Puncture instrument guide positioning device and surgical robot system

Abstract

The application relates to a puncture instrument guiding and positioning device and a surgical robot system. The puncture instrument guiding and positioning device comprises a base connected with a mechanical arm, a driving member installed on the base, a clamping jaw pushing member connected with the driving member, a clamping module comprising a clamping seat and two clamping jaws elastically connected with the clamping seat, and the two clamping jaws are configured to rotate relative to the clamping seat to switch between a clamping state and a release state; the driving member is used for driving the clamping jaw pushing member to move, so as to drive the two clamping jaws to rotate relative to the clamping seat to the clamping state against the elastic force. The puncture instrument guiding and positioning device and the surgical robot system can simplify the operation process, reduce the clinical operation difficulty, improve the operation efficiency and state switching stability of the puncture operation, and better meet the requirements of the puncture operation convenience and high efficiency in the clinic.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to puncture instrument guidance and positioning devices and surgical robot systems. Background Technology

[0002] As a crucial clinical procedure for lesion biopsy, resection, and ablation therapy, the precision and efficiency of puncture surgery directly impact patient treatment outcomes and postoperative recovery. With the deep integration of medical imaging and mechanical automation technologies, robotic-guided puncture surgery, leveraging the high-precision positioning capabilities of the robotic arm and the clear lesion visualization provided by CT imaging, has effectively addressed the low success rate and high reliance on physician experience inherent in traditional blind puncture procedures, and is now widely used in clinical practice. The guiding and positioning device installed at the end of the robotic arm, as the core component directly holding and guiding the puncture instrument, plays a decisive role in the overall quality of the puncture surgery.

[0003] In related technologies, some guiding and positioning devices require operators to manually switch between clamping and releasing states when performing the clamping and releasing functions of puncture instruments. This process is relatively cumbersome, increasing the number of steps and time costs during surgery. Furthermore, the timing and accuracy of manual operation may be affected by deviations in the operation, impacting the timeliness and stability of instrument switching. This makes it difficult to fully meet the actual needs of clinical puncture surgery for ease of operation and efficiency, and hinders further improvement in surgical efficiency and clinical user experience. Utility Model Content

[0004] Therefore, it is necessary to provide a puncture instrument guidance and positioning device and a surgical robot system to simplify the operation process, reduce the difficulty of clinical operation, and thus improve the operation efficiency and stability of state switching of puncture surgery, so as to better meet the clinical needs for the convenience and efficiency of puncture surgery.

[0005] A puncture instrument guiding and positioning device, the puncture instrument guiding and positioning device comprising:

[0006] The base is used to connect to the robotic arm;

[0007] The driving component is mounted on the base;

[0008] A gripper pusher, connected to the drive member; and

[0009] The clamping module includes a clamping base and two grippers elastically connected to the clamping base, the two grippers being configured to rotate relative to the clamping base to switch between a clamping state and a releasing state;

[0010] The driving component is used to drive the gripper pusher to move, so as to drive the two grippers to rotate relative to the clamping seat to the clamping state against the elastic force.

[0011] In some embodiments, the puncture instrument guiding and positioning device includes a transmission module connected to the drive member and the gripper pusher, wherein the drive member drives the gripper pusher to move through the transmission module.

[0012] In some embodiments, the driving element is a motor.

[0013] In some embodiments, the transmission module includes a cam connected to the drive member, the outer peripheral surface of the cam abutting against the gripper pusher, and the drive member driving the cam to rotate so as to move the gripper pusher.

[0014] In some embodiments, the transmission module includes a connecting assembly connected to the drive member and the cam, wherein the drive member drives the cam to rotate through the connecting assembly;

[0015] The connecting component is a gear assembly, a belt drive assembly, a chain drive assembly, or a rope drive assembly.

[0016] And / or, in the clamping state, the torque of the normal pressure exerted by the gripper pusher on the cam is a first torque, and the torque of the frictional force exerted by the gripper pusher on the cam is a second torque. The first torque and the second torque are in opposite directions, and the second torque is greater than the first torque.

[0017] In some embodiments, the transmission module includes a lead screw connected to the drive member, the lead screw and the gripper pusher being threadedly connected, and the drive member being used to drive the lead screw to rotate so as to move the gripper pusher.

[0018] In some embodiments, the transmission module includes a connecting assembly connected to the drive member and the lead screw, wherein the drive member drives the lead screw to rotate through the connecting assembly;

[0019] The connecting component is a gear assembly, belt drive assembly, chain drive assembly, or rope drive assembly.

[0020] In some embodiments, the drive member is used to drive the gripper pusher to move toward the two grippers, so as to push the two grippers to rotate to the clamping state.

[0021] In some embodiments, the gripper pusher is configured to abut against the side of the two grippers that are close to each other to push the two grippers to rotate to the clamping state;

[0022] Alternatively, the gripper pusher is configured to abut against the opposite side of the two grippers to push the two grippers to rotate into the gripping state.

[0023] In some embodiments, the puncture instrument guiding and positioning device includes a first elastic member connected to the base and the gripper pusher, the gripper pusher having a tendency to move away from the gripper under the elastic force of the first elastic member.

[0024] In some embodiments, the puncture instrument guiding and positioning device includes a sensor, and in the clamping state or the releasing state, the gripper pusher is located within the triggering range of the sensor.

[0025] In some embodiments, the puncture instrument guiding and positioning device includes a main body, the main body including the base, the drive member, the gripper pusher member, and the clamping module is detachably connected to the base.

[0026] In some embodiments, one of the main body and the clamping module is provided with a claw, and the other is provided with a locking member. When the clamping module and the main body are relatively close, the claw can be abutted by the locking member and rotate elastically until it engages with the locking member.

[0027] In some embodiments, the angle between the extension direction of the gripper pusher as a whole and the first direction is within a preset range, wherein the first direction is the axial direction of the rotation of the two grippers relative to the gripper seat;

[0028] Alternatively, the gripper pusher includes a first extension section and a second extension section connected in sequence, wherein the angle between the extension direction of the first extension section and the first direction is within a preset range, and the second extension section extends along the second direction, wherein the first direction is the axial direction of the rotation of the two grippers relative to the gripping seat, and the second direction is the assembly / disassembly direction of the gripping module relative to the base.

[0029] Alternatively, the gripper pusher includes a third extension segment, a first extension segment, and a second extension segment connected in sequence, wherein the angle between the extension direction of the first extension segment and the first direction is within a preset range, and the second extension segment and the third extension segment extend along a second direction, wherein the first direction is the axial direction of the rotation of the two grippers relative to the gripping seat, and the second direction is the assembly / disassembly direction of the gripping module relative to the base.

[0030] A surgical robot system includes the aforementioned puncture instrument guiding and positioning device, and also includes the robotic arm, with the base connected to the robotic arm.

[0031] The aforementioned puncture instrument guiding and positioning device and surgical robot system use a drive component to move the gripper pusher component, thereby achieving gripping by the gripper. This eliminates the need for manual operation by the operator, significantly simplifying the operation process, reducing the difficulty of clinical operation, effectively reducing surgical operation steps and time costs, and avoiding the impact of manual operation timing control or movement deviation on the timeliness and stability of state switching. At the same time, since the two grippers in the gripping module are elastically connected to the gripping seat, the grippers overcome the elastic force when rotating to the gripping state. Therefore, after the gripper pusher component moves in the opposite direction, the elastic force assists the grippers to reset to the release state, further improving the ease of use of the device. Overall, it better meets the needs of clinical puncture surgery for operational efficiency, stability, and adaptability, and helps to improve the quality of puncture surgery and the clinical user experience. Attached Figure Description

[0032] Figure 1 This is a schematic diagram of a puncture instrument guide and positioning device in one embodiment of this application.

[0033] Figure 2 This is a schematic diagram of another perspective of the puncture instrument guiding and positioning device in one embodiment of this application.

[0034] Figure 3 This is a schematic diagram of a drive component, a transmission module (gear assembly + cam), and a gripper pusher component in one embodiment of this application.

[0035] Figure 4 for Figure 3 A schematic diagram of the structure from another perspective.

[0036] Figure 5 This is a schematic diagram of a drive component, a transmission module (with transmission assembly + cam), and a gripper pusher component in one embodiment of this application.

[0037] Figure 6 This is a schematic diagram of the drive component, transmission module (lead screw), and gripper pusher component in one embodiment of this application.

[0038] Figure 7 This is a schematic diagram of the drive component, transmission module (gear assembly + lead screw), and gripper push component in one embodiment of this application.

[0039] Figure 8 This is a schematic diagram (clamping state) of a gripper pusher and two grippers in one embodiment of this application.

[0040] Figure 9 This is a schematic diagram of the force analysis of the gripper pusher and the cam in one embodiment of this application (clamping state).

[0041] Figure 10 This is a schematic diagram showing the separation of the main body and gripper module in one embodiment of this application.

[0042] Figure 11 This is a schematic diagram of the main body facing the gripper module side in one embodiment of this application.

[0043] Figure 12 This is a schematic diagram of the claw and locking member just coming into contact in one embodiment of this application.

[0044] Figure 13 This is a schematic diagram of the claw engaging the locking slot in one embodiment of this application.

[0045] Figure 14 This is a schematic diagram of pressing the button to disengage the pawl from the locking slot in one embodiment of this application.

[0046] Figure 15 This is a schematic diagram of a gripper pusher in one embodiment of this application.

[0047] Figure 16 This is a schematic diagram of the gripper pusher in another embodiment of this application.

[0048] Figure 17 This is a schematic diagram of the gripper pusher in another embodiment of this application.

[0049] Figure 18 This is a schematic diagram of the gripper pusher in another embodiment of this application.

[0050] Figure 19 This is a schematic diagram of the gripper pusher in another embodiment of this application.

[0051] Figure label:

[0052] 10. Main body; 100. Base; 110. Quick-release component; 130. Sensor; 140. Button; 150. Piston; 160. Guide hole; 170. Cam support; 210. Drive component; 220. Reducer; 230. Brake; 300. Gripper pusher; 301. First pusher; 302. Second pusher; 303. Third pusher; 304. Slide rail groove; 305. Weight reduction hole; 310. First extension section; 320. Second extension section; 321. Notch; 330. Third extension section; 400. Transmission module; 410. Cam; 420. First gear assembly; 421. 422. First gear; 430. Second gear; 431. Belt drive assembly; 432. Synchronous belt; 433. First pulley; 434. Second pulley; 440. Lead screw; 450. Second gear assembly; 451. Third gear; 452. Fourth gear; 510. Claw; 511. First inclined plane; 520. Claw shaft; 600. Clamping module; 610. Clamping seat; 620. Claw; 621. Clamping section; 622. Mating section; 630. Claw shaft; 640. Torsion spring; 650. Locking element; 651. Locking groove; 652. Second inclined plane; 660. Guide pin; 700. Puncture instrument. Detailed Implementation

[0053] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0054] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0055] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0056] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0057] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0058] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0059] See Figures 1 to 3 An embodiment of this application provides a puncture instrument guiding and positioning device including a base 100, a drive member 210, a gripper pusher 300, and a clamping module 600. The base 100 is used to connect to a robotic arm, the drive member 210 is mounted on the base 100, and the gripper pusher 300 is connected to the drive member 210. The clamping module 600 includes a clamping seat 610 and two grippers 620 elastically connected to the clamping seat 610. The two grippers 620 are configured to rotate relative to the clamping seat 610 to switch between a clamping state and a releasing state. The drive member 210 is used to drive the gripper pusher 300 to move, thereby causing the two grippers 620 to rotate relative to the clamping seat 610 against the elastic force to the clamping state.

[0060] In the above embodiment, the puncture instrument guiding and positioning device uses a drive unit 210 to drive the gripper pusher 300 to move, thereby achieving gripping by the gripper. This eliminates the need for manual operation by the operator, significantly simplifying the operation process, reducing the difficulty of clinical operation, effectively reducing surgical operation steps and time costs, and avoiding the impact of manual operation timing control or movement deviation on the timeliness and stability of state switching. At the same time, since the two grippers 620 in the gripping module 600 are elastically connected to the gripping seat 610, when the grippers 620 rotate to the gripping state, they overcome the elastic force. Therefore, after the gripper pusher 300 moves in the opposite direction, the elastic force assists the grippers 620 to reset to the release state, further improving the ease of use of the device. Overall, it better meets the needs of clinical puncture surgery for operational efficiency, stability, and adaptability, and helps to improve the quality of puncture surgery and the clinical user experience.

[0061] Specifically, in some embodiments, a quick-release element 110 is provided on the base 100, through which the puncture instrument guiding and positioning device can be detachably connected to the robotic arm. The specific structure of the detachable connection can be any of the existing technologies, and will not be described in detail here.

[0062] In some embodiments, the two grippers 620 are used to hold and fix the puncture instrument 700 in a clamping state. Specifically, the puncture instrument 700 can be a puncture needle. The two grippers 620 are configured to rotate relative to the clamping seat 610 about a first direction to switch between a clamping state and a released state. The first direction is the length direction of the puncture needle, and the second direction, which appears subsequently, is perpendicular to the first direction.

[0063] See Figures 3 to 8 In some embodiments, the drive member 210 is used to drive the gripper pusher 300 to move toward the two grippers 620, so as to push the two grippers 620 to rotate into a clamping state. The drive member 210 can be a motor, electric motor or other components.

[0064] Preferably, the gripper pusher 300 and the base 100 are slidably engaged to guide the movement of the gripper pusher 300 and improve its positional accuracy.

[0065] See Figure 8 and Figure 10 In some embodiments, the gripper pusher 300 is configured to abut against the side of the two grippers 620 that are close to each other, so as to push the two grippers 620 to rotate into a gripping state.

[0066] Specifically, the side of the two grippers 620 that is close to each other is the inner side of the two grippers 620. That is, the gripper pusher 300 moves in the second direction towards the two grippers 620 under the drive of the drive member 210, and pushes the two grippers 620 to rotate to the clamping state by abutting against the inner side of the two grippers 620.

[0067] Furthermore, in some embodiments, each gripper 620 includes a gripping section 621 and a mating section 622 located on both sides of its own rotation axis. The gripper pusher 300 abuts against the inner side of the mating section 622 of the two grippers 620, causing the two mating sections 622 to gradually move away from each other, so that the gripping sections 621 of the two grippers 620 gradually move closer to each other to achieve gripping.

[0068] Specifically, each gripper 620 is sleeved on the outside of a corresponding gripper shaft 630, which is connected to the gripper base 610. The gripper 620 can rotate relative to the gripper shaft 630. A torsion spring 640 connects each of the two grippers 620 and its corresponding gripper shaft 630. Figure 10As the gripper transitions from the released state to the clamping state, the two torsion springs 640 gradually deform. When the force applied by the gripper pusher 300 to the inner side of the mating section 622 of the two grippers 620 is removed, the two grippers 620 will rotate in the opposite direction and return to the released state under the drive of the rebound force of the two torsion springs 640.

[0069] In other embodiments, the gripper pusher 300 is configured to abut against the opposite side of the two grippers 620 to push the two grippers 620 to rotate into a gripping state.

[0070] Specifically, the side of the two grippers 620 that is opposite to each other is the outer side of the two grippers 620. That is, the gripper pusher 300 moves in the second direction toward the two grippers 620 under the drive of the drive member 210, and pushes the two grippers 620 to rotate to the clamping state by abutting against the outer side of the two grippers 620.

[0071] Furthermore, in some embodiments, the two grippers 620 are rotatably connected to the gripper base 610 along the second direction near the region of the gripper pusher 300 and extend into the gripper pusher 300. The gripper pusher 300 abuts against the outer side of the two grippers 620 through its inner sidewall, so that the two grippers 620 gradually move closer together.

[0072] Specifically, in this embodiment, the gripper 620 may only include the gripping section 621, without the mating section 622, or the mating section 622 may be very short, meaning the two grippers 620 resemble a "<" shape in the released state. The gripper pusher 300 is essentially sleeved on the outside of the two gripping sections 621. As the gripper pusher 300 gradually approaches the grippers 620 along the second direction, it gradually "clamps" the two grippers 620, pushing the two gripping sections 621 closer together from the outside to achieve clamping. The two grippers 620 may be sleeved on the outside of the same gripper shaft 630, which is connected to the gripping seat 610, allowing the two grippers 620 to rotate relative to the gripper shaft 630. A spring / torsion spring is disposed between the gripper shaft 630 and the two grippers 620, gradually deforming as the state transitions from release to clamping. When the gripper pusher 300 moves in the opposite direction, driven by the rebound force of the spring / torsion spring, the two grippers 620 will rotate in the opposite direction to reset to the released state.

[0073] See Figure 3 and Figure 8 In some embodiments, the puncture instrument guiding and positioning device includes a first elastic member connected to the base 100 and the gripper pusher 300, which, under the elastic force of the first elastic member, has a tendency to move away from the gripper 620.

[0074] Specifically, the first elastic element is a spring, with its two ends connected to the base 100 and the gripper pusher 300, respectively. When the gripper pusher 300 moves in the second direction toward the two grippers 620 under the drive of the drive member 210, the spring gradually deforms. The spring's rebound force pulls the gripper pusher 300, causing it to tend to move in the opposite direction in the second direction away from the grippers 620. Thus, when the drive member 210 outputs reverse force, the spring can assist in pulling the gripper pusher 300 back to its original position, reducing the load on the drive member 210.

[0075] See Figures 3 to 8 In some embodiments, the puncture instrument guiding and positioning device includes a transmission module 400 connected to the drive member 210 and the gripper pusher 300, wherein the drive member 210 drives the gripper pusher 300 to move through the transmission module 400.

[0076] Specifically, the drive component 210 drives the gripper pusher 300 to move along the second direction toward the gripper 620 via the transmission module 400, so that the two grippers 620 rotate into the gripping state. In the above embodiment, the transmission module 400 connects the drive component 210 and the gripper pusher 300, so that the power of the drive component 210 can be transmitted to the gripper pusher 300 more smoothly and accurately, thereby driving the two grippers 620 to reliably switch to the gripping state, improving the stability and efficiency of the power transmission of the puncture instrument guiding and positioning device, and better meeting the requirements of clinical operation for the accuracy of the gripper 620's movements.

[0077] In other embodiments, the gripper pusher 300 may be omitted, and the drive member 210 may directly drive the gripper pusher 300 to move.

[0078] See Figures 3 to 5 In some embodiments, the transmission module 400 includes a cam 410 connected to the drive member 210, the outer peripheral surface of the cam 410 abutting against the gripper pusher 300, and the drive member 210 driving the cam 410 to rotate so as to push the gripper pusher 300 to move.

[0079] Specifically, the puncture instrument guiding and positioning device includes a cam support 170 connected to the base 100, and a cam 410 rotatably connected to the cam support 170. The direction of rotation (third direction) of the cam 410's axis of rotation is perpendicular to the aforementioned first and second directions. From the perspective of the accompanying drawings, when the cam 410 rotates counterclockwise, the distance between the position on its outer circumferential surface abutting against the gripper pusher 300 and the cam 410's axis of rotation gradually increases, thereby pushing the gripper pusher 300 towards the gripper 620 to switch to a clamping state.

[0080] In the above embodiment, the rotational motion of the drive component is converted into a smooth linear displacement by the contact between the outer peripheral surface of the cam 410 and the gripper pusher 300. This allows the gripper pusher 300 to perform the push in a more continuous and controllable manner, thereby ensuring that the gripping action of the two grippers 620 is smoother and more synchronized, effectively reducing motion impact and improving the stability and reliability of the gripping.

[0081] See Figures 3 to 5 In some embodiments, the transmission module 400 includes a connecting assembly connected to the drive member 210 and the cam 410, wherein the drive member 210 drives the cam 410 to rotate through the connecting assembly; the connecting assembly is a gear assembly, a belt drive assembly 430, a chain drive assembly, or a rope drive assembly.

[0082] Specifically, in Figures 3 to 4 In the illustrated embodiment, the connecting component is a first gear assembly 420. The first gear assembly 420 includes a first gear 421 and a second gear 422. Both the first gear 421 and the second gear 422 are bevel gears and mesh with each other. The axis of the first gear 421 is along a first direction and is connected to the driving member 210; the axis of the second gear 422 is along a third direction and is coaxially connected to the cam 410. Thus, when the driving member 210 drives the first gear 421 to rotate around the first direction, the second gear 422 will rotate around the third direction, thereby causing the cam 410 to rotate around the third direction.

[0083] exist Figures 3 to 4 In the illustrated embodiment, the bevel gears enable flexible conversion of the power direction. In other embodiments, the bevel gear structure can be replaced with a worm gear structure; or, the position of the drive component 210 can be adjusted to output power that rotates around a third direction. In this case, conventional cylindrical gears can be directly selected.

[0084] exist Figure 5 In the illustrated embodiment, the connecting component is a belt drive assembly 430. The belt drive assembly 430 includes a synchronous belt 431, a first pulley 432, and a second pulley 433. The first pulley 432 and the second pulley 433 are arranged at intervals along a first direction, and the synchronous belt 431 is wound around the first pulley 432 and the second pulley 433. The first pulley 432 is connected to a drive member 210, and the second pulley 433 is coaxially connected to a cam 410. The drive member 210 outputs power for rotation about a third direction, and this rotational power is indirectly transmitted to the cam 410 through the belt drive assembly 430.

[0085] In other embodiments, the belt drive assembly 430 can be replaced with a chain drive assembly. The chain drive assembly is configured similarly to the belt drive assembly 430, except that the pulley is replaced with a sprocket and the timing belt is replaced with a chain. In other embodiments, the belt drive assembly 430 can also be replaced with a rope drive assembly, simply by replacing the timing belt with a rope.

[0086] In the above embodiments, by setting gear components, belt drive components 430, chain drive components or rope drive components as connecting components, the drive component 210 can transmit power to the cam 410 in a stable and efficient manner, ensuring the smoothness and accuracy of the movement of the cam 410 pushing the gripper pusher 300, and ultimately making the clamping action of the two grippers 620 more reliable, and the overall structure more adaptable to different installation spaces and clinical operation needs.

[0087] See Figures 3 to 5 ,as well as Figure 9 In some embodiments, in the clamping state, the torque of the normal force F of the gripper pusher 300 on the cam 410 is the first torque, and the torque of the frictional force f of the gripper pusher 300 on the cam 410 is the second torque. The first torque and the second torque are in opposite directions, and the second torque (fl) is greater than the first torque (FL).

[0088] Specifically, see also Figure 1 and Figure 8 During the puncture, the bottom end of the puncture instrument 700 is held and fixed by two grippers 620. Medical personnel may apply a radial deflection force to the top end of the puncture instrument 700. Regardless of the direction of this deflection force, the portion of the puncture instrument 700 held by the two grippers 620 will exert a force on the two grippers 620 (gripping section 621) that moves away from each other. This force will generate a deflection torque on the two grippers 620. Under the action of the deflection torque, the two grippers 620 tend to open (transition to the released state), thereby generating a force on the gripper pusher 300 to move in a second direction away from the grippers 620. This force acts on the cam 410, which is the normal force F applied by the gripper pusher 300 to the cam 410. This normal force F will generate a first torque (FL) on the cam 410, causing the cam 410 to tend to rotate clockwise to leave the gripping state. Under this trend, the gripper pusher 300 applies an upward frictional force f to the cam 410. This frictional force f generates a second torque (fl) on the cam 410, with the first and second torques in opposite directions. Understandably, by specially designing the size and shape of the cam 410 to ensure that the second torque is greater than the first torque, the cam 410 will remain in its current position, stably achieving the clamping state and realizing self-locking in the clamping state, thereby improving clamping stability.

[0089] As previously described, the first elastic element connects the base 100 and the gripper pusher 300. Under the elastic force of the first elastic element, the gripper pusher 300 tends to move away from the gripper 620. Therefore, it can be ensured that the gripper pusher 300 always abuts against the outer peripheral surface of the cam 410, thereby enabling the cam 410 to push the gripper pusher 300 as soon as it begins to rotate, resulting in better timeliness. In addition, when it is necessary to switch from the clamping state to the releasing state, the drive member 210 rotates in the opposite direction, driving the cam 410 to rotate clockwise. At the same time, the first elastic element will pull the gripper pusher 300 to move in the second direction away from the gripper 620 to achieve reset.

[0090] See Figures 6 to 7 In some embodiments, the transmission module 400 includes a lead screw 440 connected to the drive member 210. The lead screw 440 and the gripper pusher 300 are threadedly connected. The drive member 210 is used to drive the lead screw 440 to rotate, thereby driving the gripper pusher 300 to move.

[0091] Specifically, the lead screw 440 extends along the second direction, and the gripper pusher 300 is sleeved on the outside of the lead screw 440, with the two being threadedly connected. When the drive member 210 drives the lead screw 440 to rotate around the second direction, the gripper pusher 300 will move along the second direction to move closer to or further away from the gripper 620.

[0092] In the above embodiment, a lead screw 440 driven by a drive member 210 is used, and it is threadedly connected to the gripper pusher 300 to convert the rotational motion into a precise linear displacement with a self-locking function. This allows the gripper pusher 300 to smoothly and accurately push the two grippers 620, achieving high precision and high stability in the switching of the gripping state, preventing accidental loosening during the gripping process, and improving the reliability of the operation.

[0093] See Figure 7 In some embodiments, the transmission module 400 includes a connecting assembly connected to the drive member 210 and the lead screw 440, and the drive member 210 drives the lead screw 440 to rotate through the connecting assembly; the connecting assembly is a gear assembly, a belt drive assembly 430, a chain drive assembly or a rope drive assembly.

[0094] exist Figure 7In the illustrated embodiment, the connecting component is a second gear assembly 450, which includes a third gear 451 and a fourth gear 452. Both the third gear 451 and the fourth gear 452 are bevel gears and mesh with each other. The axis of the third gear 451 is in a first direction and is connected to the driving member 210; the axis of the fourth gear 452 is in a second direction and is coaxially connected to the lead screw 440. Thus, when the driving member 210 drives the third gear 451 to rotate around the first direction, the fourth gear 452 will rotate around the second direction, thereby causing the lead screw 440 to rotate around the second direction.

[0095] In other embodiments, the second gear assembly 450 can be replaced with a belt drive assembly, a chain drive assembly, or a rope drive assembly. The arrangement is similar to the aforementioned embodiment with cam 410, and will not be repeated here.

[0096] Or, in Figure 6 In the embodiment shown, no connecting components are provided, and the drive component 210 directly drives the lead screw 440 to rotate. Figure 6 or Figure 7 In the illustrated embodiment, a reducer 220 and a brake 230 are provided at the output end of the drive member 210. In the clamping state, the brake 230 locks the output shaft of the drive member 210, achieving mechanical locking of the drive member 210 and ensuring stable clamping. Figures 3 to 5 In the illustrated embodiment, as mentioned above, the clamping self-locking is achieved by designing the shape and size of the cam 410, thus the brake 230 can be omitted, and only the reducer 220 needs to be provided at the end of the drive member 210. Of course, the reducer 200 can also be omitted in the above embodiments.

[0097] See Figure 3 In some embodiments, the puncture instrument guiding and positioning device includes a sensor 130, and in the clamping or releasing state, the gripper pusher 300 is located within the triggering range of the sensor 130.

[0098] For example, in the released state, the gripper pusher 300 is relatively far away from the gripper 620 in the second direction and relatively close to the sensor 130, within the trigger range of the sensor 130. The sensor 130 is triggered and sends a signal to the controller. At this time, the end effector of the robotic arm can move due to active or passive dragging. Conversely, in the clamping state, the gripper pusher 300 is relatively close to the gripper 620 in the second direction and relatively far away from the sensor 130, leaving the trigger range of the sensor 130. The sensor 130 cannot be triggered, and the controller will control the end effector of the robotic arm to remain immobile to prevent the robotic arm from moving the device in the clamping state, causing the puncture instrument 700 to shift and harm the patient.

[0099] In some embodiments, the sensor 130 may be a photoelectric sensor, a Hall sensor, or the like.

[0100] See Figure 1 and Figure 10 In some embodiments, the puncture instrument guiding and positioning device includes a main body 10, which includes a base 100, a drive member 210, a gripper pusher 300, and a clamping module 600 detachably connected to the base 100.

[0101] Specifically, the main body 10 includes the aforementioned base 100, drive component 210, gripper pusher 300, transmission module 400, and other components. In the above embodiment, by designing the clamping module 600 to be detachably connected to the base 100, which includes the drive component 210 and gripper pusher 300, the clamping module 600 can be quickly replaced or sterilized as an independent unit, greatly improving the flexibility and ease of maintenance of the entire puncture instrument guiding and positioning device in clinical surgery.

[0102] See Figure 10 ,as well as Figures 12 to 14 In some embodiments, one of the main body 10 and the clamping module 600 is provided with a claw 510 and the other is provided with a locking member 650. When the clamping module 600 and the main body 10 are relatively close, the claw 510 can be abutted by the locking member 650 and rotate elastically until it is engaged with the locking member 650.

[0103] In the above embodiment, by setting the claw 510 and the locking member 650, the clamping module 600 and the main body 10 can automatically complete the locking by abutting and elastic rotation when they are relatively close, realizing the quick and firm locking of the two, ensuring the connection stability of the clamping module 600 during operation, and at the same time, no additional tools are required, improving the efficiency of disassembly and assembly and the convenience of operation.

[0104] See Figure 10 ,as well as Figures 12 to 14 In some embodiments, the main body 10 includes a claw 510 rotatably connected to the base 100, and the clamping module 600 includes a locking member 650 connected to the clamping base 610. When the clamping module 600 and the main body 10 approach each other in a second direction, the locking member 650 pushes the claw 510 to rotate elastically around the first direction until it engages with the locking member 650.

[0105] Furthermore, in some embodiments, the locking member 650 has a locking groove 651. When the clamping module 600 and the main body 10 are relatively close, the locking member 650 can push the claw 510 to rotate against the elastic force, and the locking member 650 rotated to the preset position rotates in the opposite direction under the action of the elastic force and is locked into the locking groove 651.

[0106] Specifically, the claw 510 is elastically connected to the base 100, i.e., a second elastic element is provided. The second elastic element is connected to the base 100 and directly or indirectly connected to the claw 510. The rebound force of the second elastic element causes the claw 510 to tend to remain in the locked position (i.e., the position where it is engaged in the locking groove 651). When the clamping module 600 and the main body 10 are relatively close, the locking element 650 can push the claw 510 to overcome the elastic force and rotate, causing the claw 510 to leave the locked position. When the claw 510 rotates to... Figure 14 When the preset position is shown, that is, when the claw 510 reaches the entrance of the locking groove 651, the claw 510 will rotate in the opposite direction and lock into the locking groove 651 under the drive of the rebound force of the second elastic element to achieve locking.

[0107] In the above embodiment, the claw 510 and the locking groove 651 cooperate with each other, so that when the two come together in the second direction, they can automatically complete the guidance, elastic rotation and finally lock together, realizing a fast, accurate and firm connection between the clamping module 600 and the main body 10. At the same time, the elastic force achieves self-locking, improving the efficiency and reliability of module replacement during surgery.

[0108] Preferably, in some embodiments, the claw 510 has a first inclined surface 511 and the locking member 650 has a second inclined surface 652. When the clamping module 600 and the main body 10 are relatively close, the second inclined surface 652 slides along the first inclined surface 511 to push the claw 510 to rotate against the elastic force.

[0109] In the above embodiment, the cooperation of the first inclined surface 511 and the second inclined surface 652 enables the clamping module 600 and the main body 10 to be relatively close. The sliding guide of the inclined surface can smoothly guide the claw 510 to rotate elastically, reducing the assembly resistance during the connection process, avoiding jamming, and enabling the clamping module 600 to be easily and accurately engaged with the main body 10 quickly.

[0110] See Figure 12 Preferably, two sets of cooperating jaws 510 and locking elements 650 are provided. These two sets of locking structures improve the stability of the connection between the clamping module 600 and the main body 10. In the embodiment shown in the accompanying drawings, the two sets of locking structures are spaced apart along a third direction. Further, the two sets of locking structures are located on opposite sides of the two jaws 620.

[0111] See Figure 10 ,as well as Figures 12 to 14 In some embodiments, the body 10 includes a button 140 connected to the claw 510, the button 140 being configured to be operably pressed to push the end of the claw 510 away from the locking member 650 to rotate, so that the claw 510 disengages from the locking groove 651.

[0112] Specifically, the chuck 510 is rotatably connected to the chuck shaft 520, which is fixedly connected to the base 100. A structure on one side of the chuck 510 located on the chuck shaft 520 is connected to the button 140, while the structure on the other side engages with the locking groove 651. The aforementioned second elastic element is provided between the button 140 and the base 100, meaning the second elastic element is indirectly connected to the chuck 510. Under the restoring force of the second elastic element, the button 140 remains in an outward-popped state. When the clamping module 600 and the main body 10 approach each other, the locking member 650 pushes the chuck 510 to rotate, thereby causing the button 140 to retract inward and compressing the second elastic element. When the chuck 510 reaches the entrance of the locking groove 651, driven by the restoring force of the second elastic element, the button 140 pops outward and resets, causing the chuck 510 to rotate in the opposite direction and engage with the locking groove 651. To unlock, simply press button 140, which will rotate the claw 510 and disengage it from the locking slot 651. Simultaneously, this will move the clamping module 600 and the main body 10 away from each other, allowing for disassembly. Releasing button 140 will then cause the second elastic element to push button 140 outwards and reset it.

[0113] In the embodiment shown in the attached drawings, since two sets of snap-fit ​​structures are provided, two buttons 140 are also provided accordingly. The two buttons 140 are spaced apart along a third direction, and the second elastic member abuts between the two buttons and is slidably connected to the base 100.

[0114] In the above embodiment, by setting a button 140 connected to the claw 510, the operator can simply press the button 140 to pry the claw 510 out of the locking slot 651, thereby realizing the quick and effortless separation between the clamping module 600 and the main body 10, improving the convenience and efficiency of the disassembly operation, while maintaining the reliable self-locking provided by the elastic force during connection.

[0115] In addition, the design of using the button 140 to rotate the claw 510 instead of moving it cleverly utilizes the lever principle, allowing the operator to overcome the locking force at the other end of the claw 510 with a small pressing force and a very short stroke, achieving labor-saving and efficient quick disassembly. At the same time, the space required for the rotation action is smaller, which helps to make the equipment structure more compact.

[0116] See Figures 10 to 11 In some embodiments, a plunger 150 is provided at one end of the base 100 near the clamping module 600. The plunger 150 and the base 100 are elastically connected so that the plunger 150 protrudes outward from the base 100 in the disassembled state.

[0117] Specifically, the base 100 has a hole at one end near the clamping module 600, and the plunger 150 is disposed in the hole and connected to the base 100 by a spring. In the disassembled state, the spring's return force causes the plunger 150 to extend out of the hole. When the clamping module 600 is connected to the main body 10, the clamping seat 610 will press the plunger 150, causing it to retract into the hole. When the button 140 is pressed and the pawl 510 disengages from the locking groove 651, the plunger will push the clamping module 600 away from the base 100 under the spring's return force, thus eliminating the need for the operator to forcefully separate the two and reducing the difficulty of disassembly.

[0118] See Figures 10 to 11 In some embodiments, one of the base 100 and the clamping base 610 is provided with a guide hole 160, and the other is provided with a guide pin 660. When the clamping module 600 and the main body 10 are connected, the guide pin 660 and the guide hole 160 are inserted and engaged. In this way, the guide pin 660 and the guide hole 160 can be used for guidance and positioning during the process of the clamping module 600 and the main body 10 approaching each other, so as to facilitate quick alignment and connection.

[0119] See Figure 1 The entire puncture instrument guiding and positioning device is L-shaped, with the main body 10 resembling the long side of the L and the clamping module 600 resembling the short side. However, this is not a strictly L-shape; the angle between the long and short sides can be 90 degrees or not. The vertical part (main body 10) integrates the drive unit 210, transmission module 400, and other power and transmission mechanisms to fully utilize the installation space at the end of the robotic arm. The horizontal part (clamping module 600) stabilizes and guides the puncture instrument 700, providing it with the optimal operating angle and an interference-free working path.

[0120] See Figure 1 , Figures 15 to 17 In some embodiments, the angle between the overall extension direction of the gripper pusher 300 and the first direction is within a preset range, wherein the first direction is the axial direction of the rotation of the two grippers 620 relative to the gripper seat 610. The preset range can be from 0 degrees to 20 degrees.

[0121] This design allows for better adaptation to the shape of the puncture instrument guide and positioning device, and makes full use of the space extending along the first direction within the main body 10 to place the gripper pusher 300, thereby improving the compactness of the internal component structure of the main body 10 and facilitating the miniaturization design of the main body 10.

[0122] Further, see Figure 8 and Figure 17In some embodiments, the gripper pusher 300 includes a first pusher portion 301 and a second pusher portion 302 spaced apart in a third direction. The first pusher portion 301 and the second pusher portion 302 are respectively used to push the inner side of the mating section 622 of the two grippers 620. In this embodiment, the overall size of the gripper pusher 300 in the third direction is relatively large. Therefore, a slot is cut out in the middle region of the third direction to reduce weight, ultimately forming a structure in which the two pusher portions are spaced apart. This structure is more suitable for situations where there is ample installation space in the third direction.

[0123] See Figure 8 , Figure 15 and Figure 16 In some embodiments, the gripper pusher 300 includes a third pusher portion 303, which extends between the mating sections 622 of the two grippers 620 and pushes the inner sides of the mating sections 622 of the two grippers 620. In such embodiments, the third pusher portion 303 is narrower in a third-dimensional dimension compared to other areas of the gripper pusher 300, making it more suitable for narrow installation spaces.

[0124] As mentioned in the foregoing embodiments, the gripper pusher 300 and the base 100 are slidably engaged to guide the movement of the gripper pusher 300 and improve its positional accuracy. Figure 15 and Figure 16 In the embodiments shown, a slide rail groove 304 is provided for sliding cooperation with the slide rail installed on the base 100. Figure 17 In the illustrated embodiment, the slide rail is directly positioned between the first pushing part 301 and the second pushing part 302. Additionally, Figure 15 The illustrated embodiment is compared to Figure 16 In the embodiment shown, a weight-reducing hole 305 is added above the slide rail groove 304.

[0125] Or, see Figure 1 and Figure 18 In some embodiments, the gripper pusher 300 includes a third extension 330, a first extension 310, and a second extension 320 connected in sequence. The angle between the extension direction of the first extension 310 and the first direction is within a preset range. The second extension 320 and the third extension 330 extend along a second direction. The first direction is the axial direction of the rotation of the two grippers 620 relative to the gripper 610, and the second direction is the assembly / disassembly direction of the gripper module relative to the base 100.

[0126] The preset range can be from 0 degrees to 20 degrees. The third extension section 330 can be abutted by the cam 410 or connected to the lead screw 440, while the second extension section 320 is used to push the gripper 620 to close. The entire gripper pusher 300 has a shape similar to a "Z". Designing the gripper pusher 300 with this three-section structure allows for connection with the transmission module 400 and the gripper 620 to transmit power. On the other hand, the first extension section 310 can better adapt to the shape of the main body 10, and the second extension section 320 can better adapt to the shape of the clamping module 600, thereby improving the compactness of the structural layout and facilitating miniaturization.

[0127] Or, see Figure 1 and Figure 19 In some embodiments, the gripper pusher 300 includes a first extension 310 and a second extension 320 connected in sequence. The angle between the extension direction of the first extension 310 and the first direction is within a preset range. The second extension 320 extends along a second direction, where the first direction is the axial direction of the rotation of the two grippers 620 relative to the gripping seat 610, and the second direction is the assembly / disassembly direction of the gripping module 600 relative to the base 100. The first extension 310 is abutted by a cam 410 or connected to a lead screw 440, and the second extension 320 is used to push the grippers 620 to close.

[0128] The preset range can be from 0 degrees to 20 degrees. This embodiment is... Figure 18 This is a simplification based on the illustrated embodiment (the third extension 330 is removed). In this embodiment, the overall shape of the gripper pusher 300 is similar to an "L" shape, and... Figure 18 Similarly, this embodiment can also adapt well to the shape of the main body 10 and the clamping module 600, thereby improving the compactness of the structural arrangement and facilitating miniaturization. Additionally, preferably, a notch 321 can be provided on the second extension 320 to reduce weight. Of course, not providing the notch 321 is also acceptable.

[0129] See Figure 1 The surgical robot system provided in one embodiment of this application includes the puncture instrument guiding and positioning device in any of the above embodiments, and also includes a robotic arm, with a base 100 connected to the robotic arm.

[0130] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0131] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A puncture instrument guiding and positioning device, characterized in that, The puncture instrument guiding and positioning device includes: Base (100), for connection with the robotic arm; A drive unit (210) is mounted on the base (100); A gripper pusher (300) is connected to the drive member (210); and The clamping module (600) includes a clamping seat (610) and two grippers (620) elastically connected to the clamping seat (610), the two grippers (620) being configured to rotate relative to the clamping seat (610) to switch between a clamping state and a releasing state; The drive member (210) is used to drive the jaw pusher (300) to move, so as to drive the two jaws (620) to rotate relative to the clamping seat (610) to the clamping state against the elastic force.

2. The puncture instrument guiding and positioning device according to claim 1, characterized in that, The puncture instrument guiding and positioning device includes a transmission module (400) connected to the drive member (210) and the gripper pusher (300), wherein the drive member (210) drives the gripper pusher (300) to move through the transmission module (400).

3. The puncture instrument guiding and positioning device according to claim 2, characterized in that, The driving component (210) is a motor.

4. The puncture instrument guiding and positioning device according to claim 2, characterized in that, The transmission module (400) includes a cam (410) connected to the drive member (210). The outer peripheral surface of the cam (410) abuts against the gripper pusher (300). The drive member (210) is used to drive the cam (410) to rotate, so as to push the gripper pusher (300) to move.

5. The puncture instrument guiding and positioning device according to claim 4, characterized in that, The transmission module (400) includes a connecting assembly connected to the drive member (210) and the cam (410), wherein the drive member (210) drives the cam (410) to rotate through the connecting assembly; The connecting component is a gear assembly, a belt drive assembly (430), a chain drive assembly, or a rope drive assembly; And / or, in the clamping state, the torque of the positive pressure of the gripper pusher (300) on the cam (410) is a first torque, and the torque of the frictional force of the gripper pusher (300) on the cam (410) is a second torque, the first torque and the second torque are in opposite directions, and the second torque is greater than the first torque.

6. The puncture instrument guiding and positioning device according to claim 2, characterized in that, The transmission module (400) includes a lead screw (440) connected to the drive member (210). The lead screw (440) and the gripper pusher (300) are threadedly connected. The drive member (210) is used to drive the lead screw (440) to rotate, thereby driving the gripper pusher (300) to move.

7. The puncture instrument guiding and positioning device according to claim 6, characterized in that, The transmission module (400) includes a connecting assembly connected to the drive member (210) and the lead screw (440), and the drive member (210) drives the lead screw (440) to rotate through the connecting assembly; The connecting component is a gear assembly, a belt drive assembly (430), a chain drive assembly, or a rope drive assembly.

8. The puncture instrument guiding and positioning device according to any one of claims 1 to 7, characterized in that, The drive member (210) is used to drive the gripper pusher (300) to move toward the two grippers (620) so as to push the two grippers (620) to rotate to the gripping state.

9. The puncture instrument guiding and positioning device according to claim 8, characterized in that, The gripper pusher (300) is configured to abut against the side of the two grippers (620) that are close to each other, so as to push the two grippers (620) to rotate to the gripping state; Alternatively, the gripper pusher (300) is configured to abut against the opposite sides of the two grippers (620) to push the two grippers (620) to rotate into the gripping state.

10. The puncture instrument guiding and positioning device according to claim 8, characterized in that, The puncture instrument guiding and positioning device includes a first elastic element connected to the base (100) and the gripper pusher (300). Under the elastic force of the first elastic element, the gripper pusher (300) has a tendency to move away from the gripper (620).

11. The puncture instrument guiding and positioning device according to any one of claims 1 to 7, characterized in that, The puncture instrument guiding and positioning device includes a sensor (130), and in the clamping state or the releasing state, the gripper pusher (300) is located within the triggering range of the sensor (130).

12. The puncture instrument guiding and positioning device according to any one of claims 1 to 7, characterized in that, The puncture instrument guiding and positioning device includes a main body (10), the main body (10) includes the base (100), the driving member (210), the gripper pusher (300), and the clamping module (600) is detachably connected to the base (100).

13. The puncture instrument guiding and positioning device according to claim 12, characterized in that, Of the main body (10) and the clamping module (600), one is provided with a claw (510) and the other is provided with a locking member (650). When the clamping module (600) and the main body (10) are close to each other, the claw (510) can be abutted by the locking member (650) and rotate elastically until it is engaged with the locking member (650).

14. The puncture instrument guiding and positioning device according to claim 12, characterized in that, The angle between the extension direction of the gripper pusher (300) and the first direction is within a preset range, wherein the first direction is the axial direction of the rotation of the two grippers (620) relative to the gripper seat (610); Alternatively, the gripper pusher (300) includes a first extension segment (310) and a second extension segment (320) connected in sequence, wherein the angle between the extension direction of the first extension segment (310) and the first direction is within a preset range, and the second extension segment (320) extends along the second direction, wherein the first direction is the axial direction of the rotation of the two grippers (620) relative to the gripping seat (610), and the second direction is the assembly / disassembly direction of the gripping module (600) relative to the base (100); Alternatively, the gripper pusher (300) includes a third extension segment (330), a first extension segment (310), and a second extension segment (320) connected in sequence, wherein the angle between the extension direction of the first extension segment (310) and the first direction is within a preset range, and the second extension segment (320) and the third extension segment (330) extend along a second direction, wherein the first direction is the axial direction of the rotation of the two grippers (620) relative to the gripping seat (610), and the second direction is the assembly / disassembly direction of the gripping module (600) relative to the base (100).

15. A surgical robot system, characterized in that, The surgical robot system includes the puncture instrument guiding and positioning device according to any one of claims 1 to 14, and also includes the robotic arm, with the base (100) connected to the robotic arm.

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