Puncture positioning mechanism and puncture robot

Abstract

The utility model provides a kind of puncture positioning mechanism and puncture robot, wherein puncture positioning mechanism includes: frame, the horizontal linear motion unit being connected with frame, the lifting motion unit being connected with horizontal linear motion unit, the vertical plane motion unit being connected with lifting motion unit, the puncture angle adjusting unit being connected with vertical plane motion unit and the puncture execution unit being connected with puncture angle adjusting unit;Wherein, frame is used to support horizontal linear motion unit;Horizontal linear motion unit is used to drive lifting motion unit to move along horizontal direction;Lifting motion unit is used to drive vertical plane motion unit to move along vertical direction;Vertical plane motion unit is used to drive puncture angle adjusting unit to move in vertical plane;Puncture angle adjusting unit is used to adjust the pitch angle and deflection angle of puncture execution unit.The puncture positioning mechanism has the advantages of high-precision positioning, high flexibility, easy operation and good stability.

Description

Technical Field

[0001] This utility model relates to the technical field of puncture robots, and more specifically, to a puncture positioning mechanism and a puncture robot. Background Technology

[0002] In recent years, surgical robot technology has made significant progress in the medical field, especially the application of puncture surgical robots, which has provided more efficient and precise solutions for disease diagnosis and treatment. Puncture procedures, as a common clinical diagnostic and treatment method, are widely used in scenarios such as biopsy, drug injection, and tumor ablation. The positioning accuracy and operational stability of puncture procedures are directly related to the success rate of surgery and patient prognosis.

[0003] Traditional puncture procedures rely heavily on the physician's experience and skills, and have the following limitations:

[0004] Insufficient positioning accuracy: Manual operation is easily affected by factors such as physician fatigue and emotions, which may lead to deviation of the puncture path, potentially damaging surrounding tissues or organs and increasing the risk of complications.

[0005] Poor consistency in operation: Different physicians have significant differences in their control over the puncture angle and depth, making it difficult to ensure the standardization of surgical quality and limiting the popularization and promotion of the technology. Utility Model Content

[0006] The purpose of this invention is to provide a puncture positioning mechanism and a puncture robot to solve the technical problems of insufficient positioning accuracy and poor operational consistency of puncture robots in the prior art.

[0007] To achieve the above objectives, the technical solution adopted by this utility model is as follows:

[0008] Firstly, a puncture positioning mechanism is provided, comprising:

[0009] The frame, a horizontal linear motion unit connected to the frame, a lifting motion unit connected to the horizontal linear motion unit, a vertical planar motion unit connected to the lifting motion unit, a puncture angle adjustment unit connected to the vertical planar motion unit, and a puncture execution unit connected to the puncture angle adjustment unit;

[0010] The frame supports the horizontal linear motion unit; the horizontal linear motion unit drives the lifting motion unit to move horizontally; the lifting motion unit drives the vertical planar motion unit to move vertically; the vertical planar motion unit drives the puncture angle adjustment unit to move in a vertical plane; the puncture angle adjustment unit adjusts the pitch and deflection angles of the puncture execution unit; and the puncture execution unit performs the puncture action.

[0011] By adopting the above technical solution, the design of this puncture positioning mechanism has several significant technical advantages:

[0012] High-precision positioning: Through multi-dimensional movement in horizontal, vertical, and triangular planes, and precise adjustment of the puncture angle, high-precision positioning of the puncture point can be achieved in three-dimensional space. The positioning error can be controlled within an extremely small range, meeting the needs of high-precision applications such as medical puncture and industrial testing. For example, in medical biopsy puncture, the puncture needle can be accurately delivered to the lesion tissue, improving the accuracy and effectiveness of sampling.

[0013] High flexibility: The puncture angle adjustment unit can independently adjust the pitch and deflection angles, enabling the puncture needle to be punctured at various angles in complex spatial environments, adapting to different patients' body structures and lesion locations, thus expanding the application range of the device.

[0014] Easy to operate: The entire puncture positioning process is uniformly controlled by the control system. The operator only needs to input the coordinates of the puncture point and relevant parameters, and the mechanism can automatically complete the positioning and puncture operation, which greatly simplifies the operation process, reduces the difficulty of operation, and improves work efficiency.

[0015] High stability: The rational design and manufacturing of the frame and each motion unit ensure the stability of the entire mechanism during operation. The high-strength frame can withstand various loads during movement, while the precision linear guide and lead screw transmission system ensure smooth and reliable movement, reducing the impact of mechanism swaying or vibration on puncture accuracy. In addition, the use of a double-link parallel structure provides good stability and high rigidity, reducing vibration and swaying and improving puncture positioning accuracy.

[0016] In one embodiment, the horizontal linear motion unit includes two horizontal guide rails respectively disposed on opposite sides of the frame, horizontal sliding members slidably disposed on the horizontal guide rails, and a horizontal driving member connected to the horizontal sliding members in a transmission manner. The length direction of the horizontal guide rails is parallel to the horizontal direction. The horizontal sliding members are connected to the lifting motion unit. The horizontal driving member is used to drive the horizontal sliding members to move along the length direction of the horizontal guide rails.

[0017] In one embodiment, the horizontal drive component includes a horizontal drive motor connected to the frame, two horizontal pulleys respectively disposed at both ends of the horizontal guide rail, and a horizontal transmission belt wound around the horizontal pulleys. The horizontal drive motor is velocally connected to the horizontal pulleys and is used to drive the horizontal pulleys to move the horizontal transmission belt. The horizontal transmission belt extends along the length direction of the horizontal guide rail and is connected to the horizontal sliding component.

[0018] In one embodiment, the lifting motion unit includes two lifting guide rails, a lifting slider slidably mounted on the lifting guide rails, and a lifting drive unit that is pulsatorically connected to the lifting slider. The lifting guide rails and the horizontal sliders are connected in a one-to-one correspondence. The length direction of the lifting guide rails is parallel to the vertical direction. The lifting slider is connected to the vertical plane motion unit. The lifting drive unit is used to drive the lifting slider to move along the length direction of the lifting guide rails.

[0019] In one embodiment, the lifting drive component includes a lifting drive motor connected to the horizontal sliding component, two lifting pulleys respectively disposed at both ends of the lifting guide rail, and a lifting transmission belt wound around the lifting pulleys. The lifting drive motor is velocally connected to the lifting pulleys and is used to drive the lifting pulleys to move the lifting transmission belt. The lifting transmission belt extends along the length direction of the lifting guide rail and is connected to the lifting sliding component.

[0020] In one embodiment, the vertical plane motion unit includes a first slide connected to one of the lifting sliding members, a second slide connected to the other lifting sliding member, a first connecting rod connected to the shaft of the first slide, a second connecting rod connected to the shaft of the second slide, and a mounting seat connected to the shafts of the first and second connecting rods; the mounting seat is connected to the puncture angle adjustment unit; the heights of the first and second slides in the vertical direction are independently adjustable, driving the first and second connecting rods to rotate around an axis, causing the mounting seat to deflect in the vertical plane.

[0021] In one embodiment, the first connecting rod includes a first connecting rod portion and a second connecting rod portion arranged parallel to and spaced apart from the first connecting rod portion. Both ends of the first connecting rod portion are respectively connected to the first slide and the mounting base shaft. Both ends of the second connecting rod portion are respectively connected to the first slide and the mounting base shaft. The first connecting rod portion, the second connecting rod portion, the first slide, and the mounting base form a parallelogram motion structure. The second connecting rod includes a third connecting rod portion and a fourth connecting rod portion arranged parallel to and spaced apart from the third connecting rod portion. Both ends of the third connecting rod portion are respectively connected to the second slide and the mounting base shaft. Both ends of the fourth connecting rod portion are respectively connected to the second slide and the mounting base shaft. The third connecting rod portion, the fourth connecting rod portion, the second slide, and the mounting base form a parallelogram motion structure.

[0022] In one embodiment, the puncture angle adjustment unit includes a connecting plate connected to the vertical plane motion unit, a support shaft connected to the connecting plate, a fixed plate connected to the puncture execution unit, a cross shaft structure connecting the support shaft and the fixed plate, a first angle adjustment motor and a second angle adjustment motor connecting the fixed plate and the connecting plate. The cross shaft structure includes a pitch axis and a deflection axis. The first angle adjustment motor is used to drive the fixed plate to rotate around the pitch axis, and the second angle adjustment motor is used to drive the fixed plate to rotate around the deflection axis.

[0023] In one embodiment, the puncture execution unit includes a needle holder connected to the puncture angle adjustment unit, a needle slidably disposed on the needle holder, a transmission structure connected to the needle, and a power structure connected to the transmission structure; the power structure drives the needle to move along the puncture direction of the needle holder through the transmission structure.

[0024] Secondly, a puncture robot is provided, including a moving mechanism and the aforementioned puncture positioning mechanism, wherein the moving mechanism is connected to the puncture positioning mechanism.

[0025] By adopting the above technical solution, the moving mechanism can accurately move the puncture positioning mechanism to the designated position, the angle adjustment unit can accurately adjust the puncture angle, and combined with the high-precision transmission structure of the puncture execution unit, the puncture needle can accurately reach the target position, improving the accuracy of puncture, reducing errors, and helping to improve the accuracy of diagnosis and treatment effect.

[0026] The coordinated operation of the mobile and puncture positioning mechanisms enables the puncture robot to adapt to different patient positions and puncture sites, allowing for flexible operation in complex clinical environments. Doctors can remotely control the robot's movement and operation via the control system, avoiding direct contact with patients and radiation sources, reducing the risk of radiation exposure for doctors, and also improving operational convenience. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 This is a three-dimensional structural diagram of the puncture positioning mechanism provided in this embodiment of the utility model.

[0029] Figure 2 This is an exploded view of the puncture positioning mechanism provided in an embodiment of this utility model.

[0030] Figure 3 This is a three-dimensional structural diagram of the horizontal linear motion unit, the lifting motion unit, and the vertical planar motion unit provided in the embodiments of this utility model.

[0031] Figure 4 This is a rear view of the horizontal linear motion unit, the lifting motion unit, and the vertical planar motion unit provided in the embodiments of this utility model.

[0032] Figure 5 This is a three-dimensional structural diagram of the puncture angle adjustment unit and the puncture execution unit provided in the embodiments of this utility model.

[0033] The labels for the attached figures are as follows:

[0034] 1. Frame; 2. Horizontal linear motion unit; 3. Lifting motion unit; 4. Vertical planar motion unit; 5. Puncture angle adjustment unit; 6. Puncture execution unit; 7. Connecting unit; 8. Camera unit;

[0035] 21. Horizontal guide rail; 22. Horizontal sliding component; 23. Horizontal drive component; 31. Lifting guide rail; 32. Lifting sliding component; 33. Lifting drive component; 41. First slide block; 42. Second slide block; 43. First connecting rod; 44. Second connecting rod; 45. Mounting base; 51. Connecting plate; 52. Support shaft; 53. Fixing plate; 54. Cross shaft structure; 55. First angle adjusting motor; 56. Second angle adjusting motor; 61. Needle; 62. Needle fixing seat; 63. Transmission structure; 64. Power structure;

[0036] 231. Horizontal drive motor; 232. Horizontal pulley; 233. Horizontal transmission belt; 331. Lifting drive motor; 332. Lifting pulley; 333. Lifting transmission belt; 431. First connecting rod; 432. Second connecting rod; 441. Third connecting rod; 442. Fourth connecting rod; 541. Pitch axis; 542. Yaw axis. Detailed Implementation

[0037] To make the technical problems, technical solutions, and beneficial effects of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0038] It should be noted that when a component is referred to as "fixed to" or "set on" another component, it can be located directly on or indirectly on the other component. When a component is referred to as "connected to" another component, it can be directly or indirectly connected to the other component.

[0039] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and do not indicate that the device or element must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0040] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating relative importance or the number of technical features. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified. The specific implementation of this utility model is described in more detail below with reference to specific embodiments:

[0041] like Figure 1 and Figure 2 As shown, an embodiment of the present invention provides a puncture positioning mechanism, comprising:

[0042] Frame 1, horizontal linear motion unit 2 connected to frame 1, lifting motion unit 3 connected to horizontal linear motion unit 2, vertical planar motion unit 4 connected to lifting motion unit 3, puncture angle adjustment unit 5 connected to vertical planar motion unit 4, and puncture execution unit 6 connected to puncture angle adjustment unit 5.

[0043] The frame 1 supports the horizontal linear motion unit 2; the horizontal linear motion unit 2 drives the lifting motion unit 3 to move horizontally; the lifting motion unit 3 drives the vertical plane motion unit 4 to move vertically; the vertical plane motion unit 4 drives the puncture angle adjustment unit 5 to move in the vertical plane; the puncture angle adjustment unit 5 adjusts the pitch and deflection angles of the puncture execution unit 6; and the puncture execution unit 6 performs the puncture action.

[0044] Specifically, frame 1 serves as the foundational support component of the entire puncture positioning mechanism, providing a stable mounting platform for the horizontal linear motion unit 2. It is typically made of high-strength metal materials, possessing excellent rigidity and stability, capable of withstanding various forces from subsequent motion units and the puncture execution process, ensuring that the entire mechanism does not shake or deform during operation.

[0045] The horizontal linear motion unit 2 is connected to the frame 1, and the lifting motion unit 3 is used for precise movement along the horizontal direction (such as the X-axis and Y-axis).

[0046] The lifting motion unit 3 is connected to the horizontal linear motion unit 2. The lifting motion unit 3 drives the vertical planar motion unit 4 to move up and down along the vertical direction (Z-axis direction) to achieve the adjustment of the puncture position in the vertical direction.

[0047] The vertical plane motion unit 4 is connected to the lifting motion unit 3, and it can move in a straight line or curve in the vertical plane. Its function is to further adjust the position of the puncture angle adjustment unit 5 in the vertical plane, preparing for precise adjustment of the puncture angle.

[0048] The puncture angle adjustment unit 5 is connected to the vertical plane motion unit 4 and typically uses components such as a universal joint, a rotating shaft, and a drive motor. By driving the universal joint and the rotating shaft to rotate through the drive motor, the pitch angle (rotation about the pitch axis) and yaw angle (rotation about the yaw axis) of the puncture execution unit 6 can be adjusted, thereby precisely controlling the direction of puncture.

[0049] The puncture execution unit 6, as the end-effector of the entire mechanism, is equipped with a needle for performing puncture actions and can accurately puncture the target position according to instructions.

[0050] The working principle of the puncture positioning mechanism provided in this embodiment is as follows:

[0051] The operation of the puncture positioning mechanism is a process of coordinated operation of its various units, as detailed below:

[0052] Initial positioning: Before performing the puncture, the three-dimensional coordinates of the puncture point are set through the control system according to the location of the patient's lesion or the testing requirements.

[0053] Horizontal positioning: After receiving the control signal, the horizontal linear motion unit 2 moves along the X and Y axes to adjust the entire mechanism to the projection position of the puncture point on the horizontal plane.

[0054] Vertical positioning: After horizontal positioning is completed, the motor of the lifting motion unit 3 starts to work, and the vertical plane motion unit 4 moves up and down in the Z-axis direction, so that the puncture execution unit 6 reaches the vertical height position of the puncture point.

[0055] Vertical plane adjustment: The vertical plane motion unit 4 moves in the vertical plane as needed to further fine-tune the position of the puncture angle adjustment unit 5, so that the puncture direction is closer to the target direction.

[0056] Angle adjustment: According to the instructions of the control system, the puncture angle adjustment unit 5 precisely adjusts the pitch and deflection angles of the puncture execution unit 6 so that the axis of the needle 61 is accurately aligned with the target puncture point.

[0057] Puncture execution: After the position and angle of the needle 61 are adjusted to the correct position, the propulsion mechanism of the puncture execution unit 6 will puncture the needle 61 to the target position at a predetermined speed and depth, thus completing the puncture operation.

[0058] Throughout the entire process, the various motion units cooperate with each other, and through the precise control of the control system, the puncture needle is accurately positioned and punctured from the initial position to the target position.

[0059] The design of this puncture positioning mechanism has several significant technical advantages:

[0060] High-precision positioning: Through multi-dimensional movement in horizontal, vertical, and triangular planes, and precise adjustment of the puncture angle, high-precision positioning of the puncture point can be achieved in three-dimensional space. The positioning error can be controlled within an extremely small range, meeting the needs of high-precision applications such as medical puncture and industrial testing. For example, in medical biopsy puncture, the puncture needle can be accurately delivered to the lesion tissue, improving the accuracy and effectiveness of sampling.

[0061] High flexibility: The puncture angle adjustment unit 5 can independently adjust the pitch and deflection angles, enabling the puncture needle to be punctured at various angles in complex spatial environments, adapting to different patients' body structures and lesion locations, and expanding the application range of the device.

[0062] Easy to operate: The entire puncture positioning process is uniformly controlled by the control system. The operator only needs to input the coordinates of the puncture point and relevant parameters, and the mechanism can automatically complete the positioning and puncture operation, which greatly simplifies the operation process, reduces the difficulty of operation, and improves work efficiency.

[0063] High stability: The rational design and manufacturing of frame 1 and each motion unit ensure the stability of the entire mechanism during operation. The high-strength frame 1 can withstand various loads during movement, and the precision linear guide and lead screw transmission system ensure smooth and reliable movement, reducing the impact of mechanism swaying or vibration on puncture accuracy. In addition, because a double-link parallel structure is adopted, it has good stability and high rigidity, reduces vibration and swaying, and improves puncture positioning accuracy.

[0064] Please refer to the following: Figure 3 In one embodiment, the horizontal linear motion unit 2 includes two horizontal guide rails 21 respectively disposed on opposite sides of the frame 1, horizontal sliding members 22 corresponding to each other slidably disposed on the horizontal guide rails 21, and a horizontal driving member 23 that is connected to the horizontal sliding members 22 in a transmission manner. The length direction of the horizontal guide rails 21 is parallel to the horizontal direction. The horizontal sliding members 22 are connected to the lifting motion unit 3. The horizontal driving member 23 is used to drive the horizontal sliding members 22 to move along the length direction of the horizontal guide rails 21.

[0065] Specifically, two horizontal guide rails 21 are arranged on opposite sides of the frame 1. The length direction of the horizontal guide rails 21 is parallel to the horizontal direction, which provides a precise guiding path for the movement of the horizontal sliding member 22. The horizontal guide rails 21 are typically made of high-hardness, high-precision metal materials, such as stainless steel or aluminum alloy, and their surfaces are precision-machined to have extremely low roughness, thereby reducing frictional resistance during the movement of the sliding member and ensuring smoothness and straightness of the movement. At the same time, the design of double-sided horizontal guide rails 21 can effectively distribute the load and improve the stability and load-bearing capacity of the overall structure.

[0066] The number of horizontal sliding members 22 corresponds to the number of horizontal guide rails 21, i.e., two, which are slidably mounted on the horizontal guide rails 21 one-to-one. As a key component connecting the horizontal guide rails 21 and the lifting motion unit 3, the horizontal sliding member 22 employs a high-precision slider-guide rail mating structure, enabling flexible and stable sliding on the guide rail. The sliding member typically has multiple balls or rollers, replacing sliding friction with rolling friction, further reducing friction and improving motion efficiency and accuracy. Furthermore, the horizontal sliding member 22 is tightly connected to the lifting motion unit 3 via bolts or other fixing methods, ensuring stable operation of the lifting motion unit 3 during horizontal movement.

[0067] The horizontal drive component 23 is connected to the horizontal sliding component 22 via a transmission connection, and its function is to provide power for the movement of the horizontal sliding component 22. The horizontal drive component 23 can be a combination of a motor and a ball screw. The motor is connected to the ball screw through a coupling. When the motor rotates, it drives the ball screw to rotate, and the nut on the ball screw converts the rotational motion into linear motion, thereby driving the horizontal sliding component 22 to move along the length direction of the horizontal guide rail 21. Alternatively, a linear motor can be used for direct drive. A linear motor can directly generate linear motion without intermediate transmission components, and has the advantages of fast response speed and high precision.

[0068] By adopting the above technical solution—the symmetrical layout of the double-sided horizontal guide rails 21 and the sliding components—the load can be evenly distributed, avoiding structural deformation or swaying caused by unilateral force, thus improving the stability and load-bearing capacity of the entire horizontal linear motion unit 2. Even when subjected to large lateral forces or impacts during puncture, the structure can remain stable, ensuring the accuracy of puncture positioning.

[0069] The high-precision horizontal guide rail 21 and sliding parts, along with the precise driving method, enable the puncture positioning mechanism to achieve high-precision positioning in three-dimensional space, meeting the stringent requirements for puncture position accuracy in medical, industrial and other fields.

[0070] By precisely controlling the horizontal drive component 23 through the control system, the moving speed, direction, and displacement of the horizontal sliding component 22 can be flexibly adjusted. This flexibility and adjustability allows the puncture positioning mechanism to adapt to different working scenarios and puncture needs. For example, in medical punctures, the puncture position can be quickly and accurately adjusted according to the patient's different body size and lesion location.

[0071] In one embodiment, the horizontal drive member 23 includes a horizontal drive motor 231 connected to the frame 1, two horizontal pulleys 232 respectively disposed at both ends of the horizontal guide rail 21, and a horizontal transmission belt 233 wound around the horizontal pulleys 232. The horizontal drive motor 231 is connected to the horizontal pulleys 232 and is used to drive the horizontal pulleys 232 to move the horizontal transmission belt 233. The horizontal transmission belt 233 extends along the length direction of the horizontal guide rail 21 and is connected to the horizontal sliding member 22.

[0072] Specifically, the horizontal drive motor 231 is connected to the frame 1, serving as the power source for the entire horizontal drive component 23. The horizontal drive motor 231 is typically a servo motor or a stepper motor, capable of precisely controlling its speed and direction according to instructions from the control system, thereby providing stable and controllable power for the movement of the horizontal sliding component 22. The horizontal drive motor 231 is fixed to the frame 1 by a bracket or mounting base to ensure no shaking occurs during operation and to guarantee the stability of power transmission.

[0073] There are two horizontal pulleys 232, one at each end of the horizontal guide rail 21. The horizontal pulleys 232 are typically made of high-strength, wear-resistant materials, such as engineering plastics or metal alloys, and their surfaces are specially treated to reduce friction and wear with the transmission belt. The center of the horizontal pulley 232 is mounted on a bracket via a bearing, allowing for flexible rotation. The bracket is securely connected to the frame 1, providing reliable support for the horizontally driven pulley 232 and ensuring that it maintains a stable position during transmission.

[0074] The horizontal transmission belt 233 is wound around the horizontal pulley 232 and extends along the length of the horizontal guide rail 21. It is a key component connecting the horizontal drive motor 231 and the horizontal sliding member 22. The horizontal transmission belt 233 is generally made of polyurethane synchronous belt or rubber belt. The surface of the horizontal transmission belt 233 has a toothed structure, which can precisely mesh with the toothed grooves on the horizontal pulley 232 to achieve synchronous transmission without slippage; the rubber belt transmits power by friction. One end of the horizontal transmission belt 233 is fixedly connected to the horizontal sliding member 22, and the other end is kept at an appropriate tension by a tensioning device to ensure that there is no slippage during transmission, thereby accurately transmitting power to the horizontal sliding member 22.

[0075] The horizontal sliding member 22, fixedly connected to the horizontal transmission belt 233, moves linearly along the horizontal guide rail 21 as the horizontal transmission belt 233 moves. The horizontal guide rail 21 provides guidance for the sliding member, ensuring that it moves along a predetermined horizontal direction. By controlling the speed and number of rotations of the horizontal drive motor 231, the moving distance and speed of the horizontal transmission belt 233 can be precisely controlled, thereby achieving precise control of the position and motion state of the horizontal sliding member 22, ultimately driving the lifting motion unit 3 to reach the target position in the horizontal direction.

[0076] By adopting the above technical solution, compared with drive methods such as ball screws and linear motors, the horizontal drive component 23 of the belt drive structure has fewer components and a relatively simpler manufacturing process, eliminating the need for complex processing and assembly, thus effectively reducing production costs. At the same time, its compact structure and small footprint facilitate the overall layout and miniaturization design of the puncture positioning mechanism.

[0077] The horizontal transmission belt 233 runs smoothly on the horizontal pulley 232 without generating significant impact or vibration during transmission. Compared with gear transmission and other methods, belt transmission is quieter and will not interfere with the medical or industrial operating environment. It is especially suitable for noise-sensitive medical puncture scenarios, providing a quieter and more comfortable environment for patients and operators.

[0078] The main components of the horizontal drive unit 23, such as the drive belt and pulleys, experience minimal wear under normal use and are easy to replace. When the drive belt wears or ages, it can be easily disassembled and replaced with a new one, eliminating the need for large-scale maintenance or replacement of the entire drive system. This significantly reduces maintenance difficulty and costs, and extends the overall service life of the puncture positioning mechanism.

[0079] The horizontal transmission belt 233 itself has a certain degree of elasticity, which can absorb and buffer vibrations and impacts from the motor or other components during transmission, reducing the impact of vibration on puncture positioning accuracy and improving the stability and reliability of the mechanism. Even if unexpected resistance or impact is encountered during puncture, the elasticity of the horizontal transmission belt 233 can still play a certain buffering role, protecting the mechanism components from damage.

[0080] In one embodiment, the lifting motion unit 3 includes two lifting guide rails 31, a lifting sliding member 32 slidably mounted on the lifting guide rails 31, and a lifting drive member 33 that is connected to the lifting sliding member 32 in a transmission manner. The lifting guide rails 31 are connected to the horizontal sliding members 22 in a one-to-one correspondence. The length direction of the lifting guide rails 31 is parallel to the vertical direction. The lifting sliding member 32 is connected to the vertical plane motion unit 4. The lifting drive member 33 is used to drive the lifting sliding member 32 to move along the length direction of the lifting guide rails 31.

[0081] Specifically, there are two lifting guide rails 31, each corresponding to a horizontal sliding member 22. Each horizontal sliding member 22 is equipped with one lifting guide rail 31, forming a stable double-sided support structure. The length direction of the lifting guide rail 31 is parallel to the vertical direction, providing precise guidance for the vertical movement of the lifting sliding member 32. The guide rails are typically high-precision linear guide rails, mostly made of stainless steel or surface-hardened alloy steel, possessing high hardness, low friction, and good wear resistance. This ensures that the lifting sliding member 32 moves smoothly and linearly in the vertical direction, while also bearing the vertical load generated during the puncture process.

[0082] The lifting slider 32 is slidably mounted on the lifting guide rail 31, serving as a key component connecting the lifting guide rail 31 and the vertical planar motion unit 4. The lifting slider 32 is generally made of high-strength metal material, and its surface is finely machined to ensure a good fit with the guide rail and smooth movement. Furthermore, the lifting slider 32 is equipped with an installation interface for fixed connection with the vertical planar motion unit 4, thereby transmitting vertical movement to subsequent units.

[0083] The lifting drive component 33 is connected to the lifting sliding component 32 via a transmission connection and is the core component providing power to the lifting sliding component 32. Common lifting drive components 33 include a combination of a motor and a ball screw pair, or a linear motor. In the motor and ball screw pair structure, the motor is connected to the ball screw via a coupling, and the rotational motion of the motor is converted into the linear motion of the lifting sliding component 32 through the screw. If a linear motor is used, it can directly generate linear driving force, driving the lifting sliding component 32 to move up and down along the lifting guide rail 31. The lifting drive component 33 can precisely control the speed, direction, and displacement of the lifting sliding component 32 according to the instructions of the control system.

[0084] Driven by the lifting drive 33, the lifting slider 32 moves vertically along two parallel lifting guide rails 31. Because the lifting guide rails 31 provide precise guidance, the lifting slider 32 can move smoothly and accurately along a predetermined vertical direction, thereby causing the connected vertical planar motion unit 4 to adjust its position in the vertical direction. By controlling the movement state of the lifting drive 33, the displacement of the lifting slider 32 can be precisely controlled, achieving accurate vertical positioning of the puncture positioning mechanism to adapt to differences in patient body shape or changes in lesion depth.

[0085] By adopting the above technical solution, the high-precision lifting guide rail 31 and lifting sliding component 32 work together, and the precise lifting drive component 33 controls the vertical movement accuracy of the lifting sliding component 32 to the micrometer level. This high-precision positioning capability, combined with the horizontal linear motion unit 2 and other motion units, enables the puncture positioning mechanism to achieve high-precision positioning in three-dimensional space, ensuring that the puncture needle can accurately reach the target depth position, meeting the stringent requirements for vertical positioning accuracy in fields such as medical puncture and industrial testing.

[0086] The design of the dual-sided lifting guide rails 31 forms a stable support structure, which can evenly distribute the load in the vertical direction, effectively avoiding structural deformation or swaying caused by unilateral force, and improving the stability and load-bearing capacity of the entire lifting motion unit 3. Even when encountering large vertical resistance or impact during puncture, the structure can remain stable, ensuring the accuracy of puncture positioning, and extending the service life of the mechanism.

[0087] By precisely controlling the lifting drive component 33 through the control system, the moving speed, direction, and displacement of the lifting sliding component 32 can be flexibly adjusted. This flexibility and adjustability allows the puncture positioning mechanism to quickly adapt to different working scenarios and puncture needs. For example, in medical punctures, the puncture position can be quickly and accurately adjusted according to the patient's different body size and lesion depth, improving the versatility and work efficiency of the mechanism.

[0088] In one embodiment, the lifting drive component 33 includes a lifting drive motor 331 connected to the horizontal sliding component 22, two lifting pulleys 332 respectively disposed at both ends of the lifting guide rail 31, and a lifting transmission belt 333 wound around the lifting pulleys 332. The lifting drive motor 331 is connected to the lifting pulleys 332 and is used to drive the lifting pulleys to move the lifting transmission belt 333. The lifting transmission belt 333 extends along the length direction of the lifting guide rail 31 and is connected to the lifting sliding component 32.

[0089] Specifically, the lifting drive motor 331 is connected to the horizontal sliding member 22, serving as the power core of the entire lifting drive member 33. A servo motor or stepper motor is typically selected, possessing precise speed and steering control capabilities, and can output stable power according to the control system's commands. The motor is fixed to the horizontal sliding member 22 via a specific mounting bracket or base to ensure operational stability and prevent vibration from affecting power transmission and positioning accuracy.

[0090] Two lifting pulleys 332 are installed at both ends of the lifting guide rail 31. The lifting pulleys 332 are generally made of high-strength and wear-resistant materials, such as high-quality engineering plastics or alloys, and their surfaces are finely machined to reduce friction and wear between them and the lifting transmission belt 333. The lifting pulleys 332 are mounted on a bracket via high-precision bearings, allowing for flexible rotation. The bracket is securely connected to the end of the lifting guide rail 31, providing reliable support for the lifting pulleys 332 and ensuring their stable position during transmission, preventing any deviation.

[0091] The lifting transmission belt 333 is wound around the lifting pulley 332 and extends along the length of the lifting guide rail 31. It is a key transmission component connecting the lifting drive motor 331 and the lifting sliding member 32. Common lifting transmission belts 333 include polyurethane synchronous belts or rubber belts. The lifting transmission belt 333 achieves slip-free synchronous transmission by precisely meshing with the pulley teeth through its toothed structure, ensuring transmission accuracy; rubber belts rely on friction to transmit power. One end of the lifting transmission belt 333 is firmly connected to the lifting sliding member 32, and the other end is kept under appropriate tension by a tensioning device to prevent slippage during transmission and ensure effective power transmission to the lifting sliding member 32.

[0092] The working principle of the lifting drive component 33 provided in this embodiment is as follows:

[0093] The lifting drive component 33 uses belt drive principle to realize power transmission and motion control of the lifting sliding component 32. The specific working process is as follows:

[0094] Power start-up: When the puncture positioning mechanism needs to adjust its position in the vertical direction, the control system sends a command to the lifting drive motor 331, and the motor starts to run. The motor converts electrical energy into mechanical energy and outputs rotational power according to the preset speed and direction.

[0095] The lifting drive motor 331 is connected to one of the lifting pulleys 332 via a synchronous belt, chain, or direct connection, driving the lifting pulley 332 to rotate. Since the two lifting pulleys 332 are connected by a lifting transmission belt 333, the rotating pulley 332 pulls the lifting transmission belt 333 to circulate between the two pulleys 332. During this process, the friction or toothed meshing between the lifting transmission belt 333 and the lifting pulleys 332 ensures stable power transmission, allowing the lifting transmission belt 333 to move smoothly along the length of the lifting guide rail 31.

[0096] The lifting sliding member 32, fixedly connected to the lifting transmission belt 333, moves vertically in a straight line on the lifting guide rail 31 as the lifting transmission belt 333 moves. The lifting guide rail 31 provides precise guidance for the lifting sliding member 32, ensuring its stable movement along a predetermined vertical direction. By precisely controlling the speed, number of rotations, and direction of the lifting drive motor 331, the moving distance, speed, and direction of the lifting transmission belt 333 can be precisely controlled, thereby achieving precise adjustment of the position and motion state of the lifting sliding member 32, ultimately driving the vertical planar motion unit 4 to reach the target position in the vertical direction.

[0097] By adopting the above technical solution, the belt-driven lifting drive component 33 has a simple structure, fewer components, and a relatively easy manufacturing process. It does not require complex processing and assembly procedures, thus effectively reducing production costs. At the same time, its compact structural design facilitates the overall layout of the puncture positioning mechanism, which is beneficial for achieving miniaturization and weight reduction of the equipment.

[0098] The lifting transmission belt 333 runs smoothly on the lifting pulley 332, without generating significant impact or vibration during transmission, resulting in low operating noise. Compared to gear drives and other methods, belt drives offer better noise reduction, making them particularly suitable for noise-sensitive medical puncture environments. They create a quiet and comfortable working atmosphere for patients and operators, and also meet environmental protection requirements.

[0099] The lifting transmission belt 333 possesses a certain degree of elasticity, which can absorb and buffer vibrations and impacts from the motor or other components during transmission, reducing the impact of vibration on puncture positioning accuracy and improving the stability and reliability of the mechanism. Even if unexpected resistance or impact is encountered during puncture, the elastic buffering effect of the transmission belt can protect the mechanism components, reduce the risk of damage, and ensure the smooth progress of the puncture operation.

[0100] Please refer to the following: Figure 4 In one embodiment, the vertical plane motion unit 4 includes a first slide 41 connected to one of the lifting slide members 32, a second slide 42 connected to the other lifting slide member 32, a first connecting rod 43 connected to the first slide 41, a second connecting rod 44 connected to the second slide 42, and a mounting seat 45 connected to the first connecting rod 43 and the second connecting rod 44. The mounting seat 45 is connected to the puncture angle adjustment unit 5. The heights of the first slide 41 and the second slide 42 in the vertical direction are independently adjustable, driving the first connecting rod 43 and the second connecting rod 44 to rotate around the axis, so that the mounting seat 45 deflects in the vertical plane.

[0101] Specifically, the first slide 41 is connected to one of the lifting sliding members 32, and the second slide 42 is connected to the other lifting sliding member 32. They are the connection hubs between the entire unit and the lifting motion unit 3. The slides are usually made of high-strength metal materials, which have good rigidity and wear resistance, and can withstand the load transmitted by subsequent components.

[0102] The first connecting rod 43 is axially connected to the first slide 41, and the second connecting rod 44 is axially connected to the second slide 42. The first connecting rod 43 and the second connecting rod 44 are generally made of lightweight but high-strength alloy materials, such as aluminum alloy or titanium alloy, to reduce overall weight while ensuring structural strength. The axial connection allows the connecting rods to rotate around their axes, providing freedom of movement for the deflection of the mounting base 45.

[0103] The mounting base 45 is connected to the first connecting rod 43 and the second connecting rod 44 via a shaft, and is a key component connecting the vertical plane motion unit 4 and the puncture angle adjustment unit 5.

[0104] The working principle of the vertical planar motion unit 4 provided in this embodiment is as follows:

[0105] The vertical plane motion unit 4, through the height adjustment of the first slide block 41 and the second slide block 42, drives the first connecting rod 43 and the second connecting rod 44 to rotate, thereby realizing the deflection of the mounting base 45 in the vertical plane. The specific working process is as follows:

[0106] When the puncture positioning mechanism needs to adjust the puncture path in the vertical plane, the control system sends a command to the height adjustment mechanism of the first slide 41 and the second slide 42.

[0107] Since the heights of the first slide 41 and the second slide 42 are independently adjustable in the vertical direction, when the height of one slide changes, the connecting rod connected to it will rotate around its axis due to the height difference between the two ends. For example, if the first slide 41 rises while the second slide 42 remains unchanged, the first connecting rod 43 will rotate upwards, simultaneously causing the mounting base 45, which is connected to its axis, to deflect accordingly. Similarly, when the height of the second slide 42 changes, the second connecting rod 44 will also cause the mounting base 45 to move. The coordinated adjustment of the heights of the two slides enables the mounting base 45 to deflect at multiple angles and in multiple directions within the vertical plane.

[0108] By precisely controlling the height changes and sequence of the first slide 41 and the second slide 42, the deflection angle and position of the mounting base 45 in the vertical plane can be precisely controlled. The deflection of the mounting base 45 ultimately drives the connected puncture angle adjustment unit 5 to move, thereby adjusting the path of the needle 61 in the vertical plane, thus avoiding obstacles in human tissue, or making the needle 61 more accurately aimed at the target lesion.

[0109] By adopting the above technical solution:

[0110] The independent height adjustment design of the first slide 41 and the second slide 42 gives the vertical plane motion unit 4 extremely high flexibility. It can achieve multi-angle and wide-range deflection in the vertical plane, allowing the path of the puncture needle to be flexibly adjusted according to the actual situation. It is especially suitable for complex human anatomy or irregular lesion locations, greatly improving the adaptability of puncture positioning.

[0111] By precisely controlling the height of the slide, the 45° deflection angle of the mounting base can be accurately controlled, thereby precisely adjusting the position of the puncture needle in the vertical plane. This high-precision motion control ensures that the puncture needle reaches the target position along the preset optimal path, improving the accuracy and success rate of puncture and reducing surgical risks.

[0112] The use of a linkage-hinged structure design makes the overall structure of the vertical planar motion unit 4 compact, occupying less space and facilitating the overall layout of the puncture positioning mechanism. Simultaneously, the components are connected by shafts and rigid connections, forming a stable mechanical structure that effectively resists external interference during movement, ensuring smoothness and reliability, and reducing the impact of structural swaying on puncture accuracy.

[0113] In one embodiment, the first connecting rod 43 includes a first connecting rod portion 431 and a second connecting rod portion 432 arranged parallel to and spaced apart from the first connecting rod portion 431. The two ends of the first connecting rod portion 431 are respectively axially connected to the first slide 41 and the mounting seat 45, and the two ends of the second connecting rod portion 432 are respectively axially connected to the first slide 41 and the mounting seat 45. The first connecting rod portion 431, the second connecting rod portion 432, the first slide 41, and the mounting seat 45 form a parallelogram motion structure. The second connecting rod 44 includes a third connecting rod portion 441 and a fourth connecting rod portion 442 arranged parallel to and spaced apart from the third connecting rod portion 441. The two ends of the third connecting rod portion 441 are respectively axially connected to the second slide 42 and the mounting seat 45, and the two ends of the fourth connecting rod portion 442 are respectively axially connected to the second slide 42 and the mounting seat 45. The third connecting rod portion 441, the fourth connecting rod portion 442, the second slide 42, and the mounting seat 45 form a parallelogram motion structure.

[0114] Specifically, the first connecting rod 43 includes a first connecting rod portion 431 and a second connecting rod portion 432, which are arranged in parallel and spaced apart. The first connecting rod portion 431 is connected at both ends to the first slide 41 and the mounting base 45 via shafts, respectively. Similarly, the second connecting rod portion 432 is also connected at both ends to the first slide 41 and the mounting base 45 via shafts. This double-rod parallel structure, together with the first slide 41 and the mounting base 45, constitutes a parallelogram motion structure. In terms of material selection, the two connecting rod portions typically use high-strength and lightweight alloy materials, such as aerospace aluminum alloy or titanium alloy, to ensure structural strength while reducing weight. Furthermore, the shaft connection parts are precision-machined to ensure flexible and stable rotation.

[0115] The second connecting rod 44 is structurally similar to the first connecting rod 43, including a third connecting rod portion 441 and a fourth connecting rod portion 442, which are arranged parallel to each other and spaced apart. The third connecting rod portion 441 is axially connected at both ends to the second slide 42 and the mounting base 45, respectively. The fourth connecting rod portion 442 is also axially connected at both ends to the second slide 42 and the mounting base 45, thus forming a parallelogram-shaped motion structure with the second slide 42 and the mounting base 45. Similarly, the third and fourth connecting rod portions are also made of high-strength, lightweight materials, and the axial connection design ensures freedom of movement.

[0116] The parallelogram motion structures of the first connecting rod 43 and the second connecting rod are interconnected through the mounting base 45, and together with the first slide 41 and the second slide 42, they form the core motion frame 1 of the vertical planar motion unit 4. This structural design makes the force transmission between the components more uniform and the motion more stable.

[0117] The working principle of this embodiment is as follows:

[0118] This scheme achieves stable and precise motion transmission based on the geometric properties of parallelograms. The working process is as follows:

[0119] When the control system issues a command to adjust the puncture path, the first slide 41 and the second slide 42 change their vertical height under the drive of the lifting drive unit. For example, the first slide 41 rises and the second slide 42 lowers.

[0120] Parallelogram structure motion: Taking the parallelogram motion structure of the first connecting rod 43 as an example, when the height of the first slide 41 changes, since the first connecting rod portion 431 and the second connecting rod portion 432, together with the first slide 41 and the mounting base 45, form a parallelogram, according to the property that opposite sides of a parallelogram are parallel and equal, the first connecting rod portion 431 and the second connecting rod portion 432 will rotate synchronously around the axis, and the rotation angles will be the same. Similarly, the parallelogram motion structure of the second connecting rod 44 will also rotate accordingly due to the change in the height of the second slide 42.

[0121] The mounting base 45 rotates smoothly: the coordinated movement of the two parallelogram-shaped moving structures drives the mounting base 45 to rotate smoothly in the vertical plane. Because the parallelogram structures maintain parallelism on opposite sides throughout the movement, the mounting base 45 remains stable and does not twist or wobble during rotation. By precisely controlling the height changes and sequence of the first slide 41 and the second slide 42, the deflection angle and position of the mounting base 45 can be accurately adjusted, thereby precisely adjusting the path of the needle 61 in the vertical plane.

[0122] By adopting the above technical solution:

[0123] Significantly enhanced motion stability: The parallelogram motion structure utilizes its geometric properties to maintain structural stability throughout motion, effectively preventing swaying or twisting caused by uneven force on individual connecting rods. Compared to traditional single-rod connection structures, this design better resists external interference, ensuring the stability of the mounting base 45 and the puncture needle during path adjustment, thus improving the accuracy and reliability of puncture positioning.

[0124] Improved Precision and Reliability: The parallel double-rod design ensures more even force distribution along the connecting rods, reducing the impact of component deformation or wear on motion accuracy. Simultaneously, the symmetry and stability of the parallelogram structure guarantee consistency in each movement, reducing error accumulation and improving the motion accuracy and long-term reliability of the entire vertical plane motion unit 4, thus contributing to a higher success rate for puncture procedures.

[0125] Compact and easy to maintain: The parallelogram motion structure achieves complex movements while maintaining a compact structure, facilitating the overall layout and miniaturization of the puncture positioning mechanism. Furthermore, the relatively independent components and simple connection methods of this structure allow for easy disassembly and replacement in case of malfunction or wear, reducing maintenance difficulty and cost, and improving the maintainability of the equipment.

[0126] Please refer to the following: Figure 5 In one embodiment, the puncture angle adjustment unit 5 includes a connecting plate 51 connected to the vertical plane motion unit 4, a support shaft 52 connected to the connecting plate 51, a fixed plate 53 connected to the puncture execution unit 6, a cross shaft structure 54 connecting the support shaft 52 and the fixed plate 53, a first angle adjustment motor 55 and a second angle adjustment motor 56 connecting the fixed plate 53 and the connecting plate 51. The cross shaft structure 54 includes a pitch axis 541 and a deflection axis 542. The first angle adjustment motor 55 is used to drive the fixed plate 53 to rotate around the pitch axis 541, and the second angle adjustment motor 56 is used to drive the fixed plate 53 to rotate around the deflection axis 542.

[0127] Specifically, the connecting plate 51, serving as the connection hub between the puncture angle adjustment unit 5 and the vertical plane motion unit 4, is typically made of high-strength, rigid metal sheet. The connecting plate 51 has precise mounting holes and is securely connected to the mounting base 45 of the vertical plane motion unit 4 via bolts or other fixing methods, ensuring reliable force and movement transmission during subsequent angle adjustment. More specifically, the connecting plate 51 is used to connect to the mounting base 45.

[0128] The support shaft 52 is vertically fixed to the connecting plate 51, providing stable support for the entire angle adjustment structure. The support shaft 52 is generally made of high-hardness alloy steel and undergoes precision machining and heat treatment to ensure that it has good rigidity and resistance to deformation. It not only bears the weight of the fixed plate 53 and the piercing actuator 6, but also provides a supporting foundation for the rotation of the cross shaft structure 54.

[0129] The fixing plate 53 is tightly connected to the puncture execution unit 6 and is used to fix and support the puncture execution unit 6. The fixing plate 53 must have sufficient strength and stability to ensure that the puncture needle does not shift or shake during angle adjustment and puncture. Its surface is usually finely machined and has a mounting interface adapted to the puncture execution unit 6.

[0130] The cross-shaft structure 54, consisting of a pitch shaft 541 and a deflection shaft 542 that are perpendicular to each other, is a key component for adjusting the puncture angle. The pitch shaft 541 and deflection shaft 542 are mounted between the connecting plate 51 and the fixed plate 53 using high-precision bearings, allowing for flexible rotation. The design of the cross-shaft structure 54 enables the fixed plate 53 to rotate independently in two mutually perpendicular directions, thereby achieving adjustment of the pitch and deflection angles of the puncture needle.

[0131] The first angle adjustment motor 55 and the second angle adjustment motor 56 are respectively connected to the fixed plate 53 and the connecting plate 51, serving as the power source for angle adjustment. The first angle adjustment motor 55 drives the fixed plate 53 to rotate around the pitch axis 541, thereby adjusting the tilt angle of the puncture needle; the second angle adjustment motor 56 drives the fixed plate 53 to rotate around the deflection axis 542, thereby adjusting the left and right deflection angle of the puncture needle. Both motors are typically high-precision servo motors, possessing high torque, low inertia, and precise position control capabilities, meeting the requirements for accurate adjustment of the puncture angle.

[0132] The working principle of this embodiment is as follows:

[0133] The puncture angle adjustment unit 5, based on the cross-shaft structure 54 and dual-motor drive, enables precise angle adjustment of the puncture needle in two dimensions. The specific workflow is as follows:

[0134] When the puncture positioning mechanism needs to adjust the puncture needle angle, the control system sends control commands to the first angle adjustment motor 55 and the second angle adjustment motor 56 based on the preset puncture path or real-time image feedback. After receiving the commands, the two motors start operating according to the preset parameters, converting electrical energy into mechanical energy.

[0135] Pitch angle adjustment: The first angle adjustment motor 55 starts working, transmitting power to the fixed plate 53 via the power push rod, causing the fixed plate 53 to rotate around the pitch axis 541. Since the fixed plate 53 is fixedly connected to the puncture execution unit 6, the needle 61 adjusts its pitch angle in the vertical plane, for example, tilting upward to avoid superficial tissue obstacles, or tilting downward to aim at deep lesions.

[0136] Deflection angle adjustment: The second angle adjustment motor 56 starts according to the command, and also drives the fixed plate 53 to rotate around the deflection shaft 542 through the power push rod, so that the needle 61 deflects left and right in the horizontal plane, thereby adjusting the horizontal direction of the needle 61 and ensuring that the needle 61 can be accurately aligned with the target puncture point.

[0137] Collaborative Precise Positioning: In actual operation, the first angle adjustment motor 55 and the second angle adjustment motor can work together to achieve multi-angle composite adjustment of the puncture needle in three-dimensional space through precise calculation and control of the control system. For example, the pitch angle is first adjusted to bring the puncture needle closer to the target direction, and then the deflection angle is finely adjusted to complete precise positioning, so that the axis of the needle 61 is completely aligned with the target puncture path.

[0138] By adopting the above technical solution—a cross-axis structure 54 coupled with two high-precision servo motors—independent and precise adjustment of the pitch and deflection angles of the puncture needle is achieved. The angle adjustment resolution can reach the sub-degree level, which can meet the stringent requirements for angle control in high-precision scenarios such as medical punctures, ensuring that the puncture needle can accurately avoid important organs and tissues and precisely reach the target lesion location.

[0139] In one embodiment, a connecting unit 7 is provided between the connecting plate 51 and the mounting base 45. The connecting unit 7 is used to install and fix the puncture angle adjustment unit 5 and the puncture execution unit 6, and to make the puncture angle adjustment unit 5 and the puncture execution unit 6 have a preset tilt angle, which is beneficial for the puncture execution unit 6 to perform the puncture action.

[0140] Specifically, the connecting unit 7 is a key component between the puncture angle adjustment unit 5 and the mounting base 45. By adopting the above technical solution, the design of the preset tilt angle enables the puncture execution unit 6 to be in a more favorable puncture direction in the initial position, reducing the risk of deviation, resistance or damage caused by unreasonable angle of the puncture needle in human tissue.

[0141] In one embodiment, the puncture execution unit 6 includes a needle holder 62 connected to the puncture angle adjustment unit 5, a needle 61 slidably disposed on the needle holder 62, a transmission structure 63 connected to the needle 61, and a power structure 64 connected to the transmission structure 63; the power structure 64 drives the needle 61 to move along the puncture direction of the needle holder 62 through the transmission structure 63.

[0142] Specifically, the needle holder 62, serving as the basic frame 1 of the puncture execution unit 6, is typically made of high-strength, corrosion-resistant metal or medical-grade engineering plastic. It is tightly connected to the puncture angle adjustment unit 5 via bolts, snap-fit ​​connections, or other secure methods to ensure stability during puncture. The needle holder 62 features a high-precision groove or guide rail structure to provide precise guidance for the linear movement of the needle 61, and may also include a limit device to prevent the needle 61 from overtraveling.

[0143] As the core component for performing the puncture procedure, the needle 61 varies in material, shape, and specifications depending on the application scenario. The needle 61 can slide smoothly on the needle holder 62 by cooperating with the slide groove or guide rail on the needle holder 62 through a slider or other sliding component.

[0144] The transmission structure 63 connects the power structure 64 and the needle 61, serving to transmit power and convert the form of motion. Common transmission structures 63 include lead screw and nut pairs, gear and rack pairs, and synchronous belt drives. For example, in a lead screw and nut pair, the rotational motion of the lead screw is converted into linear motion through the nut, driving the needle 61 to move along the puncture direction of the fixed seat; a gear and rack pair drives the linear motion of the rack through the rotation of the gear, realizing the advancement of the needle 61. The design of the transmission structure 63 must ensure the accuracy and stability of the transmission to ensure that the needle 61 can puncture at a predetermined speed and displacement.

[0145] The power structure 64 provides a power source for the puncture execution unit 6, typically using an electric motor (such as a stepper motor or servo motor) or a hydraulic or pneumatic drive. Electric motor drives offer high control precision and fast response, enabling precise adjustment of the needle 61's movement speed and displacement according to control system commands. Hydraulic or pneumatic drives provide greater driving force, suitable for scenarios requiring greater puncture force. The power structure 64 and transmission structure 63 are connected via couplings, synchronous pulleys, and other components to ensure efficient power transmission.

[0146] The working principle of this embodiment is as follows:

[0147] After the puncture positioning mechanism completes the adjustment of the puncture position and angle, the control system sends a command to the power structure 64 to start the power structure 64. If an electric motor is used, the motor starts to run at the preset speed and direction; if it is hydraulically or pneumatically driven, the corresponding hydraulic pump or air pump starts to work and build up pressure.

[0148] The power generated by the power structure 64 is transmitted to the needle 61 through the transmission structure 63. Taking the lead screw and nut pair as an example, the rotational motion of the motor is transmitted to the lead screw through the coupling. When the lead screw rotates, the nut that meshes with it moves linearly on the lead screw. The nut is connected to the needle 61, thereby driving the needle 61 to move along the puncture direction of the needle holder 62. In the gear and rack pair transmission, the motor drives the gear to rotate, and the gear meshes with the rack, causing the rack to drive the needle 61 to move linearly. During the power transmission process, the transmission structure 63 can amplify or reduce the speed and force of the movement according to design requirements to meet the needs of different puncture scenarios.

[0149] Driven by the transmission structure 63, the needle 61 moves linearly along the groove or guide rail on the needle holder 62 to puncture the target position. The guide structure on the needle holder 62 ensures that the needle 61 maintains a straight trajectory during puncture, preventing deviation. During puncture, the control system can monitor the operating parameters of the power structure 64 and the displacement of the needle 61 in real time, adjusting the output of the power structure 64 as needed to ensure that the puncture speed and depth meet the predetermined requirements. When the needle 61 reaches the predetermined position, the power structure 64 stops working, completing the puncture action.

[0150] By adopting the above technical solution, the precise guiding structure of the needle holder 62 and the precise transmission of the transmission structure 63 enable high-precision positioning and motion control of the needle 61 during the puncture process. Combined with the precise angle adjustment of the puncture angle adjustment unit 5, the puncture needle can accurately reach the target position, and the puncture error can be controlled within a very small range, meeting the stringent requirements for high-precision puncture in medical, industrial, and other fields. For example, in medical biopsies, it can accurately collect lesion tissue samples, improving diagnostic accuracy.

[0151] The rational design and manufacturing of the needle holder 62, transmission structure 63, and power structure 64 ensure the stability of the entire puncture execution unit 6 during operation. The high-strength holder can withstand various forces during the puncture process, the precision transmission structure 63 reduces friction and vibration during movement, and the reliable power structure 64 provides stable power output, ensuring smooth and continuous puncture action and reducing the risk of puncture failure due to equipment malfunction.

[0152] Please refer to it again. Figure 1In one embodiment, the frame 1 is further provided with a camera unit 8, which is used to capture the puncture scene and determine the puncture position to complete the precise puncture.

[0153] Secondly, a puncture robot is provided, including a moving mechanism and the aforementioned puncture positioning mechanism, wherein the moving mechanism is connected to the puncture positioning mechanism.

[0154] By adopting the above technical solution, the moving mechanism can accurately move the puncture positioning mechanism to the designated position, the angle adjustment unit can accurately adjust the puncture angle, and combined with the high-precision transmission structure 63 of the puncture execution unit 6, the puncture needle can accurately reach the target position, improving the puncture accuracy, reducing errors, and helping to improve the accuracy of diagnosis and treatment effect.

[0155] The coordinated operation of the mobile and puncture positioning mechanisms enables the puncture robot to adapt to different patient positions and puncture sites, allowing for flexible operation in complex clinical environments. Doctors can remotely control the robot's movement and operation via the control system, avoiding direct contact with patients and radiation sources, reducing the risk of radiation exposure for doctors, and also improving operational convenience.

[0156] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A puncture positioning mechanism, characterized in that, include: The frame, a horizontal linear motion unit connected to the frame, a lifting motion unit connected to the horizontal linear motion unit, a vertical planar motion unit connected to the lifting motion unit, a puncture angle adjustment unit connected to the vertical planar motion unit, and a puncture execution unit connected to the puncture angle adjustment unit; The frame supports the horizontal linear motion unit; the horizontal linear motion unit drives the lifting motion unit to move horizontally; the lifting motion unit drives the vertical planar motion unit to move vertically; the vertical planar motion unit drives the puncture angle adjustment unit to move in a vertical plane; the puncture angle adjustment unit adjusts the pitch and deflection angles of the puncture execution unit; and the puncture execution unit performs the puncture action.

2. The puncture positioning mechanism as described in claim 1, characterized in that, The horizontal linear motion unit includes two horizontal guide rails respectively located on opposite sides of the frame, horizontal sliding members slidably mounted on the horizontal guide rails, and a horizontal driving member connected to the horizontal sliding members. The length direction of the horizontal guide rails is parallel to the horizontal direction. The horizontal sliding members are connected to the lifting motion unit. The horizontal driving member is used to drive the horizontal sliding members to move along the length direction of the horizontal guide rails.

3. The puncture positioning mechanism as described in claim 2, characterized in that, The horizontal drive component includes a horizontal drive motor connected to the frame, two horizontal pulleys respectively located at both ends of the horizontal guide rail, and a horizontal transmission belt wound around the horizontal pulleys. The horizontal drive motor is velocally connected to the horizontal pulleys and is used to drive the horizontal pulleys to move the horizontal transmission belt. The horizontal transmission belt extends along the length direction of the horizontal guide rail and is connected to the horizontal sliding component.

4. The puncture positioning mechanism as described in claim 2, characterized in that, The lifting motion unit includes two lifting guide rails, a lifting sliding member slidably mounted on the lifting guide rails, and a lifting drive member that is connected to the lifting sliding member in a transmission manner. The lifting guide rails and the horizontal sliding members are connected in a one-to-one correspondence. The length direction of the lifting guide rails is parallel to the vertical direction. The lifting sliding member is connected to the vertical plane motion unit. The lifting drive member is used to drive the lifting sliding member to move along the length direction of the lifting guide rails.

5. The puncture positioning mechanism as described in claim 4, characterized in that, The lifting drive component includes a lifting drive motor connected to the horizontal sliding component, two lifting pulleys respectively located at both ends of the lifting guide rail, and a lifting transmission belt wound around the lifting pulleys. The lifting drive motor is velocally connected to the lifting pulleys and is used to drive the lifting pulleys to move the lifting transmission belt. The lifting transmission belt extends along the length direction of the lifting guide rail and is connected to the lifting sliding component.

6. The puncture positioning mechanism as described in claim 4, characterized in that, The vertical plane motion unit includes a first slide block connected to one of the lifting sliding components, a second slide block connected to the other lifting sliding component, a first connecting rod connected to the shaft of the first slide block, a second connecting rod connected to the shaft of the second slide block, and a mounting base connected to the shafts of the first and second connecting rods; the mounting base is connected to the puncture angle adjustment unit; the heights of the first and second slide blocks in the vertical direction are independently adjustable, driving the first and second connecting rods to rotate around an axis, causing the mounting base to deflect in the vertical plane.

7. The puncture positioning mechanism as described in claim 6, characterized in that, The first connecting rod includes a first connecting rod portion and a second connecting rod portion arranged parallel to and spaced apart from the first connecting rod portion. Both ends of the first connecting rod portion are respectively connected to the first slide and the mounting base shaft. Both ends of the second connecting rod portion are respectively connected to the first slide and the mounting base shaft. The first connecting rod portion, the second connecting rod portion, the first slide, and the mounting base form a parallelogram motion structure. The second connecting rod includes a third connecting rod portion and a fourth connecting rod portion arranged parallel to and spaced apart from the third connecting rod portion. Both ends of the third connecting rod portion are respectively connected to the second slide and the mounting base shaft. Both ends of the fourth connecting rod portion are respectively connected to the second slide and the mounting base shaft. The third connecting rod portion, the fourth connecting rod portion, the second slide, and the mounting base form a parallelogram motion structure.

8. The puncture positioning mechanism as described in any one of claims 1 to 7, characterized in that, The puncture angle adjustment unit includes a connecting plate connected to the vertical plane motion unit, a support shaft connected to the connecting plate, a fixed plate connected to the puncture execution unit, a cross shaft structure connecting the support shaft and the fixed plate, a first angle adjustment motor and a second angle adjustment motor connecting the fixed plate and the connecting plate. The cross shaft structure includes a pitch axis and a deflection axis. The first angle adjustment motor is used to drive the fixed plate to rotate around the pitch axis, and the second angle adjustment motor is used to drive the fixed plate to rotate around the deflection axis.

9. The puncture positioning mechanism as described in any one of claims 1 to 7, characterized in that, The puncture execution unit includes a needle holder connected to the puncture angle adjustment unit, a needle slidably mounted on the needle holder, a transmission structure connected to the needle, and a power structure connected to the transmission structure; the power structure drives the needle to move along the puncture direction of the needle holder through the transmission structure.

10. A puncture robot, characterized in that, It includes a moving mechanism and a puncture positioning mechanism as described in any one of claims 1 to 9, wherein the moving mechanism is connected to the puncture positioning mechanism.

Images