Puncture positioning mechanism and puncture surgical robot

Abstract

This invention provides a puncture positioning mechanism and a puncture surgical robot. The puncture positioning mechanism includes: a frame, a spatial motion unit connected to the frame, a puncture execution unit connected to the spatial motion unit, a vascular imaging unit connected to the puncture execution unit, and an image acquisition unit mounted on the frame. The frame supports the spatial motion unit; the spatial motion unit adjusts the position of the puncture execution unit in three different directions; the puncture execution unit adjusts its pitch and yaw angles and performs the puncture action; the vascular imaging unit projects blood vessels onto the skin surface; and the image acquisition unit acquires vascular images. The various units of the puncture positioning mechanism work closely together, from acquiring vascular images and precisely adjusting their positions to providing visual guidance and executing the puncture action, forming a complete and efficient puncture positioning system that significantly improves the accuracy and safety of puncture operations.

Description

Technical Field

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

[0002] In recent years, surgical robot technology has made significant progress in the medical field, especially the emergence of puncture surgery robots, which has brought new, efficient, precise, and intelligent options to clinical treatment. High-precision puncture is a core element in ensuring medical safety and surgical quality. However, traditional puncture surgery relies heavily on the experience and operational skills of physicians. Significant differences in skills among different physicians lead to large fluctuations in surgical success rates and are prone to complications, severely restricting the standardization and popularization of puncture surgery.

[0003] As an emerging technology, puncture surgical robots, with their advantages of stable operation, precise positioning, and flexible movement, can effectively improve puncture success rates and reduce the risk of human error and complications. However, existing puncture positioning technologies still have limitations in adapting to different surgical needs. For example, the adjustment precision of the puncture position is insufficient, and the flexibility of angle control is limited, making it difficult to meet the personalized puncture needs of complex anatomical structures. Therefore, developing a positioning mechanism that can achieve precise control of the puncture position and angle through electric adjustment is of great significance for further enhancing the clinical application value of puncture surgical robots. Utility Model Content

[0004] The purpose of this invention is to provide a puncture positioning mechanism and a puncture surgical robot to solve the technical problem that the accuracy of puncture positioning and puncture angle of the existing puncture surgical robot is not high.

[0005] To achieve the above objectives, the technical solution adopted by this utility model is as follows:

[0006] Firstly, a puncture positioning mechanism is provided, comprising:

[0007] The frame, a spatial motion unit connected to the frame, a puncture execution unit connected to the spatial motion unit, a vascular imaging unit connected to the puncture execution unit, and an image acquisition unit disposed on the frame;

[0008] The frame supports the spatial motion unit; the spatial motion unit adjusts the position of the puncture execution unit in three different directions; the puncture execution unit adjusts its pitch angle, deflection angle, and performs the puncture action; the vascular imaging unit projects blood vessels onto the skin surface; and the image acquisition unit acquires vascular images.

[0009] By adopting the above technical solutions, the various units of the puncture positioning mechanism work closely together, from acquiring vascular images and accurately adjusting their positions to visual guidance and executing puncture actions, forming a complete and efficient puncture positioning system that significantly improves the accuracy and safety of puncture operations.

[0010] In one embodiment, the spatial motion unit includes an X-axis motion component, a Y-axis motion component, and a Z-axis motion component; the X-axis motion component and the Y-axis motion component are both connected to the frame, and the Z-axis motion component is connected to both the X-axis motion component and the Y-axis motion component; the puncture execution unit is connected to the Z-axis motion component; the X-axis motion component is used to drive the Z-axis motion component and the puncture execution unit to move along the X-axis direction; the Y-axis motion component is used to drive the Z-axis motion component and the puncture execution unit to move along the Y-axis direction; and the Z-axis motion component is used to drive the puncture execution unit to move along the Z-axis direction.

[0011] In one embodiment, the X-axis motion assembly includes a connecting seat connected to the frame, an X-axis motion drive structure connected to the connecting seat, two parallel X-axis fixed rods spaced apart on the connecting seat, X-axis sliding members slidably mounted on the X-axis fixed rods, an X-axis slide rod connecting the two X-axis sliding members, and a motion base slidably connected to the X-axis slide rod; the motion base is connected to the Y-axis motion assembly and the Z-axis motion assembly respectively; the X-axis motion drive structure is used to drive the X-axis sliding members to move along the length direction of the X-axis fixed rods, thereby driving the X-axis slide rods and the motion base to move along the X-axis direction.

[0012] In one embodiment, the Y-axis motion assembly includes a Y-axis motion drive structure connected to the connecting seat, two parallel Y-axis fixed rods spaced apart on the connecting seat, Y-axis sliding members slidably mounted on the Y-axis fixed rods, and a Y-axis slide rod connecting the two Y-axis sliding members. The motion base is slidably connected to the Y-axis slide rod. The Y-axis motion drive structure is used to drive the Y-axis sliding members to move along the length direction of the Y-axis fixed rods, thereby driving the Y-axis slide rod and the motion base to move along the Y-axis direction.

[0013] In one embodiment, the motion base is provided with an X-axis sliding hole and a Y-axis sliding hole. The depth direction of the X-axis sliding hole is perpendicular to the X-axis, and the depth direction of the Y-axis sliding hole is perpendicular to the Y-axis. The X-axis slide rod is clearance-fitted with the X-axis sliding hole, and the X-axis slide rod can slide along the depth direction of the X-axis sliding hole, and the Y-axis slide rod can slide along the depth direction of the Y-axis sliding hole.

[0014] In one embodiment, the X-axis motion drive structure includes an X-axis motion motor connected to the connecting seat, an X-axis pulley correspondingly disposed on the Y-axis fixed rod, and an X-axis synchronous belt wound around the X-axis pulley. The X-axis synchronous belt is connected to the X-axis sliding member, and the X-axis motion motor is drivenly connected to the X-axis pulley, for driving the X-axis synchronous belt to drive the X-axis sliding member to move along the X-axis direction. The Y-axis motion drive structure includes a Y-axis motion motor connected to the connecting seat, a Y-axis pulley correspondingly disposed on the X-axis fixed rod, and a Y-axis synchronous belt wound around the Y-axis pulley. The Y-axis synchronous belt is connected to the Y-axis sliding member, and the Y-axis motion motor is drivenly connected to the Y-axis pulley, for driving the Y-axis synchronous belt to drive the Y-axis sliding member to move along the Y-axis direction.

[0015] In one embodiment, the Z-axis motion assembly includes a Z-axis mounting plate connected to the motion base, a Z-axis motion motor mounted on the Z-axis mounting plate, Z-axis pulleys at both ends of the Z-axis mounting plate in the Z-axis direction, a Z-axis timing belt wound around the Z-axis pulleys, and a Z-axis sliding member fixedly connected to the Z-axis timing belt. The Z-axis sliding member is slidable on the Z-axis mounting plate. The Z-axis timing belt is connected to the Z-axis sliding member, and the Z-axis motion motor is driven by the Z-axis pulleys to drive the Z-axis timing belt to drive the Z-axis sliding member to move along the Z-axis direction.

[0016] In one embodiment, the puncture execution unit includes a pitch angle adjustment component connected to the spatial motion unit, a yaw angle adjustment component connected to the pitch angle adjustment component, and a puncture execution component connected to the yaw angle adjustment component; the pitch angle adjustment component is used to adjust the pitch angle of the yaw angle adjustment component and the puncture execution component; the yaw angle adjustment component is used to adjust the yaw angle of the puncture execution component.

[0017] In one embodiment, the pitch angle adjustment assembly includes a connecting frame connected to the spatial motion unit, a pitch adjustment motor mounted on the connecting frame, and a pitch frame driven by the pitch adjustment motor; the yaw angle adjustment assembly includes a yaw adjustment motor mounted on the pitch frame, a yaw frame driven by the yaw adjustment motor, and a piercing execution assembly mounted on the yaw frame; the pitch adjustment motor is used to drive the pitch frame to rotate about the pitch axis; the yaw adjustment motor is used to drive the yaw frame to rotate about the yaw axis.

[0018] Secondly, a puncture surgical robot is provided, including a moving mechanism and the aforementioned puncture positioning mechanism, wherein the moving mechanism is connected to the puncture positioning mechanism.

[0019] By combining the moving mechanism with the puncture positioning mechanism, precise control is achieved from macroscopic position adjustment to microscopic puncture operation. The moving mechanism ensures that the puncture positioning mechanism can accurately reach the target area, while the puncture positioning mechanism realizes high-precision position and angle adjustment of the puncture needle at the microscopic level. The two complement each other, significantly improving the success rate and accuracy of puncture and reducing surgical risks. Attached Figure Description

[0020] 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.

[0021] Figure 1 This is a three-dimensional structural diagram of the puncture positioning mechanism provided in one embodiment of the present invention.

[0022] Figure 2 This is a three-dimensional structural diagram of the puncture positioning mechanism provided in another embodiment of the present invention.

[0023] Figure 3 This is an exploded view of the puncture positioning mechanism provided in an embodiment of this utility model.

[0024] Figure 4 This is a three-dimensional structural diagram of the spatial motion unit provided in this embodiment of the utility model.

[0025] Figure 5 This is a three-dimensional structural diagram of the motion base provided in an embodiment of this utility model.

[0026] Figure 6 This is an exploded view of the puncture positioning mechanism provided in this embodiment of the utility model.

[0027] The labels for the attached figures are as follows:

[0028] 1. Frame; 2. Spatial motion unit; 3. Puncture execution unit; 4. Vascular imaging unit; 5. Image acquisition unit;

[0029] 11. Photoelectric sensor; 21. X-axis motion assembly; 22. Y-axis motion assembly; 23. Z-axis motion assembly; 31. Pitch angle adjustment assembly; 32. Yaw angle adjustment assembly; 33. Puncture execution assembly;

[0030] 211. Connecting seat; 212. X-axis motion drive structure; 213. X-axis fixed rod; 214. X-axis sliding component; 215. X-axis slide rod; 216. Motion base; 221. Y-axis motion drive structure; 222. Y-axis fixed rod; 223. Y-axis sliding component; 224. Y-axis slide rod; 231. Z-axis mounting plate; 232. Z-axis motion motor; 233. Z-axis pulley; 234. Z-axis synchronous belt; 235. Z-axis sliding component; 311. Connecting frame; 312. Pitch adjustment motor; 313. Pitch frame; 321. Yaw adjustment motor; 322. Yaw frame;

[0031] 2161, X-axis sliding hole; 2162, Y-axis sliding hole; 2121, X-axis motion motor; 2122, X-axis pulley; 2123, X-axis synchronous belt; 2211, Y-axis motion motor; 2212, Y-axis pulley; 2213, Y-axis synchronous belt. Detailed Implementation

[0032] To make the technical problem to be solved, the technical solution, and the 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.

[0033] 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.

[0034] 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.

[0035] 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:

[0036] like Figure 1 and Figure 2 As shown, an embodiment of the present invention provides a puncture positioning mechanism, comprising:

[0037] The frame 1, the spatial motion unit 2 connected to the frame 1, the puncture execution unit 3 connected to the spatial motion unit 2, the vascular imaging unit 4 connected to the puncture execution unit 3, and the image acquisition unit 5 disposed on the frame 1.

[0038] The frame 1 supports the spatial motion unit 2; the spatial motion unit 2 adjusts the position of the puncture execution unit 3 in three different directions; the puncture execution unit 3 adjusts its pitch angle, deflection angle and performs the puncture action; the vascular imaging unit 4 projects the blood vessels onto the skin surface; and the image acquisition unit 5 acquires vascular images.

[0039] Specifically, frame 1 is the basic structure of the entire puncture positioning mechanism. As the core carrier, it is directly connected to the spatial motion unit 2, providing a platform for the installation and support of other functional modules. It is usually made of high-strength, high-rigidity materials, such as metal alloys or high-performance engineering plastics, to ensure stability when bearing the weight and movement of each module.

[0040] The core function of frame 1 is to support the spatial motion unit 2, maintaining the spatial stability and structural integrity of the entire mechanism. It provides the physical basis for the orderly operation of subsequent modules, ensuring that the accuracy of puncture positioning is not affected by structural instability during the movement of each module.

[0041] The spatial motion unit 2 is connected to the frame 1 and also to the puncture execution unit 3, and is generally composed of multiple motion axes and drive components. These components work together to achieve the position adjustment of the puncture execution unit 3 in three-dimensional space.

[0042] The spatial motion unit 2 can adjust the position of the puncture execution unit 3 in three different directions (usually the X, Y, and Z axes). By precisely controlling the movement of each axis, the puncture execution unit 3 can accurately reach the spatial position of the target blood vessel, meeting the positional accuracy requirements of different puncture scenarios and laying the foundation for subsequent puncture operations.

[0043] The puncture execution unit 3 is connected to the spatial motion unit 2 and also to the vascular imaging unit 4. It integrates an angle adjustment mechanism and a puncture drive mechanism. The angle adjustment mechanism is used to control its own pitch and yaw angles, while the puncture drive device is responsible for performing the puncture action.

[0044] The puncture execution unit 3 can adjust its own pitch angle, that is, change the angle between the puncture needle and the skin surface, as well as the deflection angle, and adjust the rotation direction of the needle in the horizontal plane to adapt to blood vessels with different orientations and avoid surrounding tissues; on the other hand, it can quickly and accurately perform puncture actions to ensure the accuracy and stability of puncture.

[0045] The vascular imaging unit 4 is connected to the puncture execution unit 3 and typically includes an image receiving and processing module, a projection device, etc. It receives data from other units and outputs the processed results through the projection device.

[0046] The main function of the vascular imaging unit 4 is to clearly map the location information of blood vessels onto the skin surface through optical projection. Utilizing advanced imaging technology and algorithms, it transforms the shape and location of blood vessels into visual markers, providing operators with intuitive puncture guidance and significantly reducing the difficulty and risk of puncture procedures.

[0047] The image acquisition unit 5 is directly mounted on the frame 1. Common types include ultrasound probes, optical cameras, and angiography equipment. These devices can acquire image information of blood vessels and transmit the data to other related modules for processing.

[0048] Image acquisition unit 5 is responsible for acquiring vascular images, providing basic data for the entire puncture positioning process. The vascular image information it acquires is processed and used to guide the work of spatial motion unit 2 and vascular imaging unit 4, ensuring the accuracy and reliability of puncture positioning.

[0049] By adopting the above technical solutions, the various units of the puncture positioning mechanism work closely together, from acquiring vascular images and accurately adjusting their positions to visual guidance and executing puncture actions, forming a complete and efficient puncture positioning system that significantly improves the accuracy and safety of puncture operations.

[0050] Please refer to the following: Figure 3 and Figure 4 In one embodiment, the spatial motion unit 2 includes an X-axis motion component 21, a Y-axis motion component 22, and a Z-axis motion component 23; the X-axis motion component 21 and the Y-axis motion component 22 are both connected to the frame 1, and the Z-axis motion component 23 is connected to the X-axis motion component 21 and the Y-axis motion component 22 respectively; the puncture execution unit 3 is connected to the Z-axis motion component 23; the X-axis motion component 21 is used to drive the Z-axis motion component 23 and the puncture execution unit 3 to move along the X-axis direction; the Y-axis motion component 22 is used to drive the Z-axis motion component 23 and the puncture execution unit 3 to move along the Y-axis direction; and the Z-axis motion component 23 is used to drive the puncture execution unit 3 to move along the Z-axis direction.

[0051] Specifically, the spatial motion unit 2 includes an X-axis motion component 21, a Y-axis motion component 22, and a Z-axis motion component 23.

[0052] The X-axis motion component 21 and the Y-axis motion component 22 are directly connected to the frame 1, serving as the basic support for the spatial motion unit 2. They are fixed at specific positions on the frame 1 to ensure motion stability.

[0053] The Z-axis motion component 23 is connected to the X-axis motion component 21 and the Y-axis motion component 22 respectively. This connection allows the Z-axis motion component 23 to move in the X-axis and Y-axis directions. The puncture execution unit 3 is connected to the Z-axis motion component 23, enabling it to move vertically along the Z-axis and adjust its position in the plane by means of movement in the X-axis and Y-axis directions.

[0054] The core function of the X-axis motion assembly 21 is to drive the Z-axis motion assembly 23 and the puncture execution unit 3 to move along the X-axis direction. When the drive motor starts, the rotational motion of the motor is converted into linear motion of the Z-axis motion assembly 23 in the X-axis direction through the transmission mechanism (such as the rotation of the lead screw driving the slider to slide along the guide rail), thereby changing the left and right position of the puncture execution unit 3 in the horizontal direction.

[0055] Similar to the X-axis motion assembly 21, the Y-axis motion assembly 22 drives the Z-axis motion assembly 23 and the puncture execution unit 3 to move along the Y-axis direction during operation. Through motor drive and transmission mechanism, the position adjustment of the puncture execution unit 3 in the horizontal direction can be realized. In cooperation with the X-axis motion assembly 21, the puncture execution unit 3 can be positioned at any coordinate point in the horizontal plane.

[0056] The Z-axis motion component 23 is mainly responsible for driving the puncture execution unit 3 to move along the Z-axis direction, that is, controlling the position of the puncture execution unit 3 in the vertical direction. It can adjust the vertical distance between the puncture needle and the skin surface to adapt to the needs of vascular puncture at different depths.

[0057] Through the independent driving and coordinated operation of the X-axis motion component 21, Y-axis motion component 22, and Z-axis motion component 23, the puncture execution unit 3 can perform precise positioning at the micron or even sub-millimeter level in three-dimensional space, significantly improving the accuracy of puncture operations and reducing the risk of puncture failure or tissue damage caused by positioning deviation.

[0058] This structural design enables the puncture positioning mechanism to flexibly respond to complex clinical scenarios. Whether the blood vessels are deep or irregularly distributed, or the patient is in a special position, the position of the puncture execution unit 3 can be quickly adjusted through the combination of three-axis movements to meet diverse puncture needs.

[0059] In one embodiment, the X-axis motion assembly 21 includes a connecting seat 211 connected to the frame 1, an X-axis motion drive structure 212 connected to the connecting seat 211, two parallel X-axis fixed rods 213 spaced apart on the connecting seat 211, X-axis sliding members 214 correspondingly slidably mounted on the X-axis fixed rods 213, an X-axis sliding rod 215 connecting the two X-axis sliding members 214, and a motion base 216 slidably connected to the X-axis sliding rod 215; the motion base 216 is connected to the Y-axis motion assembly 22 and the Z-axis motion assembly 23 respectively; the X-axis motion drive structure 212 is used to drive the X-axis sliding members 214 to move along the length direction of the X-axis fixed rods 213, thereby driving the X-axis sliding rods 215 and the motion base 216 to move along the X-axis direction.

[0060] Specifically, the connecting seat 211 serves as the connection hub between the X-axis motion assembly 21 and the frame 1, and is responsible for securely mounting the entire X-axis motion assembly 21 onto the frame 1, providing basic support.

[0061] The X-axis motion drive structure 212 is the power source for motion in the X-axis direction.

[0062] Two X-axis fixing rods 213 are arranged in parallel and spaced apart to provide a guide track for the linear motion of the X-axis sliding member 214.

[0063] Two X-axis sliding members 214 are respectively sleeved on the X-axis fixed rod 213 and can slide freely along the length direction of the X-axis fixed rod 213.

[0064] The X-axis slide bar 215 connects two X-axis sliding parts 214 to transmit motion synchronously, ensuring the stability and consistency of sliding.

[0065] The motion base 216 is slidably connected to the X-axis slide bar 215 and also serves as the mounting carrier for the Y-axis motion assembly 22 and the Z-axis motion assembly 23, enabling the transmission of X-axis motion to other axis assemblies.

[0066] By adopting the above technical solution, the design of two parallel X-axis fixed rods 213 in conjunction with the X-axis sliding member 214 forms a double-track guide structure, which can effectively reduce swaying and offset during movement and improve movement accuracy and stability. At the same time, the design of the X-axis slide rod 215 connecting the two X-axis sliding members 214 ensures the synchronicity of sliding on both sides, avoids positional deviation caused by uneven force, and helps to achieve precise positioning of the puncture execution unit 3 in the X-axis direction.

[0067] In one embodiment, the Y-axis motion assembly 22 includes a Y-axis motion drive structure 221 connected to the connecting seat 211, two parallel Y-axis fixed rods 222 spaced apart on the connecting seat 211, Y-axis sliding members 223 corresponding to each other slidably on the Y-axis fixed rods 222, and a Y-axis slide rod 224 connecting the two Y-axis sliding members 223. The motion base 216 is slidably connected to the Y-axis slide rod 224. The Y-axis motion drive structure 221 is used to drive the Y-axis sliding members 223 to move along the length direction of the Y-axis fixed rods 222, thereby driving the Y-axis slide rod 224 and the motion base 216 to move along the Y-axis direction.

[0068] Specifically, the Y-axis motion drive structure 221 serves as the power core, providing power for motion in the Y-axis direction.

[0069] Two Y-axis fixed rods 222 are parallel and spaced apart, serving as guide rails for the Y-axis sliding member 223 to ensure stable sliding and good linearity.

[0070] Two Y-axis sliding parts 223 are respectively sleeved on the Y-axis fixed rod 222 and can slide freely along the length of the Y-axis fixed rod 222. They are key intermediates for motion transmission.

[0071] Y-axis slider 224 connects two Y-axis sliders 223, which play a role in synchronously transmitting motion and maintaining the stability of the slider spacing, thus ensuring the consistency and stability of the motion.

[0072] The motion base 216 is slidably connected to the Y-axis slide bar 224. It is not only the terminal carrier of the Y-axis motion component 22, but also used to connect related components in the Z-axis motion component 23 and the X-axis motion component 21 to achieve multi-axis motion coordination.

[0073] The Y-axis motion assembly 22 uses the connecting seat 211 as the mounting base. The Y-axis motion drive structure 221 is fixed on the connecting seat 211 and directly drives the Y-axis slider 223. The Y-axis fixing rod 222 is installed parallel to the connecting seat 211 to provide guidance for the slider. The Y-axis slider 223 is connected through the Y-axis slide bar 224 to ensure synchronous movement on both sides. The motion base 216 is slidably connected to the Y-axis slide bar 224, receives the movement in the Y-axis direction, and transmits it to the subsequent components to form a complete motion connection system.

[0074] By adopting the above technical solution, the two parallel Y-axis fixing rods 222, combined with the double-rail guide design of the sliding component, effectively suppress swaying and offset during movement, significantly improving the accuracy and stability of movement in the Y-axis direction. The structure of the Y-axis slide rod 224 connecting the two sliding components ensures synchronous sliding on both sides, avoiding positional deviation caused by uneven force, and providing a reliable guarantee for the accurate positioning of the puncture execution unit 3 in the Y-axis direction.

[0075] Please refer to the following: Figure 5 In one embodiment, the motion base 216 is provided with an X-axis sliding hole 2161 and a Y-axis sliding hole 2162. The depth direction of the X-axis sliding hole 2161 is perpendicular to the X-axis direction, and the depth direction of the Y-axis sliding hole 2162 is perpendicular to the Y-axis direction. The X-axis slide rod 215 is clearance-fitted with the X-axis sliding hole 2161. The X-axis slide rod 215 can slide along the depth direction of the X-axis sliding hole 2161, and the Y-axis slide rod 224 can slide along the depth direction of the Y-axis sliding hole 2162.

[0076] Specifically, the motion base 216 serves as the junction of the X-axis motion assembly 21, the Y-axis motion assembly 22, and the Z-axis motion assembly 23, and its core structure lies in the X-axis sliding hole 2161 and the Y-axis sliding hole 2162:

[0077] The depth direction of the X-axis sliding hole 2161 is perpendicular to the X-axis, and it is used to cooperate with the X-axis slide rod 215 to provide a sliding track for the X-axis slide rod 215 along the X-axis direction.

[0078] The depth direction of the Y-axis sliding hole 2162 is perpendicular to the Y-axis, and it is used to cooperate with the Y-axis slide bar 224 to provide a sliding track for the Y-axis slide bar 224 along the Y-axis direction.

[0079] The X-axis slide bar 215 and the X-axis sliding hole 2161, and the Y-axis slide bar 224 and the Y-axis sliding hole 2162, all adopt a clearance fit to ensure that the slide bars can slide freely in the holes while maintaining a stable relative position and avoiding wobbling.

[0080] Through the independent sliding engagement of the X-axis sliding hole 2161 and the Y-axis sliding hole 2162 with the corresponding slide rods, the motion base 216 can simultaneously receive movements in the X and Y axes and synthesize and transmit them to the Z-axis motion component 23 and the puncture execution unit 3. This design allows the X and Y axis movements to proceed without interference, while also enabling precise spatial position adjustment at the motion base 216, providing a foundation for three-dimensional positioning.

[0081] In one embodiment, the X-axis motion drive structure 212 includes an X-axis motion motor 2121 connected to the connecting seat 211, an X-axis pulley 2122 correspondingly disposed on the Y-axis fixed rod 222, and an X-axis synchronous belt 2123 wound around the X-axis pulley 2122. The X-axis synchronous belt 2123 is connected to the X-axis sliding member 214, and the X-axis motion motor 2121 is drive-connected to the X-axis pulley 2122, for driving the X-axis synchronous belt 2123 to drive the X-axis sliding member 214 along the X-axis. The Y-axis motion drive structure 221 includes a Y-axis motion motor 2211 connected to the connecting seat 211, a Y-axis pulley 2212 correspondingly disposed on the X-axis fixed rod 213, and a Y-axis synchronous belt 2213 wound around the Y-axis pulley 2212. The Y-axis synchronous belt 2213 is connected to the Y-axis sliding member 223, and the Y-axis motion motor 2211 is connected to the Y-axis pulley 2212 for transmission, which drives the Y-axis synchronous belt 2213 to drive the Y-axis sliding member 223 to move along the Y-axis direction.

[0082] Specifically, the X-axis motion motor 2121 is fixedly connected to the connecting seat 211, serving as a power source to provide rotational driving force.

[0083] The X-axis pulley 2122 is correspondingly mounted on the Y-axis fixed rod 222, serving to change the transmission direction and tension the synchronous belt.

[0084] The X-axis synchronous belt 2123 is wound around the X-axis pulley 2122, and one end is connected to the X-axis sliding member 214 to transmit the power of the motor.

[0085] The X-axis motion motor 2121 is connected to the X-axis pulley 2122 through a transmission device (such as a gear or coupling). The X-axis synchronous belt 2123 is fitted onto the pulley and fixed to the X-axis sliding member 214, forming a transmission link of "motor-pulley-synchronous belt-sliding member".

[0086] After the X-axis motion motor 2121 starts, it outputs rotational power, which drives the X-axis pulley 2122 to rotate through the transmission device. Synchronous belt drive: When the X-axis pulley 2122 rotates, it drives the X-axis synchronous belt 2123 wound around it to move. Since the synchronous belt is fixedly connected to the X-axis sliding member 214, the linear motion of the synchronous belt directly drives the X-axis sliding member 214 to slide along the X-axis fixed rod 213.

[0087] The Y-axis motion motor 2211 is fixedly connected to the connecting seat 211, providing rotational power in the Y-axis direction.

[0088] The Y-axis pulley 2212 is correspondingly mounted on the X-axis fixed rod 213 to change the transmission direction and support the synchronous belt.

[0089] The Y-axis synchronous belt 2213 is wound around the Y-axis pulley 2212, and one end is connected to the Y-axis sliding member 223 to transmit motor power.

[0090] The Y-axis motion motor 2211 is connected to the Y-axis pulley 2212 through a transmission device. The Y-axis synchronous belt 2213 is sleeved on the pulley and fixed to the Y-axis sliding member 223, realizing the transmission of power from the motor to the sliding member.

[0091] The Y-axis motion motor 2211 starts and drives the Y-axis pulley 2212 to rotate through the transmission device. The Y-axis pulley 2212 drives the Y-axis synchronous belt 2213 to move, and the Y-axis synchronous belt 2213 then pulls the Y-axis sliding member 223 to slide along the Y-axis fixed rod 222.

[0092] Motion extension: The movement of the Y-axis slider 223 is transmitted to the motion base 216 through the Y-axis slide bar 224, realizing the position adjustment of the motion base 216 and connected components along the Y-axis direction.

[0093] By adopting the above technical solution, the synchronous belt drive has the characteristics of no slippage and accurate transmission ratio, which can accurately convert the rotational motion of the motor into the linear motion of the sliding parts, avoid the slippage of the traditional chain drive or the gap error of the gear drive, and improve the positioning accuracy of the puncture execution unit 3.

[0094] Please refer to the following: Figure 6 In one embodiment, a photoelectric sensor 11 is provided on the frame 1. The photoelectric sensor 11 is used to detect and limit the operating range of the X-axis slider 214 and the Y-axis slider 223 to ensure the safe operation of the equipment.

[0095] In one embodiment, the Z-axis motion assembly 23 includes a Z-axis mounting plate 231 connected to the motion base 216, a Z-axis motion motor 232 mounted on the Z-axis mounting plate 231, Z-axis pulleys 233 at both ends of the Z-axis mounting plate 231 in the Z-axis direction, a Z-axis synchronous belt 234 wound around the Z-axis pulleys 233, and a Z-axis sliding member 235 fixedly connected to the Z-axis synchronous belt 234. The Z-axis sliding member 235 can slide on the Z-axis mounting plate 231. The Z-axis synchronous belt 234 is connected to the Z-axis sliding member 235, and the Z-axis motion motor 232 is drivenly connected to the Z-axis pulleys 233 to drive the Z-axis synchronous belt 234 to drive the Z-axis sliding member 235 to move along the Z-axis direction.

[0096] Specifically, the Z-axis mounting plate 231 is connected to the motion base 216, serving as the basic carrier of the Z-axis motion assembly 23, providing a mounting platform for other components, and ensuring the stability of the overall structure of the assembly.

[0097] The Z-axis motion motor 232 is mounted on the Z-axis mounting plate 231 and serves as a power source, outputting rotational driving force.

[0098] One Z-axis pulley 233 is provided at each end of the Z-axis mounting plate 231 along the Z-axis direction, and is used to support and guide the Z-axis synchronous belt 234 and change the transmission direction.

[0099] The Z-axis synchronous belt 234 is wound around the Z-axis pulley 233, and one end is fixedly connected to the Z-axis sliding member 235 to transmit the power of the Z-axis motion motor 232.

[0100] Z-axis slider 235 is connected to Z-axis synchronous belt 234 and can slide along the Z-axis direction on Z-axis mounting plate 231. It is the terminal actuator for realizing vertical movement.

[0101] The Z-axis mounting plate 231 is fixedly connected to the motion base 216 to form a stable mounting foundation; the Z-axis motion motor 232 is directly mounted on the Z-axis mounting plate 231; the Z-axis pulley 233 is fixed to both ends of the Z-axis mounting plate 231; the Z-axis synchronous belt 234 is sleeved on the pulley and tightly connected to the Z-axis sliding component 235 to form a complete transmission link of "motor-pulley-synchronous belt-sliding component".

[0102] After the Z-axis motion motor 232 is started, it outputs rotational power, which is connected to the Z-axis pulley 233 through a transmission device (such as a gear or coupling), driving the Z-axis pulley 233 to rotate.

[0103] When the Z-axis pulley 233 rotates, it drives the Z-axis synchronous belt 234 wound around it to move. Since the Z-axis synchronous belt 234 is fixedly connected to the Z-axis sliding member 235, the linear motion of the Z-axis synchronous belt 234 directly drives the Z-axis sliding member 235 to slide along the Z-axis mounting plate 231 in the vertical direction (Z-axis direction).

[0104] The movement of the Z-axis slider 235 is further transmitted to the puncture execution unit 3 connected to it, thereby realizing the position adjustment of the puncture execution unit 3 in the Z-axis direction to adapt to the puncture needs of blood vessels at different depths.

[0105] By adopting the above technical solution, the synchronous belt drive has the characteristics of no slippage and precise transmission ratio, which can accurately convert the rotational motion of the motor into the linear motion of the Z-axis sliding member 235, avoid the puncture depth deviation caused by transmission error, ensure the positioning accuracy of the puncture execution unit 3 in the vertical direction, and reduce the puncture risk.

[0106] In one embodiment, the puncture execution unit 3 includes a pitch angle adjustment component 31 connected to the spatial motion unit 2, a deflection angle adjustment component 32 connected to the pitch angle adjustment component 31, and a puncture execution component 33 connected to the deflection angle adjustment component 32; the pitch angle adjustment component 31 is used to adjust the pitch angle of the deflection angle adjustment component 32 and the puncture execution component 33; the deflection angle adjustment component 32 is used to adjust the deflection angle of the puncture execution component 33.

[0107] Specifically, the pitch angle adjustment component 31 serves as a bridge connecting the spatial motion unit 2 and the deflection angle adjustment component 32, and is used to control the angle change of the puncture execution unit 3 in the vertical plane.

[0108] The deflection angle adjustment component 32 is connected between the pitch angle adjustment component 31 and the puncture execution component 33, and is responsible for controlling the rotation of the puncture execution component 33 in the horizontal plane.

[0109] The puncture execution component 33 is the terminal execution component that directly performs the puncture action. It generally includes a puncture needle, a push rod mechanism, and a power device (such as a cylinder or electric push rod).

[0110] The puncture execution unit 3 adopts a hierarchical series connection: the spatial motion unit 2 is first connected to the pitch angle adjustment component 31, providing a basic position for subsequent components; the pitch angle adjustment component 31 is connected to the yaw angle adjustment component 32, transmitting pitch angle changes to the next level; the yaw angle adjustment component 32 is then connected to the puncture execution component 33, ultimately achieving comprehensive adjustment of the puncture angle. This connection method ensures clear division of labor among components and prevents interference between their movements.

[0111] In one embodiment, the pitch angle adjustment assembly 31 includes a connecting frame 311 connected to the spatial motion unit 2, a pitch adjustment motor 312 mounted on the connecting frame 311, and a pitch frame 313 driven by the pitch adjustment motor 312; the yaw angle adjustment assembly 32 includes a yaw adjustment motor 321 mounted on the pitch frame 313, a yaw frame 322 driven by the yaw adjustment motor 321, and a piercing execution assembly 33 mounted on the yaw frame 322; the pitch adjustment motor 312 is used to drive the pitch frame 313 to rotate around the pitch axis; the yaw adjustment motor 321 is used to drive the yaw frame 322 to rotate around the yaw axis.

[0112] Specifically, the connecting frame 311 serves as the basic carrier of the component and is directly connected to the spatial motion unit 2, providing an installation platform for other components and ensuring structural stability.

[0113] The pitch adjustment motor 312 is mounted on the connecting bracket 311 and serves as the power source for pitch angle adjustment, outputting rotational driving force.

[0114] The pitch mount 313 is connected to the pitch adjustment motor 312 and can rotate around the pitch axis, driving subsequent components to achieve angle changes in the vertical plane.

[0115] The deflection adjustment motor 321 is mounted on the pitch frame 313 and is responsible for controlling the rotation of the deflection frame 322 in the horizontal plane. It is the core power source for adjusting the deflection angle.

[0116] The deflection frame 322 is connected to the deflection adjustment motor 321 and can rotate around the deflection shaft, directly bearing the puncture execution component 33 and transmitting the angle adjustment action.

[0117] The puncture execution component 33 is mounted on the deflection frame 322 and performs the puncture action after angle adjustment. The connecting frame 311 is fixedly connected to the spatial motion unit 2 to form a stable foundation; the pitch adjustment motor 312 is mounted on the connecting frame 311 and connected to the pitch frame 313 through a transmission device (such as a gear or coupling); the pitch frame 313 carries the deflection adjustment motor 321, which is then connected to the deflection frame 322 through a transmission device; the deflection frame 322 is finally connected to the puncture execution component 33, forming a hierarchical connection link of "spatial motion unit 2 - connecting frame 311 - pitch adjustment motor 312 - pitch frame 313 - deflection adjustment motor 321 - deflection frame 322 - puncture execution component 33".

[0118] After the pitch adjustment motor 312 starts, its output rotational power is transmitted to the pitch frame 313 through a transmission device, driving the pitch frame 313 to rotate around the pitch axis. Since the deflection adjustment motor 321, the deflection frame 322, and the puncture execution component 33 are all mounted on the pitch frame 313, they will rotate synchronously with the pitch frame 313, realizing the angle change of the puncture execution component 33 in the vertical plane. For example, when it is necessary to adjust the puncture needle from a vertical position to a 45° tilt, the pitch adjustment motor 312 receives a control command, precisely rotates the corresponding angle, and drives the entire subsequent component to complete the pitch angle adjustment.

[0119] After the pitch angle adjustment is completed, the deflection adjustment motor 321 starts. Its output rotational power is transmitted to the deflection frame 322 via a transmission device, causing the deflection frame 322 to rotate around the deflection axis. At this time, the puncture execution component 33 mounted on the deflection frame 322 rotates accordingly, achieving angle adjustment in the horizontal plane. For example, when there are obstacles around the blood vessel, the deflection adjustment motor 321 can control the rotation of the deflection frame 322, driving the puncture needle to avoid the obstacles and select the optimal puncture direction.

[0120] By adopting the above technical solution, the angle of the puncture execution component 33 can be independently adjusted in the vertical and horizontal planes through the independent driving of the pitch adjustment motor 312 and the deflection adjustment motor 321. Compared with the single motor control method, the flexibility and accuracy of angle adjustment are greatly improved, which can adapt to complex blood vessel routes and puncture needs.

[0121] Secondly, a puncture surgical robot is provided, including a moving mechanism and the aforementioned puncture positioning mechanism, wherein the moving mechanism is connected to the puncture positioning mechanism.

[0122] Specifically, the mobile mechanism, as the robot's motion carrier, is responsible for supporting the puncture positioning mechanism and enabling its positional movement within the surgical space. Common mobile mechanisms include wheeled mobile chassis, track-based mobile devices, or robotic arm-type mobile structures. Wheeled mobile chassis allow for free movement and are suitable for rapid deployment in different surgical scenarios; track-based mobile devices can move precisely on pre-set tracks, providing a stable motion path; and robotic arm-type mobile structures can achieve flexible movement with multiple degrees of freedom, adapting to complex surgical environments.

[0123] The puncture positioning mechanism includes a spatial motion unit 2 (X-axis motion component 21, Y-axis motion component 22, Z-axis motion component 23) and a puncture execution unit 3 (pitch angle adjustment component 31, deflection angle adjustment component 32, puncture execution component 33), which is responsible for precisely adjusting the position and angle of the puncture needle to ensure the accuracy of the puncture operation.

[0124] The mobile mechanism moves flexibly within the operating room according to surgical needs and physician instructions. For example, during bedside puncture procedures, a wheeled mobile chassis can quickly push the puncture robot to the patient's bedside and adjust the chassis posture to align the puncture positioning mechanism with the patient's puncture site. When performing surgery on a fixed operating table, a track-based mobile device can precisely move the puncture positioning mechanism to the target position along a preset track, ensuring the puncture operation is performed in the optimal position.

[0125] Once the moving mechanism reaches the designated position, the puncture positioning mechanism begins operation. The X-axis motion component 21, Y-axis motion component 22, and Z-axis motion component 23 of the spatial motion unit 2 move in tandem to move the puncture execution unit 3 to the approximate location of the target puncture point. Subsequently, the pitch angle adjustment component 31 and deflection angle adjustment component 32 of the puncture execution unit 3 make fine angle adjustments to the puncture needle according to the actual position and angle of the blood vessel or lesion. Finally, after adjusting the position and angle, the puncture execution component 33 performs the puncture action to complete the precise puncture.

[0126] By combining the moving mechanism with the puncture positioning mechanism, precise control is achieved from macroscopic position adjustment to microscopic puncture operation. The moving mechanism ensures that the puncture positioning mechanism can accurately reach the target area, while the puncture positioning mechanism realizes high-precision position and angle adjustment of the puncture needle at the microscopic level. The two complement each other, significantly improving the success rate and accuracy of puncture and reducing surgical risks.

[0127] 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 piercing positioning mechanism, characterized by, include: The frame, a spatial motion unit connected to the frame, a puncture execution unit connected to the spatial motion unit, a vascular imaging unit connected to the puncture execution unit, and an image acquisition unit disposed on the frame; The frame supports the spatial motion unit; the spatial motion unit adjusts the position of the puncture execution unit in three different directions; the puncture execution unit adjusts its pitch angle, deflection angle, and performs the puncture action; the vascular imaging unit projects blood vessels onto the skin surface; and the image acquisition unit acquires vascular images.

2. The piercing positioning mechanism of claim 1, wherein, The spatial motion unit includes an X-axis motion component, a Y-axis motion component, and a Z-axis motion component; the X-axis motion component and the Y-axis motion component are both connected to the frame, and the Z-axis motion component is connected to both the X-axis motion component and the Y-axis motion component; the puncture execution unit is connected to the Z-axis motion component; the X-axis motion component is used to drive the Z-axis motion component and the puncture execution unit to move along the X-axis direction; the Y-axis motion component is used to drive the Z-axis motion component and the puncture execution unit to move along the Y-axis direction; and the Z-axis motion component is used to drive the puncture execution unit to move along the Z-axis direction.

3. The piercing positioning mechanism of claim 2, wherein, The X-axis motion assembly includes a connecting seat connected to the frame, an X-axis motion drive structure connected to the connecting seat, two parallel and spaced X-axis fixed rods on the connecting seat, X-axis sliding members slidably mounted on the X-axis fixed rods, an X-axis slide rod connecting the two X-axis sliding members, and a motion base slidably connected to the X-axis slide rod; the motion base is connected to the Y-axis motion assembly and the Z-axis motion assembly respectively; the X-axis motion drive structure is used to drive the X-axis sliding members to move along the length direction of the X-axis fixed rods, thereby driving the X-axis slide rods and the motion base to move along the X-axis direction.

4. The piercing positioning mechanism of claim 3, wherein, The Y-axis motion assembly includes a Y-axis motion drive structure connected to the connecting seat, two parallel Y-axis fixed rods spaced apart on the connecting seat, Y-axis sliding members slidably mounted on the Y-axis fixed rods, and a Y-axis slide rod connecting the two Y-axis sliding members. The motion base is slidably connected to the Y-axis slide rod. The Y-axis motion drive structure is used to drive the Y-axis sliding members to move along the length direction of the Y-axis fixed rods, thereby driving the Y-axis slide rod and the motion base to move along the Y-axis direction.

5. The piercing positioning mechanism of claim 4, wherein, The motion base is provided with an X-axis sliding hole and a Y-axis sliding hole. The depth direction of the X-axis sliding hole is perpendicular to the X-axis, and the depth direction of the Y-axis sliding hole is perpendicular to the Y-axis. The X-axis slide rod is clearance-fitted with the X-axis sliding hole, and the X-axis slide rod can slide along the depth direction of the X-axis sliding hole. The Y-axis slide rod can slide along the depth direction of the Y-axis sliding hole.

6. The piercing positioning mechanism of claim 4, wherein, The X-axis motion drive structure includes an X-axis motion motor connected to the connecting seat, an X-axis pulley correspondingly disposed on the Y-axis fixed rod, and an X-axis synchronous belt wound around the X-axis pulley. The X-axis synchronous belt is connected to the X-axis sliding member, and the X-axis motion motor is drivenly connected to the X-axis pulley, for driving the X-axis synchronous belt to drive the X-axis sliding member to move along the X-axis direction. The Y-axis motion drive structure includes a Y-axis motion motor connected to the connecting seat, a Y-axis pulley correspondingly disposed on the X-axis fixed rod, and a Y-axis synchronous belt wound around the Y-axis pulley. The Y-axis synchronous belt is connected to the Y-axis sliding member, and the Y-axis motion motor is drivenly connected to the Y-axis pulley, for driving the Y-axis synchronous belt to drive the Y-axis sliding member to move along the Y-axis direction.

7. The piercing positioning mechanism of claim 3, wherein, The Z-axis motion assembly includes a Z-axis mounting plate connected to the motion base, a Z-axis motion motor mounted on the Z-axis mounting plate, Z-axis pulleys at both ends of the Z-axis mounting plate in the Z-axis direction, a Z-axis timing belt wound around the Z-axis pulleys, and a Z-axis sliding member fixedly connected to the Z-axis timing belt. The Z-axis sliding member can slide on the Z-axis mounting plate. The Z-axis timing belt is connected to the Z-axis sliding member, and the Z-axis motion motor is driven by the Z-axis pulleys to drive the Z-axis timing belt to drive the Z-axis sliding member to move along the Z-axis direction.

8. A piercing positioning mechanism according to any one of claims 1 to 7, wherein The puncture execution unit includes a pitch angle adjustment component connected to the spatial motion unit, a yaw angle adjustment component connected to the pitch angle adjustment component, and a puncture execution component connected to the yaw angle adjustment component; the pitch angle adjustment component is used to adjust the pitch angle of the yaw angle adjustment component and the puncture execution component; the yaw angle adjustment component is used to adjust the yaw angle of the puncture execution component.

9. The piercing positioning mechanism of claim 8, wherein, The pitch angle adjustment assembly includes a connecting frame connected to the spatial motion unit, a pitch adjustment motor mounted on the connecting frame, and a pitch frame driven by the pitch adjustment motor; the yaw angle adjustment assembly includes a yaw adjustment motor mounted on the pitch frame, a yaw frame driven by the yaw adjustment motor, and a piercing execution assembly mounted on the yaw frame; the pitch adjustment motor is used to drive the pitch frame to rotate about the pitch axis; the yaw adjustment motor is used to drive the yaw frame to rotate about the yaw axis.

10. A puncture surgical robot characterized by, 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.

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