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 rotationally connected to the rack. 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 cam, a push rod and a first elastic piece, the cam is rotationally connected with the rack and used for abutting against the push rod, and the push rod abuts against the clamping arm; the cam is provided with an unlocking position and a locking position, and when the cam is located at the unlocking position, the first elastic piece applies torque to the cam to drive the cam to rotate so as to drive the push rod to move, so that the push rod applies force enabling the clamping ends of the two clamping arms to be close to each other to the clamping arms, and the clamping assembly is switched from the releasing state to the clamping state.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to puncture tip 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; 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 provided between the clamping ends of the two clamping arms to release the puncture instrument; and,

[0007] A drive assembly includes a cam, a push rod, and a first elastic element. The cam is rotatably connected to the frame and abuts against the push rod. One end of the first elastic element is connected to the frame, and the other end is connected to the cam. The push rod abuts against at least one of the clamping arms. The cam has an unlocked position and a locked position. When the cam is in the unlocked position, the first elastic element applies a force to the cam to generate torque, thereby rotating the cam and driving the push rod to move. This causes the push rod to apply a driving force to at least one of the clamping arms, bringing the clamping ends of the two clamping arms closer together, so that the clamping assembly switches from the released state to the clamping state.

[0008] In one embodiment, the puncture end structure further includes a connector connected to the cam, and the connection point between the connector and the cam is at a predetermined distance from the rotation center of the cam. The first elastic element is connected to the cam through the connector. When the cam is in the locked position, the centerline of the first elastic element passes through the rotation center of the cam.

[0009] In one embodiment, the connector includes a protrusion and a transition portion. The protrusion protrudes from the cam, one end of the transition portion is rotatably connected to the protrusion, and the other end of the transition portion is located outside the cam and connected to the first elastic member.

[0010] In one embodiment, the cam includes a rotating part and two wheels connected to the rotating part. The rotating part is rotatably connected to the frame. The two wheels are spaced apart along the thickness direction of the cam. The connecting member is disposed between the two wheels. The protrusion is connected to both wheels. The transition part extends through the gap between the two wheels and has a notch for avoiding the rotating part.

[0011] In one embodiment, the puncture end structure further includes a second elastic element, one end of which is connected to the push rod and the other end of which is connected to the frame. The second elastic element is used to apply a force toward the cam to the push rod.

[0012] In one embodiment, the frame further includes an abutment wall, wherein when the cam is in the locked position, the side of the cam away from the push rod abuts against the abutment wall, and the push rod applies a thrust to the cam against the abutment wall.

[0013] In one embodiment, one of the frame and the push rod is provided with a guide rail, and the other is provided with a slider. The slider is slidably connected to the guide rail to guide the push rod to slide relative to the frame under the drive of the cam.

[0014] In one embodiment, the rack includes:

[0015] A positioning arm is provided with a mounting groove, a locking element is provided in the mounting groove, a cam is rotatably connected to the positioning arm, a push rod is slidably connected to the positioning arm, and a portion of the push rod extends into the mounting groove;

[0016] A fixed base has a mounting hole and a snap-fit ​​component. The clamping arm is rotatably connected to the fixed base and passes through the mounting hole.

[0017] The push rod is configured to abut against the clamping arm when the snap-fit ​​is inserted into the mounting slot and engages with the locking member.

[0018] In one embodiment, the snap-fit ​​component includes a locking buckle, the locking component includes a button, a third elastic element, and a locking block, the button is slidably connected to the positioning arm, and the button portion can extend out of the mounting groove, the locking block is connected to the button and is used to engage with the locking hole on the locking buckle, the third elastic element is disposed between the button and the positioning arm, and the third elastic element is used to apply a force away from the positioning arm to the button to prevent the locking block from disengaging from the locking hole.

[0019] In one embodiment, the locking block has a first inclined surface, and when the locking buckle is close to the locking block, the locking buckle applies a force to the first inclined surface that moves away from the wall of the corresponding mounting groove, so that the locking block passes through the locking hole.

[0020] In one embodiment, one of the fixed base and the positioning arm is provided with a limiting post, and the other of the fixed base and the positioning arm is provided with a limiting hole. The limiting post is used to be inserted into the limiting hole to restrict the fixed base from moving relative to the positioning arm in a direction perpendicular to the arrangement direction of the fixed base and the positioning arm.

[0021] In one embodiment, the puncture end structure further includes a sterile hood, which is fitted over the positioning arm and covers the drive assembly. The sterile hood has an opening corresponding to the slot of the mounting groove, allowing the snap-fit ​​member and the clamping arm on the fixing seat to extend into the mounting groove.

[0022] 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 clamping assembly, 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 clamping assembly is in the released state.

[0023] In one embodiment, the drive assembly further includes a lever, one end of which is connected to the cam and the other end of which extends away from the cam. The lever is configured to be operable to turn the cam to switch the cam from the locked position to the unlocked position.

[0024] This application also provides a guiding and positioning device that can solve at least one of the above-mentioned technical problems.

[0025] A guiding and positioning device includes the aforementioned puncture end structure and a robotic arm, wherein the frame is connected to the robotic arm.

[0026] Beneficial effects:

[0027] The puncture end structure provided in this application 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. 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, there is a preset gap between the clamping ends of the two clamping arms to release the puncture instrument. The driving assembly includes a cam, a push rod, and a first elastic element. The cam is rotatably connected to the frame and is used to abut against the push rod. One end of the first elastic element is connected to the frame, and the other end is connected to the cam. The push rod abuts against at least one clamping arm. The cam has an unlocked position and a locked position. When the cam is in the unlocked position, the first elastic element applies a force to the cam to generate torque, thereby driving the cam to rotate and driving the push rod to move. This causes the push rod to apply a driving force to at least one clamping arm, causing the clamping ends of the two clamping arms to move closer to each other, so that the clamping assembly switches from the released state to the clamping state. When it is necessary to clamp the puncture instrument, the cam is adjusted to the unlocked position. A torque is applied to the cam through the first elastic element, causing the cam to rotate, thereby pushing the push rod to move. Since the push rod abuts against at least one clamping arm, the push rod 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 released state to the clamping state to clamp the puncture instrument.

[0028] The clamping force of the clamping arm on the puncture instrument is generated by the thrust applied by the cam to the push rod, and the thrust applied by the cam to the push rod is applied by the first elastic element. Thus, when dealing with puncture instruments of different sizes, the force applied to the cam by the first elastic element can be applied, so that the clamping ends of the two clamping arms can clamp the puncture instrument, thereby improving the reliability and adaptability of the puncture end structure.

[0029] This application also provides a guiding and positioning device, including the above-described puncture end structure, and a robotic arm, with a frame connected to the robotic arm. This guiding and positioning device can achieve at least one of the above-described technical effects. Attached Figure Description

[0030] Figure 1 This is a first schematic diagram of a puncture end structure provided in an embodiment of this application.

[0031] Figure 2 This is a second schematic diagram of the puncture end structure provided in an embodiment of this application.

[0032] Figure 3This is a schematic diagram of the cooperation between the driving component and the clamping component in a puncture end structure provided in an embodiment of this application.

[0033] Figure 4 This is a partial schematic diagram of the cam in the locked position in a puncture end structure provided in an embodiment of this application.

[0034] Figure 5 This is a partial schematic diagram of the cam in the unlocked position in a puncture end structure provided in an embodiment of this application.

[0035] Figure 6 This is a schematic diagram of the cooperation between the push rod and the clamping assembly in a puncture end structure provided in an embodiment of this application.

[0036] Figure 7 This is a schematic diagram of the separation of the fixing seat and the positioning arm in a puncture end structure provided in an embodiment of this application.

[0037] Figure 8 This is a cross-sectional view showing the separation of the snap-fit ​​and locking elements in a puncture end structure provided in an embodiment of this application.

[0038] Figure 9 This is a cross-sectional view of the snap-fit ​​and locking member in a puncture end structure provided in an embodiment of this application when they are close together.

[0039] Figure 10 This is a cross-sectional view of the snap-fit ​​and locking member in the puncture end structure provided in an embodiment of this application.

[0040] Figure 11 This is a partial schematic diagram of the clamping component in the puncture end structure provided in an embodiment of this application when it is in a clamping state.

[0041] Figure 12 This is a schematic diagram of the clamping component installed on the fixing base in a puncture end structure provided in an embodiment of this application.

[0042] Icon labels:

[0043] 100-Frame; 110-Positioning arm; 111-Mounting slot; 112-Mating hole; 113-Mating plate; 114-Mounting plate; 115-Interface; 120-Fixing base; 121-Mounting hole; 122-Support platform; 130-Receiving cavity; 131-Abutting wall; 140-Guide rail; 150-Slider; 160-Locking element; 161-Button; 162-Third elastic element; 163-Locking block; 164-First inclined surface; 165-Limiting hole; 166-Boss; 167-Connecting arm; 168-Abutting surface; 170-Snap-fit ​​element; 171-Locking buckle; 172-Locking hole; 173-Limiting post; 174-Second inclined surface; 180-Quick release Structure; 200-Clamping assembly; 210-Clamping arm; 211-Clamping end; 212-Matching end; 220-Rotating shaft; 230-Torsion spring; 240-V-groove; 250-Limiting cavity; 300-Drive assembly; 310-Cam; 311-Rotating part; 312-Wheel; 320-Push rod; 321-Limiting groove; 330-First elastic element; 331-Center line; 340-Connector; 341-Protrusion; 342-Transfer part; 343-Notch; 344-First connecting rod; 345-Second connecting rod; 350-Second elastic element; 360-Toggle lever; 400-Detection element; 410-Sensor; 420-Sensing plate; 430-Detection groove. Detailed Implementation

[0044] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application 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 application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0045] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not 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 application.

[0046] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0047] In this application, unless otherwise expressly 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 expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0048] 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.

[0049] 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.

[0050] See Figure 1 , Figure 2 and Figure 3 , Figure 1 This is a first schematic diagram of a puncture end structure provided in an embodiment of this application. Figure 2 This is a second schematic diagram of the puncture end structure provided in an embodiment of this application. Figure 3This is a schematic diagram illustrating the cooperation between the driving component and the clamping component in a puncture end structure provided in an embodiment of this application. The puncture end structure provided in an embodiment of this application includes a frame 100, a clamping component 200, and a driving component 300. The clamping component 200 includes two clamping arms 210, both of which are rotatably connected to the frame 100. The clamping component 200 has a clamping state and a releasing 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. When the clamping component 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. The driving component 300 includes a cam 310, a push rod 320, and a first elastic element 330. The first elastic element 330 is rotatably connected to the frame 100 and is used to abut against the push rod 320. One end of the first elastic element 330 is connected to the frame 100 and the other end is connected to the cam 310. The push rod 320 abuts against at least one clamping arm 210. The cam 310 has an unlocked position and a locked position. When the cam 310 is in the unlocked position, the first elastic element 330 applies a force to the cam 310 to generate torque, so as to drive the cam 310 to rotate, thereby driving the push rod 320 to move, so that the push rod 320 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.

[0051] Specifically, when it is necessary to clamp the puncture instrument, the cam 310 is adjusted to the unlocked position, and the first elastic element 330 applies torque to the cam 310, causing the cam 310 to rotate, thereby pushing the push rod 320 to move. Since the push rod 320 abuts against at least one clamping arm 210, the push rod 320 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 the released state to the clamping state to clamp the puncture instrument. Specifically, the clamping force of the clamping arm 210 on the puncture instrument is generated by the thrust applied by the cam 310 to the push rod 320, and the thrust applied by the cam 310 to the push rod 320 is applied by the first elastic element 330. Therefore, when dealing with puncture instruments of different sizes, the force applied to the cam 310 by the first elastic element 330 can ensure that the clamping ends 211 of the two clamping arms 210 can clamp the puncture instrument, thereby improving the reliability and adaptability of the puncture end structure. Preferably, the first elastic element 330 is a spring.

[0052] It should be noted that since the clamping process of the clamping arm 210 is achieved under the action of the spring, the process does not require the operator's participation. Therefore, whether the puncture instrument is clamped or not does not require the operator's subjective judgment. This can avoid the puncture instrument being clamped too tightly or too loosely due to the difference in the user's hand strength, thus improving the reliability of the puncture end structure.

[0053] Furthermore, the push rod 320 abuts against both clamping arms 210, thereby applying a pushing force to both clamping arms 210 under the action of the first elastic member 330, 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 a released state to a clamping state to stably clamp the puncture instrument. The clamping arms are rotatably connected to the frame about a first direction, and the push rod 320 applies a force to the clamping arms 210 in a second direction, which is perpendicular to the first direction.

[0054] See Figure 3 and Figure 4 , Figure 4 This is a partial schematic diagram of the cam in the locked position in a puncture end structure provided in one embodiment of this application. In one embodiment, the puncture end structure further includes a connector 340, which is connected to the cam 310. The connection point between the connector 340 and the cam 310 is at a preset distance from the rotation center of the cam 310. The first elastic member 330 is connected to the cam 310 through the connector 340. When the cam 310 is in the locked position, the centerline 331 of the first elastic member 330 passes through the rotation center of the cam 310, so that when the cam 310 is in the locked position, the lever arm is 0. Therefore, the force applied by the first elastic member 330 to the cam 310 does not generate torque, so that the cam 310 does not rotate, and thus does not generate thrust between it and the push rod 320. This allows the clamping assembly 200 to be stably held in the released state, facilitating the installation of the puncture instrument. When the cam 310 is in the unlocked position, the center line 331 of the first elastic element 330 does not pass through the rotation center of the cam 310. Since the connection between the connector 340 and the cam 310 has a preset distance from the rotation center of the cam 310, the pulling force of the first elastic element 330 can generate torque on the cam 310 to drive the cam 310 to rotate.

[0055] See Figure 3 , Figure 4 and Figure 5 , Figure 5 This is a partial schematic diagram of the cam in the unlocked position in the puncture end structure provided in one embodiment of this application. In one embodiment, the connector 340 includes a protrusion 341 and a transition portion 342. The protrusion 341 protrudes from the cam 310, one end of the transition portion 342 is rotatably connected to the protrusion 341, and the other end of the transition portion 342 is located outside the cam 310 and connected to the first elastic member 330.

[0056] Specifically, the end of the adapter 342 away from the protrusion 341 is located outside the cam 310, allowing the first elastic member 330 to be located outside the cam 310, thereby reducing interference between the first elastic member 330 and the cam 310 and improving the reliability of the puncture end structure. The first elastic member 330 is a tension spring and is located above the cam 310.

[0057] Furthermore, the cam 310 is rotatably connected to the frame 100 about a third direction, and the adapter 342 is connected to the protrusion 341 about a third direction, wherein the third direction is perpendicular to both the first and second directions.

[0058] It should be noted that the instruction manual is attached. Figure 3 Taking this example, we define XX' as the first direction, which is the height direction of the puncture end structure; YY' as the second direction, which is the length direction of the puncture end structure; and ZZ' as the third direction, which is the width direction of the puncture end structure. The third direction is perpendicular to both the first and second directions.

[0059] See Figure 3 , Figure 4 and Figure 5 In one embodiment, the cam 310 includes a rotating part 311 and two wheels 312 connected to the rotating part 311. The rotating part 311 is rotatably connected to the frame 100. The two wheels 312 are spaced apart along the thickness direction of the cam 310. A connecting member 340 is disposed between the two wheels 312. A protrusion 341 is connected to both wheels 312. A transition part 342 extends out through the gap between the two wheels 312, and the transition part 342 is provided with a notch 343 for avoiding the rotating part 311.

[0060] Specifically, the protrusion 341 and the adapter 342 are disposed between the two wheel bodies 312. The adapter 342 extends beyond the gap between the two wheel bodies 312 and connects to the first elastic member 330. This ensures that the force exerted by the first elastic member 330 on the cam 310 through the connector 340 is located at the center position of the cam 310 in the thickness direction, thereby balancing the force on the cam 310 in its thickness direction and stably driving the cam 310 to rotate. The notch 343 on the adapter 342 avoids the rotating part 311, ensuring that when the cam 310 is in the locked position, the rotation centers of the adapter 342 and the protrusion 341 are located on the centerline 331 of the first elastic member 330, thus ensuring that the torque generated by the force exerted by the first elastic member 330 on the cam 310 is zero.

[0061] Among them, the two wheels 312 can also limit the transition part 342, so that the transition part 342 can rotate stably around the third direction relative to the protrusion 341.

[0062] Furthermore, the adapter 342 includes a first link 344 and a second link 345 connected to each other. The end of the first link 344 away from the first link 344 is rotatably connected to the protrusion 341. The end of the second link 345 away from the first link 344 extends out of the gap between the two wheels 312 and is connected to the first elastic member 330. The first link 344 and the second link 345 are set at an angle to form a notch 343.

[0063] See Figure 3 , Figure 4 and Figure 5 In one embodiment, the puncture end structure further includes a second elastic element 350, one end of which is connected to the push rod 320 and the other end of which is connected to the frame 100. The second elastic element 350 is used to apply a force toward the cam 310 to the push rod 320.

[0064] Specifically, as the second elastic element 350 applies a force toward the cam 310 to the push rod 320, causing the cam 310 to rotate and reduce the distance between the contact point of the cam 310 and the push rod 320 and the rotation center of the cam 310, the push rod 320 moves closer to the rotation center of the cam 310 under the action of the second elastic element 350. This causes the pushing force of the push rod 320 on the clamping arm 210 to disappear, allowing the clamping arm 210 to stably switch from the clamping state to the release state to release the puncture instrument, thereby improving the reliability of the puncture end structure.

[0065] Specifically, because the second elastic element 350 applies a force toward the cam 310 to the push rod 320, the push rod 320 is always in contact with the cam 310. Therefore, when the cam 310 rotates, increasing the distance between the contact point between the cam 310 and the push rod 320 and the rotation center of the cam 310, the cam 310 can immediately act on the push rod 320 to push the push rod 320 to move. Preferably, the second elastic element 350 is a spring.

[0066] It should be noted that in other embodiments, when the cam 310 rotates to reduce the distance between the contact point of the cam 310 and the push rod 320 and the rotation center of the cam 310, and the pushing force of the push rod 320 on the clamping arm 210 disappears, the clamping ends 211 of the two clamping arms 210 can move away from each other, so as to push the push rod 320 closer to the rotation center of the cam 310.

[0067] Furthermore, the push rod 320 is provided with a limiting groove 321, and the edge part of the wheel body 312 is inserted into the limiting groove 321, which can play a limiting role, so that the cam 310 can stably push the push rod 320 to move during rotation.

[0068] See Figure 3 , Figure 4 and Figure 5In one embodiment, the frame 100 further includes an abutment wall 131, and when the cam 310 is in the locked position, the side of the cam 310 away from the push rod 320 abuts against the abutment wall 131, and the push rod 320 applies a thrust to the cam 310 to press against the abutment wall 131.

[0069] Specifically, when the cam 310 is in the locked position, the torque applied to the cam 310 by the first elastic member 330 is 0. Under the action of the second elastic member 350, the push rod 320 abuts against the cam 310 and applies a thrust to the cam 310, causing the cam 310 to generate a rotational torque, thereby causing the cam 310 to abut against the abutment wall 131 to stably restrict the cam 310 to the locked position.

[0070] It should be noted that in other embodiments, when the cam 310 is in the locked position, the rotation center of the cam 310 does not need to pass through the center line 331 of the first elastic member 330, as long as the torque applied by the push rod 320 to the cam 310 is greater than the torque applied by the first elastic member 330 to the cam 310, so that the cam 310 is stably locked in the locked position.

[0071] Furthermore, the first elastic element 330 applies a pulling force to the cam 310, and the push rod 320 applies a pushing force to the cam 310 under the action of the second elastic element 350. The first elastic element 330 applies a pulling force to the cam 310 to form a pulling torque, and the push rod 320 applies a pushing force to the cam 310 to form a pushing torque. The pushing torque is greater than the pulling torque, causing the cam 310 to press tightly against the abutment wall 131.

[0072] See Figure 2 , Figure 3 , Figure 4 and Figure 5 In one embodiment, the drive assembly 300 further includes a lever 360, one end of which is connected to the cam 310 and the other end of which extends away from the cam 310. The lever 360 is configured to be operablely toggled to rotate the cam 310 so that the cam 310 is switched from a locked position to an unlocked position.

[0073] Specifically, the positioning arm 110 has a receiving cavity 130, in which the drive assembly 300 is housed, thus protecting the drive assembly 300. The lever 360 extends beyond the receiving cavity 130, facilitating manual operation to switch the cam 310 from the locked position to the unlocked position, or vice versa, improving the reliability of the puncture end structure. A portion of the cavity wall of the receiving cavity 130 is constructed as an abutment wall 131.

[0074] See Figure 3In one embodiment, one of the frame 100 and the push rod 320 is provided with a guide rail 140, and the other is provided with a slider 150. The slider 150 is slidably connected to the guide rail 140 to guide the push rod 320 to slide relative to the frame 100 under the drive of the cam 310.

[0075] Specifically, the guide rail 140 is mounted on the frame 100 and extends along the second direction. The slider 150 is connected to the push rod 320 and engages with the guide rail 140 to allow the push rod 320 to move stably along the second direction under the drive of the cam 310, thereby stably pushing the clamping arm 210.

[0076] See Figure 3 , Figure 6 and Figure 7 , Figure 6 This is a schematic diagram of the cooperation between the push rod and the clamping assembly in a puncture end structure provided in an embodiment of this application. Figure 7 This is a partial schematic diagram of the separation of the fixing seat and the positioning arm in a puncture end structure provided in one embodiment of this application. In one embodiment, the frame 100 includes a positioning arm 110 and a fixing seat 120. The positioning arm 110 is provided with a mounting groove 111, and a locking member 160 is provided in the mounting groove 111. A cam 310 is rotatably connected to the positioning arm 110, and a push rod 320 is slidably connected to the positioning arm 110, with a portion of the push rod 320 extending into the mounting groove 111. The fixing seat 120 is provided with a mounting hole 121 and a snap-fit ​​member 170. A clamping arm 210 is rotatably connected to the fixing seat 120 around the first direction, and the clamping arm 210 passes through the mounting hole 121. The push rod 320 is configured to abut against the clamping arm 210 when the snap-fit ​​member 170 is inserted into the mounting groove 111 and engages with the locking member 160.

[0077] Specifically, by inserting the snap-fit ​​member 170 into the mounting slot 111 and engaging with the locking member 160, the positioning arm 110 and the fixed base 120 can be easily disassembled, thereby facilitating the replacement of the fixed base 120 and the clamping assembly 200 connected to the fixed base 120.

[0078] See Figure 3 , Figure 6 and Figure 7 In one embodiment, the puncture end structure further includes a sterile cover, which is fitted over the positioning arm 110 and covers the drive assembly 300. The sterile cover has an opening corresponding to the slot position of the mounting groove 111, so that the snap-fit ​​member 170 and the clamping arm 210 on the fixing seat 120 can extend into the mounting groove 111.

[0079] Specifically, a sterile sleeve is fitted onto the positioning arm 110 and the drive assembly 300, and the fixing base 120 can be easily detached from the positioning arm 110, thus allowing the fixing base 120 and the clamping assembly 200 to be sterile consumables to meet aseptic operation requirements. The sterile cover has an opening corresponding to the slot of the mounting groove 111, which prevents interference from the movement of the push rod 320 and improves the reliability of the sterile cover. It should be noted that because the positioning arm 110 and the drive assembly 300 are fitted with a sterile cover, they can be reused; the fixing base 120 and the clamping assembly 200 can simply be discarded as consumables after the procedure. Preferably, the fixing base 120 and the clamping assembly 200 are made of plastic.

[0080] In other embodiments, a sterile sheath completely covers the positioning arm 110 and the drive assembly 300. When the snap-fit ​​member 170 on the fixing base 120 and the clamping arm 210 extend into the mounting groove 111, the snap-fit ​​member 170 engages with the locking member 160 across the sterile sheath, and the push rod 320 abuts against the clamping arm 210 across the sterile sheath. The rotatable connection between the clamping arm 210 and the fixing base 120 is sealed to prevent contamination of the side of the clamping arm 210 near the clamping end 211 when the sterile sheath at the contact point between the push rod 320 and the clamping arm 210 breaks due to the movement of the push rod 320. This ensures the sterility of the side of the clamping arm 210 near the clamping end 211 and improves the reliability of the puncture end structure. It should be noted that when the movement of the push rod 320 does not cause the sterile cover of the part of the push rod 320 that abuts against the clamping arm 210 to break, the sealing setting at the rotatable connection between the clamping arm 210 and the fixing seat 120 is equivalent to two sterile isolations, which further ensures the sterile state of the side of the clamping arm 210 near the clamping end 211.

[0081] In other embodiments, the fixation base 120 can also be fixedly connected to the positioning arm 110. The clamping arm 210 and the fixation base 120 can be made of metal and can be disinfected after surgery for reuse to ensure aseptic operation.

[0082] Furthermore, when the snap-fit ​​component 170 and the locking component 160 are snapped together, the fixed base 120 abuts against the support arm, so that both the snap-fit ​​component 170 and the locking component 160 are accommodated in the mounting groove 111 or the mounting hole 121, thereby providing protection and ensuring a stable fit between the snap-fit ​​component 170 and the locking component 160.

[0083] Furthermore, the locking member 160 is disposed on the outer wall of the fixing base 120, and extends into the mounting groove 111 when the locking member 170 is engaged with the locking member 160. In other embodiments, the locking member 170 may also be disposed on the outer wall of the positioning arm 110, and extend into the mounting hole 121 when the locking member 170 is engaged with the locking member 160.

[0084] See Figure 7 , Figure 8 , Figure 9 and Figure 10 , Figure 8 This is a cross-sectional view showing the separation of the snap-fit ​​and locking elements in a puncture end structure provided in an embodiment of this application. Figure 9 This is a cross-sectional view of the snap-fit ​​and locking member in a puncture end structure provided in an embodiment of this application when they are close together. Figure 10 This is a cross-sectional view of the snap-fit ​​and locking member in a puncture end structure provided in one embodiment of this application. In one embodiment, the snap-fit ​​170 includes a locking buckle 171, and the locking member 160 includes a button 161, a third elastic member 162, and a locking block 163. The button 161 is slidably connected to the positioning arm 110, and a portion of the button 161 can extend out of the mounting groove 111. The locking block 163 is connected to the button 161 and is used to engage with the locking hole 172 on the locking buckle 171. The third elastic member 162 is disposed between the button 161 and the positioning arm 110, and the third elastic member 162 is used to apply a force away from the positioning arm 110 to the button 161 to prevent the locking block 163 from disengaging from the locking hole 172.

[0085] Specifically, the mounting groove 111 is provided with a mating hole 112. The button 161 extends out of the mounting groove 111 through the mating hole 112, so that by pressing the part of the button 161 outside the mounting groove 111, when the button 161 retracts, the button 161 can drive the locking block 163 away from the locking buckle 171, thereby causing the locking block 163 to disengage from the locking hole 172 for unlocking.

[0086] There is a gap between the locking block 163 and the groove wall of the corresponding mounting groove 111. The locking buckle 171 is used to extend into the gap between the locking block 163 and the groove wall of the mounting groove 111. So when the locking block 163 is close to the groove wall of the mounting groove 111, the groove wall of the mounting groove 111 can limit the deformation of the locking buckle 171, so that the locking block 163 and the locking hole 172 on the locking buckle 171 can be stably inserted and engaged.

[0087] It should be noted that when the locking block 163 disengages from the locking hole 172 to unlock, the button 161 will return to its original position under the force of the third elastic element 162.

[0088] See Figure 7 , Figure 8 and Figure 9 In one embodiment, the locking block 163 has a first inclined surface 164. When the locking buckle 171 is close to the locking block 163, the locking buckle 171 applies a force to the first inclined surface 164 to move away from the groove wall of the corresponding mounting groove 111, so that the locking block 163 passes through the locking hole 172.

[0089] Specifically, when the locking buckle 171 and the locking block 163 are relatively close, the locking buckle 171 can apply a component force to the first inclined surface 164 that moves away from the groove wall of the corresponding mounting groove 111. Therefore, it is not necessary to manually control the button 161 to move the locking block 163 away from the locking buckle 171. This increases the gap between the locking block 163 and the groove wall of the corresponding mounting groove 111, making it easier for the locking buckle 171 to extend into the gap between the locking block 163 and the groove wall of the mounting groove 111. This allows the locking block 163 to pass through the locking hole 172, improving the ease of installation of the positioning arm 110 and the fixing seat 120.

[0090] Furthermore, the button 161 includes a boss 166 and a connecting arm 167 connected to the boss 166. The boss 166 passes through the mating hole 112 and is slidably connected to the hole wall of the mating hole 112 in a third direction. The connecting arm 167 is located in the first mounting cavity, and one end of the connecting arm 167 is connected to the boss 166 and the other end is connected to the locking block 163. In the direction from the positioning arm 110 to the fixing seat 120, the distance between the first inclined surface 164 and the connecting arm 167 in a third direction gradually decreases.

[0091] The locking block further includes an abutment surface 168 perpendicular to the connecting arm 167. The abutment surface 168 is located at the end of the locking block away from the fixing seat 120. When the locking block passes through the locking hole 172, the abutment surface 168 abuts against the hole wall of the locking hole 172 to stably prevent the locking block 163 from disengaging from the locking hole 172. Preferably, the locking buckle 171 has a second inclined surface 174 adapted to the first inclined surface 164, and the second inclined surface 174 is used for abutment against the first inclined surface 164.

[0092] See Figure 7 , Figure 8 , Figure 9 and Figure 10 In one embodiment, there are two locking members 160, which are respectively disposed at both ends of the fixed base 120 along a third direction. The number and location of the snap-fit ​​members 170 correspond to the locking members 160, thereby improving the stability of the connection between the fixed base 120 and the positioning arm 110.

[0093] Furthermore, a mating plate 113 is provided in the mounting groove 111, and one end of the third elastic member 162 abuts against the mating plate 113, and the other end abuts against the corresponding button 161. In other embodiments, the two buttons 161 may abut against each other through a third elastic member 162, that is, the two ends of the third elastic member 162 abut against the two buttons 161 respectively.

[0094] See Figure 7 and Figure 8In one embodiment, one of the fixed base 120 and the positioning arm 110 is provided with a limiting post 173, and the other of the fixed base 120 and the positioning arm 110 is provided with a limiting hole 165. The limiting post 173 is used to be inserted into the limiting hole 165 to restrict the fixed base 120 from moving relative to the positioning arm 110 in a direction perpendicular to the arrangement direction of the fixed base 120 and the positioning arm 110.

[0095] Specifically, the limiting post 173 extends along the second direction, and the insertion and engagement of the limiting post 173 with the limiting hole 165 can stably restrict the movement of the fixing seat 120 relative to the positioning arm 110 in a direction perpendicular to the second direction. The snap-fit ​​member 170 is also snap-fitted with the locking member 160, thereby stably restricting the movement of the fixing seat 120 relative to the positioning arm 110 in the second direction, so that the fixing seat 120 and the positioning arm 110 are stably connected, improving the reliability of the puncture end structure.

[0096] Furthermore, the limiting post 173 protrudes from the outer wall of the fixing base 120, so that when the fixing base 120 is fixed to the positioning arm 110, the limiting hole 165 can be aligned with the limiting post 173 first, so that positioning can be performed in the second direction, and the locking buckle 171 and the locking block 163 can be stably engaged and cooperated, improving assembly efficiency.

[0097] See Figure 2 In one embodiment, the positioning arm 110 is perpendicular to the fixing base 120, thereby making the puncture end structure L-shaped, which makes it convenient for the operator to hold the puncture end structure with one hand and switch the state of the cam 310 with the other hand. The positioning arm 110 extends along a first direction.

[0098] See Figure 7 , Figure 8 , Figure 10 and Figure 11 , Figure 11 This is a partial schematic diagram of the clamping assembly in the clamping state of a puncture end structure provided in one embodiment of this application. In one embodiment, the puncture end structure further includes a detection element 400, which includes a sensor 410 and a sensing plate 420. One of the sensor 410 and the sensing plate 420 is connected to the clamping assembly 200, and the other of the sensor 410 and the sensing plate 420 is connected to the frame 100. The sensing plate 420 is configured to trigger the sensor 410 when the clamping assembly 200 is in the released state.

[0099] Specifically, each of the two clamping arms 210 has a sensing plate 420 on the side away from the clamping end 211, and a sensor 410 is disposed on the positioning arm 110 and located in the mounting groove 111. When the clamping arm 210 is in the released state, the side of the clamping arm 210 away from the clamping end 211 is relatively close, causing the sensing plate 420 on the clamping arm 210 to move into the detection groove 430 of the sensor 410, thereby preventing the receiving end of the sensor 410 from receiving light information, thus triggering a signal to complete the detection that the clamping assembly 200 is in the released state.

[0100] When the puncture distal structure is in operation, if the clamping arm 210 fails to open normally, that is, when the clamping arm 210 remains in the clamping state, the sensor 410 cannot detect the sensing plate 420. In this case, it is considered that the clamping arm 210 is in the clamping state, thus locking the robotic arm connected to the positioning arm 110 and preventing it from moving the fixing seat 120. This avoids the puncture instrument already inserted into the body being moved along with the clamping arm 210 when the fixing seat 120 moves, thus preventing injury to the patient. Preferably, the sensor 410 is a photoelectric switch.

[0101] In this application, the photoelectric switch can be a combination of two single-channel photoelectric switches, with one photoelectric switch detecting one clamping arm 210; or it can be a dual-channel photoelectric switch, with each channel detecting one clamping arm 210.

[0102] Furthermore, a mounting plate 114 is provided in the mounting slot, and the mounting plate 114 is located below the push rod 320. The sensor 410 is mounted on the mounting plate 114.

[0103] See Figure 1 , Figure 8 and Figure 10 In one embodiment, the positioning arm 110 has an interface 115 that is electrically connected to the robotic arm. The robotic arm is equipped with a controller that is electrically connected to the drive unit on the robotic arm and is electrically connected to a photoelectric switch through the interface 115. The photoelectric switch transmits the status information of the clamping arm 210 to the controller. The controller controls the drive unit in the robotic arm according to the status information of the clamping arm 210 to drive the puncture end structure to move or stop moving.

[0104] See Figure 6 and Figure 12 , Figure 12 This is a schematic diagram of the clamping assembly installed on the fixed base in a puncture end structure according to an embodiment of this application. In one embodiment, the clamping arm 210 has a mating end 212, which is located on the side away from the clamping end 211 from the rotation center of clamping, and the mating end 212 is used to abut against the push rod 320.

[0105] Specifically, when the cam 310 is in the unlocked position, the push rod 320 abuts against the inner side of the mating end 212 and applies a pushing force to the mating end 212, thereby enabling the mating end 212 to drive the clamping end 211 to rotate around the first direction. This allows the clamping ends 211 of the two clamping arms 210 to move 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 during the switching process, and does not contact the clamping end 211, interference with the puncture instrument is reduced. Furthermore, the dimension of the puncture end structure near 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. Here, the inner side of the mating end 212 refers to the opposite side of the two mating ends 212.

[0106] In one embodiment, the clamping assembly 200 includes a pivot 220 and a torsion spring 230. The pivot 220 is connected to the fixed base 120, 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 a first direction and is connected to the torsion spring 230.

[0107] 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 on the clamping assembly 200. When the push rod 320 is far away from the clamping arm 210, the clamping ends 211 of the clamping arms 210 are relatively far apart under the force of the torsion spring 230, thereby enabling stable release of the puncture instrument and avoiding interference with the puncture instrument.

[0108] In one embodiment, a support platform 122 is provided on the wall of the mounting hole 121, and there are two rotating shafts 220. The two rotating shafts 220 are spaced apart, and each rotating shaft 220 is fitted with a torsion spring 230. One end of each torsion spring 230 abuts against the support platform 122, and the other end abuts against the clamping end 211 of the corresponding clamping arm 210.

[0109] 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 platform 122, 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.

[0110] In one embodiment, the facing surfaces of the two clamping ends 211 have V-grooves 240, and the groove walls of the V-grooves 240 enclose a limiting cavity 250 for the insertion of puncture instruments. This allows the central axes of puncture instruments of different radial dimensions to be completely coincident after clamping, thus preventing errors caused by variations in the diameter of the puncture instruments when clamping puncture instruments of different radial dimensions, thereby improving the reliability of the puncture end structure.

[0111] See Figure 1 , Figure 2 and Figure 3 This application also provides a guiding and positioning device, including the aforementioned puncture end structure, and a robotic arm, with a frame 100 connected to the robotic arm. Since the clamping force of the clamping arm 210 on the puncture instrument is generated by the thrust applied by the cam 310 to the push rod 320, and the thrust applied by the cam 310 to the push rod 320 is applied by the first elastic element 330, the force applied to the cam 310 by the first elastic element 330 can be applied to puncture instruments of different sizes, enabling the clamping ends 211 of the two clamping arms 210 to clamp the puncture instrument, thereby improving the reliability and adaptability of the guiding and positioning device.

[0112] The positioning arm has a quick-release structure 180 on the side away from the clamping assembly 200. The quick-release structure 180 is used to connect with the robotic arm. The quick-release structure 180 can quickly connect and separate from the robotic arm, improving human-machine interaction and operation efficiency.

[0113] 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.

[0114] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A puncture tip structure, characterized in that, The puncture tip structure includes: Rack (100); The clamping assembly (200) includes two clamping arms (210), both of which are rotatably connected to the frame (100); the clamping assembly (200) has a clamping state and a released 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; when the clamping assembly (200) is in the released state, there is a preset gap between the clamping ends (211) of the two clamping arms (210) to release the puncture instrument; and, The drive assembly (300) includes a cam (310), a push rod (320), and a first elastic element (330). The cam (310) is rotatably connected to the frame (100) and abuts against the push rod (320). One end of the first elastic element (330) is connected to the frame (100), and the other end is connected to the cam (310). The push rod (320) abuts against at least one of the clamping arms (210). The cam (310) has an unlocked position and a locked position. When the cam (310) is in the unlocked position, the first elastic element (330) applies a force to the cam (310) to generate torque, thereby causing the cam (310) to rotate and drive the push rod (320) to move, so that the push rod (320) applies 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 according to claim 1, characterized in that, The puncture end structure also includes a connector (340), which is connected to the cam (310). The connection point between the connector (340) and the cam (310) is at a preset distance from the rotation center of the cam (310). The first elastic element (330) is connected to the cam (310) through the connector (340). When the cam (310) is in the locked position, the centerline (331) of the first elastic element (330) passes through the rotation center of the cam (310).

3. The puncture tip structure according to claim 2, characterized in that, The connector (340) includes a protrusion (341) and a transition portion (342). The protrusion (341) protrudes from the cam (310). One end of the transition portion (342) is rotatably connected to the protrusion (341), and the other end of the transition portion (342) is located outside the cam (310) and connected to the first elastic member (330).

4. The puncture end structure according to claim 3, characterized in that, The cam (310) includes a rotating part (311) and two wheels (312) connected to the rotating part (311). The rotating part (311) is rotatably connected to the frame (100). The two wheels (312) are spaced apart along the thickness direction of the cam (310). The connecting member (340) is disposed between the two wheels (312). The protrusion (341) is connected to both wheels (312). The adapter (342) extends through the gap between the two wheels (312) and has a notch (343) on the adapter (342) to avoid the rotating part (311).

5. The puncture end structure according to claim 1, characterized in that, The puncture end structure also includes a second elastic element (350), one end of which is connected to the push rod (320) and the other end is connected to the frame (100). The second elastic element (350) is used to apply a force toward the cam (310) to the push rod (320).

6. The puncture end structure according to claim 5, characterized in that, The frame (100) also includes an abutment wall (131). When the cam (310) is in the locked position, the side of the cam (310) away from the push rod (320) abuts against the abutment wall (131), and the push rod (320) applies a thrust to the cam (310) to press against the abutment wall (131).

7. The puncture tip structure according to any one of claims 1-6, characterized in that, One of the frame (100) and the push rod (320) is provided with a guide rail (140), and the other is provided with a slider (150). The slider (150) is slidably connected to the guide rail (140) to guide the push rod (320) to slide relative to the frame (100) under the drive of the cam (310).

8. The puncture tip structure according to any one of claims 1-6, characterized in that, The rack (100) includes: A positioning arm (110) is provided with a mounting groove (111), and a locking element (160) is provided in the mounting groove (111). The cam (310) is rotatably connected to the positioning arm (110), and the push rod (320) is slidably connected to the positioning arm (110), with part of the push rod (320) extending into the mounting groove (111). A fixed base (120) has a mounting hole (121) and a snap-fit ​​member (170) on the fixed base (120). The clamping arm (210) is rotatably connected to the fixed base (120) and passes through the mounting hole (121). The push rod (320) is configured to abut against the clamping arm (210) when the snap-fit ​​member (170) is inserted into the mounting groove (111) and engages with the locking member (160).

9. The puncture end structure according to claim 8, characterized in that, The snap-fit ​​component (170) includes a locking buckle (171), and the locking component (160) includes a button (161), a third elastic element (162), and a locking block (163). The button (161) is slidably connected to the positioning arm (110), and part of the button (161) can extend out of the mounting groove (111). The locking block (163) is connected to the button (161) and is used to engage with the locking hole (172) on the locking buckle (171). The third elastic element (162) is disposed between the button (161) and the positioning arm (110). The third elastic element (162) is used to apply a force away from the positioning arm (110) to the button (161) to restrict the locking block (163) from disengaging from the locking hole (172).

10. The puncture end structure according to claim 9, characterized in that, The locking block (163) has a first inclined surface (164). When the locking buckle (171) is close to the locking block (163), the locking buckle (171) applies a pushing force to the first inclined surface (164) so ​​that the locking block (163) moves away from the groove wall of the corresponding mounting groove (111) so that the locking block (163) passes through the locking hole (172).

11. The puncture end structure according to claim 8, characterized in that, One of the fixed base (120) and the positioning arm (110) is provided with a limiting post (173), and the other of the fixed base (120) and the positioning arm (110) is provided with a limiting hole (165). The limiting post (173) is used to be inserted into the limiting hole (165) to restrict the fixed base (120) from moving relative to the positioning arm (110) in a direction perpendicular to the arrangement direction of the fixed base (120) and the positioning arm (110).

12. The puncture end structure according to claim 8, characterized in that, The puncture end structure also includes a sterile cover, which is fitted over the positioning arm (110) and covers the drive assembly (300). The sterile cover has an opening corresponding to the slot position of the mounting groove (111) so that the snap-fit ​​member (170) on the fixing seat (120) and the clamping arm (210) can extend into the mounting groove (111).

13. The puncture tip structure according to any one of claims 1-6, characterized in that, The puncture end structure further includes a detection element (400), which includes a sensor (410) and a sensor plate (420). One of the sensor (410) and the sensor plate (420) is connected to the clamping assembly (200), and the other of the sensor (410) and the sensor plate (420) is connected to the frame (100). The sensor plate (420) is configured to trigger the sensor (410) when the clamping assembly (200) is in the released state.

14. The puncture tip structure according to any one of claims 1-6, characterized in that, The drive assembly (300) further includes a lever (360), one end of which is connected to the cam (310), and the other end of which extends away from the cam (310). The lever (360) is configured to be operablely actuated to rotate the cam (310) so that the cam (310) is switched from the locked position to the unlocked position.

15. A guiding and positioning device, characterized in that, The device includes the puncture end structure according to any one of claims 1-14, and also includes a robotic arm, with the frame (100) connected to the robotic arm.

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