Piercing robot and piercing system

Abstract

The utility model discloses a puncture robot and puncture system, include: being equipped with control device's trolley box body, first mechanical arm is set up on the trolley box body, and is connected with control device, end puncture executor is set up on first mechanical arm, and first mechanical arm is used for adjusting the position of end puncture executor under the control of control device, end puncture executor includes needle connecting mechanism and clamping mechanism, needle connecting mechanism includes puncture needle and connector, and puncture needle is installed on the connector, and the connector is connected with clamping mechanism, second mechanical arm is set up on the trolley box body, detection device is set up on second mechanical arm, and second mechanical arm is used for adjusting the position of detection device, the utility model discloses through first mechanical arm drive end puncture executor accurate operation, and second mechanical arm cooperates detection device and cooperates and works, and combines stable needle connecting and clamping structure, can solve the problem of poor mechanical cooperation, operation dispersion, insufficient precision in the prior art.

Description

Technical Field

[0001] This utility model relates to, but is not limited to, the field of surgical robot technology, and in particular to a puncture robot and puncture system. Background Technology

[0002] In current spinal canal puncture procedures, the traditional manual method relies on the doctor's experience to complete the positioning and puncture. This method is prone to positioning errors and improper force control in obese patients and patients with spinal deformities, leading to an increased risk of complications.

[0003] Among existing assistive technologies, while image-guided devices can improve positioning accuracy, they lack mechanical coordination mechanisms with the puncture procedure, requiring manual adjustment of the puncture posture and making precise control difficult. Some mechanical assistive devices operate with only one arm, unable to simultaneously complete puncture and real-time detection, and lack a unified support platform, resulting in scattered equipment layouts and cumbersome operation. Furthermore, the needle fixing and posture adjustment structures of the end effector are simple, making it difficult to balance puncture stability and flexibility, and failing to meet the high-precision requirements of spinal canal puncture. Utility Model Content

[0004] The following is an overview of the subject matter described in detail herein. This overview is not intended to limit the scope of the claims. This invention aims to at least solve one of the technical problems existing in the prior art. To this end, embodiments of this invention provide a puncture robot and puncture system, in which a first robotic arm drives an end-effector for precise operation, a second robotic arm works in conjunction with a detection device, and a stable needle connection and clamping structure is combined to solve the problems of poor mechanical coordination, scattered operation, and insufficient precision in the prior art.

[0005] In a first aspect, this utility model provides a puncture robot, comprising: a cart body equipped with a control device; a first robotic arm disposed on the cart body and electrically connected to the control device; an end effector disposed on the first robotic arm, the first robotic arm being used to adjust the position of the end effector under the control of the control device; the end effector including a needle connection mechanism and a clamping mechanism, the needle connection mechanism including a puncture needle and a connector, the puncture needle being mounted on the connector, the connector being connected to the clamping mechanism; a second robotic arm disposed on the cart body; and a detection device disposed on the second robotic arm, the second robotic arm being used to adjust the position of the detection device.

[0006] In conjunction with the first aspect, according to some embodiments of the present invention, the connector includes a connector cover, a connector base, a passage nozzle, and a tail post; the connector cover is fastened to the upper end face of the connector base, the passage nozzle is connected to the lower end face of the connector base, and the tail post is fixed to the bottom of the connector base; the front end of the puncture needle passes through the through hole of the connector cover, the tail end of the puncture needle is inserted into the interior of the connector base, and the tail end of the puncture needle is connected to the interior of the passage nozzle.

[0007] In conjunction with the first aspect, according to some embodiments of the present invention, the end-effector further includes a first fixing component, the connector cover has first fixing holes on both sides, the connector base has second fixing holes on both sides corresponding to the first fixing holes, and the first fixing component passes through the first fixing hole and is fixed in the second fixing hole.

[0008] In conjunction with the first aspect, according to some embodiments of the present invention, the clamping mechanism includes a clamp, a sleeve, a force sensor structure, and a connecting structure that are detachably connected in sequence. The clamp is inserted into the front end of the sleeve, the force sensor structure is installed at the rear end of the sleeve, and the connecting structure is connected to the force sensor structure. The end-effector further includes a second fixing component. The front end of the sleeve is provided with an insertion interface and multiple limiting contacts. The clamp is rotatably inserted into the sleeve through the limiting contacts. The second fixing component passes through a through hole in the clamp and is fixed in the insertion interface.

[0009] In conjunction with the first aspect, according to some embodiments of the present invention, the end-effector further includes a connecting sleeve, one end of which is fixed to the force sensor structure and the other end of which is fixed to the sleeve.

[0010] In conjunction with the first aspect, according to some embodiments of the present invention, the connecting structure includes a front connecting block and a rear connecting block. The front connecting block has a groove, and the rear connecting block has a corresponding snap-fit ​​protrusion. The end-effector further includes a third fixing component and a fourth fixing component. The front connecting block has a connecting through hole on one side of the groove, and the snap-fit ​​protrusion has a retaining hole. The snap-fit ​​protrusion engages with the groove, and the third fixing component passes through the connecting through hole and is inserted into the retaining hole. The rear connecting block has an association hole, and the fourth fixing component passes through the association hole and is fixedly connected to the first robotic arm.

[0011] Secondly, this utility model embodiment provides a puncture system, including a front-end puncture robot and a wearable positioning mechanism, wherein the wearable positioning mechanism is used to assist the end-effector of the puncture robot in positioning and puncturing.

[0012] In conjunction with the second aspect, according to some embodiments of the present invention, the wearable positioning mechanism includes a lumbar support unit, a needle insertion limiting cylinder, a ratchet-like telescopic connecting device, a telescopic arm, a locking contact unit, and a waist belt mounting component; the needle insertion limiting cylinder is engaged with the locking grooves of the lumbar support unit via locking points at both ends; the waist belt mounting component is symmetrically arranged on both sides of the lumbar support unit; the telescopic arm is connected to the lumbar support unit via the ratchet-like telescopic connecting device, the ratchet-like telescopic connecting device including a ratchet-like device switch for adjusting the position of the telescopic arm; the locking contact unit is located at the tail of the telescopic arm for achieving spinal positioning.

[0013] In conjunction with the second aspect, according to some embodiments of the present invention, the ratchet-like telescopic connecting device further includes a compression spring and a telescopic rod tooth, the compression spring being disposed on the ratchet-like device switch; when the ratchet-like device switch is triggered, the ratchet-like device switch separates from the telescopic rod tooth, and the telescopic arm is in an adjustable state; when the ratchet-like device switch is not triggered, the ratchet-like device switch abuts against the telescopic rod tooth, and the telescopic arm is in a non-adjustable state.

[0014] In conjunction with the second aspect, according to some embodiments of the present invention, the locking contact unit includes a locking contact, an adjusting wrench, a limiting block, and a fixing member; the locking contact is provided with a connecting post and a locking groove, the connecting post is provided with a nut hole and a top through hole, the adjusting wrench is provided with a limiting protrusion corresponding to the locking groove, and the fixing member includes a male part and a female part that mates with the male part; when the locking contact and the adjusting wrench are assembled, the limiting protrusion is engaged in the locking groove, and the male part passes through the limiting block and the top through hole in sequence and is fixed to the female part provided in the nut hole.

[0015] The embodiments of this utility model have at least the following beneficial effects:

[0016] (1) The puncture robot works in collaboration with two robotic arms (the first robotic arm controls the end puncture actuator, and the second robotic arm adjusts the detection device). Combined with the rigid fixing structure of the end actuator (such as the double screw locking of the connector and the double fixing of the connection structure with buckles and screws), it effectively avoids the shaking or deviation of manual operation. The force sensor provides real-time feedback of puncture force data, which, together with the needle tip position monitoring of the detection device, effectively reduces the risk of misoperation.

[0017] (2) The detachable structure of the end effector (such as the chuck and connector) supports the quick replacement of different types of puncture needles, improving the versatility of the equipment.

[0018] Other features and advantages of this invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of this invention may be realized and obtained by means of the structures particularly pointed out in the description, claims, and drawings. Attached Figure Description

[0019] The accompanying drawings are provided to further understand the technical solution of this utility model and constitute a part of the specification. They are used together with the embodiments of this utility model to explain the technical solution of this utility model, and do not constitute a limitation on the technical solution of this utility model.

[0020] Figure 1 This is a schematic diagram of the puncture robot provided in this embodiment of the utility model;

[0021] Figure 2 This is a split structural diagram of the end-effector puncture actuator provided in this embodiment of the utility model;

[0022] Figure 3 This is an overall structural diagram of the end-effector puncture actuator provided in this embodiment of the utility model;

[0023] Figure 4 This is a schematic diagram of the internal structure of the connector provided in this embodiment of the utility model;

[0024] Figure 5 This is an overall schematic diagram of the wearable positioning mechanism provided in this embodiment of the utility model;

[0025] Figure 6 This is a schematic diagram of the ratchet-like telescopic connection device provided in an embodiment of the present invention;

[0026] Figure 7 This is a schematic diagram of the card slot contact unit structure provided in this embodiment of the utility model;

[0027] Reference numerals: First robotic arm 1; End-effector puncture actuator 2; Second robotic arm 3; Detection device 4; Needle connection mechanism 2A; Clamping mechanism 2B; Puncture needle 310; Connector 320; Connector cap 211; Connector base 212; Access nozzle 213; Tail post 214; Through hole 215; Access nozzle interior 410; First fixing component 216; Clamp 330; Sleeve 340; ATI force sensor structure 350; Connection structure 360; Limit contact 221; Connecting plug 222; Screw 223; Connecting front block 224; Connecting rear block 225; Connecting through hole 226; Fourth fixed component 227; hook 5; heat dissipation hole 6; cooling fan 7; wiring hole 8; warning light 9; emergency stop switch 10; aviation plug 11; anti-tipping base plate 12; swivel wheels 13; trolley handle 14; waist support unit 510; syringe insertion restriction 520; ratchet-like device switch 530; telescopic arm 540; locking contact unit 550; waist belt mounting component 560; compression spring 610; telescopic rod bar teeth 620; central groove 630; locking contact 710; adjusting wrench 720; limit block 730; nut hole 740; limit protrusion 750; support beam 760. Detailed Implementation

[0028] The embodiments of this utility model are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0029] In the description of this utility model, it should be understood that the directional descriptions, such as up, down, front, back, left, right, etc., indicate the directional or positional relationship based on the directional or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model 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. Therefore, they should not be construed as limitations on this utility model.

[0030] In the description of this utility model, the use of "first" and "second" is only for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance or implicitly indicating the number of technical features or the order of the technical features.

[0031] In the description of this utility model, unless otherwise explicitly defined, terms such as "setting," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this utility model in conjunction with the specific content of the technical solution.

[0032] The embodiments of this utility model will be further described below with reference to the accompanying drawings.

[0033] See Figure 1 , Figure 1 This is an overall schematic diagram of the puncture robot provided in this embodiment of the utility model. The main components of the puncture robot include: a carriage body equipped with a control device; a first robotic arm 1 (such as a UR5 robotic arm), which is mounted on the carriage body and electrically connected to the control device; an end effector 2, which is assembled at the end of the first robotic arm 1, and the first robotic arm 1 can adjust the spatial position of the end effector 2 under the control of the control device; a second robotic arm 3, which is also set on the carriage body; and a detection device 4, which is mounted on the second robotic arm 3, and the second robotic arm 3 is used to flexibly adjust the position of the detection device 4 to adapt to different observation needs.

[0034] like Figure 2 As shown, the end-point puncture actuator 2 consists of a needle connection mechanism 2A and a clamping mechanism 2B. The needle connection mechanism 2A includes a puncture needle 310 and a connector 320. The puncture needle 310 is fixedly mounted on the connector 320, and the connector 320 is connected to the clamping mechanism.

[0035] In one feasible embodiment, such as Figure 2-4 As shown, connector 320 includes connector cover 211, connector base 212, access nozzle 213, and tail post 214; connector cover 211 is fastened to the upper end face of connector base 212, access nozzle 213 is connected to the lower end face of connector base 212, and tail post 214 is fixed to the bottom of connector base 212; the front end (i.e., needle tip) of puncture needle 310 extends through the through hole 215 of connector cover 211, and the tail end of puncture needle 310 is inserted into the interior of connector base 212 and connected to the interior 410 of access nozzle.

[0036] In a feasible embodiment, the end-effector puncture actuator 2 further includes a first fixing component 216 (such as a screw). The connector cap 211 has first fixing holes on both sides, and the connector base 212 has second fixing holes on both sides corresponding to the first fixing holes. The first fixing component 216 passes through the first fixing hole and screws into the second fixing hole, thereby firmly fixing the puncture needle 310 to the connector 320. This bilaterally symmetrical fixing structure balances the radial force on the puncture needle 310, avoiding needle tilting that may result from unilateral fixing. The rigid locking of the screw prevents the cap from loosening due to vibration or tissue resistance during surgery, ensuring the stability of the puncture needle 310 and reducing the risk of damage to surrounding tissues.

[0037] In one feasible embodiment, the clamping mechanism includes a clamp 330, a sleeve 340, an ATI force sensor structure 350, and a connecting structure 360, which are sequentially and detachably connected. The clamp 330 is inserted into the front end of the sleeve 340, the force sensor structure 350 is installed at the rear end of the sleeve 340, and the connecting structure 360 ​​is connected to the force sensor structure 350. The end-effector puncture actuator 2 also includes a second fixing component. The front end of the sleeve 340 is provided with an insertion interface and multiple limiting contacts 221 (for limiting the rotation angle of the clamp 330). The clamp 330 is rotatably inserted into the sleeve 340 through the limiting contacts 221. The second fixing component passes through a through hole on the clamp 330 and is fixed in the insertion interface. In actual operation, users such as doctors can hold the sleeve 340 of the clamping mechanism 2B and drag the first robotic arm 1 to the pre-insertion position. The detachable design of the chuck 330 and sleeve 340 facilitates quick replacement of adapter parts according to different models of the puncture needle 310, improving the versatility of the equipment. The limit contact 221 provides stepped positioning (e.g., 5° angle adjustment per step) when the chuck 330 is rotated and adjusted. Combined with the locking of the second fixing component, it can meet the needle insertion angle requirements of different patients and prevent the chuck 330 from rotating accidentally during the operation. The ATI force sensor structure 350 can collect puncture force data in real time, providing accurate force feedback for the control device. The doctor can quickly complete the positioning of the preparation position by dragging the robotic arm through the sleeve 340.

[0038] In a feasible embodiment, the end-effector puncture actuator 2 further includes a connecting sleeve 222, one end of which is fixed to the force sensor structure 350, and the other end is fixed to the sleeve 340. Specifically, the connecting sleeve 222 has a pre-set nut hole on its side wall, and a corresponding screw through hole is provided on the side wall of the sleeve 340. When the connecting sleeve 222 is fitted into the sleeve 340, the nut hole and the screw through hole are precisely aligned. At this point, a screw 223 is passed through the screw through hole and tightened into the nut hole, thus achieving rigid fixation between the connecting sleeve 222 and the sleeve 340.

[0039] In one feasible embodiment, the connection structure 360 ​​includes a front connection block 224 and a rear connection block 225: the front connection block 224 has a groove, and a connection through hole 226 is opened on one side of the groove; the rear connection block 225 has a snap-fit ​​protrusion that matches the groove, and the snap-fit ​​protrusion has a retaining hole. During assembly, the snap-fit ​​protrusion snaps into the groove to achieve pre-positioning, and then a third fixing component passes through the connection through hole 226 and is inserted into the retaining hole to complete the locking; the rear connection block 225 has multiple associated holes, and a fourth fixing component 227 (such as a screw) passes through these associated holes to fix the connection structure 360 ​​to the first robotic arm 1. The pre-positioning design of the buckle protrusion and groove enables the quick alignment of the connection structure 360 ​​degrees. Combined with the rigid locking of the third fixing component, it can effectively reduce the positioning error between the front block 224 and the rear block. The rear block 225 is fixed to the first robotic arm 1 by multiple screws (such as 4 evenly distributed screws), which can effectively counteract the torque force during the puncture process, ensure that there is no relative displacement between the end effector and the robotic arm, and ensure the accuracy of the puncture path.

[0040] In one feasible embodiment, the detection device 4 is used to collect the coordinates of the needle tip position of the puncture needle 310 and the pressure distribution data of the surrounding tissue in the puncture area, and synchronously display this information through an integrated display screen. Simultaneously, it allows doctors to adjust display parameters (such as data refresh rate) via a touch panel, facilitating human-computer interaction. The second robotic arm 3 can move freely under the drive of the control device, allowing doctors to adjust the detection device 4 to the optimal observation position during human-computer interaction. It is understood that real-time multi-dimensional data display helps doctors intuitively determine the relative position of the puncture needle 310 to the spinal canal structure; the flexible adjustment capability of the second robotic arm 3 can adapt to the detection needs of patients of different body types (such as obese individuals and children), improving the clinical adaptability of the equipment.

[0041] In one feasible embodiment, a suitable medical barometer may be selectively installed at the access port 213. During the puncture operation, the display screen of the detection device 4 displays the force data transmitted from the end-effector 2 in real time, while the barometer simultaneously displays the real-time pressure data within the access port 213. The two form multi-dimensional monitoring information, which allows doctors to combine changes in force (such as sudden changes in puncture resistance) with pressure differences to comprehensively judge the current tissue level and puncture progress of the puncture needle 310, thereby improving the accuracy of operational decisions.

[0042] In one feasible embodiment, the cart body is equipped with hooks 5 for placing the teaching pendant of the UR5 robotic arm; the side of the body has heat dissipation holes 6 and a built-in cooling fan 7 to cool the internal electronic components; it also has wiring holes 8, warning lights 9, and an emergency stop switch 10 to ensure stable interaction of the electronic components of the entire system and improve the safety of the puncture process. The cooling fan 7 and the heat dissipation holes 6 form a convection cooling system to stabilize the temperature inside the body and ensure the continuous and stable operation of electronic components such as the control device and computer (without program lag due to high temperature); the centralized wiring holes 8 can organize all connecting wires and reduce the risk of tangling; together with the warning lights 9 (such as red, yellow, and green corresponding to abnormal, running, and standby states respectively) and the exposed emergency stop switch 10, the doctor's response time to identify the equipment status can be shortened to 0.3 seconds, improving emergency handling efficiency.

[0043] In one feasible embodiment, the vehicle housing integrates a power supply, a computer, a UR5 robot control box, and an ATI force sensor network box power supply. An aviation connector 11 is located on the side of the housing for signal and power transmission between internal and external devices, ensuring convenient and stable connection. The vehicle housing has a door connected to the housing via hinges and equipped with a lock to protect the internal equipment.

[0044] In one feasible embodiment, the bottom of the trolley box is provided with an anti-tipping base plate 12. The trolley box is fixed to the anti-tipping base plate 12 by screws to prevent the overturning torque generated by the excessive speed of the robotic arm from affecting the overall stability of the equipment and the accuracy of the puncture path, thereby eliminating the potential threat to the puncture process caused by equipment instability.

[0045] In one feasible embodiment, omnidirectional wheels 13 are installed under the anti-tipping base plate 12, and brake buckles are provided under the omnidirectional wheels 13 to facilitate the movement of the puncture robot between operating rooms.

[0046] Preferably, the universal wheels 13 are made of silent rubber material to avoid disturbing the operating room environment; the brake buckle under the wheels can firmly lock the wheels to ensure that the equipment does not slip during puncture.

[0047] In one feasible embodiment, the trolley box is equipped with an indicator light. When the detection device 4 detects that the puncture force exceeds the safety threshold, the needle tip position deviates from the planned path, or the force sensor signal is abnormal, the indicator light immediately flashes red light and is accompanied by a buzzer alarm. At the same time, the emergency stop switch 10 is automatically triggered, and the doctor can also manually press it to interrupt the puncture operation, thereby reflecting the puncture status more intuitively and avoiding potential dangers.

[0048] In one feasible embodiment, a trolley handle 14 is provided on the side wall of the trolley body, which can be rigidly fixed to the body wall by embedded bolts. The trolley handle 14 facilitates medical staff to push the robot to move between operating rooms.

[0049] In addition, this utility model embodiment also provides a puncture system, including the puncture robot described above and a wearable positioning mechanism, wherein the wearable positioning mechanism is used to assist the end puncture actuator 2 of the puncture robot in performing precise positioning and puncture operations, and improves the stability of the puncture process by fixing the relative position of the human body and the puncture needle 310.

[0050] In one feasible embodiment, such as Figure 5 As shown, the wearable positioning mechanism includes a lumbar support unit 510, a needle insertion limiting cylinder 520, a ratchet-like telescopic connecting device, a telescopic arm 540, a locking contact unit 550, and a waist belt mounting component 560. The needle insertion limiting cylinder 520 is locked into the locking groove of the lumbar support unit 510 through locking points at both ends (for example, the locking points and grooves are interference-fitted to ensure that the needle insertion cylinder does not shake during puncture). The waist belt mounting component 560 is symmetrically arranged on both sides of the lumbar support unit 510 (for connecting medical...). The entire mechanism is secured to the patient's waist using a waist belt; the telescopic arm 540 is connected to the lumbar support unit 510 via a ratchet-like telescopic connection device, which is equipped with a ratchet-like device switch 530 for controlling the position adjustment of the telescopic arm 540 (such as extension, shortening, or angle rotation); the locking contact unit 550 is installed at the tail of the telescopic arm 540, and its contacts can fit against the patient's back skin for precise positioning of the intervertebral space of the spine (such as the L3-L4 space).

[0051] Understandably, the lumbar support unit 510 fixes the patient's waist through the lumbar belt mounting component 560 to prevent the body from shaking during puncture; the limiting syringe 520 can constrain the needle insertion direction of the end puncture actuator 2 to ensure that the puncture needle 310 is advanced along the preset trajectory; the locking contact unit 550, combined with the position adjustment of the telescopic arm 540, can adapt to the spinal positioning needs of patients of different body types.

[0052] In one feasible embodiment, such as Figure 6As shown, the wearable positioning mechanism has a central groove 630 that conforms to the physiological curvature of the human spine (which can reduce pressure during wear and improve patient comfort). Its ratchet-like telescopic connection device includes a ratchet-like switch 530, a compression spring 610, and a telescopic rod with teeth 620. The compression spring 610 is mounted on the ratchet-like switch 530, providing continuous reset force for the switch; the telescopic rod with teeth 620 is connected to the telescopic arm 540, and the two achieve locking and adjustment through a toothed structure. The specific working process is as follows: Under the elastic force of the compression spring 610, the ratchet-like device switch 530 always presses against the teeth of the telescopic rod strip tooth 620. At this time, the telescopic arm 540 can be tightened axially inward (adapting to changes in the patient's body shape), but cannot be retracted outward (forming a one-way lock), ensuring the stability of the telescopic arm 540's position. When the doctor presses the ratchet-like device switch 530, the switch separates from the teeth of the telescopic rod strip tooth 620, and the locking state is released. At this time, the telescopic arm 540 can be pulled outward to adjust its length or angle to meet different positioning needs. After releasing the switch, under the action of the compression spring 610, the switch automatically resets and re-presses against the strip tooth, and the telescopic arm 540 is locked again. This design improves wearability by conforming the central groove 630 to the shape of the spine. Combined with the one-way locking and convenient adjustment function of the ratchet-like structure, it not only ensures the positional stability of the telescopic arm 540 during puncture but also simplifies the length adjustment operation during preoperative positioning, improving the practicality and safety of the wearable positioning mechanism.

[0053] In one feasible embodiment, the locking contact unit 550 includes a locking contact 710, an adjusting wrench 720, a limiting block 730, and a fixing member. The locking contact 710 is provided with a connecting post and an arc-shaped locking groove. The connecting post is provided with a through nut hole 740 and a top through hole along the axial direction. The end of the adjusting wrench 720 is provided with a limiting protrusion 750 that matches the positioning teeth of the locking groove. The fixing member includes a male part (such as a bolt) and a mating female part (such as a nut). During assembly, the limiting protrusion 750 of the adjusting wrench 720 can be inserted into the locking groove of the locking contact 710 to achieve pre-positioning. Then, the male part is passed through the through hole of the limiting block 730 and the top through hole of the connecting post in sequence, and finally tightened with the female part in the nut hole 740, so that the locking contact 710 and the adjusting wrench 720 form a rigid connection. In this structure, the combination of the arc-shaped locking groove and the limiting protrusion 750 allows for multi-angle fine adjustment of the locking contact 710 to adapt to the physiological curvature of the spine of different patients; the bolt-nut double locking of the fixation component ensures that the locking contact 710 is in close contact with the patient's skin during puncture, avoiding positioning deviation due to changes in body position and improving the accuracy of intervertebral disc recognition. The specific adjustment method is as follows: When it is necessary to adjust the locking contact 710 back and forth along the axial direction of the connecting column, first rotate the adjusting wrench 720 so that the limiting protrusion 750 is turned out from the positioning teeth of the locking groove, thus releasing the angle lock; at this time, grip the adjusting wrench 720 and press it in the direction of the locking contact 710, and a small gap will be formed between the two (to facilitate axial sliding); then move the locking contact 710 and the adjusting wrench 720 in opposite directions synchronously, so that the limiting block 730 is disengaged from the limiting groove of the telescopic arm 540 to the right; after adjusting to the target position, re-lock the limiting block 730 into the corresponding limiting groove of the telescopic arm 540 to achieve axial fixation, then pull out the adjusting wrench 720 so that its end abuts against the support beam 760, and finally rotate the adjusting wrench 720 in the opposite direction so that the limiting protrusion 750 is locked into the positioning teeth of the locking groove again, thus completing the double locking of angle and position.

[0054] The above is a detailed description of the preferred embodiments of the present utility model. However, the present utility model is not limited to the above embodiments. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of the present utility model. All such equivalent modifications or substitutions are included within the scope defined by the claims of the present utility model.

Claims

1. A puncture robot, characterized in that, include: A trolley body equipped with control devices; The first robotic arm is mounted on the trolley body and is electrically connected to the control device. An end-effector actuator is mounted on the first robotic arm, which is used to adjust the position of the end-effector actuator under the control of the control device. The end-effector actuator includes a needle connection mechanism and a clamping mechanism. The needle connection mechanism includes a puncture needle and a connector. The puncture needle is mounted on the connector, and the connector is connected to the clamping mechanism. The second robotic arm is mounted on the trolley body; A detection device is mounted on the second robotic arm, which is used to adjust the position of the detection device.

2. The puncture robot according to claim 1, characterized in that, The connector includes a connector cover, a connector base, a passage nozzle, and a tail post; the connector cover is fastened to the upper end face of the connector base, the passage nozzle is connected to the lower end face of the connector base, and the tail post is fixed to the bottom of the connector base; the front end of the puncture needle passes through the through hole of the connector cover, the tail end of the puncture needle is inserted into the interior of the connector base, and the tail end of the puncture needle is connected to the interior of the passage nozzle.

3. The puncture robot according to claim 2, characterized in that, The end-effector further includes a first fixing component. The connector cover has first fixing holes on both sides, and the connector base has second fixing holes on both sides corresponding to the first fixing holes. The first fixing component passes through the first fixing hole and is fixed in the second fixing hole.

4. The puncture robot according to claim 2, characterized in that, The clamping mechanism includes a chuck, a sleeve, a force sensor structure, and a connecting structure that are detachably connected in sequence. The chuck is inserted into the front end of the sleeve, the force sensor structure is installed at the rear end of the sleeve, and the connecting structure is connected to the force sensor structure. The end-effector further includes a second fixing component. The front end of the sleeve is provided with an insertion interface and multiple limiting contacts. The chuck is rotatably inserted into the sleeve through the limiting contacts. The second fixing component passes through a through hole in the chuck and is fixed in the insertion interface.

5. The puncture robot according to claim 4, characterized in that, The end-effector further includes a connecting sleeve, one end of which is fixed to the force sensor structure and the other end of which is fixed to the sleeve.

6. The puncture robot according to claim 5, characterized in that, The connection structure includes a front connection block and a rear connection block. The front connection block has a groove, and the rear connection block has a corresponding snap-fit ​​protrusion. The end-effector further includes a third fixing component and a fourth fixing component. The front connection block has a connecting through hole on one side of the groove, and the snap-fit ​​protrusion has a retention hole. The snap-fit ​​protrusion is engaged with the groove, and the third fixing component passes through the connecting through hole and is inserted into the retention hole. The rear connection block has an association hole, and the fourth fixing component passes through the association hole and is fixedly connected to the first robotic arm.

7. A puncture system, characterized in that, The invention includes a puncture robot as described in any one of claims 1-6 and a wearable positioning mechanism, wherein the wearable positioning mechanism is used to assist the end effector of the puncture robot in positioning and puncturing.

8. The puncture system according to claim 7, characterized in that, The wearable positioning mechanism includes a lumbar support unit, a needle insertion limiting cylinder, a ratchet-like telescopic connecting device, a telescopic arm, a locking contact unit, and a waist belt mounting component. The needle insertion limiting cylinder is locked into the locking groove of the lumbar support unit via locking points at both ends. The waist belt mounting component is symmetrically arranged on both sides of the lumbar support unit. The telescopic arm is connected to the lumbar support unit via the ratchet-like telescopic connecting device, which includes a ratchet-like device switch for adjusting the position of the telescopic arm. The locking contact unit is located at the tail of the telescopic arm for spinal positioning.

9. The puncture system according to claim 8, characterized in that, The ratchet-like telescopic connecting device further includes a compression spring and a telescopic rod tooth. The compression spring is located on the ratchet-like device switch. When the ratchet-like device switch is triggered, the ratchet-like device switch separates from the telescopic rod tooth, and the telescopic arm is in an adjustable state. When the ratchet-like device switch is not triggered, the ratchet-like device switch abuts against the telescopic rod tooth, and the telescopic arm is in a non-adjustable state.

10. The puncture system according to claim 8, characterized in that, The locking contact unit includes a locking contact, an adjusting wrench, a limiting block, and a fixing component. The locking contact has a connecting post and a locking groove. The connecting post has a nut hole and a top through hole. The adjusting wrench has a limiting protrusion corresponding to the locking groove. The fixing component includes a male component and a female component that mates with the male component. When the locking contact and the adjusting wrench are assembled, the limiting protrusion engages in the locking groove, and the male component passes through the limiting block and the top through hole in sequence and is fixed to the female component located in the nut hole.

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