Puncture positioning mechanism and puncture surgical equipment

Abstract

This invention provides a puncture positioning mechanism and a puncture surgical device. The puncture positioning mechanism includes: a fixing unit; a puncture rotation angle adjustment unit connected to the fixing unit; a puncture pitch angle adjustment unit connected to the puncture rotation angle adjustment unit; and a puncture unit connected to the puncture pitch angle adjustment unit. The fixing unit is used to fix the moving mechanism and the puncture positioning mechanism. The puncture rotation angle adjustment unit is used to electrically adjust the rotation angle of the puncture pitch angle adjustment unit and the puncture unit. The puncture pitch angle adjustment unit is used to electrically adjust the pitch angle of the puncture unit. The puncture unit is used to perform the puncture action. Multi-dimensional precise control of the puncture angle is achieved through dual-axis electric adjustment, and the fixing unit is compatible with different moving mechanisms, solving the problems of insufficient angle adjustment accuracy and poor human adaptability in traditional puncture procedures, thus improving the flexibility and accuracy of puncture surgery.

Description

Technical Field

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

[0002] In recent years, surgical robot technology has made significant progress in the medical field, especially the emergence of puncture surgery robots, which has brought new directions of efficiency, high precision, and intelligence to clinical treatment. High-precision puncture is a core element in ensuring medical safety and surgical quality. However, traditional puncture surgery relies heavily on the experience and operational skills of physicians. Significant differences in the technical levels among different physicians lead to large fluctuations in surgical success rates and may increase the risk of complications. This limitation seriously restricts the standardization and popularization of puncture surgery.

[0003] As an emerging technology, surgical robots for punctures can effectively compensate for the shortcomings of traditional surgery due to their advantages such as stable operation, precise positioning, and flexible movement. Through precise control of the mechanical system, these robots can significantly improve the success rate of punctures, reduce complications caused by human error, and provide patients with safer and more reliable treatment options. However, there are still some problems to be solved in the current technology: the anatomical structure of different human arms varies from person to person, and traditional puncture positioning mechanisms are difficult to meet diverse clinical needs. In addition, the precision of manually adjusting the puncture angle is limited, and it is impossible to achieve precise electric control.

[0004] Therefore, designing a mechanism that can adapt to differences in human arms and achieve precise control of the puncture angle through electric adjustment has become a key research focus in the field of puncture surgical robots. This solution aims to provide an ultrasound-guided puncture positioning mechanism to address the problems of insufficient puncture adaptability and limited angle control precision in existing technologies, thereby further improving the safety and therapeutic effect of puncture surgery. Utility Model Content

[0005] The purpose of this invention is to provide a puncture positioning mechanism and puncture surgical equipment to solve the technical problems in the prior art where puncture surgical equipment is difficult to adapt to differences in the human arm and where the manual adjustment accuracy of the puncture angle is limited.

[0006] To achieve the above objectives, the technical solution adopted by this utility model is as follows:

[0007] Firstly, a puncture positioning mechanism is provided, comprising:

[0008] Fixed unit;

[0009] A puncture rotation angle adjustment unit is connected to the fixing unit;

[0010] A puncture pitch angle adjustment unit is connected to the puncture rotation angle adjustment unit;

[0011] The puncture unit is connected to the puncture pitch angle adjustment unit;

[0012] The fixing unit is used to fix the moving mechanism and the puncture positioning mechanism; the puncture rotation angle adjustment unit is used to electrically adjust the rotation angle of the puncture pitch angle adjustment unit and the puncture unit; the puncture pitch angle adjustment unit is used to electrically adjust the pitch angle of the puncture unit; and the puncture unit is used to perform the puncture action.

[0013] By adopting the above technical solution, multi-dimensional precise control of the puncture angle is achieved through dual-axis electric adjustment (rotation + pitch), and different moving mechanisms are compatible through the fixed unit. This solves the problems of insufficient angle adjustment precision and poor human adaptability in traditional puncture, and improves the flexibility and accuracy of puncture surgery.

[0014] In one embodiment, the puncture rotation angle adjustment unit includes a rotation drive structure and a rotation frame connected to the rotation shaft of the rotation drive structure. The rotation drive structure is connected to the fixed unit and is used to drive the rotation frame to rotate around the rotation shaft. The rotation frame is connected to the puncture pitch angle adjustment unit.

[0015] In one embodiment, the rotating frame includes a first rotating frame body and a second rotating frame body perpendicularly connected to the first rotating frame body. The first rotating frame body is connected to the fixed unit, and the second rotating frame body is offset from the rotating axis and is used to connect to the puncture pitch angle adjustment unit.

[0016] In one embodiment, the rotating frame further includes a third rotating frame disposed on the second rotating frame and disposed away from the first rotating frame, the third rotating frame being used to fix the ultrasonic probe.

[0017] In one embodiment, the puncture pitch angle adjustment unit includes a pitch frame, a lifting arm, and a pitch drive structure; one end of the pitch frame is connected to the axis of the rotating frame, and the other end of the pitch frame is used to fix the puncture unit; one end of the lifting arm is connected to the pitch drive structure, and the other end of the lifting arm is connected to the axis of the pitch frame; the pitch drive structure is used to extend and retract the lifting arm to drive the pitch frame to rotate around the pitch axis of the rotating frame.

[0018] In one embodiment, the puncture pitch angle adjustment unit further includes a transmission screw connecting the lifting arm and the pitch drive structure, wherein the pitch drive structure drives the transmission screw to rotate the lifting arm around the pitch axis.

[0019] In one embodiment, the puncture unit includes a needle holder, a needle guide structure, a needle, and a needle drive structure; wherein the needle holder is disposed on the pitch frame, the needle guide structure is disposed on the needle holder, the needle is slidably connected to the needle guide structure, and the needle drive structure is used to drive the needle to move on the needle guide structure.

[0020] In one embodiment, the needle guide structure includes a guide screw, a guide rod, and a nut; the guide screw and the guide rod are arranged parallel to each other on the pitch frame, one end of the nut is threadedly connected to the guide screw, the other end of the nut is slidably connected to the guide rod, and the nut is connected to the needle.

[0021] In one embodiment, the puncture positioning mechanism further includes an ultrasonic probe, which is mounted on the puncture rotation angle adjustment unit and is used to obtain the puncture target position on the human body.

[0022] Secondly, a puncture surgical device is provided, including a moving mechanism and the aforementioned puncture positioning mechanism, wherein the moving mechanism is connected to the puncture positioning mechanism.

[0023] By adopting the above technical solution, the moving mechanism and the puncture positioning mechanism are combined to form a complete puncture surgical device. The moving mechanism is responsible for providing the overall mobility of the device, while the puncture positioning mechanism focuses on precise positioning during the puncture process. The two are closely connected, complementing each other's functions and jointly serving the puncture surgical operation. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is a three-dimensional structural diagram of the puncture positioning mechanism provided in one embodiment of the present invention.

[0026] Figure 2 This is a three-dimensional structural diagram of the puncture positioning mechanism provided in another embodiment of the present invention.

[0027] Figure 3 This is a three-dimensional structural diagram of the puncture rotation angle adjustment unit provided in this embodiment of the utility model.

[0028] Figure 4 This is a front view of the puncture positioning mechanism provided in this embodiment of the utility model.

[0029] Figure 5 This is a three-dimensional structural diagram of the puncture pitch angle adjustment unit provided in this embodiment of the utility model.

[0030] Figure 6 This is a three-dimensional structural diagram of the puncture unit provided in an embodiment of the present invention.

[0031] The labels for the attached figures are as follows:

[0032] 1. Fixation unit; 2. Puncture rotation angle adjustment unit; 3. Puncture pitch angle adjustment unit; 4. Puncture unit; 5. Ultrasonic probe;

[0033] 21. Rotary drive structure; 22. Rotary frame; 31. Pitch frame; 32. Lifting arm; 33. Pitch drive structure; 34. Transmission screw; 41. Needle holder; 42. Needle guide structure; 43. Needle; 44. Needle drive structure;

[0034] 211. Rotation axis; 221. First rotating frame; 222. Second rotating frame; 223. Third rotating frame; 224. Pitch axis. Detailed Implementation

[0035] To make the technical problems, technical solutions, and beneficial effects of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0036] It should be noted that when a component is referred to as "fixed to" or "set on" another component, it can be located directly on or indirectly on the other component. When a component is referred to as "connected to" another component, it can be directly or indirectly connected to the other component.

[0037] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and do not indicate that the device or element must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0038] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating relative importance or the number of technical features. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified. The specific implementation of this utility model is described in more detail below with reference to specific embodiments:

[0039] like Figure 1 and Figure 2 As shown, an embodiment of the present invention provides a puncture positioning mechanism, comprising:

[0040] Fixed unit 1;

[0041] The puncture rotation angle adjustment unit 2 is connected to the fixing unit 1;

[0042] The puncture pitch angle adjustment unit 3 is connected to the puncture rotation angle adjustment unit 2;

[0043] The puncture unit 4 is connected to the puncture pitch angle adjustment unit 3;

[0044] The fixed unit 1 is used to fix the moving mechanism and the puncture positioning mechanism; the puncture rotation angle adjustment unit 2 is used to electrically adjust the rotation angle of the puncture pitch angle adjustment unit 3 and the puncture unit 4; the puncture pitch angle adjustment unit 3 is used to electrically adjust the pitch angle of the puncture unit 4; and the puncture unit 4 is used to perform the puncture action.

[0045] Specifically, the fixed unit 1 serves as a basic connecting component, achieving a stable connection with the external moving mechanism and providing support for the whole;

[0046] The puncture rotation angle adjustment unit 2 is linked with the fixed unit 1, and the rotation angle of the puncture unit 4 in the horizontal direction is adjusted by electric control, thereby expanding the range of puncture path selection.

[0047] The puncture pitch angle adjustment unit 3 is further connected to the rotation unit, and the pitch angle of the puncture unit 4 in the vertical plane is adjusted by electric control to accurately match different human body structures.

[0048] The puncture unit 4 serves as the execution terminal, completing the precise puncture action based on dual-dimensional electric adjustment.

[0049] By adopting the above technical solution, multi-dimensional precise control of the puncture angle is achieved through dual-axis electric adjustment (rotation + pitch), and different moving mechanisms are compatible through fixed unit 1. This solves the problems of insufficient angle adjustment precision and poor human adaptability in traditional puncture, and improves the flexibility and accuracy of puncture surgery.

[0050] Please refer to the following: Figure 3In one embodiment, the puncture rotation angle adjustment unit 2 includes a rotation drive structure 21 and a rotation frame 22 connected to the rotation shaft 211 of the rotation drive structure 21. The rotation drive structure 21 is connected to the fixed unit 1 and is used to drive the rotation frame 22 to rotate around the rotation shaft 211. The rotation frame 22 is connected to the puncture pitch angle adjustment unit 3.

[0051] Specifically, the puncture rotation angle adjustment unit 2 includes a rotation drive structure 21 and a rotation frame 22. The rotation drive structure 21 (such as a motor) is directly connected to the fixed unit 1 as a power source; the rotation frame 22 is linked to the rotation drive structure 21 through a rotation shaft 211 and is connected to the puncture pitch angle adjustment unit 3 to form a transmission link.

[0052] When the rotary drive structure 21 is powered on, it drives the rotary shaft 211 to rotate, causing the rotary frame 22 to make a horizontal circular motion around the rotary shaft 211 (i.e., rotation angle adjustment). Since the rotary frame 22 is connected to the puncture pitch angle adjustment unit 3, the latter will rotate synchronously with the rotary frame 22, thereby realizing the angle adjustment of the puncture unit 4 in the horizontal plane (such as finding the optimal puncture path).

[0053] By adopting the above technical solution and using the electrically driven rotating frame 22 adjustment mechanism, the problem of insufficient precision in traditional manual adjustment is solved. It can quickly and accurately adjust the puncture direction according to the differences in arm anatomy of different patients, thereby improving the flexibility and adaptability of puncture surgery.

[0054] In one embodiment, the rotating frame 22 includes a first rotating frame body 221 and a second rotating frame body 222 perpendicularly connected to the first rotating frame body 221. The first rotating frame body 221 is connected to the fixing unit 1, and the second rotating frame body 222 is offset from the rotation axis 211 and is used to connect to the puncture pitch angle adjustment unit 3.

[0055] Specifically, the first rotating frame 221 is directly connected to the fixed unit 1, serving as the basic support structure for the rotating frame 22. Its installation position is coaxial with the rotating shaft 211 of the rotating drive structure 21 (i.e., arranged around the center of the rotating shaft 211).

[0056] The second rotating frame 222 is vertically connected to the first rotating frame 221 (in an "L-shaped" or "T-shaped" structure) and is offset from the rotation axis 211 (i.e., the center of gravity or connection point of the second frame is not on the center line of the rotation axis 211). This design causes the second frame to form an eccentric motion trajectory when rotating, providing lateral (horizontal) installation space for the puncture pitch angle adjustment unit 3.

[0057] The first rotating frame 221 is fixed to the rotating drive structure 21 (such as a motor) via the rotating shaft 211 to ensure the stability of the rotating motion; the end of the second rotating frame 222 is connected to the puncture pitch angle adjustment unit 3, so that the latter rotates synchronously with the horizontal rotation of the rotating frame 22.

[0058] When the rotary drive structure 21 (such as a motor) drives the rotary shaft 211 to rotate, the first rotary frame 221, as a coaxial component, rotates around the rotary shaft 211, while the second rotary frame 222, which is offset from the rotary shaft 211, drives the puncture pitch angle adjustment unit 3 to perform circular motion in the horizontal plane along an eccentric trajectory. This design expands the horizontal adjustment range of the puncture unit 4, enabling it to cover the lateral position differences of different patients' arms.

[0059] The eccentric setting of the second rotating frame 222 (offset from the rotation axis 211) avoids spatial interference with the fixed unit 1 and the rotation drive structure 21, while providing an independent installation position for the puncture pitch angle adjustment unit 3, allowing the unit to be adjusted in the vertical plane (such as the pitch direction) without affecting the horizontal rotation function. The linkage between the two achieves two-dimensional (horizontal + vertical) precise control of the puncture angle.

[0060] By adopting the above technical solution, the horizontal rotational motion is transformed into the lateral displacement of the puncture pitch angle adjustment unit 3 through the "vertical layering + eccentric layout" of the rotating frame 22, realizing the electric and precise adjustment of the puncture angle in the horizontal plane, while reserving space for the vertical angle adjustment, and finally forming a "dual-axis linkage" puncture positioning mechanism, which effectively solves the core problems of "small angle adjustment range" and "poor human adaptability" in traditional puncture.

[0061] In one embodiment, the rotating frame 22 further includes a third rotating frame 223 disposed on the second rotating frame 222 and disposed away from the first rotating frame 221, the third rotating frame 223 being used to fix the ultrasonic probe 5.

[0062] Specifically, the first rotating frame 221 is connected to the fixed unit 1 and is arranged around the center of the rotating axis 211, serving as the basic support layer for the rotating frame 22.

[0063] The second rotating frame 222 is vertically connected to the first rotating frame 221 and is offset from the rotation axis 211. It is used to install the puncture pitch angle adjustment unit 3 (which is linked with the puncture unit 4).

[0064] The third rotating frame 223 is mounted on the second rotating frame 222 and extends away from the first rotating frame 221 (i.e., extends outward away from the rotating axis 211), and is specifically used to fix the ultrasonic probe 5.

[0065] When the rotary drive structure 21 drives the rotary frame 22 to rotate horizontally as a whole, the third rotary frame 223 rotates synchronously with the second rotary frame 222, so that the ultrasonic probe 5 and the puncture unit 4 maintain a relatively fixed spatial angle relationship.

[0066] The ultrasound probe 5 can scan the puncture path in real time and provide real-time image feedback, while the puncture unit 4 adjusts the pitch angle and puncture direction according to the ultrasound data to achieve closed-loop control of "image guidance - angle adjustment - precise puncture".

[0067] The outer extension design of the third rotating frame 223 allows the ultrasound probe 5 to be closer to the puncture target area (such as the patient's arm), shortening the detection distance and improving imaging clarity.

[0068] The spatial linkage between the ultrasound probe 5 and the puncture unit 4 ensures that their coordinates are synchronized during horizontal rotation, avoiding guidance errors caused by positional deviations and improving the accuracy of puncture path planning.

[0069] By integrating the ultrasonic probe 5 into the rotating frame 22 system, the complex wiring and calibration process of independently installing ultrasonic equipment in the traditional solution is avoided, simplifying the overall structure.

[0070] By adopting the above technical solution, a third rotating frame 223, which is opposite to the first rotating frame 221, is added to the rotating frame 22. The ultrasound probe 5 is integrated into the horizontal rotating system of the puncture positioning mechanism, realizing spatial synchronization and dynamic coordination between image guidance and puncture adjustment. This design not only optimizes the installation position and detection accuracy of the ultrasound probe 5, but also simplifies the operation process through mechanical linkage, solving problems such as "large positional deviation between the probe and the puncture unit 4" and "dynamic guidance lag" in traditional solutions, providing a better structural solution for high-precision, intelligent puncture surgery.

[0071] Please refer to the following: Figures 4 to 6 In one embodiment, the puncture pitch angle adjustment unit 3 includes a pitch frame 31, a lifting arm 32, and a pitch drive structure 33; one end of the pitch frame 31 is axially connected to the rotating frame 22, and the other end of the pitch frame 31 is used to fix the puncture unit 4; one end of the lifting arm 32 is connected to the pitch drive structure 33, and the other end of the lifting arm 32 is axially connected to the pitch frame 31; the pitch drive structure 33 is used to extend and retract the lifting arm 32 to drive the pitch frame 31 to rotate around the pitch axis 224 of the rotating frame 22.

[0072] Specifically, one end of the pitching frame 31 is connected to the rotating frame 22 via the rotating shaft 211 to form a rotatable fulcrum; the other end of the pitching frame 31 is used to fix the puncture unit 4 and directly bear the puncture assembly.

[0073] One end of the lifting arm 32 is connected to the pitch drive structure 33 to receive power input; the other end of the lifting arm 32 is connected to the middle or end of the pitch frame 31 through the rotating shaft 211 to form a transmission link.

[0074] The pitch drive structure 33 is fixed on the rotating frame 22 and achieves telescopic movement by means of electricity.

[0075] The connecting shaft (pitch shaft 224) between the pitch frame 31 and the rotation frame 22 is arranged horizontally to ensure that the pitch frame 31 can rotate around the shaft;

[0076] The two ends of the lifting arm 32 form a triangular transmission structure with the pitch axis 224. By changing the extension length of the lifting arm 32, the pitch frame 31 is driven to swing around the axis.

[0077] When the pitch drive structure 33 is powered on, its internal power components drive the lifting arm 32 to perform linear telescopic motion:

[0078] When the lifting arm 32 extends, it pushes the pitch frame 31 to rotate downward around the pitch axis 224, thereby increasing the pitch angle of the puncture unit 4 (e.g., the needle tip tilts downward).

[0079] When the lifting arm 32 is shortened, it pulls the pitch frame 31 to rotate upward around the pitch axis 224, thereby reducing the pitch angle of the puncture unit 4 (e.g., the needle tip tilts upward).

[0080] By using an electrically driven linkage mechanism to replace the traditional manual knob or gear adjustment method, the problems of low precision and long time consumption of manual operation are solved.

[0081] This solution utilizes a linkage transmission design consisting of a "tilt frame 31 - lifting arm 32 - pitch drive structure 33" to construct an electrically powered angle adjustment mechanism for the puncture unit 4 in the vertical plane. Its core lies in leveraging the mechanical principle of converting telescopic motion into rotational motion, combined with electric control and real-time image guidance (such as an ultrasound probe 5), to achieve "rapid response, precise quantification, and dual-axis coordination" of the puncture angle. This effectively addresses the shortcomings of traditional manual adjustment methods in terms of precision, efficiency, and adaptability, providing crucial technical support for the clinical application of puncture surgical robots.

[0082] In one embodiment, the puncture pitch angle adjustment unit 3 further includes a transmission screw 34 connecting the lifting arm 32 and the pitch drive structure 33, and the pitch drive structure 33 drives the transmission screw 34 to drive the lifting arm 32 to rotate around the pitch axis 224.

[0083] Specifically, one end of the transmission screw 34 is connected to the output shaft of the pitch drive structure 33 (such as a motor) as the core component for power transmission; the other end of the transmission screw 34 is connected to the lifting arm 32 through a nut to form a "screw-nut" transmission structure.

[0084] This solution utilizes the helical transmission principle of the lead screw 34 to convert the rotational motion of the pitch drive structure 33 into the linear displacement of the lifting arm 32, thereby achieving precise angle adjustment of the puncture unit 4 in the vertical plane. Its core advantage lies in leveraging the high precision, high stability, and quantifiable characteristics of lead screw transmission, solving the problems of insufficient precision and response lag in puncture angle control caused by traditional manual adjustment or coarse drive methods, and providing a reliable mechanical execution solution for ultrasound-guided precision puncture.

[0085] In one embodiment, the puncture unit 4 includes a needle holder 41, a needle guide structure 42, a needle 43, and a needle drive structure 44; wherein, the needle holder 41 is disposed on the pitch frame 31, the needle guide structure 42 is disposed on the needle holder 41, the needle 43 is slidably connected to the needle guide structure 42, and the needle drive structure 44 is used to drive the needle 43 to move on the needle guide structure 42.

[0086] Specifically, the needle holder 41 serves as the basic support component of the puncture unit 4, and is fixed to the end of the pitch frame 31 (forming a rigid connection with the pitch frame 31). It is used to support the needle guide structure 42 and the needle drive structure 44. It is usually made of high-strength aluminum alloy or stainless steel to ensure structural stability.

[0087] The needle guide structure 42 is mounted on the needle holder 41 and can be in the form of a linear guide, a smooth rod or a sleeve, etc., to provide high-precision linear motion guidance for the needle 43 and limit the lateral displacement of the needle 43 during the puncture process.

[0088] The inner wall of the needle guide structure 42 can be smoothed or coated with a friction-reducing coating to reduce the resistance to the movement of the needle 43.

[0089] The needle 43 is slidably connected to the needle guide structure 42 (such as being nested in a sleeve or fixed to the guide rail slider), and can move linearly along the axial direction (puncture direction) of the guide structure;

[0090] The tail of the needle 43 is connected to the needle drive structure 44 and receives power input.

[0091] The needle drive structure 44 is fixed on the needle fixing seat 41 (such as a motor, lead screw and nut mechanism, etc.) and connected to the needle 43 through a transmission component (such as a coupling, gear and rack).

[0092] By adopting the above technical solution, the needle holder 41 provides mechanical support, the guiding structure ensures the accuracy of the puncture path, and the drive structure realizes automated feed control. These three components, in conjunction with the angle adjustment unit (rotation, pitch), form a complete technical chain of "spatial positioning—image guidance—precise puncture," effectively solving core problems in traditional puncture such as "large manual operation errors" and "difficult path control," providing key technical guarantees for the clinical accuracy and safety of puncture surgical robots.

[0093] In one embodiment, the needle guide structure 42 includes a guide screw, a guide rod, and a nut; the guide screw and the guide rod are arranged parallel to each other on the pitch frame 31, one end of the nut is threadedly connected to the guide screw, the other end of the nut is slidably connected to the guide rod, and the nut is connected to the needle 43.

[0094] Specifically, the guide screw is set on the pitching frame 31 parallel to the puncture direction. One end of the guide screw is connected to the needle drive structure 44 as a power input shaft. The surface is machined with precision threads (such as ball screws), which are converted into linear motion of the nut through rotational motion.

[0095] The guide rods and guide screws are arranged in parallel and spaced apart, and fixed on the pitch frame 31; the surface of the rod is smooth to limit the radial degree of freedom of the nut, allowing it to slide only along the axial direction.

[0096] One end of the nut has a threaded hole inside, which forms a threaded pair with the guide screw; the other end of the nut has a linear bearing or slider, which is slidably connected to the guide rod.

[0097] The outer side of the nut is fixedly connected to the needle 43, directly transmitting motion and force.

[0098] In one embodiment, the puncture positioning mechanism further includes an ultrasonic probe 5, which is mounted on the puncture rotation angle adjustment unit 2 and is used to obtain the puncture target position of the human body.

[0099] Specifically, the ultrasound probe 5 is fixed to the puncture rotation angle adjustment unit 2 (such as the third rotating frame 223 of the rotating frame 22), forming a rigid connection with the rotating frame 22, and rotating horizontally synchronously with the rotating frame 22;

[0100] The scanning direction of the ultrasound probe 5 (such as the direction of the ultrasound beam) forms a preset angle (such as vertical or 45°) with the axis of the puncture unit 4 (the direction of the needle 43) to ensure that the puncture target area of ​​the human body in different directions can be covered during the rotation.

[0101] The ultrasound probe 5 is mounted on the outside of the rotating frame 22 (such as an extension arm away from the first rotating frame 221) using special clamps (such as buckles or bolts) to avoid interference with components such as the rotating drive structure 21 and the puncture unit 4.

[0102] This solution integrates the ultrasound probe 5 into the puncture rotation angle adjustment unit 2, constructing a puncture positioning system that deeply integrates image guidance and mechanical motion. Its core advantage lies in utilizing the horizontal rotation function of the rotating frame 22, enabling the ultrasound probe 5 to dynamically scan the distribution of puncture targets such as blood vessels and tumors in the human body, and forming an angle-synchronized linkage with the puncture unit 4. This solves the key problems of "asynchronous imaging and puncture" and "low efficiency of manual adjustment" in traditional solutions, providing an efficient and reliable technical solution for achieving "precise and visualized puncture".

[0103] Secondly, a puncture surgical device is provided, including a moving mechanism and the aforementioned puncture positioning mechanism, wherein the moving mechanism is connected to the puncture positioning mechanism.

[0104] By adopting the above technical solution, the moving mechanism and the puncture positioning mechanism are combined to form a complete puncture surgical device. The moving mechanism is responsible for providing the overall mobility of the device, while the puncture positioning mechanism focuses on precise positioning during the puncture process. The two are closely connected, complementing each other's functions and jointly serving the puncture surgical operation.

[0105] The mobile mechanism gives the puncture surgical equipment flexible mobility, enabling it to be quickly and easily moved to the appropriate location according to the needs of the surgical scenario and the patient's position. It can shuttle between different environments such as hospital wards and operating rooms, accurately delivering the puncture positioning device to the designated position at the patient's bedside or on the operating table, reducing the inconvenience and risks of patient transfer and improving the convenience and timeliness of the surgery.

[0106] The puncture positioning mechanism is a key component for achieving precise puncture. It utilizes its own adjustment units, such as the puncture rotation angle adjustment unit 2 and the puncture pitch angle adjustment unit 3, to precisely adjust the puncture angle and position according to the patient's specific condition and surgical needs. Combined with information such as the target puncture location obtained by the ultrasound probe 5, it plans the optimal puncture path for the puncture needle, significantly improving the success rate of puncture and reducing harm to the patient.

[0107] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A puncture positioning mechanism, characterized in that, include: Fixed unit; A puncture rotation angle adjustment unit is connected to the fixing unit; A puncture pitch angle adjustment unit is connected to the puncture rotation angle adjustment unit; The puncture unit is connected to the puncture pitch angle adjustment unit; The fixing unit is used to fix the moving mechanism and the puncture positioning mechanism; the puncture rotation angle adjustment unit is used to electrically adjust the rotation angle of the puncture pitch angle adjustment unit and the puncture unit; the puncture pitch angle adjustment unit is used to electrically adjust the pitch angle of the puncture unit; and the puncture unit is used to perform the puncture action.

2. The puncture positioning mechanism as described in claim 1, characterized in that, The puncture rotation angle adjustment unit includes a rotation drive structure and a rotating frame connected to the rotation shaft of the rotation drive structure. The rotation drive structure is connected to the fixed unit and is used to drive the rotating frame to rotate around the rotation shaft. The rotating frame is connected to the puncture pitch angle adjustment unit.

3. The puncture positioning mechanism as described in claim 2, characterized in that, The rotating frame includes a first rotating frame body and a second rotating frame body that is perpendicularly connected to the first rotating frame body. The first rotating frame body is connected to the fixed unit, and the second rotating frame body is offset from the rotating axis and is used to connect to the puncture pitch angle adjustment unit.

4. The puncture positioning mechanism as described in claim 3, characterized in that, The rotating frame also includes a third rotating frame disposed on the second rotating frame and disposed away from the first rotating frame, the third rotating frame being used to fix the ultrasonic probe.

5. The puncture positioning mechanism as described in claim 2, characterized in that, The puncture pitch angle adjustment unit includes a pitch frame, a lifting arm, and a pitch drive structure; one end of the pitch frame is connected to the rotating frame shaft, and the other end of the pitch frame is used to fix the puncture unit; one end of the lifting arm is connected to the pitch drive structure, and the other end of the lifting arm is connected to the pitch frame shaft. The pitch drive structure is used to extend and retract the lifting arm to drive the pitch frame to rotate about the pitch axis of the rotating frame.

6. The puncture positioning mechanism as described in claim 5, characterized in that, The puncture pitch angle adjustment unit also includes a transmission screw connecting the lifting arm and the pitch drive structure. The pitch drive structure drives the transmission screw to rotate the lifting arm around the pitch axis.

7. The puncture positioning mechanism as described in claim 5, characterized in that, The puncture unit includes a needle holder, a needle guide structure, a needle, and a needle drive structure; wherein, the needle holder is disposed on the pitch frame, the needle guide structure is disposed on the needle holder, the needle is slidably connected to the needle guide structure, and the needle drive structure is used to drive the needle to move on the needle guide structure.

8. The puncture positioning mechanism as described in claim 7, characterized in that, The needle guide structure includes a guide screw, a guide rod, and a nut; the guide screw and the guide rod are arranged parallel to each other on the pitch frame, one end of the nut is threaded to the guide screw, the other end of the nut is slidably connected to the guide rod, and the nut is connected to the needle.

9. The puncture positioning mechanism as described in any one of claims 1 to 8, characterized in that, The puncture positioning mechanism also includes an ultrasonic probe, which is mounted on the puncture rotation angle adjustment unit and is used to obtain the puncture target position on the human body.

10. A puncture surgical device, characterized in that, It includes a moving mechanism and a puncture positioning mechanism as described in any one of claims 1 to 9, wherein the moving mechanism is connected to the puncture positioning mechanism.

Images