranged staggered along a first direction for engagement, thereby increasing the clamping force on the puncture instrument 600 and improving the reliability of the puncture end structure.

[0121] See Figure 2 , Figure 7 , Figure 9 and Figure 10In one embodiment, the opposing ends of the two clamping arms 210 are configured as clamping ends 211. The facing surfaces of the two clamping ends 211 have V-grooves 260. The groove walls of the V-grooves 260 form a limiting cavity 280 for the insertion of the puncture instrument 600. This allows the central axes of puncture instruments 600 with different radial dimensions to be completely coincident after clamping. Therefore, when clamping puncture instruments 600 with different radial dimensions, errors caused by variations in the diameter of the puncture instrument 600 are not introduced, thereby improving the reliability of the puncture end structure. In this embodiment, the radial dimension range of the puncture instrument 600 that the puncture end structure can accommodate is 0.4mm-3.5mm, for example, 0.4mm, 0.2mm, and 3.5mm.

[0122] See Figure 9 , Figure 12 and Figure 13 , Figure 13 This is a top view of the clamping assembly in a puncture end structure according to an embodiment of the present invention. In one embodiment, the maximum distance between the opposite sides of the ends of the two clamping ends 211 is not less than 5 mm.

[0123] Specifically, when the clamping assembly 200 is in the released state, the two clamping ends 211 are separated from each other, resulting in a maximum distance between the ends of the two clamping ends 211. Since the diameter of the puncture instrument 600 in actual use is at most 3.5 mm, and the maximum value of the distance L1 between the opposite sides of the ends of the two clamping ends 211 in this application is not less than 5 mm, it can be ensured that the puncture instrument 600 can normally disengage from the clamping assembly 200 when the puncture end structure moves, avoiding unexpected movement of the puncture instrument 600 caused by the movement of the clamping assembly 200, which could injure the patient and improve the reliability of the puncture end structure.

[0124] See Figure 9 , Figure 12 and Figure 13 In one embodiment, when the clamping assembly 200 is in the released state, the maximum distance between the opposite sides of the two clamping ends 211 is no more than 12 mm.

[0125] Specifically, when the clamping assembly 200 is in the released state, the two clamping ends 211 separate from each other, so that the ends of the two clamping ends 211 have the maximum distance. Since the maximum distance L2 between the opposite sides of the two clamping ends 211 is no more than 12mm, it can adapt to the situation where the distance L4 between the central axes of adjacent puncture instruments 600 is 10mm or even less than 8mm under multi-needle spacing conditions, thereby improving the adaptability of the puncture end structure.

[0126] Furthermore, when the clamping assembly 200 is in the released state and the distance between the ends of the two clamping ends 211 is at its maximum, the distance L3 between the outer side of the clamping end 211 and the adjacent puncture instrument 600 is no greater than 2mm. This reduces interference with other puncture instruments 600 and improves the reliability of the puncture end structure in multi-needle spacing conditions.

[0127] See Figures 1-13 This utility model embodiment also provides a guiding and positioning device, including the above-mentioned puncture end structure, and also includes a robotic arm, with the frame 100 connected to the robotic arm.

[0128] In this application, the clamping assembly 200 is in a released state. When it is necessary to clamp the puncture instrument 600, the first elastic element 380 applies a force to the transmission module 310, so that the transmission module 310 applies a driving force to the clamping arms 210, causing the clamping ends 211 of the two clamping arms 210 to move closer to each other. This causes the clamping assembly 200 to switch from the released state to the clamping state to clamp the puncture instrument 600. Since the clamping force of the clamping arms 210 on the puncture instrument 600 is generated by the thrust applied by the transmission module 310, and the thrust applied by the transmission module 310 is achieved by the force applied by the first elastic element 380, the force applied to the transmission module 310 by the first elastic element 380 can be applied to puncture instruments 600 of different sizes, so that the two clamping arms 210 can clamp the puncture instrument 600 in the limiting cavity 280, thereby improving the reliability and adaptability of the puncture end structure.

[0129] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0130] The embodiments described above are merely illustrative of several implementations of this utility model, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.

Claims

1. A piercing tip structure characterized by, The puncture tip structure includes: Rack (100); A clamping assembly (200) includes two clamping arms (210), both of which are rotatably connected to the frame (100) about a first direction; the clamping assembly (200) has a clamping state and a releasing state; when the clamping assembly (200) is in the clamping state, the clamping ends (211) of the two clamping arms (210) are used to clamp the puncture instrument (600); when the clamping assembly (200) is in the releasing state, there is a preset gap between the clamping ends (211) of the two clamping arms (210) to release the puncture instrument (600); and, A drive assembly (300) includes a transmission module (310) and a first elastic member (380), the transmission module (310) being used to abut against at least one of the clamping arms (210), one end of the first elastic member (380) being connected to the frame (100) and the other end being connected to the transmission module (310), the first elastic member (380) being used to apply a force to the transmission module (310) to apply a driving force to at least one of the clamping arms (210) to bring the clamping ends (211) of the two clamping arms (210) closer to each other, so that the clamping assembly (200) switches from the released state to the clamping state.

2. The puncture tip structure of claim 1, wherein, The first elastic member (380) is used to apply a force along the first direction to the transmission module (310) so that the transmission module (310) applies a force along the second direction to at least one of the clamping arms (210), wherein the second direction is perpendicular to the first direction.

3. The puncture tip structure of claim 1, wherein, The transmission module (310) includes a pressure rod (350) and a push rod (320). The pressure rod (350) is connected to the first elastic member (380). One end of the push rod (320) is connected to the pressure rod (350), and the other end is used to abut against at least one of the clamping arms (210). The pressure rod (350) has a first position and a second position. When the pressure rod (350) is in the first position, the clamping assembly (200) is in the released state. The pressure rod (350) is configured to move toward the second position under the force of the first elastic member (380) to drive the push rod (320) to move toward the clamping arm (210) in a second direction, so that the clamping assembly (200) switches from the released state to the clamping state, wherein the second direction is perpendicular to the first direction.

4. The puncture tip structure of claim 3, wherein, The transmission module (310) further includes a conveyor belt (311), a conveyor wheel (312), and a mating wheel (313). The conveyor wheel (312) and the mating wheel (313) are spaced apart and are connected to the push rod (320). The mating wheel (313) is rotatably connected to the frame (100). The conveyor wheel (312) and the mating wheel (313) tension the conveyor belt (311). The conveyor belt (311) is connected to the pressure rod (350). The pressure rod (350) is used to drive the conveyor belt (311) to make a circular motion along the arrangement direction of the conveyor wheel (312) and the mating wheel (313) to drive the conveyor wheel (312) to rotate around the second direction, so as to drive the push rod (320) to move toward the clamping arm (210).

5. The puncture tip structure of claim 4, wherein, The puncture end structure includes an adjusting seat (360) and an adjusting rod (370). One end of the adjusting rod (370) is rotatably connected to the frame (100), and the other end of the adjusting rod (370) is connected to the adjusting seat (360). The mating wheel (313) is rotatably connected to the adjusting seat (360). The adjusting rod (370) can drive the adjusting seat (360) to move relative to the frame (100) to tension the conveyor belt (311).

6. The puncture tip structure of claim 4, wherein, The transmission module (310) further includes a transmission block (330) and a transmission rod (340) extending along the second direction. The transmission rod (340) is coaxially connected to the transmission wheel (312). The transmission block (330) is sleeved on the transmission rod (340) and threadedly connected to the transmission rod (340). The transmission rod (340) is configured to drive the transmission block (330) to move along the second direction under the drive of the transmission wheel (312), so that the transmission block (330) can drive the push rod (320) to move toward the clamping arm (210), thereby pushing at least one of the two clamping arms (210) to rotate around the first direction.

7. The puncture tip structure of claim 6, wherein, The transmission rod (340) is a self-locking lead screw, and the transmission block (330) is a self-locking nut.

8. The puncture tip structure of claim 6, wherein, The frame (100) has a limiting hole (112), and the end of the transmission rod (340) away from the transmission block (330) is inserted into the limiting hole (112). The transmission wheel (312) is sleeved on the transmission rod (340) and connected to the transmission rod (340).

9. The puncture tip structure of claim 3, wherein, The puncture end structure also includes a locking assembly (400), the locking including a locking rod (410), the locking rod (410) being slidably connected to the frame (100), the pressure rod (350) having a mating groove (351), the locking rod (410) being able to slide relative to the frame (100) along its own axial direction, so that the locking rod (410) partially extends into the mating groove (351) and abuts against the side of the groove wall of the mating groove (351) near the second position.

10. The puncture tip structure of claim 9, wherein, When the locking rod (410) disengages from the mating groove (351), the pressure rod (350) moves to the second position under the action of the first elastic member (380).

11. The puncture tip structure of any of claims 3-10, wherein, The length of the first elastic element (380) when it is in the second position is less than the length when it is in the first position, and the first elastic element (380) is used to apply a tensile force toward the second position to the pressure rod (350); or, the length of the first elastic element (380) when it is in the second position is greater than the length when it is in the first position, and the first elastic element (380) is used to apply a thrust toward the second position to the pressure rod (350).

12. The puncture tip structure of any of claims 3-10, wherein, The puncture end structure also includes a detection element (540), which includes a sensor (541) and a sensor plate (542). One of the sensor (541) and the sensor plate (542) is connected to the pressure bar (350), and the other of the sensor (541) and the sensor plate (542) is connected to the frame (100). The sensor plate (542) is configured to trigger the sensor (541) when the pressure bar (350) is in the first position.

13. The puncture tip structure of any of claims 3-10, wherein, The frame (100) includes a detachably connected support base (120) and a positioning arm (110), the clamping arm (210) is connected to the support base (120), and the first elastic element (380) is connected to the positioning arm (110).

14. The puncture tip structure of claim 13, wherein, The positioning arm (110) is perpendicular to the support base (120), and the clamping arm (210) is connected to the end of the support base (120) away from the positioning arm (110).

15. The puncture tip structure of claim 13, wherein, When the pressure rod (350) is in the first position, there is a gap between the push rod (320) and the clamping arm (210); when the pressure rod (350) is in the second position, the push rod (320) abuts against the clamping arm (210).

16. The puncture tip structure of claim 13, wherein, The push rod (320) is connected to the transmission module (310), and there is a gap between the push rod (320) and the support base (120); or, the push rod (320) is slidably connected to the support base (120), and the push rod (320) is connected to or abuts against the transmission module (310).

17. The puncture tip structure of any of claims 1-10, wherein, The clamping arm (210) has a mating end (212), which is located on the side of the clamping arm (210) away from the clamping end (211) at the rotation center, and the mating end (212) is used to abut against the transmission module (310).

18. The puncture tip structure of any of claims 1-10, wherein, The clamping assembly (200) includes a pivot (220) and a torsion spring (230). The pivot (220) is connected to the frame (100), and the torsion spring (230) is sleeved on the pivot (220). At least one of the two clamping arms (210) is rotatably connected to the pivot (220) about the first direction and is connected to the torsion spring (230).

19. The puncture tip structure of claim 18, wherein, Both clamping arms (210) are connected to the torsion spring (230), and the transmission module (310) is used to abut against the two clamping arms (210).

20. The puncture tip structure of any of claims 1-10, wherein, The maximum distance between the opposite sides of the two clamping ends (211) is not less than 5 mm; and / or, the maximum distance between the opposite sides of the two clamping ends (211) is not greater than 12 mm.

21. A guide positioning device, characterized by The device includes the puncture end structure according to any one of claims 1-20, and also includes a robotic arm, with the frame (100) connected to the robotic arm.

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