CN115317135A - Puncture robot - Google Patents

Abstract

The invention discloses a puncture robot, and relates to the technical field of surgical instruments. The puncture robot comprises a translation adjusting mechanism, an angle adjusting mechanism and a puncture guiding mechanism, wherein the translation adjusting mechanism comprises a transverse translation adjusting mechanism and a longitudinal translation adjusting mechanism, and the longitudinal translation adjusting mechanism is connected with the output end of the transverse translation adjusting mechanism and is arranged below the transverse translation adjusting mechanism. The angle adjusting mechanism is arranged below the translation adjusting mechanism and is connected with the output end of the longitudinal translation adjusting mechanism. The puncture guiding mechanism is connected with the output end of the angle adjusting mechanism and is used for puncture operation. Locate the below that has the translation adjustment mechanism of great accommodation range with angle adjustment mechanism, angle adjustment mechanism is connected with puncture guide mechanism for angle adjustment fulcrum is nearer apart from patient skin puncture point, only needs less translation compensation to realize the puncture point motionless during angle adjustment, realizes puncture guide mechanism's adjustment on a large scale, and puncture robot's space utilization is high.

Description

piercing robot

technical field

The invention relates to the technical field of surgical instruments, in particular to a puncturing robot.

Background technique

The puncture robot is clinically used to perform precise puncture on the affected part of the patient, and the puncture robot can effectively solve the problem of puncture positioning.

The size of the mechanical arm of the conventional puncture robot is large, and it is difficult to enter the CT scanning area. Although the miniaturized puncture robot can enter the CT scanning area, its range of motion is limited. When the translation adjustment mechanism with a large range of movement is placed below the angle adjustment mechanism, in order to make the fixed point compensation translation adjustment as small as possible during angle adjustment, the lower link of the angle adjustment mechanism is often bent and set, which will lead to angle adjustment. The vertical distance between the upper and lower universal joints corresponding to the mechanism is relatively large, which has an impact on the longitudinal translation adjustment range in the translation adjustment mechanism, and in the case of the same angle adjustment, the adjustment range of the connecting rod combination is required to be greater , making the puncture robot occupy a large space.

Contents of the invention

The purpose of the present invention is to propose a puncture robot, which can realize the immobility of the puncture point only with small translation compensation when the angle is adjusted, which not only realizes the large-scale adjustment of the puncture guide mechanism, but also improves the puncture efficiency. Space utilization of the robot.

For reaching this purpose, the present invention adopts following technical scheme:

Piercing robots, including:

A translation adjustment mechanism, including a lateral translation adjustment mechanism and a longitudinal translation adjustment mechanism, the longitudinal translation adjustment mechanism is connected to the output end of the lateral translation adjustment mechanism, and is arranged below the lateral translation adjustment mechanism;

The angle adjustment mechanism is arranged below the translation adjustment mechanism and connected to the output end of the longitudinal translation adjustment mechanism;

The puncture guide mechanism is connected with the output end of the angle adjustment mechanism and is used for puncture operation.

As an optional solution of the puncture robot, the angle adjustment mechanism includes a moving part, and the moving part includes two symmetrically arranged connecting rod assemblies, the ends of the two connecting rod assemblies are arranged coaxially, and are connected through the first ten thousand The knuckle is connected with the puncture guiding mechanism.

As an optional solution of the puncture robot, the puncture robot further includes a mounting plate, the output end of the longitudinal translation adjustment mechanism is connected with the angle adjustment mechanism through the mounting plate, and the driving assembly and the transmission assembly are arranged on the mounting plate , the drive assembly and the transmission assembly are provided with two, the two drive assemblies and the two transmission assemblies are connected one by one, and are symmetrically arranged on the mounting plate, and each of the transmission assemblies is connected A connecting rod assembly.

As an optional solution of the piercing robot, the connecting rod assembly includes a first connecting rod and a second connecting rod, one end of the first connecting rod is connected to the transmission assembly, and the other end is connected to the second connecting rod through a bearing. rod connection.

As an optional solution of the puncture robot, the angle adjustment mechanism further includes an angle encoder, and the angle encoder is arranged at a connection between the link assembly and the transmission assembly.

As an optional solution of the puncture robot, the angle encoder is a magnetic encoder, and the magnetic encoder includes a magnet and a sensor circuit, the magnet is integrated at the rotation center of the first connecting rod, and the sensor The circuit is fixedly connected with the mounting plate through the fixing sheet metal.

As an optional solution of the puncturing robot, the angle adjustment mechanism further includes a fixed part, the fixed part is arranged below the moving part, and is connected to the puncture guiding mechanism through a second universal joint.

As an optional solution of the piercing robot, a measurement sensor is provided at the end of the fixing part, and the measurement sensor is connected to the second universal joint for detecting a piercing signal during the piercing process of the piercing guide mechanism.

As an optional solution of the puncturing robot, the puncturing robot further includes a housing on which a first output window and a second output window are arranged, and the first output window and the second output window are vertically The two second connecting rods pass through the first output window and are connected to the first universal joint; the fixed part includes a third connecting rod, and one end of the third connecting rod It is connected with the installation plate, and the other end is connected with the second universal joint through the second output window.

As an optional solution for the puncture robot, ball assemblies are provided on the upper and lower ends of the first output window and the upper and lower ends of the second output window, and the second connecting rod and the third connecting rod All are in rolling fit with the ball assembly.

As an optional solution for the piercing robot, the ball assembly includes a ball base and a plurality of balls, the upper and lower end surfaces of the first output window and the upper and lower end surfaces of the second output window are provided with ball bases, and multiple The balls are arranged at intervals in the ball base.

As an optional solution of the piercing robot, the width of the second connecting rod and the width of the third connecting rod are both greater than the distance between two adjacent balls.

As an optional solution for the puncture robot, the lateral translation adjustment mechanism includes a first precision guide rail and a first ball screw, two first precision guide rails are provided, and the first ball screw is provided on two Between the first precision guide rails, the first precision guide rails are connected to the longitudinal translation adjustment mechanism through the first slider, and the first ball screw drives the longitudinal translation adjustment mechanism to move laterally through the first lead screw nut .

As an optional solution of the piercing robot, the distance between the two first precision guide rails is greater than the first set distance.

As an optional solution for the puncture robot, the longitudinal translation adjustment mechanism includes a second precision guide rail and a second ball screw, two of the second precision guide rails are provided, and the second ball screw is provided on the two Between the second precision guide rails, the second precision guide rails are connected to the angle adjustment mechanism through the second slider, and the second ball screw drives the angle adjustment mechanism to move longitudinally through the second lead screw nut.

As an optional solution of the piercing robot, the distance between the two first precision guide rails is smaller than the second preset distance.

Beneficial effects of the present invention:

The puncture robot provided by the present invention can adjust the two dimensions of the horizontal and vertical dimensions by setting the translation adjustment mechanism to adjust the translation range of the puncture guide mechanism. The angle range of the puncture guiding mechanism is adjusted by the angle adjusting mechanism, and the puncturing action is performed by the puncturing guiding mechanism, so that precise positioning of puncturing and automatic puncturing can be realized. The angle adjustment mechanism is set under the translation adjustment mechanism with a large adjustment range, and the angle adjustment mechanism is connected with the puncture guide mechanism, so that the angle adjustment fulcrum is closer to the patient's skin puncture point, and only a small translation is required during angle adjustment The compensation can realize the immobilization of the puncture point, and can realize the large-scale adjustment of the puncture guide mechanism without affecting the adjustment range of the longitudinal translation adjustment mechanism, so that the space utilization rate of the puncture robot is high.

By arranging the moving part of the angle adjustment mechanism as a structure in which two connecting rod assemblies are connected in parallel, the adjustment efficiency of the angle adjustment is high and the structure is stable. The ends of the two link assemblies are connected through the first universal joint, which realizes the flexible adjustment of the puncture guide mechanism.

Description of drawings

Fig. 1 is a schematic structural view of a hidden casing of a piercing robot provided in a specific embodiment of the present invention;

Fig. 2 is a schematic structural diagram of a lateral translation adjustment mechanism provided by a specific embodiment of the present invention;

Fig. 3 is a schematic structural view of a longitudinal translation adjustment mechanism provided by a specific embodiment of the present invention;

Fig. 4 is a schematic structural view of an angle adjustment mechanism provided by a specific embodiment of the present invention;

Fig. 5 is a schematic diagram of the first structure of the moving part provided by the specific embodiment of the present invention;

Fig. 6 is the second structural schematic diagram of the moving part provided by the specific embodiment of the present invention;

Fig. 7 is a schematic structural diagram of a fixing part provided by a specific embodiment of the present invention;

Fig. 8 is a schematic structural view of a puncture robot with a shell provided in a specific embodiment of the present invention;

Fig. 9 is a schematic structural diagram of a ball assembly provided by a specific embodiment of the present invention;

Fig. 10 is a schematic structural diagram of a registration mechanism provided by a specific embodiment of the present invention.

In the picture:

1. Translation adjustment mechanism; 2. Angle adjustment mechanism; 3. Piercing guide mechanism; 4. Registration mechanism; 5. First universal joint; 6. Second universal joint; 7. Shell; 8. Measurement sensor ;

11. Horizontal translation adjustment mechanism; 12. Longitudinal translation adjustment mechanism; 21. Third connecting rod; 22. Movement part; 23. Mounting plate; 24. Third motor; 25. Transmission component; 26. Fixed sheet metal; 27. Connecting plate; 41, marker fixing plate; 42, marker; 71, first output window; 72, second output window; 73, ball assembly;

111, the first support plate; 112, the first precision guide rail; 113, the first ball screw; 114, the first synchronous belt transmission mechanism; 115, the first slider; 116, the first output plate; 117, the first wire Bar nut; 118, the first linear displacement sensor; 119, the first limit switch; 121, the second support plate; 122, the second precision guide rail; 123, the second ball screw; 124, the second synchronous belt transmission mechanism; 125, the second slider; 126, the second output plate; 127, the second lead screw nut; 128, the second linear displacement sensor; 129, the second limit switch; 221, the first connecting rod; 222, the second connecting rod Rod; 251, the first bevel gear; 252, the second bevel gear; 253, the harmonic reducer; 731, the ball base; 732, the ball.

Detailed ways

In order to make the technical problems solved by the present invention, the technical solutions adopted and the technical effects achieved clearer, the technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and through specific implementation methods.

In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected" and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integrated ; It can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediary, and it can be the internal communication of two components or the interaction relationship between two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention in specific situations.

In the present invention, unless otherwise clearly specified and limited, a first feature being "on" or "under" a second feature may include direct contact between the first and second features, and may also include the first and second features Not in direct contact but through another characteristic contact between them. Moreover, "above", "above" and "above" the first feature on the second feature include that the first feature is directly above and obliquely above the second feature, or simply means that the first feature is horizontally higher than the second feature. "Below", "beneath" and "under" the first feature to the second feature include that the first feature is directly below and obliquely below the second feature, or simply means that the first feature has a lower level than the second feature.

In the description of this embodiment, the orientation or positional relationship of the terms "up", "down", and "right" are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of description and simplification of operation, rather than indicating or It should not be construed as limiting the invention by implying that a referenced device or element must have a particular orientation, be constructed, and operate in a particular orientation. In addition, the terms "first" and "second" are only used to distinguish in description, and have no special meaning.

As shown in Figures 1 to 4, this embodiment provides a puncture robot, including a translation adjustment mechanism 1, an angle adjustment mechanism 2, and a puncture guide mechanism 3. The translation adjustment mechanism 1 includes a lateral translation adjustment mechanism 11 and a longitudinal translation adjustment mechanism. Mechanism 12 , the longitudinal translation adjustment mechanism 12 is connected to the output end of the lateral translation adjustment mechanism 11 , and is arranged below the lateral translation adjustment mechanism 11 . The angle adjustment mechanism 2 is arranged below the translation adjustment mechanism 1 and connected to the output end of the longitudinal translation adjustment mechanism 12 . The puncture guide mechanism 3 is connected with the output end of the angle adjustment mechanism 2 for puncture operation.

The puncture guiding mechanism 3 includes a servo motor, a transmission mechanism and a puncture needle, the servo motor is connected with the puncture needle through the transmission mechanism, so as to realize the puncture drive of the puncture needle. The puncture needle is a disposable puncture needle, which is detachably connected with the transmission mechanism.

By setting the translation adjustment mechanism 1 to adjust the translation range of the puncture guide mechanism 3, the two dimensions of horizontal and vertical can be adjusted. The angle range of the puncturing guide mechanism 3 is adjusted by the angle adjusting mechanism 2, and the puncturing action is performed by the puncturing guiding mechanism 3, so that precise positioning of puncturing and automatic puncturing can be realized.

The translation adjustment mechanism 1 is arranged above the angle adjustment mechanism 2, and is used to drive the angle adjustment mechanism 2 and the puncture guide mechanism 3 to translate as a whole. Such setting makes the angle adjustment fulcrum of the angle adjustment mechanism 2 relatively close to the patient's skin puncture point. When the angle adjustment mechanism 2 adjusts the angle, only a small translation compensation is needed to realize the puncture point not moving, and the puncture guide can be realized. The large-scale adjustment of the guiding mechanism 3 does not affect the adjustment range of the longitudinal translation adjustment mechanism 12, so that the space utilization rate of the puncturing robot is high.

As an optional solution for the piercing robot, the lateral translation adjustment mechanism 11 includes a first support plate 111, a first precision guide rail 112, a first ball screw 113, a first motor, a first synchronous belt transmission mechanism 114, and a first slider 115 and the first output plate 116, the first precision guide rail 112, the first ball screw 113, the first motor and the first synchronous belt transmission mechanism 114 are all arranged on the first support plate 111, and the first motor is driven by the first synchronous belt The mechanism 114 is connected to the first ball screw 113 by transmission, and is used to drive the first ball screw 113 to rotate. The first ball screw 113 is connected by transmission to the first screw nut 117. The first screw nut 117 is connected to the first output plate. 116 connection; the first precision guide rail 112 and the first slider 115 are provided with two, and connected in one-to-one correspondence, the two first sliders 115 are connected with the first output plate 116, and the first ball screw 113 is arranged on Between the two first precision guide rails 112 , the first output plate 116 is connected to the first output plate 116 through the first lead screw nut 117 , and the first output plate 116 is connected to the longitudinal translation adjustment mechanism 12 . The first ball screw 113 drives the longitudinal translation adjustment mechanism 12 to move laterally through the first screw nut 117 .

The longitudinal translation adjustment mechanism 12 includes a second support plate 121, a second precision guide rail 122, a second ball screw 123, a second motor, a second synchronous belt transmission mechanism 124, a second slider 125 and a second output plate 126. The second support plate 121 is connected with the first output plate 116, the second precision guide rail 122, the second ball screw 123, the second motor and the second synchronous belt transmission mechanism 124 are all arranged on the second support plate 121, and the second motor passes through the second The second synchronous belt transmission mechanism 124 is connected with the second ball screw 123 for driving the rotation of the second ball screw 123, the second ball screw 123 is connected with the second screw nut 127, and the second screw nut 127 is connected with the second screw nut 127 The second output plate 126 is connected; the second precision guide rail 122 and the second slide block 125 are all provided with two, and connected in one-to-one correspondence, the two second slide blocks 125 are all connected with the second output plate 126, and the second ball wire The rod 123 is arranged between the two second precision guide rails 122, connected with the second output plate 126 through the second lead screw nut 127, the second output plate 126 is connected with the angle adjustment mechanism 2, and the second ball screw 123 passes through the second The screw nut 127 drives the angle adjustment mechanism 2 to move longitudinally.

Both the horizontal translation adjustment mechanism 11 and the longitudinal translation adjustment mechanism 12 adopt a combination of double guide rails and ball screws. The ball screw is located between the two guide rails, which can not only eliminate the backlash at the output end of the translation adjustment mechanism 1, but also improve the puncture accuracy; The rigidity of the translation adjustment mechanism 1 can be ensured, thereby ensuring that the angle adjustment mechanism 2 and the puncture guide mechanism 3 carried are more stable and reliable.

The first motor and the first precision guide rail 112 are non-coaxially arranged, the second motor and the second precision guide rail 122 are non-coaxially arranged, and the motor and the guide rail are connected by a synchronous belt transmission mechanism to improve the transmission efficiency and reduce the transmission process. noise and save space.

The first output plate 116 and the second output plate 126 may be fabricated from sheet metal.

As an optional solution for the puncture robot, the lateral translation adjustment mechanism 11 also includes a first linear displacement sensor 118 and a first limit switch 119, both of which are arranged on the first support plate 111, the first linear displacement sensor 118 is arranged along the length direction of the first precision guide rail 112, and is used to detect the lateral displacement of the puncture guide mechanism 3; both ends of the first precision guide rail 112 are provided with first limit switches 119, the first A limit switch 119 is used to limit the position of the first slider 115 . The longitudinal translation adjustment mechanism 12 also includes a second linear displacement sensor 128 and a second limit switch 129, the second linear displacement sensor 128 and the second limit switch 129 are both arranged on the second support plate 121, and the second linear displacement sensor 128 is arranged along the The lengthwise direction of the second precision guide rail 122 is set, and is used for detecting the longitudinal displacement of puncture guiding mechanism 3; The two ends of the second precision guide rail 122 are all provided with the second limit switch 129, and the second limit switch 129 is used for limiting the second limit switch 129. The position of the second slider 125 .

In order to ensure the safety of the operation and improve the accuracy of puncture, the accuracy of the lateral displacement adjusted by the lateral translation adjustment mechanism 11 is ensured by setting the first linear displacement sensor 118 . By setting the second linear displacement sensor 128, the accuracy of the longitudinal displacement adjusted by the longitudinal translation adjustment mechanism 12 is ensured. The first limit switch 119 is used to limit two limit positions of the first slider 115 , and the second limit switch 129 is used to limit two limit positions of the second slider 125 .

The first linear displacement sensor 118 and the second linear displacement sensor 128 may be a magnetic scale, a grating scale or a sliding rheostat. The first limit switch 119 and the second limit switch 129 can be mechanical switches or photoelectric limit switches.

A first encoder is arranged on the drive shaft of the first motor, and the first encoder is used to measure the rotational speed of the first motor. A second encoder is arranged on the drive shaft of the second motor, and the second encoder is used to measure the rotational speed of the second motor.

When the puncture robot is initially running, the absolute positions of the first slider 115 and the second slider 125 are determined through the initial movement. During the operation, the first linear displacement sensor 118 and the first encoder are mutually checked, and the second linear displacement sensor The displacement sensor 128 and the second encoder are checked against each other to ensure the accuracy of the lateral displacement and longitudinal displacement adjusted by the translation adjustment mechanism 1 .

As shown in Figures 5-7, as an alternative to the puncture robot, the angle adjustment mechanism 2 includes a fixed part and a moving part 22. The moving part 22 includes two symmetrically arranged link assemblies, and the ends of the two link assemblies It is arranged coaxially and connected with the puncture guide mechanism 3 through the first universal joint 5 . The moving part 22 is set as two parallel connecting rod assemblies, which has high adjustment efficiency and stable structure. The ends of the two link assemblies are connected through the first universal joint 5, so as to realize the flexible adjustment of the puncture guide mechanism 3. The fixed part is arranged below the moving part 22 and is connected with the puncture guiding mechanism 3 through the second universal joint 6 . When adjusting the angle, the moving part 22 is adjusted, and the position of the end of the moving part 22 connected to the puncture guiding mechanism 3 changes relative to the position of the end of the fixed part connected to the puncturing guiding mechanism 3, thereby realizing the puncturing guiding mechanism 3 angle adjustments.

As an optional solution of the puncture robot, the puncture robot also includes a mounting plate 23, the output end of the longitudinal translation adjustment mechanism 12 is connected with the angle adjustment mechanism 2 through the mounting plate 23, and the driving assembly and the transmission assembly 25 are arranged on the mounting plate 23. There are two components and two transmission components 25, two drive components and two transmission components 25 are connected one by one, and are symmetrically arranged on the mounting plate 23, and each transmission component 25 is connected to a connecting rod component. The driving assembly drives the moving part 22 through the transmission assembly 25 . The second output plate 126 is connected to the mounting plate 23 , and the translation adjustment mechanism 1 drives the angle adjustment mechanism 2 and the puncture guide mechanism 3 to translate through the mounting plate 23 .

The drive assembly includes a third motor 24, the transmission assembly 25 includes a first bevel gear 251, a second bevel gear 252 and a harmonic reducer 253, the output shaft of the third motor 24 is connected with the first bevel gear 251, and the first bevel gear 251 It is engaged with the second bevel gear 252 for transmission, and the axis of the first bevel gear 251 is perpendicular to the axis of the second bevel gear 252 . The third motor 24, the first bevel gear 251 and the second bevel gear 252 are all connected to the bottom of the mounting plate 23, the bottom of the mounting plate 23 is also provided with a connecting plate 27, and the two third motors 24 are all fixed on the connecting plate 27 , the output shaft of the third motor 24 is connected to the first bevel gear 251 through the connecting plate 27, and the second bevel gear 252 is connected to the input shaft of the harmonic reducer 253 located above the mounting plate 23 through the mounting plate 23, and the harmonic The output shaft of the reducer 253 is connected with the moving part 22 for driving the moving part 22 to adjust the angle. The output power of the third motor 24 is turned by 90° through the first bevel gear 251 and the second bevel gear 252, making the arrangement more compact and saving space. Driven by the harmonic reducer 253 , the effect of backlash can be effectively eliminated, and at the same time, the large reduction ratio can increase the counter-driving force, preventing the puncture guide mechanism 3 connected to the angle adjustment mechanism 2 from being deformed by force.

Specifically, the connecting rod assembly includes a first connecting rod 221 and a second connecting rod 222 , one end of the first connecting rod 221 is connected to the transmission assembly 25 , and the other end is connected to the second connecting rod 222 through a bearing. In this embodiment, one end of the first connecting rod 221 is connected to the output shaft of the harmonic reducer 253 above the mounting plate 23, and the other end is connected to the second connecting rod 222 on the side of the mounting plate 23 through a bearing. The bearing is precision bearings.

The ends of the two second connecting rods 222 are connected to the first universal joint 5 through connecting shafts, and the first universal joint 5 is connected to the puncture guide mechanism 3 to ensure the flexibility of angle adjustment.

As an optional solution of the puncture robot, the angle adjustment mechanism 2 further includes an angle encoder, and the angle encoder is arranged at the connection between the link assembly and the transmission assembly 25 . The connection between the first connecting rod 221 and the harmonic reducer 253 is integrated with an embedded absolute angle encoder, and the embedded absolute angle sensor is arranged at the rotation center of the first connecting rod 221 to realize accurate measurement of the absolute angle.

Optionally, the angle encoder is a magnetic encoder, the magnetic encoder includes a magnet and a sensor circuit, the magnet is integrated at the center of rotation of the first connecting rod 221, and the sensor circuit is fixedly connected to the mounting plate 23 through the fixed sheet metal 26, so that The distance between the sensor chip on the sensing circuit and the magnet is fixed, so that the precise measurement of the absolute angle can be realized.

As an optional solution of the puncturing robot, a measuring sensor 8 is provided at the end of the fixed part, and the measuring sensor 8 is connected to the second universal joint 6 for detecting the puncturing signal of the puncturing guide mechanism 3 during puncturing.

The fixing part includes a third connecting rod 21 , one end of the third connecting rod 21 is connected with the mounting plate 23 , the other end is connected with the second universal joint 6 , and the second universal joint 6 is connected with the puncture guiding mechanism 3 .

In this embodiment, the measuring sensor 8 is a pressure sensor, and the pressure sensor is arranged between the third connecting rod 21 and the second universal joint 6 . It is used to measure the puncture force of the puncture guide mechanism 3 during the puncture process.

As shown in Figure 8, as an optional solution of the puncture robot, the puncture robot also includes a housing 7, on which a first output window 71 and a second output window 72 are arranged, and the first output window 71 and the second output window Window 72 is arranged parallel to the vertical direction, and two second connecting rods 222 all pass through the first output window 71 and are connected with the first universal joint 5; the third connecting rod 21 passes through the second output window 72 and connects with the second universal joint. Section 6 is connected.

In this embodiment, the translation adjustment mechanism 1 is arranged in the casing 7, and the first output window 71 and the second output window 72 are both arranged on the side wall of the casing 7 close to the puncture guide mechanism 3, through the casing 7 supports the second connecting rod 222 and the third connecting rod 21, which can effectively improve the rigidity of the angle adjustment mechanism 2.

As an optional solution of the piercing robot, the distance between the two first precision guide rails 112 is greater than the first preset distance. The distance between the two first precision guide rails 112 is enlarged as much as possible to increase the rigidity of the translation adjustment mechanism 1 .

As an optional solution of the piercing robot, the distance between the two second precision guide rails 122 is smaller than the second preset distance. The distance between the two second precision guide rails 122 is controlled within a reasonable range, so as to give consideration to both the stiffness and the adjustment range of the translation adjustment mechanism 1 .

As shown in FIG. 8 , in this embodiment, the length direction of the casing 7 is perpendicular to the lateral displacement of the puncture guide mechanism 3 , and with reference to the length L of the casing 7 , the first preset distance is 2L/3.

The width direction of the casing 7 is perpendicular to the longitudinal displacement of the puncture guide mechanism 3 , and with reference to the width W of the casing 7 , the second preset distance is W/3.

As shown in Figures 8 and 9, as an alternative to the puncture robot, ball assemblies 73 are provided on the upper and lower ends of the first output window 71 and the upper and lower ends of the second output window 72, and the second connecting rod 222 and the third connecting rod 21 are in rolling fit with the ball assembly 73 . Specifically, the ball assembly 73 includes a ball base 731 and a plurality of balls 732, the upper and lower ends of the first output window 71 and the upper and lower ends of the second output window 72 are provided with a ball base 731, and the plurality of balls 732 are arranged at intervals Inside the ball seat 731. When the angle adjustment mechanism 2 adjusts the angle, the second connecting rod 222 is rollingly connected with the first output window 71, and the third connecting rod 21 is rollingly connected with the second output window 72, which effectively lifts the second connecting rod 222 and the third connecting rod 222 to the third connecting rod. The stiffness of the rod 21.

As an optional solution of the piercing robot, the width of the second connecting rod 222 and the width of the third connecting rod 21 are both greater than the distance between two adjacent balls 732 . Such an arrangement can ensure that the second connecting rod 222 and the third connecting rod 21 can always be in contact with at least one ball 732, so as to achieve the purpose of improving the rigidity.

The puncture robot provided in this embodiment is applied to microwave ablation surgery for tumor puncture biopsy and liver tumor treatment. During tumor puncture biopsy, the puncture robot uses puncture to perform precise puncture for the patient. The puncture is performed under image guidance. In microwave ablation surgery, puncture robots are used to perform precise punctures on patients. For larger tumors, multiple ablation needles are often required to puncture in place and perform microwave ablation surgery simultaneously. The puncture robot provided in this embodiment satisfies lightweight and miniaturized settings, and can maximize the adjustment range in a limited space, and is applicable to the application scenario of simultaneous puncture by multiple puncture needles.

The puncture robot performs puncture under the guidance of ultrasound, MRI or CT images, which can prevent medical staff from being exposed to radiation.

As shown in Figure 10, in order to realize the establishment of the coordinate relationship between the puncture robot and the CT image, as an alternative to the puncture robot, a registration mechanism 4 is provided on the housing 7, and the registration mechanism 4 includes a marker fixing plate 41 and markers 42, marker fixing plates 41 are arranged on both sides of the length direction of the first output window 71 and the second output window 72, and the marker fixing plates 41 extend from the housing 7 to the side near the puncture guide mechanism 3. The direction extends, and the marker 42 is arranged on the marker fixing plate 41 . Both sides of the length direction of the first output window 71 and the second output window 72 are provided with marker fixing plates 41 to ensure that the registration mechanism 4 covers the active area of the puncture guide mechanism 3, and the markers 42 can provide information related to CT images. Identification is performed to ensure registration between the piercing robot and the CT image.

The specific method and working principle of identifying information related to the marker 42 and the CT image are already in the prior art, and will not be repeated here.

The marker fixing plate 41 is made of low-density material, such as carbon fiber. The marker 42 is in the shape of a conventional registration mark, optionally, the marker 42 is a Z-shaped wire. In order to ensure that the marker 42 does not produce obvious metal artifacts in CT imaging, low-density metal materials such as aluminum wires are generally selected, and the diameter of the aluminum wires is generally between 0.5 mm and 1 mm.

The above content is only a preferred embodiment of the present invention. For those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation and application scope. limits.

Claims (16)

1. The piercing robot is characterized in that, comprising: The translation adjustment mechanism (1) includes a horizontal translation adjustment mechanism (11) and a longitudinal translation adjustment mechanism (12), and the longitudinal translation adjustment mechanism (12) is connected to the output end of the lateral translation adjustment mechanism (11), and is set Below the described lateral translation adjustment mechanism (11); An angle adjustment mechanism (2), arranged below the translation adjustment mechanism (1), connected to the output end of the longitudinal translation adjustment mechanism (12); The puncture guiding mechanism (3) is connected with the output end of the angle adjustment mechanism (2), and is used for puncturing operation. 2. The puncture robot according to claim 1, characterized in that, the angle adjustment mechanism (2) comprises a moving part (22), and the moving part (22) comprises two symmetrically arranged link assemblies, two The ends of the link assembly are arranged coaxially, and are connected with the puncture guiding mechanism (3) through a first universal joint (5). 3. The puncture robot according to claim 2, characterized in that, the puncture robot further comprises a mounting plate (23), and the output end of the longitudinal translation adjustment mechanism (12) is connected to the mounting plate (23) through the mounting plate (23). The angle adjustment mechanism (2) is connected, and the drive assembly and the transmission assembly (25) are arranged on the installation plate (23), and there are two drive assemblies and the transmission assembly (25). The driving assembly is connected to the two transmission assemblies (25) in one-to-one correspondence, and is symmetrically arranged on the installation plate (23), and each transmission assembly (25) is connected to one of the connecting rod assemblies. 4. The puncture robot according to claim 3, characterized in that, the linkage assembly comprises a first linkage (221) and a second linkage (222), and one end of the first linkage (221) is connected to The transmission assembly (25) is connected, and the other end is connected with the second connecting rod (222) through a bearing. 5. The puncture robot according to claim 4, characterized in that, the angle adjustment mechanism (2) further comprises an angle encoder, and the angle encoder is arranged between the connecting rod assembly and the transmission assembly (25) of the connection. 6. The puncturing robot according to claim 5, wherein the angle encoder is a magnetic encoder, the magnetic encoder includes a magnet and a sensing circuit, and the magnet is integrated in the first connecting rod ( 221) At the center of rotation, the sensing circuit is fixedly connected to the mounting plate (23) through a fixed sheet metal (26). 7. The puncture robot according to claim 4, characterized in that, the angle adjustment mechanism (2) further comprises a fixed part, the fixed part is arranged below the moving part (22), and passes through the second universal The section (6) is connected with the puncture guiding mechanism (3). 8. The puncturing robot according to claim 7, characterized in that, a measurement sensor (8) is provided at the end of the fixing part, and the measurement sensor (8) is connected to the second universal joint (6), It is used for detecting the puncture signal during the puncture process of the puncture guiding mechanism (3). 9. The puncturing robot according to claim 7, characterized in that, the puncturing robot further comprises a housing (7), and the housing (7) is provided with a first output window (71) and a second output window (72), the first output window (71) and the second output window (72) are arranged in parallel in the vertical direction, and the two second connecting rods (222) pass through the first output window (71) is connected with the first universal joint (5); the fixed part includes a third connecting rod (21), and one end of the third connecting rod (21) is connected with the mounting plate (23), The other end passes through the second output window (72) and is connected with the second universal joint (6). 10. The puncture robot according to claim 9, characterized in that ball assemblies (73) are provided on the upper and lower ends of the first output window (71) and the upper and lower ends of the second output window (72). ), the second connecting rod (222) and the third connecting rod (21) are both in rolling fit with the ball assembly (73). 11. The puncture robot according to claim 10, characterized in that, the ball assembly (73) comprises a ball base (731) and a plurality of balls (732), and the upper and lower sides of the first output window (71) Both the end face and the upper and lower end faces of the second output window (72) are provided with a ball base (731), and a plurality of the balls (732) are arranged at intervals in the ball base (731). 12. The puncture robot according to claim 11, characterized in that, the width of the second connecting rod (222) and the width of the third connecting rod (21) are larger than two adjacent balls (732) ) between the spacing. 13. The puncture robot according to any one of claims 1-12, characterized in that, the lateral translation adjustment mechanism (11) comprises a first precision guide rail (112) and a first ball screw (113), the There are two first precision guide rails (112), the first ball screw (113) is arranged between the two first precision guide rails (112), and the first precision guide rails (112) pass through the first The slider (115) is connected with the longitudinal translation adjustment mechanism (12), and the first ball screw (113) drives the longitudinal translation adjustment mechanism (12) to move laterally through the first lead screw nut (117). 14. The puncturing robot according to claim 13, characterized in that, the distance between the two first precision guide rails (112) is greater than the first set distance. 15. The puncture robot according to any one of claims 1-12, characterized in that, the longitudinal translation adjustment mechanism (12) includes a second precision guide rail (122) and a second ball screw (123), the There are two second precision guide rails (122), and the second ball screw (123) is arranged between the two second precision guide rails (122), and the second precision guide rail (122) passes through the second precision guide rail (122). The slider (125) is connected with the angle adjustment mechanism (2), and the second ball screw (123) drives the angle adjustment mechanism (2) to move longitudinally through the second lead screw nut (127). 16. The puncturing robot according to claim 15, characterized in that, the distance between the two second precision guide rails (122) is smaller than the second preset distance.

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