Double-arm puncture positioning mechanism and puncture robot

Abstract

The utility model provides a kind of double-arm puncture positioning mechanism and puncture robot, wherein double-arm puncture positioning mechanism includes: two parallel interval settings linear motion unit, two movement swing arms, probe angle adjusting unit, probe, puncture angle adjusting unit and puncture execution unit;Wherein, linear motion unit is used to adjust the position of movement swing arm in first direction;One movement swing arm is used to adjust the position of probe angle adjusting unit in second direction and third direction;Another movement swing arm is used to adjust the position of puncture angle adjusting unit in second direction and third direction;Probe angle adjusting unit is connected with probe and is used to adjust the deflection angle of probe;Puncture angle adjusting unit is used to adjust the pitch angle and deflection angle of puncture execution unit.By adopting the above technical scheme, the adjustment accuracy and flexibility of the puncture robot are improved.

Description

Technical Field

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

[0002] In the medical field, the application of puncture robots has brought about a new revolution in minimally invasive surgery. However, current puncture robots still have many limitations in terms of positioning accuracy and operational flexibility. Most existing puncture robots adopt a single-arm structure or a simple multi-joint robotic arm, which makes it difficult to achieve all-round, high-precision puncture positioning in complex human anatomy. Specifically, the traditional multi-joint single-arm structure has significant technical bottlenecks: either it lacks ultrasound probe guidance, causing intraoperative target positioning to rely on preoperative images and not adapt to real-time tissue displacement; or it rigidly binds the ultrasound probe to the puncture actuator, making the scanning angle and puncture path mutually restrictive. When the probe needs to adjust its angle to obtain a clear image, the puncture actuator will simultaneously move, and vice versa. This "binding" design severely limits the flexibility of scanning positioning. Utility Model Content

[0003] The purpose of this invention is to provide a dual-arm puncture positioning mechanism and a puncture robot to solve the technical problems of poor positioning accuracy and weak operational flexibility of puncture robots in the prior art.

[0004] To achieve the above objectives, the technical solution adopted by this utility model is as follows:

[0005] Firstly, a dual-arm puncture positioning mechanism is provided, comprising:

[0006] The system includes two parallel linear motion units, two motion swing arms, a probe angle adjustment unit, a probe, a puncture angle adjustment unit, and a puncture execution unit.

[0007] The linear motion unit is connected to the motion swing arm in a one-to-one correspondence and is used to adjust the position of the motion swing arm in the first direction;

[0008] One of the motion swing arms is connected to the probe angle adjustment unit and is used to adjust the position of the probe angle adjustment unit in the second direction and the third direction upward; the other motion swing arm is connected to the puncture angle adjustment unit and is used to adjust the position of the puncture angle adjustment unit in the second direction and the third direction upward;

[0009] The probe angle adjustment unit is connected to the probe and is used to adjust the deflection angle of the probe;

[0010] The puncture angle adjustment unit is connected to the puncture execution unit and is used to adjust the pitch angle and yaw angle of the puncture execution unit.

[0011] By adopting the above technical solutions, the accuracy and flexibility of the puncture robot's adjustment have been improved.

[0012] In one embodiment, the linear motion unit includes a first linear slide rail and a first linear drive structure. The first linear slide rail defines a first direction. The motion swing arm is slidably connected to the first linear slide rail. The first linear drive structure is used to drive the motion swing arm to move along the first direction on the first linear slide rail.

[0013] In one embodiment, the first linear drive structure includes a synchronous belt motor and a synchronous belt. The synchronous belt motor is mounted on the linear slide rail and is used to drive the synchronous belt to move. The synchronous belt is wound around the power output shaft of the synchronous belt motor and extends along the linear slide rail. The synchronous belt is connected to the motion swing arm.

[0014] In one embodiment, the motion swing arm includes a swing arm support connected to the linear motion unit, a swing arm pitch adjustment structure disposed on the swing arm support, a swing arm connected to the swing arm pitch adjustment structure, a base connected to the swing arm, and a horizontal position adjustment structure disposed on the base. The probe angle adjustment unit and the puncture angle adjustment unit are disposed on the corresponding horizontal position adjustment structures.

[0015] In one embodiment, the puncture execution unit includes a needle holder mounted on the puncture pitch angle adjustment frame of the puncture angle adjustment unit, a puncture motor mounted on the needle holder, a needle, and a feed unit, wherein the puncture motor is used to drive the needle to move along the feed unit.

[0016] In one embodiment, the feeding unit includes a lead screw, a nut, and a guide rod. The lead screw and the guide rod are arranged parallel to each other on the needle holder. The nut is drivenly connected to the lead screw, slidably connected to the guide rod, and fixedly connected to the needle.

[0017] In one embodiment, the probe angle adjustment unit includes a probe deflection angle adjustment structure connected to the swing arm, the probe deflection angle adjustment structure being used to adjust the deflection angle of the probe pitch angle adjustment structure.

[0018] In one embodiment, the dual-arm puncture positioning mechanism further includes a base plate, on which two linear motion units are arranged in parallel and spaced apart.

[0019] In one embodiment, the dual-arm puncture positioning mechanism further includes an image acquisition unit, which includes a bracket on the base plate, a disc seat on the bracket, a camera on the disc seat, a light source fixing seat, and a near-infrared light source on the light source fixing seat.

[0020] Secondly, a puncture robot is provided, including a moving mechanism and the aforementioned dual-arm puncture positioning mechanism, wherein the moving mechanism is connected to the dual-arm puncture positioning mechanism.

[0021] By adopting the above technical solution, the efficiency of puncture position and angle adjustment of the puncture robot is improved, and the adjustment error is reduced. Attached Figure Description

[0022] 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.

[0023] Figure 1 This is a three-dimensional structural diagram of the dual-arm puncture positioning mechanism provided in this embodiment of the utility model.

[0024] Figure 2 This is a three-dimensional structural diagram of the linear motion unit provided in an embodiment of this utility model.

[0025] Figure 3 This is a three-dimensional structural diagram of the motion swing arm provided in one embodiment of the present utility model.

[0026] Figure 4 This is a three-dimensional structural diagram of the swing arm provided in another embodiment of the present utility model.

[0027] Figure 5 This is a three-dimensional structural diagram of the horizontal position adjustment structure provided in an embodiment of the present invention.

[0028] Figure 6 This is a three-dimensional structural diagram of the puncture angle adjustment unit and the puncture execution unit provided in this embodiment of the utility model.

[0029] Figure 7 This is a three-dimensional structural diagram of the probe angle adjustment unit provided in this embodiment of the utility model.

[0030] Figure 8 This is a three-dimensional structural diagram of the image acquisition unit provided in this embodiment of the utility model.

[0031] The labels for the attached figures are as follows:

[0032] 100. Dual-arm puncture positioning mechanism;

[0033] 1. Linear motion unit; 2. Motion swing arm; 3. Probe angle adjustment unit; 4. Probe; 5. Puncture angle adjustment unit; 6. Puncture execution unit; X, first direction; Y, second direction; Z, third direction; 7. Base plate; 8. Image acquisition unit;

[0034] 11. First linear guide rail; 12. First linear drive structure; 21. Swing arm support; 22. Swing arm pitch adjustment structure; 23. Swing arm; 24. Base; 25. Horizontal position adjustment structure; 31. Probe deflection angle adjustment structure; 51. Puncture deflection angle adjustment structure; 52. Puncture pitch angle adjustment structure; 61. Needle holder; 62. Puncture motor; 63. Needle; 64. Feed unit; 81. Bracket; 82. Disc base; 83. Camera; 84. Light source holder; 85. Near-infrared light source;

[0035] 121. Synchronous belt motor; 122. Synchronous belt; 211. First rotating shaft; 212. Second rotating shaft; 213. Third rotating shaft; 214. Fourth rotating shaft; 231. First swing arm; 232. Second swing arm; 233. Crossed roller bearing; 251. Second linear drive structure; 252. Second linear slide rail; 311. Probe deflection angle adjustment motor; 312. Probe deflection angle adjustment frame; 511. Puncture deflection angle adjustment motor; 512. Puncture deflection angle adjustment frame; 521. Puncture pitch angle adjustment motor; 522. Puncture pitch angle adjustment frame; 2511. Screw motor; 2512. Ball screw. Detailed Implementation

[0036] 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.

[0037] 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.

[0038] 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.

[0039] 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:

[0040] like Figure 1 and Figure 2 As shown, an embodiment of this utility model provides a dual-arm puncture positioning mechanism 100, comprising:

[0041] Two parallel and spaced linear motion units 1, two motion swing arms 2, a probe angle adjustment unit 3, a probe 4, a puncture angle adjustment unit 5, and a puncture execution unit 6;

[0042] Among them, the linear motion unit 1 is connected to the motion swing arm 2 in a one-to-one correspondence and is used to adjust the position of the motion swing arm 2 in the first direction X;

[0043] One of the motion swing arms 2 is connected to the probe angle adjustment unit 3 and is used to adjust the position of the probe angle adjustment unit 3 in the second direction Y and the third direction Z; the other motion swing arm 2 is connected to the puncture angle adjustment unit 5 and is used to adjust the position of the puncture angle adjustment unit 5 in the second direction Y and the third direction Z.

[0044] The probe angle adjustment unit 3 is connected to the probe 4 and is used to adjust the deflection angle of the probe 4;

[0045] The puncture angle adjustment unit 5 is connected to the puncture execution unit 6 and is used to adjust the pitch angle and deflection angle of the puncture execution unit 6.

[0046] Specifically, there are two linear motion units 1 arranged in parallel and spaced apart. Their main function is to provide the motion swing arm 2 connected to them with a position adjustment function in the first direction X, and to perform translational motion along a linear track to change the position of the motion swing arm 2, thereby providing a basis for subsequent precise positioning.

[0047] There are also two motion swing arms 2, each connected to a different unit. One motion swing arm 2 is connected to the probe angle adjustment unit 3, and the other is connected to the puncture angle adjustment unit 5. Driven by the linear motion unit 1, it can adjust the position of the connected unit in the second direction Y and the third direction Z. This means that the motion swing arm 2 can swing and adjust its position in space at multiple angles.

[0048] The probe angle adjustment unit 3 is connected to one of the moving swing arms 2 and is also connected to the probe 4. Its function is to finely adjust the deflection angle of the probe 4 so that the probe 4 can be accurately aligned with the part to be detected or observed, obtain clear and accurate images or data, and provide precise guidance for puncture.

[0049] As a detection component, probe 4 can flexibly adjust its angle under the control of probe angle adjustment unit 3. It is usually used to acquire image information of the human body, such as ultrasound probe 4, to provide real-time image guidance for the puncture process and help doctors accurately determine the puncture location and path.

[0050] The puncture angle adjustment unit 5 is connected to another motion swing arm 2, and is also connected to the puncture execution unit 6. It is mainly responsible for adjusting the pitch and deflection angles of the puncture execution unit 6 to ensure that the needle can enter the human body at an accurate angle and direction, thereby improving the accuracy of puncture and reducing damage to surrounding tissues.

[0051] The puncture execution unit 6 is the component that ultimately performs the puncture action. Under the action of the puncture angle adjustment unit 5, its angle is precisely adjusted, and then the puncture operation is performed to accurately insert the needle into the predetermined position, such as for drug injection, tissue sampling, and other operations.

[0052] The working principle of the dual-arm puncture positioning mechanism 100 provided in this embodiment is as follows:

[0053] The linear motion unit 1 first adjusts the position of the motion swing arm 2 in the first direction X, providing a basic positional adjustment for overall positioning. Then, the motion swing arm 2 drives the probe angle adjustment unit 3 and the puncture angle adjustment unit 5 to move in the second direction Y and the third direction Z, respectively, achieving more flexible spatial positioning. Next, the probe angle adjustment unit 3 and the puncture angle adjustment unit 5 fine-tune the angles of the probe 4 and the puncture execution unit 6, respectively, so that the probe 4 can accurately acquire image information and the puncture execution unit 6 can perform puncture at an accurate angle. The various units cooperate with each other to ultimately achieve precise dual-arm puncture positioning.

[0054] In addition, the dual-arm puncture positioning mechanism 100 can install the probe 4 and the puncture execution unit 6 on the same moving arm 2 according to the actual needs of the surgery, so that the probe 4 moves with the puncture execution unit 6 and can be used synchronously, which improves the flexibility of the dual-arm puncture positioning mechanism 100.

[0055] By adopting the above technical solution, the puncture path can be dynamically adjusted in three dimensions in three-dimensional space through the cooperation of two parallel and spaced linear motion units 1 and two motion swing arms 2, solving the problem of fixed positioning range in traditional mechanisms. The electric drive avoids the jitter error of manual operation, ensuring the consistency and repeatability of the puncture path. The dual independent angle adjustment units can independently control the deflection angle of the probe 4 and the pitch and deflection angles of the puncture execution unit 6. Closed-loop feedback control improves the real-time performance of angle control, solving the defects of fixed angles and inability to dynamically avoid anatomical risks in traditional mechanisms. The dual-arm collaborative mechanism enables parallel operation of "image guidance-puncture execution", improving surgical efficiency. In addition, the automated process shortens the operation time, and precise positioning and angle control reduce the risk of complications, promoting the standardization and precision of puncture surgery.

[0056] Furthermore, by adopting a dual-arm structure, the scanning function of the ultrasound probe 4 and the puncture execution function are assigned to different robotic arms, achieving a revolutionary breakthrough in the flexibility of medical operations. On the one hand, the robotic arm carrying the ultrasound probe 4 can freely adjust its angle and position in three-dimensional space according to scanning needs, acquiring multi-dimensional, high-precision image data in real time, providing clear and comprehensive visual guidance for subsequent puncture operations. On the other hand, the robotic arm performing the puncture is freed from the constraints of traditional single-arm devices that need to handle both scanning and puncture, enabling precise positioning of the target area in complex anatomical structures and avoiding path deviations caused by limited operating space. The dual-arm collaborative working mode not only significantly improves the overall operational flexibility but also effectively shortens surgical preparation and operation time through a division of labor and cooperation mechanism, reducing the risk of tissue damage caused by prolonged operation, and providing a solid technical guarantee for the precise and efficient implementation of minimally invasive interventional surgery. In addition, this structural design reduces hand fatigue and human error for medical staff during operation, enhancing the stability and safety of the surgical process.

[0057] In one embodiment, the linear motion unit 1 includes a first linear slide rail 11 and a first linear drive structure 12. The first linear slide rail 11 defines a first direction X. The motion swing arm 2 is slidably connected to the first linear slide rail 11. The first linear drive structure 12 is used to drive the motion swing arm 2 to move along the first direction X on the first linear slide rail 11.

[0058] Specifically, the linear motion unit 1 includes a first linear slide rail 11 and a first linear drive structure 12. The first linear slide rail 11 defines the movement direction of the moving arm 2 as the first direction X. It provides a sliding track for the moving arm 2, limiting its movement to this linear direction, thus serving as a guide and constraint. The moving arm 2 is slidably connected to the first linear slide rail 11, allowing it to move smoothly in a straight line along the rail. The first linear drive structure 12 provides the power, driving the moving arm 2 to move along the first direction X on the first linear slide rail 11 according to set requirements. This can be achieved through a motor, a lead screw and nut mechanism, etc., converting the rotational motion of the motor into the linear motion of the moving arm 2, thereby precisely controlling the position of the moving arm 2 in the first direction X to meet the adjustment requirements of the dual-arm puncture positioning mechanism 100 in different directions and achieving precise control of the puncture position and angle.

[0059] In one embodiment, the first linear drive structure 12 includes a synchronous belt motor 121 and a synchronous belt 122. The synchronous belt motor 121 is mounted on a linear slide rail and is used to drive the synchronous belt 122 to move. The synchronous belt 122 is wound around the power output shaft of the synchronous belt motor 121 and extends along the linear slide rail. The synchronous belt 122 is connected to the motion swing arm 2.

[0060] Specifically, the synchronous belt motor 121 serves as the power source and is mounted on the linear guide rail. It generates rotational power to provide driving force for the entire first linear drive structure 12, driving the synchronous belt 122 to move through the rotation of its power output shaft.

[0061] The synchronous belt 122 is wound around the power output shaft of the synchronous belt motor 121. When the power output shaft of the synchronous belt motor 121 rotates, it will drive the synchronous belt 122 to move. The synchronous belt 122 extends along the linear slide rail and plays the role of transmitting power, converting the rotational motion of the synchronous belt motor 121 into linear motion along the direction of the linear slide rail.

[0062] The synchronous belt 122 is connected to the moving swing arm 2, so that the linear motion of the synchronous belt 122 can drive the moving swing arm 2 to move along the first direction X on the linear slide rail, thereby achieving precise control of the position of the moving swing arm 2 and meeting the adjustment requirements of the dual-arm puncture positioning mechanism 100 in different directions, ultimately achieving precise control of the puncture position and angle. This driving method has the advantages of high transmission efficiency, high precision, smooth movement, and low noise.

[0063] Please refer to the following: Figure 3 and Figure 4In one embodiment, the motion swing arm 2 includes a swing arm support 21 connected to the linear motion unit 1, a swing arm pitch adjustment structure 22 disposed on the swing arm support 21, a swing arm 23 connected to the swing arm pitch adjustment structure 22, a base 24 connected to the swing arm 23, and a horizontal position adjustment structure 25 disposed on the base 24. The probe angle adjustment unit 3 and the puncture angle adjustment unit 5 are disposed on the corresponding horizontal position adjustment structure 25.

[0064] Specifically, the swing arm support 21 is the part that connects the moving swing arm 2 and the linear motion unit 1. It plays a supporting and connecting role, firmly connecting the moving swing arm 2 and the linear motion unit 1, so that the moving swing arm 2 can move with the movement of the linear motion unit 1. At the same time, it provides an installation base for the swing arm 23 pitch adjustment structure 22.

[0065] The swing arm pitch adjustment structure 22 is mounted on the swing arm support 21 and is used to adjust the pitch angle of the swing arm 23. Through this structure, the swing arm 23 can be angled in the vertical plane, thereby changing the pitch angle of the probe angle adjustment unit 3 and the puncture angle adjustment unit 5 to adapt to different puncture requirements, such as adjusting the puncture depth and direction.

[0066] The swing arm 23 is connected to the swing arm pitch adjustment structure 22 and is one of the main components of the entire moving swing arm 2. It performs pitch movement under the action of the swing arm pitch adjustment structure 22, and at the same time, it serves as a support component for the base 24, connecting the base 24 and the horizontal position adjustment structure 25, probe angle adjustment unit 3 and puncture angle adjustment unit 5 installed on the base 24, and transmitting motion and force.

[0067] The base 24 is connected to the swing arm 23, providing an installation position for the horizontal position adjustment structure 25. It serves to fix and support the horizontal position adjustment structure 25, and transmits the movement of the swing arm 23 to the horizontal position adjustment structure 25, thereby affecting the horizontal position of the probe angle adjustment unit 3 and the puncture angle adjustment unit 5.

[0068] A horizontal position adjustment structure 25 is mounted on the base 24 and is used to adjust the horizontal position of the probe angle adjustment unit 3 and the puncture angle adjustment unit 5. This structure allows for horizontal adjustment of the probe 4 and the puncture execution unit 6 to achieve more precise positioning, such as adjusting the puncture position on the same horizontal plane to accurately reach the target point. The probe angle adjustment unit 3 and the puncture angle adjustment unit 5 are mounted on the corresponding horizontal position adjustment structure 25, allowing for precise control of their horizontal positions. Combined with the adjustment of the swing arm pitch angle by the swing arm pitch adjustment structure 22, precise position and angle control of the probe 4 and the puncture execution unit 6 in space can be achieved to meet the diverse clinical puncture needs of different patients with varying individual differences and complex anatomical structures.

[0069] In one embodiment, one swing arm 23 extends from the first side of the double-arm puncture positioning mechanism 100 toward the second side, and the other swing arm 23 extends from the second side toward the first side from the double-arm puncture positioning mechanism 100, with the two swing arms 23 arranged crosswise.

[0070] Specifically, the dual-arm puncture positioning mechanism 100 has a first side and a second side, with one swing arm 23 extending from the first side toward the second side and the other swing arm 23 extending from the second side toward the first side, so that the two swing arms 23 intersect in the middle area of ​​the mechanism. This intersecting arrangement changes the traditional parallel or unidirectional arrangement of the swing arms 23, making the layout of the swing arms 23 more compact and enabling more flexible movement and positioning within a limited space.

[0071] The cross-arms 23 increase the mechanism's mobility and accessibility. Compared to parallel arms 23, the cross-arms 23 allow for adjustment and positioning of the puncture site from different directions, helping to avoid obstacles on the patient's body and more accurately reach the target puncture site, especially suitable for complex anatomical structures and different puncture needs. Simultaneously, this arrangement may also improve the mechanism's stability and load-bearing capacity, reducing swaying and shaking during puncture, thus improving puncture accuracy and safety. Furthermore, the cross-arms 23 enable coordinated operation of both arms; for example, one arm 23 can be used to position the ultrasound probe 4 for image guidance, while the other arm 23 controls the needle for puncture. This cross-arrangement allows for better spatial coordination between these two operations, improving surgical efficiency.

[0072] In one embodiment, the swing arm support 21 is defined with a third direction Z. A first rotating shaft 211 and a second rotating shaft 212 are provided parallel to each other on the swing arm support 21. A third rotating shaft 213 and a fourth rotating shaft 214 are provided parallel to each other on the base 24. The swing arm 23 includes a first swing arm portion 231 and a second swing arm portion 232. The two ends of the first swing arm portion 231 are rotatably connected to the first rotating shaft 211 and the third rotating shaft 213, respectively. The two ends of the second swing arm portion 232 are rotatably connected to the second rotating shaft 212 and the fourth rotating shaft 214, respectively. The swing arm support 21, the base 24, the first swing arm portion 231 and the second swing arm portion 232 form a parallelogram linkage structure.

[0073] Specifically, the swing arm support 21 defines a third direction Z, providing a reference direction for the movement of the entire structure. The first and second rotating shafts 211 and 212, which are parallel and spaced apart on the swing arm support 21, and the third and fourth rotating shafts 213 and 214, which are parallel and spaced apart on the base 24, are key components connecting the swing arm 23 and enabling its rotation. The two ends of the first swing arm 231 are rotatably connected to the first rotating shaft 211 and the third rotating shaft 213, respectively, and the two ends of the second swing arm 232 are rotatably connected to the second rotating shaft 212 and the fourth rotating shaft 214, respectively. This connection method allows the swing arm support 21, the base 24, the first swing arm 231, and the second swing arm 232 to together form a parallelogram linkage structure.

[0074] The parallelogram linkage structure possesses unique motion characteristics, meaning that opposite sides always remain parallel. In this structure, when the swing arm support 21 is fixed or undergoing a certain movement, the rotation of the first swing arm portion 231 and the second swing arm portion 232 allows the base 24 to translate relative to the swing arm support 21 while maintaining a constant relative angle between the base 24 and the swing arm support 21. This means that components such as the probe angle adjustment unit 3 and the puncture angle adjustment unit 5 mounted on the base 24 can maintain their posture or adjust their posture according to a specific pattern during the movement of the base 24, which is beneficial for achieving precise positioning and angle control during the puncture process.

[0075] This parallelogram-shaped linkage structure increases the stability and flexibility of the swing arm 23's movement. Compared to other structures, it can reduce swaying and vibration during movement to a certain extent, improving puncture accuracy. Simultaneously, the parallelogram-shaped linkage structure allows for more coordinated movement of the swing arm 23 in different directions, better adapting to complex spatial movement requirements. For example, when adjusting the puncture position and angle, different combinations of swing arm 23 movements can achieve more precise and flexible operations, meeting the diverse needs of different patients' anatomical structures and puncture procedures. Furthermore, this structure also helps improve the overall performance and reliability of the dual-arm puncture positioning mechanism 100, providing strong support for achieving automated and precise puncture procedures.

[0076] In one embodiment, a crossed roller bearing is connected between the first swing arm portion 231 and the first rotating shaft 211.

[0077] Specifically, crossed roller bearings are a special type of rolling bearing in which the internal rollers (cylindrical or tapered rollers) are arranged perpendicularly to each other, allowing them to simultaneously withstand radial loads, axial loads, and overturning moments. Compared to ordinary bearings, the crossed roller arrangement provides higher stiffness in all directions, reducing elastic deformation during the movement of the swing arm 23. Sub-micron level rotational accuracy can be achieved, ensuring precise control of the puncture angle. The crossed roller layout allows for multi-directional load bearing within a smaller space, making it suitable for the miniaturization requirements of medical devices.

[0078] In this embodiment, a crossed roller bearing connects the first swing arm 231 and the first rotating shaft 211, enhancing the rotational accuracy of the swing arm 23. Puncture surgery demands extremely high angle control; the high precision of the crossed roller bearing ensures that the angle error of the swing arm 23 is minimized during pitch or yaw movements, avoiding deviations in the puncture path caused by bearing clearance or elastic deformation. During puncture, the swing arm 23 may be subjected to complex loads such as tissue resistance and instrument weight. The high rigidity of the crossed roller bearing effectively resists vibrations or offsets caused by these external forces, ensuring the stability of the puncture operation. Traditional designs may require multiple bearing combinations to withstand multi-directional loads, while the crossed roller bearing can achieve this with a single component, reducing the number of parts, assembly complexity, and the risk of failure.

[0079] Please refer to the following: Figure 5 In one embodiment, the horizontal position adjustment structure 25 includes a second linear drive structure 251 and a second linear slide rail 252. The second linear drive structure 251 is disposed on the base 24, and the second linear slide rail 252 defines a second direction Y. The probe angle adjustment unit 3 and the puncture angle adjustment unit 5 are slidably connected to the corresponding second linear slide rail 252. The second linear drive structure 251 is used to drive the probe angle adjustment unit 3 and the puncture angle adjustment unit 5 to move along the second linear slide rail 252.

[0080] Specifically, the horizontal position adjustment structure 25 includes a second linear drive structure 251 and a second linear slide rail 252. The second linear drive structure 251 is mounted on the base 24 and is the power-providing part, capable of generating driving force. The second linear slide rail 252 defines a second direction Y, providing guidance for the movement of the probe angle adjustment unit 3 and the puncture angle adjustment unit 5, ensuring that they can only slide along the direction defined by the second linear slide rail 252.

[0081] The probe angle adjustment unit 3 and the puncture angle adjustment unit 5 are slidably connected to the corresponding second linear slide rail 252. This connection method allows the two units to move smoothly along the second linear slide rail 252 under the action of the second linear drive structure 251, thereby realizing the adjustment of the horizontal position.

[0082] When the second linear drive structure 251 is working, it generates a driving force along the direction of the second linear slide rail 252. This driving force is transmitted to the probe angle adjustment unit 3 and the puncture angle adjustment unit 5, which are slidably connected to the second linear slide rail 252, causing them to move along the second linear slide rail 252. By controlling the movement of the second linear drive structure 251, the horizontal positions of the probe angle adjustment unit 3 and the puncture angle adjustment unit 5 can be precisely controlled to meet different puncture requirements, such as performing puncture operations at different positions or adjusting the angle of the probe 4 to obtain a better observation angle.

[0083] This horizontal position adjustment structure 25 utilizes a combination of linear drive structure and linear slide rail, which has the advantages of simple structure, high motion accuracy and good stability. It can provide reliable position adjustment function for puncture surgery, which helps to improve the accuracy and success rate of puncture.

[0084] In one embodiment, the second linear drive structure 251 includes a lead screw motor 2511 and a ball screw 2512. The lead screw motor 2511 is mounted on the base 24 and is used to drive the ball screw 2512. The ball screw 2512 is arranged parallel to and spaced apart from the second linear slide rail 252. The ball screw 2512 is connected to the probe angle adjustment unit 3 and the puncture angle adjustment unit 5.

[0085] Specifically, the second linear drive structure 251 includes a lead screw motor 2511 and a ball screw 2512. The lead screw motor 2511 is mounted on the base 24 and provides power to the entire drive structure. The ball screw 2512 is arranged parallel to and spaced apart from the second linear guide rail 252. This arrangement helps to ensure the stability and accuracy of the probe angle adjustment unit 3 and the puncture angle adjustment unit 5 during movement, enabling them to move precisely along a predetermined direction (i.e., the direction defined by the second linear guide rail 252).

[0086] When the lead screw motor 2511 is working, it generates rotational motion. Its output shaft is connected to the ball screw 2512, thereby driving the ball screw 2512 to rotate. According to the working principle of the ball screw 2512, when the ball screw 2512 rotates as the driving body, the nut that mates with it will convert the rotation angle of the lead screw into linear motion according to the lead of the corresponding specification. In this solution, the probe angle adjustment unit 3 and the puncture angle adjustment unit 5 are connected to the nut of the ball screw 2512 (which can be indirectly connected through components such as a nut seat). In this way, the rotational motion of the ball screw 2512 is converted into linear motion of the probe angle adjustment unit 3 and the puncture angle adjustment unit 5 along the direction of the second linear slide rail 252, thereby realizing the horizontal position adjustment of these two units.

[0087] The combination of a lead screw motor 2511 and a ball screw 2512 as the second linear drive structure 251 offers several advantages: First, the ball screw 2512 possesses high precision, accurately converting rotary motion into linear motion, ensuring the positional adjustment accuracy of the probe angle adjustment unit 3 and the puncture angle adjustment unit 5. This is crucial for medical operations requiring precise control of the puncture position and angle. Second, the ball screw 2512 exhibits low frictional resistance and high transmission efficiency, enabling large load movement with relatively small driving force while minimizing energy loss. Furthermore, the lead screw motor 2511 can achieve different movement speeds and positional positioning through precise control. Combined with the ball screw 2512, it can meet the diverse needs for adjusting the position of the probe 4 and needle in various surgical scenarios.

[0088] Please refer to the following: Figure 6 In one embodiment, the puncture angle adjustment unit 5 includes a puncture deflection angle adjustment structure 51 connected to the swing arm 23 and a puncture pitch angle adjustment structure 52 connected to the puncture deflection angle adjustment structure 51. The puncture deflection angle adjustment structure 51 is used to adjust the deflection angle of the puncture pitch angle adjustment structure 52. The puncture pitch angle adjustment structure 52 is connected to the puncture execution unit 6 and is used to adjust the pitch angle of the puncture execution unit 6.

[0089] Specifically, the puncture angle adjustment unit 5 includes a puncture deflection angle adjustment structure 51 and a puncture pitch angle adjustment structure 52. One end of the puncture deflection angle adjustment structure 51 is connected to the swing arm 23, and the other end of the puncture deflection angle adjustment structure 51 is connected to the puncture pitch angle adjustment structure 52, which in turn is connected to the puncture execution unit 6, forming a sequentially connected structural system.

[0090] The function of the puncture deflection angle adjustment structure 51 is to adjust the deflection angle of the puncture pitch angle adjustment structure 52, that is, to allow the puncture pitch angle adjustment structure 52 to rotate at a certain angle on the horizontal plane, changing its direction. The puncture pitch angle adjustment structure 52 is responsible for adjusting the pitch angle of the puncture execution unit 6, enabling the puncture execution unit 6 to adjust its angle in the vertical plane, such as tilting the needle upward or downward to achieve a suitable puncture angle.

[0091] Through the coordinated operation of these two adjustment structures, precise adjustment of the angle of the puncture execution unit 6 can be achieved. First, the approximate direction of the puncture pitch angle adjustment structure 52 is determined by the puncture deflection angle adjustment structure 51. Then, the puncture pitch angle adjustment structure 52 finely adjusts the pitch angle of the puncture execution unit 6, thereby meeting the precise angle requirements in different puncture scenarios. For example, in medical punctures, the angle of the needle can be flexibly adjusted according to the patient's specific condition and the different puncture sites, improving the accuracy and safety of the puncture.

[0092] In one embodiment, the puncture deflection angle adjustment structure 51 includes a puncture deflection angle adjustment motor 511 mounted on the swing arm 23 and a puncture deflection angle adjustment frame 512 connected to the puncture deflection angle adjustment motor 511. The puncture deflection angle adjustment motor 511 is used to drive the puncture deflection angle adjustment frame 512 to rotate around an axis. The puncture deflection angle adjustment frame 512 is connected to the puncture execution unit 6.

[0093] Specifically, the swing arm 23, as a basic support component, is used to mount the puncture deflection angle adjustment motor 511 and serves as the carrier of the entire adjustment structure. It may be part of the robotic arm or transmission mechanism of the puncture device, responsible for providing the motion reference. The puncture deflection angle adjustment motor 511, mounted on the swing arm 23, is the power source component. The motor outputs power through its rotation, driving the movement of subsequent components. The puncture deflection angle adjustment frame 512 is directly connected to the adjustment motor, receiving power from it. It is also connected to the puncture execution unit 6 (such as a needle, surgical instrument, etc.), serving as an intermediate component for transmitting motion.

[0094] In one embodiment, the puncture pitch angle adjustment structure 52 includes a puncture pitch angle adjustment motor 521 mounted on a puncture deflection angle adjustment frame 512 and a puncture pitch angle adjustment frame 522 connected to the puncture pitch angle adjustment motor 521. The puncture pitch angle adjustment motor 521 is used to drive the puncture pitch angle adjustment frame 522 to rotate around an axis. The puncture pitch angle adjustment frame 522 is connected to the puncture execution unit 6.

[0095] Specifically, the puncture pitch angle adjustment structure 52 includes a puncture pitch angle adjustment motor 521 and a puncture pitch angle adjustment frame 522. The puncture pitch angle adjustment motor 521 is mounted on the puncture deflection angle adjustment frame 512, while the puncture pitch angle adjustment frame 522 is connected to the puncture pitch angle adjustment motor 521 and also to the puncture execution unit 6.

[0096] The puncture pitch angle adjustment motor 521 serves as the power source. When activated, it drives the puncture pitch angle adjustment frame 522 to rotate around a specific axis. Since the puncture pitch angle adjustment frame 522 is connected to the puncture execution unit 6, its rotation causes the puncture execution unit 6 to move, thereby adjusting the pitch angle of the puncture execution unit 6 to meet different puncture needs. For example, in medical puncture scenarios, this structure can precisely adjust the needle pitch angle according to the patient's specific condition and the puncture site, improving the accuracy and success rate of the puncture.

[0097] In one embodiment, the puncture execution unit 6 includes a needle holder 61 mounted on the puncture pitch angle adjustment frame 522, a puncture motor 62 mounted on the needle holder 61, a needle 63, and a feed unit 64. The puncture motor 62 is used to drive the needle 63 to move along the feed unit 64.

[0098] Specifically, the puncture pitch angle adjustment frame 522 is the basic support structure of the entire puncture execution unit 6. Its main function is to adjust the puncture pitch angle (such as the tilt angle of the needle 63 relative to the horizontal plane) to adapt to different puncture needs (such as the puncture angle requirements of different parts of the human body). It usually belongs to the angle adjustment module of the puncture equipment and may achieve angle adjustment through mechanical structures (such as gears, slide rails) or motor drive.

[0099] The needle holder 61 is mounted on the puncture pitch angle adjustment frame 522 and is used to fix the puncture motor 62, needle 63, and feed unit 64. It is an intermediate carrier connecting the base frame and the core execution components. It must have sufficient mechanical strength and stability to ensure that the components are fixed in position during puncture and to avoid shaking that affects accuracy.

[0100] The puncture motor 62 is mounted on the needle holder 61 and serves as the power source for the puncture execution unit 6. Its function is to drive the needle 63 to move along the feed unit 64, thereby performing the puncture action (such as linear feed or reciprocating motion). The type of motor may include stepper motors, servo motors, etc., and must meet the requirements for puncture accuracy and speed.

[0101] Needle 63 is an end effector that directly performs puncture operations to penetrate target objects (such as human tissue, experimental samples, etc.).

[0102] The feed unit 64 provides guidance and support for the movement of the needle 63, ensuring that the needle 63 moves precisely in a specific direction. Common forms include mechanical structures such as slide rails, lead screws, and guide rails, which work in conjunction with the puncture motor 62 to achieve feed control of the needle 63 (such as precise adjustment of feed distance and speed).

[0103] In one embodiment, the feeding unit 64 includes a lead screw, a nut, and a guide rod. The lead screw and the guide rod are arranged parallel to each other on the needle holder 61. The nut is drivenly connected to the lead screw, slidably connected to the guide rod, and fixedly connected to the needle 63.

[0104] Specifically, the feed unit 64 includes a lead screw, a nut, and a guide rod. The lead screw and the guide rod are arranged parallel and spaced apart on the needle holder 61. This parallel spacing provides a stable structural basis for subsequent movements, ensuring the linearity and accuracy of the movement of related components.

[0105] The connection between a nut and a lead screw is typically achieved through a threaded engagement. When the lead screw rotates, the nut moves linearly along the axis of the lead screw due to the thread engagement with the lead screw. This is a common way to convert rotational motion into linear motion, allowing precise control of the nut's movement distance and speed, thereby achieving precise position control of the components connected to the nut.

[0106] The nut and guide rod are slidably connected. The guide rod guides the nut's movement, restricting its movement to a direction parallel to the lead screw. This enhances the smoothness and accuracy of the movement, preventing the nut from wobbling or deviating during operation. Simultaneously, this sliding connection reduces frictional resistance during movement, making the nut's movement smoother.

[0107] The nut is fixedly connected to the needle 63. When the lead screw drives the nut to move linearly under the guidance of the guide rod, the nut will drive the needle 63 to move together, thereby realizing the feeding movement of the needle 63 in a specific direction to meet the requirements of relevant equipment or processes for precise control of the position of the needle 63. For example, in some operations that require precise injection, dispensing or other operations related to the position of the needle 63, the position and movement of the needle 63 can be accurately controlled through this feeding unit 64, improving the accuracy and quality of the work.

[0108] In one embodiment, the probe angle adjustment unit 3 includes a probe deflection angle adjustment structure 31 connected to the swing arm 23 and a probe pitch angle adjustment structure 32 connected to the probe deflection angle adjustment structure 31. The probe deflection angle adjustment structure 31 is used to adjust the deflection angle of the probe pitch angle adjustment structure 32. The probe pitch angle adjustment structure 32 is connected to the probe 4 and is used to adjust the pitch angle of the probe 4.

[0109] Specifically, the probe angle adjustment unit 3 includes a probe deflection angle adjustment structure 31 and a probe pitch angle adjustment structure 32. One end of the probe deflection angle adjustment structure 31 is connected to the swing arm 23, and the other end of the probe deflection angle adjustment structure 31 is connected to the probe pitch angle adjustment structure 32, which in turn is connected to the probe 4. This connection method forms a hierarchical structure, whereby the swing arm 23 indirectly controls the angle of the probe 4 through the probe deflection angle adjustment structure 31 and the probe pitch angle adjustment structure 32.

[0110] The function of the probe deflection angle adjustment structure 31 is to adjust the deflection angle of the probe pitch angle adjustment structure 32. In other words, it enables the probe pitch angle adjustment structure 32 to rotate around a certain axis or direction, thereby changing its orientation in space. The probe pitch angle adjustment structure 32 directly acts on the probe 4 to adjust the pitch angle of the probe 4, allowing the probe 4 to rotate up and down in the vertical plane to achieve different detection angles.

[0111] Please refer to the following: Figure 7 In one embodiment, the probe deflection angle adjustment structure 31 includes a probe deflection angle adjustment motor 311 mounted on the swing arm 23 and a probe deflection angle adjustment frame 312 connected to the probe deflection angle adjustment motor 311. The probe deflection angle adjustment motor 311 is used to drive the probe deflection angle adjustment frame 312 to rotate around an axis. The probe deflection angle adjustment frame 312 is connected to the probe 4.

[0112] Specifically, the probe deflection angle adjustment structure 31 includes a probe deflection angle adjustment motor 311 and a probe deflection angle adjustment bracket 312. The probe deflection angle adjustment bracket 312 is connected to the probe deflection angle adjustment motor 311 and also to the probe 4.

[0113] The probe deflection angle adjustment motor 311 serves as a power source, generating a driving torque when it starts. This torque is transmitted to the probe deflection angle adjustment bracket 312, causing it to rotate around a specific axis. Since the probe deflection angle adjustment bracket 312 is connected to the probe 4, its rotation drives the probe 4 to rotate as well, thus adjusting the deflection angle of the probe 4.

[0114] This structural design allows for precise control of the deflection angle of probe 4. By controlling the rotation angle, speed, and direction of motor 311, the posture of probe 4 can be accurately adjusted, enabling it to better align with the puncture target and improving the accuracy and success rate of puncture. Furthermore, mounting the probe deflection angle adjustment motor 311 on the swing arm 23 may facilitate a more rational structural layout, simplifying installation and maintenance, and making the entire puncture robot more compact and stable.

[0115] Specifically, the probe deflection angle adjustment bracket 312 is the basic frame of the entire probe pitch angle adjustment structure 32, used to support the probe pitch angle adjustment motor 321 and the probe pitch angle adjustment bracket 322, and may also be connected to other structures to provide an installation reference.

[0116] Please refer to it again. Figure 1 and Figure 8 In one embodiment, the dual-arm puncture positioning mechanism 100 further includes a base plate 7, on which two linear motion units 1 are arranged in parallel at intervals.

[0117] Specifically, the base plate 7, as the basic support component of the dual-arm puncture positioning mechanism 100, is typically a flat plate structure used to fix and install other components (such as the linear motion unit 1). It provides a stable mounting reference, ensuring the relative positional accuracy of each component, and may also bear the overall load of the mechanism (such as the pressure during puncture).

[0118] There are two linear motion units 1, which form the basis of the "two arms" motion (each linear motion unit 1 corresponds to a motion swing arm 2).

[0119] The two linear motion units 1 move in the same direction (e.g., both horizontally or vertically) and are arranged parallel to each other to ensure that their motion trajectories do not interfere with each other. The two linear motion units 1 maintain a certain distance on the base plate 7 to reserve installation space for the motion swing arm 2 or other components, while also meeting the layout requirements for the coordinated operation of the two arms (e.g., to avoid collisions when the two arms move).

[0120] In one embodiment, the dual-arm puncture positioning mechanism 100 further includes an image acquisition unit 8, which includes a bracket 81 on the base plate 7, a disc seat 82 on the bracket 81, a camera 83 on the disc seat 82, a light source fixing seat 84, and a near-infrared light source 85 on the light source fixing seat 84.

[0121] Specifically, the image acquisition unit 8 plays an auxiliary role in puncture positioning, such as providing visual information to the operator to help determine the puncture location and angle.

[0122] The bracket 81 is mounted on the base plate 7, which is the basic component of the dual-arm puncture positioning mechanism 100. The bracket 81 is used to support other components of the image acquisition unit 8, keeping them in a specific position and height.

[0123] A disc base 82 is provided on the bracket 81. The shape of the disc base 82 may facilitate certain functions, such as making it easier to adjust the angle of the camera 83 or other components, or providing better stability.

[0124] The camera 83 is mounted on the disc base 82. Its function is to collect image information, which may be used to capture real-time images of the puncture site so that the operator can observe the relative position of the needle 63 and the target site, thereby improving the accuracy of puncture.

[0125] The light source holder 84 is used to fix the near-infrared light source 85, making its position relatively stable. The near-infrared light source 85 may be used to illuminate the puncture site. Due to the certain characteristics of near-infrared light, it helps to more clearly display the puncture path or target area, or it may be used for disinfection or other related purposes.

[0126] This solution provides visualization and auxiliary lighting for the puncture process by setting an image acquisition unit 8 in the dual-arm puncture positioning mechanism 100 and using components such as a camera 83 and a near-infrared light source 85, which helps to improve the accuracy and safety of puncture.

[0127] Secondly, a puncture robot is provided, including a moving mechanism and the aforementioned dual-arm puncture positioning mechanism 100, wherein the moving mechanism is connected to the dual-arm puncture positioning mechanism 100.

[0128] By adopting the above technical solution, and through the physical connection and functional coordination of the mobile mechanism and the dual-arm puncture positioning mechanism 100, a "mobile + precise operation" puncture robot system is constructed. Its core lies in the combination of "wide range of mobility" and "high precision positioning" through a composite mechanical structure, which solves the shortcomings of traditional fixed puncture equipment in terms of flexibility or operating range. It is suitable for clinical scenarios that require dynamic adjustment of position, such as intraoperative target point deviation correction and multi-site puncture.

[0129] The above are merely preferred embodiments of the present utility model and are 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 dual arm puncture positioning mechanism, characterized by, include: The system includes two parallel linear motion units, two motion swing arms, a probe angle adjustment unit, a probe, a puncture angle adjustment unit, and a puncture execution unit. The linear motion unit is connected to the motion swing arm in a one-to-one correspondence and is used to adjust the position of the motion swing arm in the first direction; One of the motion swing arms is connected to the probe angle adjustment unit and is used to adjust the position of the probe angle adjustment unit in the second direction and the third direction upward; the other motion swing arm is connected to the puncture angle adjustment unit and is used to adjust the position of the puncture angle adjustment unit in the second direction and the third direction upward; The probe angle adjustment unit is connected to the probe and is used to adjust the deflection angle of the probe; The puncture angle adjustment unit is connected to the puncture execution unit and is used to adjust the pitch angle and yaw angle of the puncture execution unit.

2. The dual arm puncture positioning mechanism of claim 1, wherein, The linear motion unit includes a first linear slide rail and a first linear drive structure. The first linear slide rail defines the first direction. The motion swing arm is slidably connected to the first linear slide rail. The first linear drive structure is used to drive the motion swing arm to move along the first direction on the first linear slide rail.

3. The dual arm puncture positioning mechanism of claim 2, wherein, The first linear drive structure includes a synchronous belt motor and a synchronous belt. The synchronous belt motor is mounted on the linear slide rail and is used to drive the synchronous belt to move. The synchronous belt is wound around the power output shaft of the synchronous belt motor and extends along the linear slide rail. The synchronous belt is connected to the motion swing arm.

4. The dual arm puncture positioning mechanism of claim 1, wherein, The motion swing arm includes a swing arm support base connected to the linear motion unit, a swing arm pitch adjustment structure disposed on the swing arm support base, a swing arm connected to the swing arm pitch adjustment structure, a base connected to the swing arm, and a horizontal position adjustment structure disposed on the base. The probe angle adjustment unit and the puncture angle adjustment unit are disposed on the corresponding horizontal position adjustment structures.

5. The dual arm puncture positioning mechanism of claim 1, wherein, The puncture execution unit includes a needle holder mounted on the puncture pitch angle adjustment frame of the puncture angle adjustment unit, a puncture motor mounted on the needle holder, a needle, and a feeding unit. The puncture motor is used to drive the needle to move along the feeding unit.

6. The dual arm puncture positioning mechanism of claim 5, wherein, The feeding unit includes a lead screw, a nut, and a guide rod. The lead screw and the guide rod are arranged parallel to each other on the needle holder. The nut is drivenly connected to the lead screw, slidably connected to the guide rod, and fixedly connected to the needle.

7. The dual arm puncture positioning mechanism of any one of claims 1 to 6, wherein, The probe angle adjustment unit includes a probe deflection angle adjustment structure connected to the swing arm, which is used to adjust the deflection angle of the probe pitch angle adjustment structure.

8. The dual-arm puncture positioning mechanism as described in any one of claims 1 to 6, characterized in that, The dual-arm puncture positioning mechanism also includes a base plate, on which two linear motion units are arranged in parallel and spaced apart.

9. The dual-arm puncture positioning mechanism as described in claim 8, characterized in that, The dual-arm puncture positioning mechanism also includes an image acquisition unit, which includes a bracket on the base plate, a disc seat on the bracket, a camera on the disc seat, a light source fixing seat, and a near-infrared light source on the light source fixing seat.

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

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