Guided puncture positioning mechanism and puncture surgical robot

Abstract

This invention provides a guided puncture positioning mechanism and a puncture surgical robot. The guided puncture positioning mechanism includes: a puncture execution unit; a parallelogram motion unit connected to the puncture execution unit; a pitch angle adjustment drive unit connected to the parallelogram motion unit and used to drive the parallelogram motion unit to adjust the puncture pitch angle of the puncture execution unit; a puncture height adjustment drive unit connected to the parallelogram motion unit and used to drive the parallelogram motion unit to adjust the puncture height of the puncture execution unit; and a rotation angle adjustment drive unit connected to the puncture height adjustment drive unit and used to drive the puncture height adjustment drive unit to adjust the puncture rotation angle of the puncture execution unit. This guided puncture positioning mechanism, through the coordinated work of its various units, achieves precise adjustment in multiple dimensions, which helps improve the success rate of puncture surgery and reduces unnecessary damage to patients.

Description

Technical Field

[0001] This utility model relates to the technical field of puncture surgery robots, and more specifically, to a puncture guidance and positioning mechanism and a puncture surgery robot. Background Technology

[0002] In recent years, the field of surgical robots has developed rapidly. Among them, the emergence of puncture surgical robots has brought about a major change in the medical industry. They have the characteristics of high efficiency, high precision and intelligent treatment, which has powerfully promoted the progress of medical technology.

[0003] In biopsy procedures, high-precision puncture is crucial for ensuring medical safety and quality. However, current development in this field is significantly limited by differences in physician experience and skill levels. Inconsistent skill levels among physicians can lead to inconsistent success rates, increased risk of complications, and difficulty in meeting the high clinical demands for precision and consistency in biopsy procedures.

[0004] As an emerging technology, surgical robots for punctures have demonstrated significant advantages. They are characterized by stable, precise, and flexible operation, effectively overcoming problems arising from individual differences among physicians. Through precise robot control, puncture success rates can be improved, complications caused by human error can be reduced, and patients can be provided with safer and more reliable treatment options.

[0005] While existing surgical robot technology has made some progress, it still falls short in adaptability to the differences in individual human arms. Current puncture positioning mechanisms struggle to meet diverse clinical needs, failing to precisely adjust to the unique arm characteristics of different patients, and requiring further improvement in the precision and flexibility of puncture angle control. Therefore, developing an ultrasound-guided puncture positioning mechanism that can adapt to the differences in individual human arms and precisely control the puncture angle has significant clinical importance and practical application value. It can further promote the development and improvement of surgical robot technology and enhance the quality of medical services. Utility Model Content

[0006] The purpose of this invention is to provide a guiding puncture positioning mechanism and a puncture surgical robot to solve the technical problems of low applicability, poor accuracy and flexibility of the guiding puncture positioning mechanism in the existing puncture surgical robot.

[0007] To achieve the above objectives, the technical solution adopted by this utility model is as follows:

[0008] Firstly, a puncture guidance and positioning mechanism is provided, comprising:

[0009] Puncture execution unit;

[0010] A parallelogram motion unit is connected to the puncture execution unit;

[0011] A pitch angle adjustment drive unit is connected to the parallelogram motion unit and is used to drive the parallelogram motion unit to adjust the puncture pitch angle of the puncture execution unit.

[0012] A puncture height adjustment drive unit is connected to the parallelogram motion unit and is used to drive the parallelogram motion unit to adjust the puncture height of the puncture execution unit.

[0013] A rotation angle adjustment drive unit is connected to the puncture height adjustment drive unit and is used to drive the puncture height adjustment drive unit to adjust the puncture rotation angle of the puncture execution unit.

[0014] By adopting the above technical solution, the guiding puncture positioning mechanism achieves precise adjustment in multiple dimensions through the coordinated work of each unit, which helps to improve the success rate of puncture surgery and reduce unnecessary damage to patients.

[0015] In one embodiment, the rotation angle adjustment drive unit includes a rotation angle drive structure and a rotating frame connected to the rotation angle drive structure. The rotation angle drive structure defines a rotation axis, and the rotating frame can rotate around the rotation axis under the drive of the rotation angle drive structure. The rotating frame is connected to the puncture execution unit.

[0016] In one embodiment, the puncture height adjustment drive unit includes a height adjustment frame slidably connected to the rotating frame and a height adjustment drive structure connected to the height adjustment frame. The height adjustment drive structure defines a height direction, and the height adjustment frame moves along the height direction under the drive of the height adjustment drive structure. The height adjustment frame is connected to the puncture execution unit.

[0017] In one embodiment, the rotating frame is provided with a height track, the height adjustment frame is capable of moving along the height track, the height adjustment drive structure is provided with a height adjustment push rod, the height adjustment push rod is axially connected to the height adjustment frame, and the height adjustment frame moves along the height track under the extension and retraction of the height adjustment push rod.

[0018] In one embodiment, the parallelogram motion unit includes a first link, a second link, a third link, a fourth link, and a pitch frame; the first link and the second link are arranged parallel to each other and are respectively connected to the height adjustment frame shaft; the third link and the fourth link are arranged parallel to each other and are connected to the first link, the second link, and the pitch frame shaft; the fourth link is connected to the second link and the pitch frame shaft; and the pitch frame is used to fix the puncture execution unit.

[0019] In one embodiment, the pitch angle adjustment drive unit includes a pitch drive structure connected to the height adjustment frame. The pitch drive structure is provided with a pitch adjustment push rod, which is shaft-connected to the second link or the fourth link. The pitch frame adjusts the pitch angle under the extension and retraction of the pitch adjustment push rod.

[0020] In one embodiment, the puncture execution unit includes a needle holder, a feed structure disposed on the needle holder, a needle connected to the feed structure, and a sensor disposed on the needle holder for sensing the position of the needle. The needle holder is connected to the pitch frame.

[0021] In one embodiment, the feeding structure includes a lead screw, a nut, and a guide rod. The lead screw and the guide rod are arranged parallel to each other on the needle holder. One end of the nut is threadedly connected to the lead screw, and the other end of the nut is slidably connected to the guide rod. The nut is also connected to the needle.

[0022] In one embodiment, the guided puncture positioning mechanism further includes a probe disposed on the rotating frame, the probe being used to acquire the location of a human vein.

[0023] Secondly, a puncture surgery robot is provided, including a moving mechanism and the aforementioned guiding puncture positioning mechanism, wherein the moving mechanism is connected to the guiding puncture positioning mechanism.

[0024] By adopting the above technical solution, the puncture surgical robot of this embodiment has the advantage of high puncture accuracy, in addition to the advantages of the guiding puncture positioning mechanism of the above embodiment. Attached Figure Description

[0025] 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.

[0026] Figure 1 This is a three-dimensional structural diagram of the guiding puncture positioning mechanism provided in Embodiment 1 of this utility model.

[0027] Figure 2 This is a rear view of the guiding puncture positioning mechanism provided in an embodiment of this utility model.

[0028] Figure 3 This is a three-dimensional structural diagram of the guiding puncture positioning mechanism provided in Embodiment 2 of this utility model.

[0029] The labels for the attached figures are as follows:

[0030] 1. Puncture execution unit; 2. Parallelogram motion unit; 3. Pitch angle adjustment drive unit; 4. Puncture height adjustment drive unit; 5. Rotation angle adjustment drive unit; 6. Probe;

[0031] 11. Needle holder; 12. Feeding structure; 13. Needle; 14. Sensor; 21. First link; 22. Second link; 23. Third link; 24. Fourth link; 25. Pitch mount; 26. Pitch drive structure; 41. Height adjustment mount; 42. Height adjustment drive structure; 51. Rotation angle drive structure; 52. Rotation mount; R1. Rotation axis; X. Height direction;

[0032] 421. Height adjustment lever; 261. Pitch adjustment lever. Detailed Implementation

[0033] 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.

[0034] 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.

[0035] 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.

[0036] 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:

[0037] like Figure 1 and Figure 2 As shown in the figure, an embodiment of the present invention provides a guided puncture positioning mechanism, comprising:

[0038] Puncture execution unit 1;

[0039] Parallelogram motion unit 2 is connected to puncture execution unit 1;

[0040] The pitch angle adjustment drive unit 3 is connected to the parallelogram motion unit 2 and is used to drive the parallelogram motion unit 2 to adjust the puncture pitch angle of the puncture execution unit 1.

[0041] The puncture height adjustment drive unit 4 is connected to the parallelogram motion unit 2 and is used to drive the parallelogram motion unit 2 to adjust the puncture height of the puncture execution unit 1.

[0042] The rotation angle adjustment drive unit 5 is connected to the puncture height adjustment drive unit 4 and is used to drive the puncture height adjustment drive unit 4 to adjust the puncture rotation angle of the puncture execution unit 1.

[0043] Specifically, the puncture execution unit 1 is the part that directly performs the puncture operation, and the puncture needle and other related puncture instruments are mounted on this unit. During the actual puncture process, the puncture execution unit 1 carries the puncture needle and, with the cooperation of other units, accurately delivers the puncture needle to the target position and performs the puncture action. It is the final execution component of the entire positioning mechanism to realize the puncture function.

[0044] The parallelogram motion unit 2 is connected to the puncture execution unit 1, playing a crucial role in motion transmission and conversion. Due to the parallelogram mechanism's characteristic of parallel and equal sides, when certain parts of the parallelogram motion unit 2 move, it ensures that the connected puncture execution unit 1 can smoothly perform translational, lifting, and other movements, maintaining a specific posture. For example, when adjusting the puncture height or making minor horizontal adjustments, the parallelogram motion unit 2 ensures that the direction of the puncture needle does not unnecessarily change due to movement, always remaining consistent with the preset puncture direction, much like moving the puncture needle on a stable platform, providing a fundamental guarantee for puncture accuracy.

[0045] The pitch angle adjustment drive unit 3 is connected to the parallelogram motion unit 2, and its main function is to drive the parallelogram motion unit 2 to adjust the pitch angle of the puncture execution unit 1. In practical applications, different puncture target locations and puncture requirements necessitate that the puncture needle enter the body at different pitch angles. The pitch angle adjustment drive unit 3 can drive the corresponding part of the parallelogram motion unit 2 to move according to a preset program or the doctor's operating instructions, thereby causing the puncture execution unit 1 to change its pitch angle. For example, when puncturing lesions in deeper locations of the body with special angle requirements, the pitch angle of the puncture needle can be adjusted by this drive unit, allowing the puncture needle to reach the target location along the optimal path, improving the success rate and accuracy of the puncture.

[0046] The puncture height adjustment drive unit 4 is also connected to the parallelogram motion unit 2, and is responsible for driving the parallelogram motion unit 2 to adjust the puncture height of the puncture execution unit 1. In medical puncture scenarios, patients' body structures and the depth of puncture targets vary, requiring precise adjustment of the puncture needle height. After receiving a control signal, the puncture height adjustment drive unit 4 drives the parallelogram motion unit 2 to undergo corresponding deformation or displacement, thereby causing the puncture execution unit 1 to rise and fall vertically to achieve a suitable puncture height. For example, when performing punctures on patients of different heights or on different sites of the same patient, this unit can quickly and accurately adjust the puncture needle height to ensure the smooth progress of the puncture operation.

[0047] The rotation angle adjustment drive unit 5 is connected to the puncture height adjustment drive unit 4 and is used to drive the puncture height adjustment drive unit 4 to adjust the puncture rotation angle of the puncture execution unit 1. In some complex puncture procedures, it is necessary not only to adjust the pitch and height of the puncture needle, but also to adjust the rotation angle of the puncture needle to adapt to different puncture paths and avoid important blood vessels, nerves, and other tissues. The rotation angle adjustment drive unit 5 indirectly drives the puncture execution unit 1 to rotate around a certain axis by driving the puncture height adjustment drive unit 4, thereby changing the rotation angle of the puncture needle. For example, when performing puncture biopsies on some irregularly shaped tumors, the puncture needle needs to enter from different rotation angles to obtain more representative tissue samples. In this case, the drive unit plays a crucial role.

[0048] By adopting the above technical solution, this guided puncture positioning mechanism achieves precise adjustment of the puncture execution unit 1 in multiple dimensions, such as puncture pitch angle, puncture height, and puncture rotation angle, through the coordinated work of its various units. This provides accurate and reliable positioning support for medical puncture operations, helping to improve the success rate of puncture surgery and reduce unnecessary damage to patients. In addition, through the coordinated work of multiple drive units, it can accurately adapt to individual differences in patients' arm length, muscle thickness, and bone structure. For example, the puncture height adjustment drive unit 4 can flexibly adjust the vertical position of the puncture execution unit 1 according to different arm thicknesses. The rotation angle adjustment drive unit 5, in conjunction with the pitch angle adjustment drive unit 3, can achieve three-dimensional precise fine-tuning of the puncture angle for special physiological curvatures or anatomical structures of the arm. This ensures that puncture operations are no longer limited by the diverse characteristics of the patient's arm, and that each patient can obtain the optimal puncture path that suits their own conditions.

[0049] In one embodiment, the rotation angle adjustment drive unit 5 includes a rotation angle drive structure 51 and a rotation frame 52 connected to the rotation angle drive structure 51. The rotation angle drive structure 51 defines a rotation axis R1. The rotation frame 52 can rotate around the rotation axis R1 under the drive of the rotation angle drive structure 51. The rotation frame 52 is connected to the puncture execution unit 1.

[0050] Specifically, the rotation angle drive structure 51 is the power source of the rotation angle adjustment drive unit 5, defines the rotation axis R1, and can generate driving torque to make the components connected to it rotate around the rotation axis R1.

[0051] The rotating frame 52 is connected to the rotation angle drive structure 51. Under the drive of the rotation angle drive structure 51, it rotates around the rotation axis R1 and is connected to the puncture execution unit 1. The rotation of the rotating frame 52 drives the puncture execution unit 1, thereby realizing the adjustment and indication of the rotation angle of the puncture execution unit 1, so that the operator can accurately grasp the rotation angle of the puncture needle.

[0052] Specifically, the rotation angle drive structure 51, as a power source, may include drive components such as a motor, gearbox, and worm gear mechanism, and its core function is to provide rotational driving force. The output shaft of the motor can be directly used as the rotation shaft R1, or it can be connected to the shafts of other transmission components through a coupling.

[0053] The rotating frame 52 refers to the mechanical frame or bracket directly connected to the rotation angle drive structure 51. It is usually a rigid structure used to transmit driving force and fix other components (such as the puncture execution unit 1).

[0054] In one embodiment, the puncture height adjustment drive unit 4 includes a height adjustment frame 41 slidably connected to the rotating frame 52 and a height adjustment drive structure 42 connected to the height adjustment frame 41. The height adjustment drive structure 42 defines a height direction X. The height adjustment frame 41 moves along the height direction X under the drive of the height adjustment drive structure 42. The height adjustment frame 41 is connected to the puncture execution unit 1.

[0055] Specifically, the height adjustment frame 41 refers to a mechanical frame or guide rail structure that is slidably connected to the rotating frame 52. It is usually a rigid component used to support the puncture execution unit 1 and realize the movement in the height direction X.

[0056] Optionally, the height adjustment frame 41 has a sliding interface (such as a linear guide, slider, dovetail groove, etc.) that cooperates with the rotating frame 52 to ensure smooth movement in a fixed direction (height direction X) while restricting the degree of freedom in other directions (such as lateral sway).

[0057] The height adjustment drive structure 42 refers to the power source, which may be a motor, a lead screw and nut mechanism, a cylinder / hydraulic cylinder, or a gear and rack mechanism, etc. Its core function is to provide driving force along the height direction X.

[0058] In one embodiment, the rotating frame 52 is provided with a height track, and the height adjustment frame 41 can move along the height track; the height adjustment drive structure 42 is provided with a height adjustment push rod 421, which is axially connected to the height adjustment frame 41, and the height adjustment frame 41 moves along the height track under the extension and retraction of the height adjustment push rod 421.

[0059] Specifically, the rotating frame 52 serves as the mounting base for the puncture height adjustment drive unit 4 and also supports the rotation function of the rotation angle adjustment drive unit 5. The rotating frame 52 is equipped with a height track (such as a linear guide rail, a slide rail, or other structure) to provide linear movement guidance for the height adjustment frame 41. The direction of the track is defined as "height direction X" (usually corresponding to the vertical direction or the puncture depth direction).

[0060] The height adjustment frame 41 and the rotating frame 52 are slidably connected via a height track, allowing for reciprocating movement along the track. The height adjustment frame 41 and the height adjustment push rod 421 in the height adjustment drive structure 42 are connected via a shaft (such as a hinge or pin connection) to transmit drive. The height adjustment frame 41 is directly or indirectly connected to the puncture indicator unit, adjusting the puncture height through its own movement. The height adjustment drive structure 42 refers to the power source; the height adjustment push rod 421 can be an electric push rod, a cylinder push rod, or a lead screw and nut mechanism, generating linear driving force through telescopic movement. One end of the height adjustment push rod 421 is connected to the rotating frame 52 or other fixed structure, while the other end drives the height adjustment frame 41 via a shaft connection. When the height adjustment push rod 421 extends or retracts, a pushing or pulling force is applied through the shaft connection point, forcing the height adjustment frame 41 to slide along the height track.

[0061] In one embodiment, the parallelogram motion unit 2 includes a first link 21, a second link 22, a third link 23, a fourth link 24, and a pitch frame 25; the first link 21 and the second link 22 are arranged in parallel and spaced apart and are respectively connected to the height adjustment frame 41; the third link 23 and the fourth link 24 are arranged in parallel and spaced apart; the third link 23 is connected to the first link 21, the second link 22, and the pitch frame 25; the fourth link 24 is connected to the second link 22 and the pitch frame 25; and the pitch frame 25 is used to fix the puncture execution unit 1.

[0062] Specifically, the first link 21 and the second link 22 are arranged in parallel and spaced apart, serving as the basic support structure for the motion unit.

[0063] The third link 23 and the fourth link 24 are also parallel and spaced apart, forming a parallelogram frame with the first two links 21 and the second link 22.

[0064] The pitching frame 25 is used to fix the puncture execution unit 1. It is the output end of the motion unit and directly bears the puncture action.

[0065] The components are connected by shafts (rotatable hinges) to form a linkage mechanism. The specific connection method is as follows: one end of the first link 21 and the second link 22 are respectively hinged to the height adjustment frame 41 (shaft connection). That is, the height adjustment frame 41 serves as the common fulcrum of the two links and can drive the links to move up and down.

[0066] The two ends of the third link 23 are hinged to the first link 21, the second link 22 and the pitch frame 25 respectively, forming part of the triangular support structure.

[0067] The two ends of the fourth link 24 are hinged to the second link 22 and the pitch frame 25 respectively, and together with the third link 23, they form opposite sides of a parallelogram.

[0068] Parallelogram motion unit 2 has translational motion retention:

[0069] When one side of the frame (such as the first link 21 or the second link 22) moves up and down, the opposite side (the pitch frame 25) will remain parallel to the frame, changing only the vertical position without changing the attitude angle.

[0070] This feature ensures that the pitch angle (needle tilt angle) of the puncture execution unit 1 remains stable when the height is adjusted (such as moving up and down), avoiding angle deviation caused by height changes.

[0071] The height adjustment frame 41 moves the first link 21 and the second link 22 up and down by sliding or lifting (such as by the height adjustment push rod 421).

[0072] Due to the constraint of the parallelogram motion unit 2, the pitching frame 25 translates with the connecting rod, realizing the height adjustment of the puncture execution unit 1 while maintaining its horizontal attitude (pitch angle remains unchanged).

[0073] The pitch drive structure 26 (such as a pitch adjustment push rod) can break the parallel constraint of the parallelogram by pushing a certain link (such as the second link 22 or the fourth link 24), causing the pitch frame 25 to rotate around the hinge point, thereby independently adjusting the puncture pitch angle. At this time, the parallelogram motion unit 2 changes from a "translation mechanism" to an "angle adjustment mechanism", demonstrating the multi-functionality of the structure.

[0074] By using the geometric constraints of the parallelogram motion unit 2, the posture stability is ensured during puncture height adjustment, avoiding angle errors caused by mechanical motion coupling and improving puncture positioning accuracy.

[0075] By separating "height adjustment" and "angle adjustment" into independent movements (height is achieved by the translation of the linkage, and angle is controlled separately by the pitch drive structure 26), the design of the control system is simplified.

[0076] Through the above technical solution, the solution achieves the stability of the puncture execution unit 1 during height adjustment through the ingenious design of the parallelogram motion unit 2, while reserving a structural interface for pitch angle adjustment, which reflects the core ideas of "motion decoupling" and "precision maintenance" in mechanical design.

[0077] Please refer to the following: Figure 3 In one embodiment, the pitch angle adjustment drive unit 3 includes a pitch drive structure 26, which is connected to the height adjustment frame 41. The pitch drive structure 26 is provided with a pitch adjustment push rod 261, which is axially connected to the second link 22 or the fourth link 24. The pitch frame 25 adjusts the pitch angle under the extension and retraction of the pitch adjustment push rod 261.

[0078] The pitch drive structure 26 is an independent power component that is fixedly connected to the height adjustment frame 41 (possibly by bolts, clips, etc.), so its motion reference comes from the height adjustment frame 41.

[0079] The pitch adjustment push rod 261 is the actuator (such as an electric push rod, cylinder, etc.) of the pitch drive structure 26. It has a telescopic function. One end of it is connected to the power source of the pitch drive structure 26, and the other end is connected to the second link 22 or the fourth link 24 in the parallelogram motion unit 2 through a shaft connection.

[0080] When the pitch adjustment push rod 261 extends or retracts, it applies a pushing or pulling force to the connecting rod (second connecting rod 22 or fourth connecting rod 24) that is hinged to it.

[0081] Due to the characteristics of the parallelogram motion unit 2 (opposite sides are parallel and of equal length), the force on a single link will cause the entire mechanism to deform, thereby causing the pitch frame 25 to rotate around the hinge point, thus realizing the pitch angle change of the piercing execution unit 1.

[0082] Pitch angle typically refers to the angle of inclination of the puncture execution unit 1 (such as a needle) relative to the horizontal plane (e.g., the needle pitches up or pitches down).

[0083] When the pitch adjustment push rod 261 extends, it may push the second link 22 or the fourth link 24 to move upward, causing the pitch frame 25 to tilt forward (increasing the pitch angle); when the push rod shortens, it may pull the link to move downward, causing the pitch frame 25 to tilt backward (increasing the pitch angle). The specific direction depends on the connection position of the link and the mechanism design.

[0084] The parallelogram motion unit 2 is hinged by a multi-link to ensure that the pitching frame 25 maintains translational motion or rotation around a fixed axis when adjusting the angle, thus avoiding deviation in the puncture direction and improving positioning accuracy.

[0085] Please refer to it again. Figure 2 In one embodiment, the puncture execution unit 1 includes a needle holder 11, a feed structure 12 disposed on the needle holder 11, a needle 13 connected to the feed structure 12, and a sensor 14 disposed on the needle holder 11 for sensing the position of the needle 13. The needle holder 11 is connected to the pitch frame 25.

[0086] In one embodiment, the feed structure 12 includes a lead screw, a nut, and a guide rod. The lead screw and the guide rod are arranged parallel to each other on the needle holder 11. One end of the nut is threadedly connected to the lead screw, and the other end of the nut is slidably connected to the guide rod. The nut is also connected to the needle 13.

[0087] The needle holder 11 serves as the basic frame of the puncture execution unit 1. It is fixedly connected to the pitch frame 25 of the parallelogram motion unit 2 via mechanical interfaces (such as bolts or pins) to ensure synchronous movement during angle adjustment. The needle holder 11 provides a mounting carrier for other components such as the feed structure 12 and the sensor 14, and must have sufficient strength and rigidity to withstand the puncture force.

[0088] The lead screw of the feed structure 12 is driven to rotate by a motor, with its axis aligned with the puncture direction (usually perpendicular). A nut is threaded into the lead screw, and one end is restricted in its rotational freedom by a guide rod, allowing it to slide only along the guide rod in a straight line. The guide rod is parallel to the lead screw to ensure the linear accuracy of the nut's movement. The feed structure 12 converts the rotational motion of the motor into the linear motion of the nut, thereby driving the needle 13 to advance or retract.

[0089] The needle 13 is rigidly connected to the nut (e.g., threaded), and moves along the axis of the screw with the nut. The needle 13 directly contacts human tissue to perform the puncture action, and its tip shape and size are designed according to clinical needs.

[0090] Sensor 14, which may be a linear encoder, magnetic encoder, or encoder, is mounted on needle holder 11 and linked with nut or needle 13. Sensor 14 collects position data of needle 13 in real time (such as feed distance and current depth) and feeds it back to the control system to achieve closed-loop control.

[0091] By adopting the above technical solution, the feed structure 12, sensor 14, and needle holder 11 are integrated into an independent module, which is connected to an external mechanism (elevation frame 25) through a standardized interface, improving the maintainability and reusability of the equipment. The sensor 14 realizes a closed loop of "detection-control-execution", breaking through the limitations of traditional mechanical puncture equipment that relies on manual monitoring, which is a cross-domain innovation of "mechanical + intelligent".

[0092] In one embodiment, the puncture positioning mechanism further includes a probe 6 disposed on a rotating frame 52, the probe 6 being used to obtain the location of a human vein.

[0093] Specifically, the bottom plane of the ultrasound probe 6 is the sensing surface. It moves along the human skin to detect the accurate location of the vein, which ultimately enables the puncture execution unit 1 to control the needle 13 to feed so as to achieve precise puncture by the needle 13.

[0094] Secondly, a puncture surgery robot is provided, including a moving mechanism and the aforementioned guiding puncture positioning mechanism, wherein the moving mechanism is connected to the guiding puncture positioning mechanism.

[0095] By adopting the above technical solution, the puncture surgical robot of this embodiment has the advantage of high puncture accuracy, in addition to the advantages of the guiding puncture positioning mechanism of the above embodiment.

[0096] 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 guidance and positioning mechanism, characterized in that, include: Puncture execution unit; A parallelogram motion unit is connected to the puncture execution unit; A pitch angle adjustment drive unit is connected to the parallelogram motion unit and is used to drive the parallelogram motion unit to adjust the puncture pitch angle of the puncture execution unit. A puncture height adjustment drive unit is connected to the parallelogram motion unit and is used to drive the parallelogram motion unit to adjust the puncture height of the puncture execution unit. A rotation angle adjustment drive unit is connected to the puncture height adjustment drive unit and is used to drive the puncture height adjustment drive unit to adjust the puncture rotation angle of the puncture execution unit.

2. The guiding puncture positioning mechanism as described in claim 1, characterized in that, The rotation angle adjustment drive unit includes a rotation angle drive structure and a rotating frame connected to the rotation angle drive structure. The rotation angle drive structure defines a rotation axis, and the rotating frame can rotate around the rotation axis under the drive of the rotation angle drive structure. The rotating frame is connected to the puncture execution unit.

3. The guiding puncture positioning mechanism as described in claim 2, characterized in that, The puncture height adjustment drive unit includes a height adjustment frame slidably connected to the rotating frame and a height adjustment drive structure connected to the height adjustment frame. The height adjustment drive structure defines a height direction, and the height adjustment frame moves along the height direction under the drive of the height adjustment drive structure. The height adjustment frame is connected to the puncture execution unit.

4. The guiding puncture positioning mechanism as described in claim 3, characterized in that, The rotating frame is equipped with a height track, and the height adjustment frame can move along the height track. The height adjustment drive structure is equipped with a height adjustment push rod, which is axially connected to the height adjustment frame. The height adjustment frame moves along the height track under the extension and retraction of the height adjustment push rod.

5. The guiding puncture positioning mechanism as described in claim 3, characterized in that, The parallelogram motion unit includes a first link, a second link, a third link, a fourth link, and a pitch frame; the first link and the second link are arranged in parallel and spaced apart and are respectively connected to the height adjustment frame shaft; the third link and the fourth link are arranged in parallel and spaced apart; the third link is connected to the first link, the second link, and the pitch frame shaft; the fourth link is connected to the second link and the pitch frame shaft; and the pitch frame is used to fix the puncture execution unit.

6. The guiding puncture positioning mechanism as described in claim 5, characterized in that, The pitch angle adjustment drive unit includes a pitch drive structure, which is connected to the height adjustment frame. The pitch drive structure is provided with a pitch adjustment push rod, which is connected to the second link or the fourth link shaft. The pitch frame adjusts the pitch angle under the extension and retraction of the pitch adjustment push rod.

7. The guiding puncture positioning mechanism as described in claim 5, characterized in that, The puncture execution unit includes a needle holder, a feed structure disposed on the needle holder, a needle connected to the feed structure, and a sensor disposed on the needle holder for sensing the position of the needle. The needle holder is connected to the pitch frame.

8. The guiding puncture positioning mechanism as described in claim 7, characterized in that, The feeding structure includes a lead screw, a nut, and a guide rod. The lead screw and the guide rod are arranged parallel to each other on the needle holder. One end of the nut is threaded to the lead screw, and the other end of the nut is slidably connected to the guide rod. The nut is also connected to the needle.

9. The guiding puncture positioning mechanism as described in claim 2, characterized in that, The guided puncture positioning mechanism also includes a probe mounted on the rotating frame, which is used to obtain the location of human veins.

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

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