A robotic arm-based puncture template support system

Abstract

The utility model relates to a kind of puncture template support system based on mechanical arm, belong to medical auxiliary instrument technical field, solve the problem of inaccurate azimuth positioning of puncture needle, poor puncture stability in prior art.The puncture template support system of the utility model, comprising: three-axis series connection mechanical arm, adjusting mechanism and positioning template;Adjusting mechanism includes: positioning support, template installation support, first locking knob and second locking knob;Positioning support is hingedly installed at the end of three-axis series connection mechanical arm;Template installation support is rotatably installed at the end of positioning support;First locking knob, second locking knob are respectively locked positioning support and template installation support;Positioning template is fixedly connected with template installation support, and positioning template is provided with positioning hole, and positioning hole is used as the guide hole of puncture needle.The utility model realizes the multi-angle adjustment of positioning template and can realize the stable support and guidance of puncture needle by positioning template.

Description

Technical Field

[0001] This utility model relates to the field of medical auxiliary device technology, and in particular to a puncture template support system based on a robotic arm. Background Technology

[0002] Puncture biopsy and particle implantation techniques are common minimally invasive diagnostic and treatment methods in modern medicine; in practice, fixation supports and template systems are required to position the puncture needle.

[0003] The existing fixed bracket has the following problems:

[0004] 1) Insufficient stability: The stent is prone to displacement after adjustment, and it still shakes after locking, which affects the surgical procedure.

[0005] 2) Limited adjustment range: Some directions cannot be adjusted properly, which cannot meet the requirements of complex body positions.

[0006] Therefore, there is an urgent need to develop a puncture-assisted positioning system that is easy to adjust and has accurate and reliable positioning. Utility Model Content

[0007] Based on the above analysis, this utility model aims to provide a puncture template support system based on a robotic arm to solve the problems of poor support stability and limited adjustment range of existing support and positioning mechanisms.

[0008] The objective of this utility model is mainly achieved through the following technical solutions:

[0009] A puncture template support system based on a robotic arm includes: a three-axis serial robotic arm, an adjustment mechanism, and a positioning template;

[0010] The adjustment mechanism is installed at the end of the three-axis serial robotic arm;

[0011] The adjustment mechanism includes: a positioning support, a template mounting bracket, a first locking knob, and a second locking knob; the positioning support is hinged to the end of the three-axis serial robotic arm; the template mounting bracket is rotatably mounted on the end of the positioning support, and the rotation axis of the template mounting bracket is perpendicular to the rotation axis of the positioning support; the first locking knob is used to lock the positioning support; the second locking knob is used to lock the template mounting bracket.

[0012] The positioning template is fixedly connected to the template mounting bracket, and the positioning template is provided with a positioning hole, which can serve as a guide hole for the puncture needle.

[0013] Furthermore, the three-axis serial robotic arm includes: a robotic arm base, a first swing arm, a second swing arm, and a third swing arm; the lower end of the first swing arm is hinged to the robotic arm base, and the first swing arm, the second swing arm, and the third swing arm are hinged sequentially; multiple hinge points of the three-axis serial robotic arm are driven to rotate relative to each other by built-in motors to achieve relative rotation between the robotic arm base, the first swing arm, the second swing arm, and the third swing arm.

[0014] Furthermore, the positioning support is hinged to the end of the third rocker arm; the first locking knob is threaded onto the side of the third rocker arm; the first locking knob passes through the third rocker arm and is locked onto the side of the positioning support.

[0015] Furthermore, a cylindrical structure is provided at the end of the positioning support; a template mounting bracket is rotatably installed inside the cylindrical structure.

[0016] Furthermore, the rotating shaft of the template mounting bracket is rotatably installed in the internal shaft hole of the cylindrical structure.

[0017] Furthermore, the cylindrical structure has a spherical hole inside; the end of the template mounting bracket has a ball head; the template mounting bracket is rotatably mounted in the spherical hole via the ball head.

[0018] Furthermore, a second locking knob is threaded onto the outer surface of the cylindrical structure; the second locking knob can pass through the cylindrical structure and be locked onto the rotating shaft of the template mounting bracket; multiple second locking knobs are evenly spaced along the circumference of the cylindrical structure.

[0019] Furthermore, a semi-circular pitch angle indicator is provided at the end of the third rocker arm. The pitch angle indicator is coaxial with the rotation axis of the positioning support and has scales on its edge. A first indicator is provided on the side of the positioning support. The first indicator indicates the deflection angle of the positioning support relative to the third rocker arm by aligning with different scales of the pitch angle indicator.

[0020] Furthermore, a circumferential angle indicator is provided on the end face of the cylindrical structure; a second indicator is provided on the side of the template mounting bracket; the second indicator indicates the deflection angle of the template mounting bracket relative to the positioning support by aligning with different scales of the circumferential angle indicator.

[0021] Furthermore, it also includes: a base and an electric turntable; the base is placed on the ground; the electric turntable is fixedly installed on the base, and a robotic arm base is installed above the electric turntable, the electric turntable being able to drive the three-axis serial robotic arm to rotate circumferentially as a whole.

[0022] The technical solution of this utility model can achieve at least one of the following effects:

[0023] 1. The puncture template support system based on a robotic arm of this utility model adjusts the height, position and tilt angle of the positioning template by setting a three-axis serial robotic arm and an adjustment mechanism, thereby realizing the mechanized, rapid and accurate positioning of the puncture needle through the positioning template, improving the efficiency and safety of puncture operation.

[0024] 2. The puncture template support system based on the robotic arm of this utility model, by setting a positioning support with mutually perpendicular rotation axes and a template mounting bracket at the end of a three-axis robotic arm, the two constitute a universal joint mechanism, which can realize multi-angle adjustment of the positioning template to adapt to different angle requirements during puncture.

[0025] 3. The puncture template support system based on a robotic arm of this utility model uses a first and second locking knob with screw installation to securely position the positioning support and the template mounting bracket, thereby fixing the position of the positioning template and enabling the positioning template to provide stable support when the puncture needle is inserted. At the same time, an indicator with a scale is set to display the rotation angle of the positioning support and the template mounting bracket. By recording the rotation angle of the positioning template and / or the template mounting bracket, it is convenient to adjust the angle during multiple punctures.

[0026] In this invention, the above-described technical solutions can be combined with each other to achieve more preferred combinations. Other features and advantages of this invention will be set forth in the following description, and some advantages will become apparent from the description or be learned by practicing the invention. The objectives and other advantages of this invention can be realized and obtained from the description and accompanying drawings, which are particularly pointed out. Attached Figure Description

[0027] The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of the invention. Throughout the drawings, the same reference numerals denote the same parts.

[0028] Figure 1 This is a schematic diagram of the puncture template support system based on a robotic arm, according to Embodiment 1 of this utility model.

[0029] Figure 2 This is a front view of the robotic arm-based puncture template support system of Embodiment 1 of this utility model;

[0030] Figure 3 This is a side view of the robotic arm-based puncture template support system of Embodiment 1 of this utility model;

[0031] Figure 4This is a top view of the robotic arm-based puncture template support system of Embodiment 1 of this utility model;

[0032] Figure 5 This is a partial enlarged view of the adjustment mechanism of the robotic arm-based puncture template support system of Embodiment 1 of this utility model;

[0033] Figure 6 This is a schematic diagram of the installation method of the positioning template of the puncture template support system based on a robotic arm, which is an embodiment 2 of this utility model.

[0034] Figure label:

[0035] 1-Base; 2-Electric turntable; 3-Mechanical arm base; 4-First swing arm; 5-Second swing arm; 6-Third swing arm; 7-Positioning support; 8-Template mounting bracket; 9-Positioning template; 10-Pitch angle indicator; 11-First locking knob; 12-First indicator; 13-Second locking knob; 14-Circumferential angle indicator; 15-Second indicator; 16-Ball head; 71-First support half; 72-Second support half. Detailed Implementation

[0036] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which constitute a part of the present invention and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not intended to limit the scope of the present invention.

[0037] Example 1

[0038] A specific embodiment of this utility model discloses a puncture template support system based on a robotic arm, such as... Figure 1 , Figure 2 , Figure 3 , Figure 4 As shown, the system includes: a three-axis serial robotic arm, an adjustment mechanism, and a positioning template 9; the adjustment mechanism is installed at the end of the three-axis serial robotic arm; the adjustment mechanism includes: a positioning support 7, a template mounting bracket 8, a first locking knob 11, and a second locking knob 13; the positioning support 7 is hinged to the end of the three-axis serial robotic arm; the template mounting bracket 8 is rotatably installed at the end of the positioning support 7, and the rotation axis of the template mounting bracket 8 is perpendicular to the rotation axis of the positioning support 7; the first locking knob 11 is used to lock the positioning support 7; the second locking knob 13 is used to lock the template mounting bracket 8; the positioning template 9 is fixedly connected to the template mounting bracket 8, and the positioning template 9 is provided with a positioning hole, which can serve as a guide hole for a puncture needle.

[0039] Specifically, such as Figure 1As shown, the positioning template 9 has multiple positioning holes arranged in an array. These positioning holes can serve as guide holes for the puncture needle during puncture, guiding the needle and maintaining its puncture direction. In use, the tip of the puncture needle is inserted into the positioning hole, and the needle is moved along the axis of the positioning hole to perform the puncture.

[0040] Specifically, such as Figure 1 As shown, the three-axis serial robotic arm includes: a robotic arm base 3, a first swing arm 4, a second swing arm 5, and a third swing arm 6; the lower end of the first swing arm 4 is hinged to the robotic arm base 3, and the first swing arm 4, the second swing arm 5, and the third swing arm 6 are sequentially hinged together; multiple hinge points of the three-axis serial robotic arm are driven to rotate relative to each other by built-in motors, realizing relative rotation between the robotic arm base 3, the first swing arm 4, the second swing arm 5, and the third swing arm 6.

[0041] Specifically, such as Figure 5 As shown, the positioning support 7 is hinged to the end of the third rocker arm 6; the side of the third rocker arm 6 is threadedly connected to the first locking knob 11; the first locking knob 11 passes through the third rocker arm 6 and is locked to the side of the positioning support 7.

[0042] Preferably, in this embodiment, the first locking knob 11 includes: a first locking stud, a stud cap, and a knob handle; as shown Figure 5 As shown, the first locking stud is threaded into the first threaded hole on the side of the third rocker arm 6; the stud cap and the knob handle are fixed together with the first locking stud. By rotating the knob handle, the stud cap and the first locking stud can be driven to rotate synchronously, thereby enabling the first locking stud to lock the positioning support 7 that is hinged inside the third rocker arm 6.

[0043] Specifically, such as Figure 5 As shown, a cylindrical structure is provided at the end of the positioning support 7; a template mounting bracket 8 is rotatably installed inside the cylindrical structure.

[0044] Furthermore, the rotating shaft (not shown in the figure) of the template mounting bracket 8 is rotatably installed in the internal shaft hole of the cylindrical structure. The cylindrical structure is laterally arranged at the end of the positioning support 7, and the shaft hole is coaxial with the cylindrical structure.

[0045] Furthermore, such as Figure 5 As shown, a second locking knob 13 is threaded onto the outer surface of the cylindrical structure; the second locking knob 13 can pass through the cylindrical structure and be locked onto the rotating shaft of the template mounting bracket 8.

[0046] Preferably, the second locking knob 13 includes: a second locking stud and a knob disc; the second locking stud is threaded into a second threaded hole on the side of the cylindrical structure; the knob disc is fixedly installed at the end of the second locking stud; as shown Figure 5 As shown.

[0047] Preferably, multiple second threaded holes are evenly spaced along the circumference of the cylindrical structure; correspondingly, multiple second locking knobs 13 are evenly spaced along the circumference of the cylindrical structure. In use, by tightening one or more of the second locking knobs 13, the template mounting bracket 8 and the positioning support 7 can be locked and fixed, thereby maintaining the stability of the angle and position of the positioning template 9.

[0048] like Figure 5 As shown, a semi-circular pitch angle indicator 10 is provided at the end of the third rocker arm 6. The pitch angle indicator 10 is coaxially arranged with the rotation axis of the positioning support 7 and has scales on its edge. A first indicator 12 is provided on the side of the positioning support 7. The first indicator 12 indicates the deflection angle of the positioning support 7 relative to the third rocker arm 6 by aligning with different scales of the pitch angle indicator 10.

[0049] Furthermore, such as Figure 5 As shown, a circumferential angle indicator 14 is provided on the end face of the cylindrical structure; a second indicator 15 is provided on the side of the template mounting bracket 8; the second indicator 15 indicates the deflection angle of the template mounting bracket 8 relative to the positioning support 7 by aligning with different scales of the circumferential angle indicator 14.

[0050] In this embodiment, the puncture template support system further includes: a base 1 and an electric turntable 2; the base 1 is placed on the ground; the electric turntable 2 is fixedly installed on the base 1, and a robotic arm base 3 is installed above the electric turntable 2; the electric turntable 2 can drive the three-axis serial robotic arm to rotate circumferentially as a whole.

[0051] During implementation:

[0052] First, fix base 1 to the side of the operating table;

[0053] The second step is to adjust the position of the positioning template 9: the circumferential position and longitudinal height of the positioning template 9 are adjusted by the three-axis serial robotic arm and the electric turntable 2 to achieve coarse adjustment of the position of the positioning template 9.

[0054] The third step is to adjust the specific position and angle of the positioning template 9 by adjusting the mechanism; specifically, the pitch angle and height of the positioning template 9 are adjusted by rotating the positioning support 7, and the angle of the positioning template 9 is accurately adjusted by rotating the template mounting bracket 8.

[0055] The fourth step is to lock and fix the positioning support 7 and the template mounting bracket 8 by tightening the first locking knob 11 and the second locking knob 13, so as to ensure that the positioning template 9 can have stable support and guidance when the puncture needle is puncturing.

[0056] Example 2

[0057] One specific embodiment of this utility model is an improved design based on embodiment 1:

[0058] Specifically, such as Figure 6 As shown, the cylindrical structure has a spherical hole inside.

[0059] Preferably, to facilitate the machining of the spherical hole, the positioning support 7 is manufactured using a split structure. Specifically, the positioning support 7 includes a first support half 71 and a second support half 72; the first support half 71 and the second support half 72 are symmetrical and can be assembled into a complete positioning support 7. Furthermore, both the first support half 71 and the second support half 72 have hemispherical grooves, and the two hemispherical grooves can be assembled into a spherical hole.

[0060] Furthermore, the end of the template mounting bracket 8 is provided with a ball head 16; the ball head 16 cooperates with the spherical hole to realize the ball joint connection between the template mounting bracket 8 and the positioning support 7.

[0061] In this embodiment, the template mounting bracket 8 is rotatably mounted in the spherical hole via the ball head 16, so that the template mounting bracket 8 can deflect in multiple directions relative to the positioning support 7, thereby enabling arbitrary angle adjustment of the positioning template 9 fixedly mounted on the template mounting bracket 8.

[0062] In this embodiment, multiple second locking knobs 13 located on the outside of the cylindrical structure of the positioning support 7 are also used to lock and fix the ball head 16.

[0063] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present utility model should be included within the protection scope of the present utility model.

Claims

1. A puncture template support system based on a robotic arm, characterized in that, include: A three-axis serial robotic arm, an adjustment mechanism and a positioning template (9); The adjustment mechanism is installed at the end of the three-axis serial robotic arm; The adjustment mechanism includes: a positioning support (7), a template mounting bracket (8), a first locking knob (11), and a second locking knob (13); the positioning support (7) is hinged to the end of the three-axis serial robotic arm; the template mounting bracket (8) is rotatably mounted on the end of the positioning support (7), and the rotation axis of the template mounting bracket (8) is perpendicular to the rotation axis of the positioning support (7); the first locking knob (11) is used to lock the positioning support (7); the second locking knob (13) is used to lock the template mounting bracket (8); The positioning template (9) is fixedly connected to the template mounting bracket (8), and the positioning template (9) is provided with a positioning hole, which can be used as a guide hole for the puncture needle.

2. The puncture template support system based on a robotic arm according to claim 1, characterized in that, The three-axis serial robotic arm includes: a robotic arm base (3), a first swing arm (4), a second swing arm (5), and a third swing arm (6); the lower end of the first swing arm (4) is hinged to the robotic arm base (3), and the first swing arm (4), the second swing arm (5), and the third swing arm (6) are hinged in sequence; multiple hinge points of the three-axis serial robotic arm are driven to rotate relative to each other by a built-in motor to achieve relative rotation between the robotic arm base (3), the first swing arm (4), the second swing arm (5), and the third swing arm (6).

3. The puncture template support system based on a robotic arm according to claim 2, characterized in that, The positioning support (7) is hinged to the end of the third rocker arm (6); the side of the third rocker arm (6) is threaded to the first locking knob (11); the first locking knob (11) passes through the third rocker arm (6) and is locked to the side of the positioning support (7).

4. The puncture template support system based on a robotic arm according to claim 3, characterized in that, The end of the positioning support (7) is provided with a cylindrical structure; a template mounting bracket (8) is rotatably installed inside the cylindrical structure.

5. The puncture template support system based on a robotic arm according to claim 4, characterized in that, The rotating shaft of the template mounting bracket (8) is rotatably installed in the internal shaft hole of the cylindrical structure.

6. The puncture template support system based on a robotic arm according to claim 4, characterized in that, The cylindrical structure has a spherical hole inside; the end of the template mounting bracket (8) is provided with a ball head (16); the template mounting bracket (8) is rotatably mounted in the spherical hole through the ball head (16).

7. The robotic arm-based puncture template support system according to claim 5 or 6, characterized in that, A second locking knob (13) is threaded onto the outer surface of the cylindrical structure; the second locking knob (13) can pass through the cylindrical structure and be locked onto the rotating shaft of the template mounting bracket (8); multiple second locking knobs (13) are evenly spaced along the circumference of the cylindrical structure.

8. The puncture template support system based on a robotic arm according to claim 3, characterized in that, The end of the third rocker arm (6) is provided with a semi-circular pitch angle indicator (10), the pitch angle indicator (10) is coaxially arranged with the rotation axis of the positioning support (7), and the edge is provided with scale; the side of the positioning support (7) is provided with a first indicator (12); the first indicator (12) indicates the deflection angle of the positioning support (7) relative to the third rocker arm (6) by aligning with different scales of the pitch angle indicator (10).

9. The robotic arm-based puncture template support system according to claim 5, characterized in that, A circumferential angle indicator (14) is provided on the end face of the cylindrical structure; a second indicator (15) is provided on the side of the template mounting bracket (8); the second indicator (15) indicates the deflection angle of the template mounting bracket (8) relative to the positioning support (7) by aligning with different scales of the circumferential angle indicator (14).

10. The puncture template support system based on a robotic arm according to claim 1, characterized in that, Also includes: The base (1) and the electric turntable (2) are placed on the ground. The electric turntable (2) is fixedly installed on the base (1), and a robotic arm base (3) is installed above the electric turntable (2). The electric turntable (2) can drive the three-axis serial robotic arm to rotate circumferentially as a whole.

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