Guiding devices and puncture surgical robots

Abstract

This utility model provides a guiding device, which includes a guiding body, a guiding end, and a needle holder. The guiding body includes a connecting portion located at one end of the guiding body. The guiding end is detachably connected to the connecting portion, and the needle holder is detachably connected to the end of the guiding end away from the guiding body. This application also provides a puncture surgical robot equipped with a guiding device.

Description

Technical Field

[0001] This utility model relates to the field of medical device technology, and in particular to a guide device for a puncture needle used in percutaneous puncture surgery, and a puncture surgery robot equipped with the guide device. Background Technology

[0002] In related technologies, percutaneous puncture surgery utilizes CT scans to locate the puncture path, then obtains pathological tissue from the puncture site for detailed examination, or injects drugs into the lesion to treat tumors. Percutaneous puncture surgery is generally performed using a minimally invasive medical puncture robot. The key to the success of percutaneous puncture surgery is the accurate tracking and puncture of the target. The puncture needle guide device on the minimally invasive medical puncture robot is used to provide accurate path and guidance for the puncture needle; therefore, the importance of the puncture needle guide device in percutaneous puncture surgery is paramount. Because the puncture needle guide device comes into direct or indirect contact with the patient, it needs to be repeatedly sterilized; however, in existing technologies, replacing the entire puncture needle guide device is cumbersome, affecting the efficiency of percutaneous puncture surgery. Utility Model Content

[0003] This application provides a guide device that is easy to replace and can improve surgical efficiency, as well as a puncture surgical robot equipped with the guide device.

[0004] This application provides a guiding device, which includes a guiding body, a guiding end, and a needle holder. The guiding body includes a connecting portion located at one end of the guiding body. The guiding end is detachably connected to the connecting portion, and the needle holder is detachably connected to the end of the guiding end away from the guiding body.

[0005] This application also includes a puncture surgery robot, which includes a guiding device and a robotic arm. The guiding device includes a guiding body, a guiding end, and a needle holder. The guiding body includes a connecting portion located at one end of the guiding body. The guiding end is detachably connected to the connecting portion. The needle holder is detachably connected to the end of the guiding end away from the guiding body. The end of the guiding body of the guiding device opposite to the guiding end is detachably connected to the robotic arm.

[0006] The needle holder and guide tip of the puncture surgery robot of this application are detachably connected. When the needle holder needs to be sterilized, the doctor only needs to remove the needle holder from the guide tip for sterilization, without having to remove the entire guide device from the robot arm. The disassembly or installation process of the needle holder is simple and can be quickly disassembled or installed, shortening the disassembly or installation time of the needle holder and improving surgical efficiency. Similarly, the guide tip is detachably connected to the guide body. When the guide tip needs to be sterilized, the doctor only needs to remove the guide tip from the guide body for sterilization, without having to remove the entire guide device from the robot arm. The disassembly or installation process of the guide tip is simple and can be quickly disassembled or installed, shortening the disassembly or installation time of the guide tip and improving surgical efficiency. Attached Figure Description

[0007] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly described below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0008] Figure 1 This is a schematic diagram of the puncture surgery robot in one embodiment of this application.

[0009] Figure 2 yes Figure 1 A three-dimensional structural diagram of the guidance device and part of the robotic arm in the puncture surgery robot.

[0010] Figure 3 yes Figure 2 A three-dimensional structural diagram of the guidance device from another perspective.

[0011] Figure 4 yes Figure 3 An exploded three-dimensional structural diagram of the guidance device.

[0012] Figure 5 yes Figure 4 A further exploded three-dimensional structural diagram of the guide tip and needle holder.

[0013] Figure 6 yes Figure 3 A side view of the guidance device.

[0014] Figure 7 yes Figure 6 A cross-sectional view along line AA.

[0015] Figure 8 yes Figure 7 A cross-sectional view along line BB.

[0016] Figure 9 yes Figure 6 A cross-sectional view along the CC line.

[0017] Figure 10 yes Figure 3 A three-dimensional structural diagram of the puncture needle being installed before the needle holder.

[0018] Figure 11 yes Figure 3 A three-dimensional structural diagram of the puncture needle after it has been installed into the needle holder.

[0019] Figure 12 yes Figure 3 Another way to install the puncture needle and the needle holder.

[0020] Figure 13 yes Figure 3 The diagram shows the removal of the needle holder and puncture needle from the guide end.

[0021] Figure 14 yes Figure 3 A schematic diagram illustrating the usage process of the guidance device.

[0022] Figure 15 yes Figure 3 A schematic diagram of the three-dimensional structure in which the guide end is inserted in reverse into the guide body.

[0023] Figure 16 yes Figure 15 A side view of the guidance device.

[0024] Figure 17 yes Figure 15 A schematic diagram illustrating the usage process of the guidance device. Detailed Implementation

[0025] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0026] Furthermore, the following descriptions of various embodiments are based on the accompanying illustrations and are used to illustrate specific embodiments that can be implemented in this application. Directional terms used in this application, such as "up," "down," "front," "back," "left," "right," "inner," "outer," and "side," are merely for reference to the accompanying illustrations. Therefore, the directional terms used are for better and clearer explanation and understanding of this application, and are not intended to indicate or imply that the referred 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 application.

[0027] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installed," "connected," "linked," and "set on" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0028] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0029] Furthermore, the following descriptions of various embodiments are based on the accompanying illustrations and are used to illustrate specific embodiments that can be implemented in this application. Directional terms used in this application, such as "up," "down," "front," "back," "left," "right," "inner," "outer," and "side," are merely for reference to the accompanying illustrations. Therefore, the directional terms used are for better and clearer explanation and understanding of this application, and are not intended to indicate or imply that the referred 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 application.

[0030] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installed," "connected," "linked," and "set on" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0031] Please refer to the following: Figures 1 to 4 In one embodiment of this utility model, a puncture surgical robot 100 includes a guiding device 20, a robotic arm 40, and a navigation robot 60. The robotic arm 40 is connected to the navigation robot 60, and the guiding device 20 is detachably connected to the end of the robotic arm 40 away from the navigation robot 60. The guiding device 20 is used to position the puncture needle and provide an accurate path and guidance for the puncture needle so that the puncture needle can accurately track and puncture the target. The robotic arm 40 is used to drive the guiding device 20 to move, and the navigation robot 60 is used for the movement of the puncture surgical robot 100. The guiding device 20 includes a guiding body 22 and a guiding end 24. The guide body 22 includes a needle holder 25 and a connector 26. One end of the guide body 22 is detachably connected to the guide end 24, and the other end of the guide body 22 is detachably connected to the connector 26. Specifically, the guide body 22 includes a connecting part 221 and a mounting part 223. The connecting part 221 is located at one end of the guide body 22, and the mounting part 223 is located at the other end of the guide body 22. The guide end 24 is detachably connected to the connecting part 221, and the needle holder 25 is detachably connected to the end of the guide end 24 away from the guide body 22. The connector 26 is detachably connected to the mounting part 223, and the connector 26 of the guide device 20 is detachably connected to the robot arm 40.

[0032] The needle holder 25 of the puncture surgery robot 100 of this application is detachably connected to the guide end 24. When the needle holder 25 needs to be sterilized, the doctor only needs to remove the needle holder 25 from the guide end 24 for sterilization, without having to remove the entire guide device 20 from the robot arm 40. The disassembly or installation process of the needle holder 25 is simple and can be quickly disassembled or installed, shortening the disassembly or installation time of the needle holder 25 and improving surgical efficiency. Similarly, the guide end 24 is detachably connected to the guide body 22. When the guide end 24 needs to be sterilized, the doctor only needs to remove the guide end 24 from the guide body 22 for sterilization, without having to remove the entire guide device 20 from the robot arm 40. The disassembly or installation process of the guide end 24 is simple and can be quickly disassembled or installed, shortening the disassembly or installation time of the guide end 24 and improving surgical efficiency.

[0033] Optionally, the guide end 24 includes a positioning rod 242 and a support block 244. The support block 244 is disposed at the end of the positioning rod 242 away from the guide body 22. The end of the positioning rod 242 away from the support block 244 is detachably connected to the connecting portion 221, so that the needle holder 25 and the guide end 24 are detachably connected to the connecting portion 221; the needle holder 25 is detachably connected to the support block 244, so that the needle holder 25 is detachably connected to the guide body 22. In this embodiment, the positioning rod 242 is a rectangular rod, the connecting portion 221 is a rectangular rod, and the mounting portion 223 is a circular plate. The end of the rectangular rod away from the circular plate is detachably connected to the end of the positioning rod 242 away from the support block 244.

[0034] like Figures 3-5 As shown, the connecting part 221 is a connecting rod disposed in the middle of one side of the mounting part 223. The positioning rod 242 can be inserted into the connecting rod in the forward direction, or the positioning rod 242 can be inserted into the connecting rod in the reverse direction. The forward insertion means that the positioning rod 242 is inserted into the end of the connecting rod away from the mounting part 223 along its length direction. The reverse insertion means that the positioning rod 242 is rotated 180 degrees relative to the connecting rod around its length direction and then inserted into the end of the connecting rod away from the mounting part 223.

[0035] like Figure 4 , Figures 6-8As shown, the connecting part 221 and the positioning rod 242 are detachably connected by the cooperation of the plug and the plug groove, so as to realize the quick disassembly or quick assembly of the guide end 24 and the guide body 22; the plug is provided on one of the connecting part 221 and the positioning rod 242, and the plug groove is provided on the other of the connecting part 221 and the positioning rod 242. In this embodiment, one end of the connecting rod is provided with a plug post 224, that is, the end face of the connecting part 221 facing away from the mounting part 223 is provided with a plug post 224, and the end face of the positioning rod 242 facing away from the support block 244 is provided with a plug groove 245, and the plug post 224 is detachably inserted into the plug groove 245; in other embodiments, the end face of the positioning rod 242 facing away from the support block 244 is provided with a plug post, and the end face of the connecting part 221 facing away from the mounting part 223 is provided with a plug groove, and the plug post is detachably inserted into the plug groove; specifically, the plug post 224 and the positioning rod 242 are connected by the cooperation of the first elastic member 2241 with the first locking hole 2421 and the cooperation of the second elastic member 2245 with the second locking hole 2425. The first locking hole 2421 and the second locking hole 2425 are arranged at intervals along the length direction of the plug post 224, and the axis of the first locking hole 2421 is perpendicular to the axis of the second locking hole 2425. In this embodiment, the first elastic element 2241 and the second elastic element 2245 are respectively disposed on the insertion post 224; the first locking hole 2421 and the second locking hole 2425 are respectively disposed at the end of the positioning rod 242 away from the support block 244, and the first locking hole 2421 and the second locking hole 2425 are respectively connected to the insertion groove 245, and the first elastic element 2241 and the second elastic element 2245 can be respectively locked into the first locking hole 2421 and the second locking hole 2425. In other embodiments, the first elastic element and the second elastic element are respectively disposed at the end of the positioning rod 242 away from the support block 244; the first locking hole and the second locking hole are respectively opened on the outer peripheral surface of the insertion post 224, and the first elastic element and the second elastic element can be respectively locked into the first locking hole and the second locking hole.

[0036] Specifically, the plug-in post 224 is provided with a first mounting groove 2242 and a second mounting groove 2246 spaced apart from each other. The end of the first mounting groove 2242 that is farther away from the connecting part 221 than the end of the second mounting groove 2246. The opposite ends of the first mounting groove 2242 pass through the opposite sides of the plug-in post 224, and the opposite ends of the second mounting groove 2246 pass through the other opposite sides of the plug-in post 224. The first elastic member 2241 is installed in the first mounting groove 2242, and the opposite ends of the first elastic member 2241 protrude from the opposite ends of the first mounting groove 2242. The second elastic member 2245 is installed in the second mounting groove 2246, and the opposite ends of the second elastic member 2245 protrude from the opposite ends of the second mounting groove 2246. The positioning rod 242 has a pair of first locking holes 2421 and a pair of second locking holes 2425 at the end away from the support block 244. The pair of first locking holes 2421 are closer to the support block 244 than the pair of second locking holes 2425. The pair of first locking holes 2421 are located on opposite sides of the positioning rod 242, and each first locking hole 2421 connects to the insertion slot 245. The pair of second locking holes 2425 are located on the other opposite sides of the positioning rod 242, and each second locking hole 2425 connects to the insertion slot 245. When the insertion post 224 is inserted into the insertion slot 245, the opposite ends of the first elastic member 2241 are respectively engaged in the two first locking holes 2421, and the opposite ends of the second elastic member 2245 are respectively engaged in the two second locking holes 2425. The pair of first locking holes 2421 are coaxial, and the pair of second locking holes 2425 are coaxial. The axis of the first locking hole 2421 is perpendicular to the axis of the second locking hole 2425.

[0037] Optionally, the first elastic member 2241 includes a first elastic portion 2243 and a first abutment 2244. The first abutment 2244 is connected to the end of the first elastic portion 2243. The first elastic portion 2243 is disposed in the first mounting groove 2242. The portion of the first abutment 2244 facing away from the first elastic portion 2243 is exposed outside the first mounting groove 2242. When the plug pin 224 is inserted into the plug groove 245, the first elastic portion 2243 is engaged with the first locking hole 2421. The second elastic member 2245 includes a second elastic portion 2247 and a second abutment 2248. The second abutment 2248 is connected to the end of the second elastic portion 2247. The second elastic portion 2247 is disposed in the second mounting groove 2246. The portion of the second abutment 2248 facing away from the second elastic portion 2247 is exposed outside the second mounting groove 2246. When the plug pin 224 is inserted into the plug groove 245, the second abutment 2248 is engaged with the second locking hole 2425.

[0038] Specifically, the first elastic part 2243 is a first spring, and the first abutment 2244 is a first abutment bead disposed at the end of the first spring. The two first abutment beads are respectively disposed at opposite ends of the first spring. The first spring is disposed in the first mounting groove 2242, and the two first abutment beads are partially exposed from the first spring into two first locking holes 2421. When the insertion post 224 is inserted into the insertion groove 245, the first elastic part 2243 pushes the two first abutment beads to lock into the two first locking holes 242 respectively. 1; The second elastic part 2247 is a second spring, and the second abutment 2248 is a second abutment bead disposed at the end of the second spring. The two second abutment beads are respectively disposed at opposite ends of the second spring. The second spring is disposed in the second mounting groove 2246, and the two second abutment beads are partially exposed from the second spring into two second locking holes 2425. When the insertion post 224 is inserted into the insertion groove 245, the second elastic part 2247 pushes the two second abutment beads to lock into the two second locking holes 2425 respectively.

[0039] like Figures 3-5 As shown, the plug-in post 224 and the mounting portion 223 are located at opposite ends of the connecting portion 221. The length direction of the plug-in post 224 is parallel to the length direction of the connecting portion 221. Preferably, the plug-in post 224 protrudes from the middle of the end face of the connecting portion 221 away from the mounting portion 223. The center of the connecting portion 221 and the center of the plug-in post 224 are on the same straight line, that is, the center line of the plug-in post 224 in the length direction is collinear with the center line of the connecting portion 221 in the length direction. Further, the center line of the connecting portion 221, the center line of the plug-in post 224, and the center line of the mounting portion 223 are collinear.

[0040] In this embodiment, the cross-section of the plug-in post 224 is rectangular, and the cross-section of the connecting part 221 is also rectangular. The cross-section of the connecting part 221 is larger than that of the plug-in post 224, so as to form a stepped surface 2210 between the plug-in post 224 and the connecting part 221. In other embodiments, the cross-section of the plug-in post 224 may be, but is not limited to, circular, polygonal, or elliptical, etc.; the cross-section of the connecting part 221 may be, but is not limited to, circular, polygonal, or elliptical, etc. The mounting part 223 is a circular plate, and one end of the connecting part 221 away from the plug-in post 224 is connected to the middle of one side of the circular plate. The middle of the side of the mounting part 223 away from the connecting part 221 is provided with a connecting hole 2230. The connector 26 is connected to the connecting hole 2230 by a fastener 120, such as a screw, passing through the countersunk hole 265. In other embodiments, the connector 26 and the mounting part 223 may also be connected by, but is not limited to, snap-fitting, welding, etc. In other embodiments, the connecting part 221, the mounting part 223, the plug-in post 224 and the connector 26 may also be integrally formed.

[0041] In this embodiment, the mounting portion 223 is a circular plate. Multiple positioning blocks 2232 are provided on the side of the mounting portion 223 facing away from the connecting portion 221, and these positioning blocks 2232 are arranged in a circle around the circumference of the mounting portion 223 at intervals. Multiple clearance holes 2234 are also provided on the side of the mounting portion 223 facing away from the connecting portion 221, and these clearance holes 2234 are arranged in a circle around the circumference of the mounting portion 223 at intervals. In this embodiment, two positioning blocks 2232 are provided on the side of the mounting portion 223 facing away from the connecting portion 221, and these two positioning blocks 2232 are located at opposite ends of one diameter of the mounting portion 223. Two clearance holes 2234 are provided on the side of the mounting portion 223 facing away from the connecting portion 221, and these two clearance holes 2234 are located at opposite ends of the other diameter of the mounting portion 223.

[0042] The connector 26 includes a fixing part 262 and a plurality of snap-fit ​​protrusions 264. The plurality of snap-fit ​​protrusions 264 protrude from the outer peripheral surface of the fixing part 262 at the end away from the mounting part 223, and the plurality of snap-fit ​​protrusions 264 surround the connector 26 in a circle. In this embodiment, the fixing part 262 is a polygonal cylinder, one end of which is connected to the middle of the side of the mounting part 223 away from the connecting part 221. The outer peripheral surface of the connector 26 away from the mounting part 223 is provided with four snap-fit ​​protrusions 264, which are evenly spaced in a circle around the connector 26. In other embodiments, the fixing part 262 is a circular cylinder, and the outer peripheral surface of the connector 26 away from the mounting part 223 is provided with two, three, or four or more snap-fit ​​protrusions 264 spaced apart from each other. The end face of the fixing part 262 away from the mounting part 223 is provided with a countersunk hole 265.

[0043] The guide body 22 also includes a support frame 225, which is located at one end of the connecting part 221 near the mounting part 223. Specifically, the support frame 225 includes a support bar 2251 and an H-shaped support member 2253. One end of the support bar 2251 is connected to the connecting part 221, and the middle part of the H-shaped support member 2253 is connected to the opposite end of the support bar 2251. On the side of the H-shaped support member 2253 away from the connecting part 221, there are multiple snap-on columns 2254 for mounting near-infrared optical balls.

[0044] like Figures 4-5 and Figure 9As shown, the support block 244 is inclined along the length of the positioning rod 242. A positioning port 2440 is provided at the end of the support block 244 away from the positioning rod 242, and the needle holder 25 is detachably connected to the positioning port 2440. The positioning rod 242 has a rectangular cross-section. The support block 244 includes a support portion 2442 and a connecting strip 2445. One end of the connecting strip 2445 is connected to the end of the positioning rod 242 away from the guide body 22. The support portion 2442 and the connecting strip 2445 are connected at the end of the support portion 2442 away from the positioning rod 242. The positioning port 2440 is located at the end of the support portion 2442 away from the connecting strip 2445. In this embodiment, the support portion 2442 is a circular plate. The end of the connecting strip 2445 away from the positioning rod 242 is connected to the outer peripheral surface of the support portion 2442. The positioning port 2440 is located on the side of the support portion 2442 away from the connecting strip 2445 and passes through the outer peripheral surface of the support portion 2442.

[0045] Optionally, the support block 244 includes a first mating surface 2444, a second mating surface 2446, and an outer peripheral surface. The first mating surface 2444 and the second mating surface 2446 are disposed opposite to each other, and the outer peripheral surface connects the first mating surface 2444 and the second mating surface 2446. The positioning opening 2440 passes through the first mating surface 2444, the second mating surface 2446, and the outer peripheral surface 2447. The first mating surface 2444 is parallel to the second mating surface 2446 and is inclined to the length direction of the positioning rod 242. In this embodiment, the positioning opening 2440 is a U-shaped opening and has an inner peripheral surface 2448.

[0046] Optionally, the needle holder 25 and the support block 244 are connected by a third elastic member and a third locking hole. The third elastic member is located on one of the needle holder 25 and the support block 244, and the third locking hole is located on the other. When the needle holder 25 is received in the positioning port 2440, the third elastic member is engaged with the third locking hole. In this embodiment, the third elastic member 250 is disposed on the support block 244, with one end of the third elastic member 250 protruding into the positioning port 2440. The needle holder 25 is provided with a third locking hole 251. When the needle holder 25 is received in the positioning port 2440, the third elastic member 250 is engaged with the third locking hole 251, so that the needle holder 25 is detachably positioned on the support block 244. Preferably, the support block 244 is provided with two mutually spaced third elastic elements 250, and the needle holder 25 is provided with two third locking holes 251. When the needle holder 25 is accommodated in the positioning port 2440, the two third elastic elements 250 are respectively locked into the two third locking holes 251, so that the needle holder 25 is detachably positioned on the support block 244.

[0047] In one embodiment, a third elastic element 250 is disposed on the needle holder 25, with one end of the third elastic element 250 protruding from the outer peripheral surface of the needle holder 25; a third locking hole is provided on the inner peripheral surface 2448 of the support block 244, and when the needle holder 25 is received in the positioning port 2440, the third elastic element is engaged in the third locking hole; so that the needle holder 25 is detachably positioned on the support block 244. Preferably, the needle holder 25 is provided with two mutually spaced third elastic elements, and the inner peripheral surface 2448 of the support block 244 is provided with two third locking holes, and when the needle holder 25 is received in the positioning port 2440, the two third elastic elements are respectively engaged in the two third locking holes; so that the needle holder 25 is detachably positioned on the support block 244.

[0048] In this embodiment, the inner circumferential surface 2448 of the support block 244 is provided with two third mounting grooves 2449 on opposite sides at the end away from the connecting strip 2445, and the two third mounting grooves 2449 are perpendicular to the length direction of the positioning rod 242; two third elastic members 250 are respectively housed in the two third mounting grooves 2449, and one end of each third elastic member 250 extends to the positioning port 2440; the opposite sides of the needle holder 25 are provided with third locking holes 251, and when the needle holder 25 is housed in the positioning port 2440, the two third elastic members 250 are respectively locked in the two third locking holes 251, so that the needle holder 25 is detachably positioned on the support block 244.

[0049] The third elastic member 250 includes a third elastic part 2501 and a third abutment 2503. The third abutment 2503 is connected to the end of the third elastic part 2501. The third elastic part 2501 is disposed in the third mounting groove 2449. The portion of the third abutment 2503 facing away from the third elastic part 2501 is exposed outside the third mounting groove 2449. When the needle holder 25 is accommodated in the positioning port 2440, the third abutment 2503 is engaged with the third locking hole 251. The third elastic member 250 includes a third elastic part 2501 and a third abutment 2503. The third abutment 2503 is connected to the end of the third elastic part 2501. The third elastic part 2501 and the third abutment 2503 are disposed together in the third mounting groove 2449. The portion of the third abutment 2503 facing away from the third elastic part 2501 is exposed in the positioning opening 2440. When the needle holder 25 is accommodated in the positioning opening 2440, the third elastic part 2501 is engaged in the third locking hole 251.

[0050] Specifically, the third elastic part 2501 is a third spring, and the third abutment 2503 is a third abutment bead disposed at the end of the third spring. The two third abutment beads are respectively disposed at opposite ends of the third spring. The third spring is disposed in the third mounting groove 2449, and the two third abutment beads are partially exposed out of the positioning opening 2440 away from the third spring. When the needle holder 25 is accommodated in the positioning opening 2440, the third elastic part 2501 pushes the two third abutment beads to engage with the two third locking holes 251 respectively.

[0051] In other embodiments, a mounting groove is provided on the outer peripheral surface of the needle holder 25, and the third elastic part 2501 and the third abutment 2503 are accommodated together in the mounting groove, such that the third abutment 2503 is partially exposed on the outer peripheral surface of the needle holder 25 away from the third elastic part 2501. The inner peripheral surface 2448 of the positioning port 2440 of the first abutment 2244 is provided with a third locking hole. When the needle holder 25 is accommodated in the mounting groove, the third elastic part 2501 pushes the third abutment 2503 and engages with the third locking hole.

[0052] Optionally, the needle holder 25 includes a clamping part 252 and an operating part 254. The needle holder 25 has a needle hole 255 that passes through the clamping part 252 and the operating part 254. The clamping part 252 is housed in a positioning opening 2440. Two third elastic members 250 are spaced apart on the inner circumferential surface 2448 of the positioning opening 2440. Two third locking holes 251 are respectively provided in the clamping part 252, and the two third elastic members 250 are respectively engaged with the two third locking holes 251. The operating part 254 is located on one side of the first mating surface 2444 or one side of the second mating surface 2446. The first angle between the length direction of the needle hole 255 and the length direction of the positioning rod 242 is... 1 is an acute angle, the first included angle 1 is greater than 0 degrees and less than 90 degrees. In this embodiment, the first included angle is... 1 is 60 degrees. In other embodiments, the first included angle is... 1 can be, but is not limited to, 30 degrees, 40 degrees, 45 degrees, 50 degrees, 55 degrees, 65 degrees, 70 degrees, 75 degrees or 80 degrees, etc.

[0053] Specifically, the clamping part 252 includes a pair of clamping blocks 2520, and the operating part 254 includes a pair of operating plates 2540. The pair of clamping blocks 2520 are arranged at intervals, and the pair of operating plates 2540 are respectively connected to the pair of clamping blocks 2520. The pair of clamping blocks 2520 are used to clamp the puncture needle. When the user operates the pair of operating plates 2540, the pair of clamping blocks 2520 can be moved away from each other to release the clamping of the puncture needle. The pair of clamping blocks 2520 form a clearance groove 2522, which passes through the operating part 254. The needle hole 255 is located between a pair of clamping blocks 2520. Specifically, the needle hole 255 has a pair of clamping grooves. One clamping groove is located on the side of one clamping block 2520 facing the other clamping block 2520. The opposite ends of the one clamping groove pass through the opposite end faces of the one clamping block 2520. The other clamping groove is located on the side of another clamping block 2520 facing the one clamping block 2520. The opposite ends of the other clamping groove pass through the opposite end faces of the other clamping block 2520. The pair of clamping grooves form the needle hole 255.

[0054] Optionally, the needle holder 25 further includes a retaining plate 256, which is connected to the end of the clamping part 252 opposite to the operating part 254. The needle hole 255 and the clearance groove 2522 pass through the retaining plate 256, which is located on one side of the second mating surface 2446 or one side of the first mating surface 2444. Specifically, when the clamping part 252 is accommodated in the positioning port 2440, the two third abutment tops 2503 are respectively engaged with the two third retaining holes 251, the operating part 254 and the first mating surface 2444 are in contact with each other, and the retaining plate 256 and the second mating surface 2446 are in contact with each other; or the operating part 254 and the second mating surface 2446 are in contact with each other, and the retaining plate 256 and the first mating surface 2444 are in contact with each other.

[0055] When assembling the guide device 20, two first abutment tops 2244 are respectively connected to the opposite ends of the first elastic portion 2243. The first elastic portion 2243 and the two first abutment tops 2244 are housed in the first mounting groove 2242, with the portions of the two first abutment tops 2244 away from the first elastic portion 2243 protruding from the outer peripheral surface of the insertion post 224. Two second abutment tops 2248 are respectively connected to the opposite ends of the second elastic portion 2247. The second elastic portion 2247 and the two second abutment tops 2248 are housed in the second mounting groove 2246, with the portions of the two second abutment tops 2248 away from the second elastic portion 2247 protruding from the outer peripheral surface of the insertion post 224. Two third elastic members 250 are respectively housed in the two third mounting grooves 2449 of the support portion 2442, so that the portions of the two third abutment tops 2503 away from the third elastic member 250 are respectively... The protrusion extends to the positioning port 2440; the insertion post 224 is inserted into the insertion groove 245 of the guide end 24, and the inner circumferential surface of the insertion groove 245 abuts against the two first abutment tops 2244 and the two second abutment tops 2248, so that the two first abutment tops 2244 come together and squeeze the first elastic part 2243, and the two second abutment tops 2248 come together and squeeze the second elastic part 2247, until the two first abutment tops 2244 are respectively aligned with the two first locking holes 2421, and the first elastic part 2243 elastically resets and pushes the two first abutment tops 2244 into the two first locking holes 2421 respectively; when the two second abutment tops 2248 are respectively aligned with the two second locking holes 2425, the second elastic part 2247 elastically resets and pushes the two second abutment tops 2248 into the two second locking holes 2425 respectively, so that the guide end 24 is detachably connected to the guide body 22. Insert the needle holder 25 into the positioning port 2440 of the guide end 24. The outer peripheral surface of the clamping part 252 pushes against the two third abutment tops 2503 respectively, so that the two third elastic parts 2501 are elastically deformed. When the two third abutment tops 2503 are respectively aligned with the two third locking holes 251, the two third elastic parts 2501 are elastically reset and push against the two third abutment tops 2503 respectively, locking into the two third locking holes 251, so that the needle holder 25 is detachably connected to the guide end 24.

[0056] like Figures 10-11 As shown, in one method of installing the puncture needle 110 onto the positioning rod 242, the user presses a pair of operating plates 2540 on the operating part 254 to move a pair of clamping blocks 2520 away from each other, increasing the diameter of the needle hole 255. One end of the needle body of the puncture needle 110 is inserted into the needle hole 255. When the puncture needle 110 moves to a suitable position in the needle hole 255, the user releases the pressure on the pair of operating plates 2540, causing the pair of clamping blocks 2520 to move closer together, reducing the diameter of the needle hole 255, so that the puncture needle 110 is securely clamped between the pair of clamping blocks 2520.

[0057] like Figure 12 As shown, in another method of installing the puncture needle 110 onto the positioning rod 242, the user presses a pair of operating plates 2540 on the operating part 254 to move a pair of clamping blocks 2520 away from each other, increasing the gap between the clearance grooves 2522 and increasing the diameter of the needle hole 255; the needle body of the puncture needle 110 enters the needle hole 255 through the positioning port 2440 and the clearance groove 2522; when the puncture needle 110 moves to a suitable position in the needle hole 255, the user releases the pressure on the pair of operating plates 2540, and the pair of clamping blocks 2520 move closer together, reducing the gap between the clearance grooves 2522 and decreasing the diameter of the needle hole 255, so that the puncture needle 110 is securely clamped between the pair of clamping blocks 2520.

[0058] like Figure 13 As shown, the puncture needle 110 is removed from the guide end 24. Specifically, the needle holder 25 is pulled off the support block 244 of the guide end 24, and the puncture needle 110 is released from the guide end 24 along with the needle holder 25. The user presses a pair of operating plates 2540 on the operating part 254 to make a pair of clamping blocks 2520 move away from each other and release the clamping of the puncture needle 110. The interval of the clearance groove 2522 increases, and the diameter of the needle hole 255 increases, so that the user can easily remove the puncture needle 110 from the needle holder 25.

[0059] Please refer to the following: Figures 1-2 and Figure 14 When using the puncture surgery robot 100, the navigation robot 60 moves to the side of the human body 70 to be percutaneously punctured. A guide end 24 is installed on the guide body 22, a needle holder 25 is installed on the guide end 24, and the puncture needle 110 is installed on the needle holder 25. The robot arm 40 works to drive the guide device 20 to move on the side of the human body 70 closest to the puncture surgery robot 100, so that the puncture needle on the guide device 20 can accurately track and puncture the target, so as to facilitate the puncture surgery robot 100 to perform surgery on the lesion on the same side of the human body 70 as the navigation robot 60.

[0060] like Figures 3-4 and Figures 15-16 As shown, the positioning rod 242 is inserted into the guide body 22 in the opposite direction. Specifically, in Figure 3Based on the guide device 20 shown, the guide end 24 is removed from the guide body 22 by the user pulling the guide end 24 away from the guide body 22, causing the guide end 24 to slide relative to the guide body 22. This causes the first abutment 2244 of the first elastic member 2241 to disengage from the first locking hole 2421, and the second abutment 2248 of the second elastic member 2245 to disengage from the second locking hole 2425, until the guide end 24 is removed from the guide body 22. After rotating the guide end 24 180 degrees relative to the connecting part 221 about the length of the positioning rod 242, the insertion post of the guide body 22 is... Insert 224 into the insertion slot 245 until the two first abutments of the first elastic member 2241 are respectively engaged with the two first locking holes 2421, and the two second abutments of the second elastic member 2245 are respectively engaged with the two second locking holes 2425; install the needle holder 25 onto the guide end 24, specifically, insert the needle holder 25 into the positioning port 2440 of the support block 244, so that the third abutments of the two third elastic members 250 are respectively engaged with the two third locking holes 251 of the needle holder 25, the operating part 254 is in contact with the second mating surface 2446, and the locking plate 256 is in contact with the first mating surface 2444. The second angle between the length direction of the needle hole 255 and the length direction of the positioning rod 242. 2 is an obtuse angle, the second included angle 2 is greater than 90 degrees and less than 180 degrees. In this embodiment, the second included angle is... 2 is 120 degrees. In other embodiments, the second included angle is... 2 can be, but is not limited to, 150 degrees, 140 degrees, 135 degrees, 130 degrees, 125 degrees, 115 degrees, 110 degrees, 105 degrees, or 100 degrees.

[0061] Understandably, after the positioning rod 242 is inserted into the connecting part 221 in the positive direction, the length direction of the needle hole 255 forms a first angle with the length direction of the positioning rod 242. 1; The positioning rod 242 and the connecting part 221 can be inserted in opposite directions, and the length direction of the needle hole 255 forms a second angle with the length direction of the positioning rod 242. 2; First included angle 1 and the second included angle The sum of 2 equals 180 degrees.

[0062] Please refer to the following: Figures 1-2 and Figures 15-17When using the puncture surgery robot, the navigation robot 60 moves to the side of the human body 70 to be percutaneously punctured. The guide end 24 is installed in reverse on the guide body 22, and the needle holder 25 is installed on the guide end 24. The operating part 254 is attached to the second mating surface 2446, and the retaining plate 256 is attached to the first mating surface 2444. The puncture needle 110 is installed on the needle holder 25. The robot arm works to drive the guide device 20 to move on the side of the human body 70 away from the puncture surgery robot, so that the puncture needle on the guide device 20 can accurately track and puncture the target, so as to facilitate the puncture surgery robot to perform surgery on the lesion on the side of the human body 70 away from the navigation robot.

[0063] like Figures 1-5 As shown, when the guide device 20 needs to be sterilized after percutaneous puncture surgery, the doctor or nurse only needs to remove the guide tip 24 from the guide body 22, or only needs to remove the needle holder 25 from the guide tip 24. Specifically, by pulling the guide tip 24 away from the guide body 22, the inner circumferential surface of the insertion groove 245 slides against the first abutment of the first elastic member 2241 and the second abutment of the second elastic member 2245. The first abutment compresses the first elastic part and deforms elastically, disengaging from the first locking hole 2421. The second abutment compresses the second elastic part and deforms elastically, disengaging from the second locking hole 2421. 25, so as to achieve quick disassembly of the guide tip 24 from the guide body 22. Only the guide tip 24 needs to be disinfected and sterilized. There is no need to remove the entire guide device 20 from the robot arm 40 and disinfect and sterilize the entire guide device 20. Alternatively, pull the needle holder 25 away from the guide tip 24. The outer peripheral surface of the clamping part 252 slides against the third abutment top of the third elastic member 250. The third abutment top squeezes the third elastic part to deform elastically. The third abutment top disengages from the third locking hole 251, so as to achieve quick disassembly of the needle holder 25 from the guide tip 24. Only the needle holder 25 needs to be disinfected and sterilized.

[0064] When the sterilized guide tip 24 is installed onto the guide body 22, the plug 224 is inserted into the plug groove 245. The inner circumferential surface of the plug groove 245 slides against the first abutment. The first abutment compresses the first elastic part and deforms elastically, moving the first abutment into the first mounting groove 2242. The plug 224 continues to be inserted into the plug groove 245, and the inner circumferential surface of the plug groove 245 slides against the second abutment. The second abutment compresses the second elastic part and deforms elastically, moving the second abutment into the second mounting groove 2246. When the first abutment... When the first locking hole 2421 is aligned with the second locking hole 2425, the first elastic part elastically resets and pushes the first locking hole 2421 into the first locking hole, and the second elastic part elastically resets and pushes the second locking hole 2425 into the second locking hole. A clicking sound indicates that the guide end 24 is installed in place. The end face of the positioning rod 242 away from the needle holder 25 contacts the step surface 2210, realizing the rapid installation of the guide end 24. The operation is simple and convenient, and the speed of disassembling or installing the guide end 24 is relatively fast, which improves the efficiency of the percutaneous puncture surgery.

[0065] When the sterilized needle holder 25 is installed onto the guide end 24, the clamping part 252 is inserted into the positioning port 2440, so that the outer peripheral surface of the clamping part 252 slides against the third abutment 2503. The third abutment 2503 compresses the third elastic part 2501 and deforms elastically, and the third abutment 2503 moves into the third mounting groove 2449. When the two third abutments 2503 are respectively aligned with the two third locking holes 251, the third elastic part 2501 elastically resets and pushes the third abutment 2503 into the third locking hole 251. A clicking sound indicates that the needle holder 25 is installed in place, realizing the rapid installation of the needle holder 25. The operation is simple and convenient, and the speed of disassembling or installing the needle holder 25 is fast, which improves the efficiency of the skin puncture surgery.

[0066] The guide tip 24 of the puncture surgical robot of this application can be quickly detached or quickly installed from the guide body 22. When sterilization is required, only the guide tip 24 needs to be quickly removed from the guide body 22, and only the guide tip needs to be sterilized. The disassembly or installation process of the guide tip is simple and can achieve quick detachment or quick installation, shortening the disassembly or installation time of the guide tip and improving surgical efficiency. The needle holder 25 can also be quickly detached or quickly installed from the guide tip 24. When it is necessary to replace the puncture needle or sterilize the needle holder 25, only the needle holder 25 needs to be quickly removed from the guide tip 24, and only the needle holder 25 needs to be sterilized or the puncture needle replaced. The disassembly or installation process of the needle holder 25 is simple and can achieve quick detachment or quick installation, shortening the disassembly or installation time of the needle holder 25 and improving surgical efficiency. When percutaneous puncture surgery is required on both sides of the human body 70, the puncture surgery robot only needs to be located on one side of the human body 70. It is not necessary to use a navigation robot to move the puncture surgery robot to the left and right sides of the human body 70 separately. It is only necessary to switch the connection between the guide end 24 and the guide body 22 from the forward direction to the reverse direction. The replacement process is simple and quick, and there is no need to reposition the puncture surgery robot and CT scan, nor is it necessary to replan the puncture path, which improves the efficiency of the operation.

[0067] In some scenarios, the guide tip can also be made into a disposable plastic consumable, which is discarded after use by medical staff, avoiding unnecessary repeated sterilization and improving the efficiency of puncture surgery.

[0068] The above are the implementation methods of the present utility model. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present utility model, and these improvements and modifications are also considered to be within the protection scope of the present utility model.

Claims

1. A guiding device, characterized in that, The guiding device includes: A guide body, the guide body including a connecting part, the connecting part being located at one end of the guide body; A guide end, wherein the guide end is detachably connected to the connecting portion; and A needle holder is detachably connected to the end of the guide head away from the guide body.

2. The guide device of claim 1, wherein, The guide end includes a positioning rod and a support block. The support block is disposed at the end of the positioning rod away from the guide body. The end of the positioning rod away from the support block is detachably connected to the connecting part. The needle holder is detachably connected to the support block.

3. The guide device of claim 2, wherein, The guiding body includes a connecting rod. The positioning rod can be inserted into the connecting rod in the forward direction, or the positioning rod can be inserted into the connecting rod in the reverse direction. The reverse insertion means that the positioning rod rotates 180 degrees relative to the connecting rod about its length direction and then inserts into the connecting rod.

4. The guide device of claim 3, wherein, One end of the connecting rod is provided with a plug-in post, and the end face of the positioning rod opposite to the support block is provided with a plug-in groove. The plug-in post can be inserted into the plug-in groove. The plug-in post and the positioning rod are connected by the cooperation of a first elastic element with a first locking hole and a second elastic element with a second locking hole. The first locking hole and the second locking hole are arranged at intervals along the length direction of the plug-in post, and the axis of the first locking hole is perpendicular to the axis of the second locking hole.

5. The guide device of claim 2, wherein, The support block is inclined along the length of the positioning rod, and a positioning port is provided at the end of the support block opposite to the positioning rod. The needle holder is detachably connected to the positioning port.

6. The guide device of claim 5, wherein, The needle holder and the support block are connected by a third elastic element and a third locking hole. The third elastic element is located in one of the needle holder and the support block, and the third locking hole is located in the other of the needle holder and the support block.

7. The guide device of claim 6, wherein, The support block includes a first mating surface, a second mating surface, and an outer peripheral surface. The first mating surface and the second mating surface are disposed opposite to each other. The outer peripheral surface is connected between the first mating surface and the second mating surface. The positioning port passes through the first mating surface, the second mating surface, and the outer peripheral surface.

8. The guide device of claim 7, wherein, The needle holder includes a clamping part and an operating part. The needle holder has a needle hole that passes through the clamping part and the operating part. The clamping part is housed in the positioning port. Two third elastic members are spaced apart on the inner circumferential surface of the positioning port. Two third locking holes are respectively provided on the clamping part. The two third elastic members are respectively locked into the two third locking holes. The operating part is located on one side of the first mating surface or on one side of the second mating surface.

9. The guide device of claim 8, wherein, The needle holder also includes a retaining plate, which is connected to one end of the clamping part away from the operating part. The needle hole passes through the retaining plate, and the retaining plate is located on one side of the second mating surface or on one side of the first mating surface.

10. A puncture surgical robot characterized by, The puncture surgical robot includes a guiding device and a robotic arm as described in any one of claims 1-9, wherein the guiding body of the guiding device is detachably connected to the robotic arm at one end opposite to the guiding end.

Images