CN111887991B - Surgical robot and puncture device - Google Patents

Abstract

The invention provides a surgical robot and a puncture device. The puncture device is used for driving a puncture needle assembly to perform interventional operation, and comprises: the switching structure is arranged on the surgical robot; and the puncture excitation structure comprises a puncture component and an excitation component which are movably arranged on the switching structure, the puncture component is provided with the puncture needle component, the puncture component can drive the puncture needle component to move to a puncture position, meanwhile, the puncture component can drive the excitation component and the puncture needle component to move synchronously, and the excitation component can also move relative to the puncture component so as to excite the puncture needle component and enable the puncture needle component to perform interventional operation. The automatic control of the puncture needle assembly is realized, so that the puncture needle assembly can accurately extend into the focus position of a patient, the safety risk caused by complicated operation and the like is reduced, and the potential safety hazard is reduced; meanwhile, the intervention efficiency can be improved.

Description

Surgical robot and puncture device

technical field

The invention relates to the technical field of medical puncture equipment, in particular to a surgical robot and a puncture device.

Background technique

Puncture biopsy is very common in interventional surgery. Since each person's body shape and lesion location are almost different, the length of each puncture needle entering the human body also changes accordingly. When the surgical robot performs surgery, the doctor needs to manually implant the surgical instrument into the specific position of the patient through the fixed end. Therefore, the doctor needs to calculate and measure the depth of the implantation with a ruler before each operation. The operation is cumbersome and the accuracy is not high. There is a risk of wrong implantation depth. Moreover, the fixed end only plays the role of providing a guide channel, and other surgical steps are completely completed by the doctor, which is highly subjective and has high risks, which affects the safety of puncture biopsy interventional surgery, and has potential safety hazards and low efficiency.

SUMMARY OF THE INVENTION

Based on this, it is necessary to provide a surgical robot and a puncture device that can realize automatic access operation to ensure the accuracy of the operation, aiming at the problem of inaccurate operation caused by the manual intervention operation performed by medical staff at present.

A puncture device for driving a puncture needle assembly to perform an interventional operation, the puncture device comprising:

an adapter structure mounted on the surgical robot; and

The puncture excitation structure includes a puncture component and an excitation component movably arranged on the transfer structure, the puncture component is installed with the puncture needle component, and the puncture component can drive the puncture needle component to move to the puncture position, while all the The puncture assembly can drive the excitation assembly to move synchronously with the puncture needle assembly, and the excitation assembly can also move relative to the puncture assembly to activate the puncture needle assembly, so that the puncture needle assembly performs an intervention operation.

In one embodiment, the puncture assembly includes a puncture drive member, a puncture transmission member, and a puncture platform, the puncture transmission member drivingly connects the puncture drive member and the puncture platform, and the puncture platform is used for installing the puncture platform. In the puncture needle assembly, the puncture drive member drives the puncture transmission member to drive the puncture platform to move relative to the transfer structure.

In one embodiment, the puncture transmission assembly includes a first transmission shaft and a second transmission shaft, the axis of the first transmission shaft is parallel to the axis of the second transmission shaft, and the puncture platform is disposed on the The first transmission shaft and the second transmission shaft can move along the axial direction of the first transmission shaft and the second transmission shaft.

In one embodiment, the first transmission shaft is a screw rod, the puncture transmission member further includes a puncture nut, and the puncture nut is rotatably arranged on the first transmission shaft, and the puncture nut is connected to the puncture nut. The platform is connected, and the first transmission shaft can drive the puncture platform to move along the axial direction of the first transmission shaft and the second transmission shaft through the puncture nut.

In one embodiment, the excitation assembly includes an excitation drive member, an excitation transmission member, and an excitation execution member, the excitation transmission member is sleeved on the second transmission shaft and is drivingly connected to the excitation drive member and the excitation an actuator, the excitation transmission part is also connected to the puncture platform, and after the puncture component moves to the puncture position, the excitation drive part drives the excitation transmission part to drive the excitation actuator to move, so as to excite the Puncture needle assembly.

In one embodiment, the excitation transmission member includes an excitation screw movably sleeved on the second transmission shaft and an excitation nut rotatably disposed on the excitation screw, the excitation nut and the excitation screw The actuator is connected, and the rotation of the second transmission shaft drives the excitation actuator to move through the excitation screw and the excitation nut.

In one of the embodiments, the second transmission shaft has a first matching portion extending in the axial direction, the excitation screw has a second matching portion slidably fitted with the first matching portion, the excitation wire the rod moves relative to the second transmission shaft through the first matching part and the second matching part and rotates with the second transmission shaft;

The first matching portion and the second matching portion are a matching structure of a protrusion and a groove.

In one embodiment, the excitation assembly further includes an excitation guide, the excitation guide is disposed on the puncture platform, and the excitation actuator is disposed on the excitation guide, and can move along the excitation guide Axial movement.

In one of the embodiments, the puncture excitation structure further includes a guide component, the guide component is disposed on the transfer structure, and is used to guide the intervention trajectory of the puncture needle component.

In one embodiment, the guide assembly includes a lamp socket and an indicator light disposed on the lamp socket, the lamp socket is disposed in the adapter structure, and the indicator light emits to guide the insertion of the puncture needle assembly the indicator light.

In one embodiment, the guide assembly further includes a needle guide seat, a needle guide disposed on the needle guide seat, and a pressing member, the needle guide seat is disposed on the lamp seat, and the needle guide provides The puncture needle assembly passes through, and the pressing member is disposed in the needle guide seat, and abuts and fixes the needle guide.

In one of the embodiments, the puncturing assembly further includes a position detecting member, the position detecting member is connected to the puncturing transmission member, and is used for detecting the moving position of the puncturing platform.

In one of the embodiments, the puncture excitation structure further includes a mounting assembly, the mounting assembly is located at both ends of the transfer structure, and the mounting assembly rotatably supports the first transmission shaft and the second transmission shaft A transmission shaft, and the mounting assembly is also used to limit the movement and displacement of the puncturing platform.

In one embodiment, the puncturing device further includes a limiting member, the limiting member is disposed at the end of the transition structure, the limiting member is in contact with the puncturing platform, and is used to limit the Describe the motion stroke of the puncture platform.

In one embodiment, the puncture device further includes a guide structure, the guide structure is disposed between the puncture platform and the transition structure, and the guide structure guides the puncture platform along the transition structure move.

In one embodiment, the puncture device further includes a puncture installation structure, the puncture installation structure is mounted on the puncture platform, and the puncture installation structure is used for detachably installing the puncture needle assembly.

In one embodiment, the puncture mounting structure includes a mounting base, a triggering member movably disposed on the mounting base, the mounting base is detachably mounted on the puncturing platform, and the puncture needle assembly is disposed on the A base is installed, and the triggering member is operably connected to the puncture needle assembly, and the movement of the triggering member is controlled by the triggering executing member.

In one embodiment, the piercing installation structure further includes an unlocking component, the unlocking component is movably disposed on the installation base, and the unlocking component can unlock the installation base from the piercing platform.

A surgical robot, comprising a controller, a mechanical arm and the puncture device according to any of the above technical features;

The puncturing device is arranged at the end of the mechanical arm, the controller is respectively connected to the mechanical arm and the puncturing device for transmission, and the controller controls the mechanical arm to drive the puncturing device to move to a preset position , the controller controls the puncturing device to perform an interventional operation.

After adopting the above-mentioned embodiment, the present invention at least has the following technical effects:

In the surgical robot and puncture device of the present invention, when performing an interventional operation, the puncture component drives the puncture needle component to move to the puncture position relative to the transfer structure; then, the excitation component activates the puncture needle component on the puncture component, so that the puncture needle can penetrate deep into the patient's body The location of the lesion can be used for interventional operation. The puncture device controls the puncture needle assembly for interventional operations through the puncture assembly and the excitation assembly, which effectively solves the problem of inaccurate operation caused by the manual intervention by medical staff at present; realizes the automatic control of the puncture needle assembly, so that the puncture needle assembly can be inserted accurately The location of the patient's lesion can reduce the safety risks caused by cumbersome operations and reduce safety hazards; at the same time, it can also improve the efficiency of intervention.

Description of drawings

1 is an exploded schematic view of a puncture device for installing a puncture needle assembly according to an embodiment of the present invention;

Fig. 2 is the exploded schematic diagram of the puncture excitation structure in the puncture device shown in Fig. 1;

FIG. 3 is a perspective view of removing the guide assembly in the puncture excitation structure shown in FIG. 2;

FIG. 4 is a cross-sectional view of removing the guide assembly in the puncture excitation structure shown in FIG. 3;

5 is a perspective view of the second drive shaft in the puncture excitation structure shown in FIG. 3 with an excitation screw installed;

Fig. 6 is the working principle diagram of the puncture device shown in Fig. 1;

7 is a side view of the puncture installation structure in the puncture device shown in FIG. 1 for installing the puncture needle assembly;

FIG. 8 is a bottom view of the puncture installation structure shown in FIG. 7 for installing the puncture needle assembly.

Wherein: 100, puncture device; 110, transfer structure; 111, transfer flange; 112, installation base; 113, cable interface board; 120, puncture excitation structure; 121, puncture assembly; 1211, puncture driver; 1212, puncture transmission member; 12121, first transmission shaft; 12122, puncture gear set; 12123, second transmission shaft; 121231, first matching part; 1213, puncture platform; 1214, position detection member; 122, excitation assembly; 1221 1222, excitation drive member; 12221, excitation screw rod; 12222, excitation nut; 12223, excitation gear set; 1223, excitation actuator; 1224, excitation guide member; 123, guide assembly; 1231, lamp holder ; 1232, indicator light; 1233, needle guide seat; 1234, needle guide; 1235, pusher; 130, puncture installation structure; 131, installation base; 1311, first installation part; 132, trigger part; 133, unlocking assembly 1331, unlock button; 1332, swing piece; 1333, locking piece; 1334, elastic piece; 140, limit piece; 150, guide structure; 151, first guide piece; 152, second guide piece; 160, installation Components; 161, puncture mount; 162, excitation mount; 200, puncture needle assembly.

Detailed ways

In order to make the above objects, features and advantages of the present invention more clearly understood, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without departing from the connotation of the present invention. Therefore, the present invention is not limited by the specific embodiments disclosed below.

In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", " Back, Left, Right, Vertical, Horizontal, Top, Bottom, Inner, Outer, Clockwise, Counterclockwise, Axial , "radial", "circumferential" and other indicated orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying the indicated device or Elements must have a particular orientation, be constructed and operate in a particular orientation and are therefore not to be construed as limitations of the invention.

In addition, the terms "first" and "second" are only used for descriptive purposes, and should not be construed as indicating or implying relative importance or implying the number of indicated technical features. Thus, a feature delimited with "first", "second" may expressly or implicitly include at least one of that feature. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise expressly and specifically defined.

In the present invention, unless otherwise expressly specified and limited, the terms "installed", "connected", "connected", "fixed" and other terms should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection , or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between the two elements, unless otherwise specified limit. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

In the present invention, unless otherwise expressly specified and limited, a first feature "on" or "under" a second feature may be in direct contact between the first and second features, or the first and second features indirectly through an intermediary touch. Also, the first feature being "above", "over" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is level higher than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature has a lower level than the second feature.

It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or an intervening element may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are for the purpose of illustration only and do not represent the only embodiment.

Referring to FIG. 1 and FIG. 2 , the present invention provides a puncturing device 100 . The puncture device 100 can carry a puncture needle assembly 200 for driving the puncture needle assembly 200 to perform an interventional operation. It can be understood that the interventional operations here include but are not limited to interventional operations, such as but not limited to tissue biopsy, tumor ablation, seed implantation, fluid extraction, nerve block, superficial surgery and other interventional means. Moreover, the puncture needle assembly 200 can be any type of puncture needle on the market, such as a biopsy needle, an ablation needle, etc., as long as an interventional operation can be achieved. The puncture device 100 of the present invention can automatically control the puncture needle assembly 200 to perform an interventional operation. During the interventional operation, there is no need for medical staff to manually operate the puncture needle assembly 200, which can avoid risk problems caused by manual operation by medical personnel, and improve the accuracy of the interventional operation. The safety of the operation process is ensured; at the same time, the automatic control of the puncture needle assembly 200 by the puncture device 100 can also improve the intervention efficiency of the puncture needle assembly 200, which is convenient for medical staff to use.

Referring to FIGS. 1 and 2 , in one embodiment, the puncture device 100 includes an adapter structure 110 and a puncture excitation structure 120 . The transfer structure 110 is installed on the surgical robot. The puncture excitation structure 120 includes a puncture component 121 and an excitation component 122 that are movably disposed on the transition structure 110. The puncture component 121 can be installed with the puncture needle component 200, and the puncture component 121 can drive the puncture needle component 200 to move to the puncturing position. At the same time, the puncture component 121 The excitation assembly 122 can be driven to move synchronously with the puncture needle assembly 200 , and the excitation assembly 122 can also move relative to the puncture assembly 121 to activate the puncture needle assembly 200 so that the puncture needle assembly 200 performs an interventional operation.

The transfer structure 110 plays a bearing role for carrying the puncture excitation structure 120 thereon, and the transfer structure 110 is installed on the surgical robot, and further, is installed on the end of the mechanical arm of the surgical robot. The surgical robot drives the transfer structure 110 and the puncture excitation structure 120 on it to move to a designated position through the mechanical arm; then, the surgical robot controls the position of the robot arm to lock, so that the transfer structure 110 and the puncture excitation structure 120 on it are fixed in position, It is convenient to perform intervention operations later. The puncture excitation structure 120 can be movably installed on the transition structure 110 , and the puncture excitation structure 120 can also be detachably installed with the puncture needle assembly 200 . The puncture excitation structure 120 can drive the puncture needle assembly 200 to move relative to the transition structure 110, so that the puncture needle assembly 200 is in the puncture position; then, the puncture excitation structure 120 activates the puncture needle assembly 200, so that the puncture needle assembly 200 penetrates the patient's lesion position, to perform an intervention operation. Moreover, after the intervention operation of the puncture needle assembly 200 is completed, the puncture excitation structure 120 can drive the puncture needle assembly 200 to reversely move in the intervention direction, so that the puncture needle assembly 200 is removed from the patient along the intervention path.

It can be understood that the puncture needle assembly 200 is detachably installed on the puncture excitation structure 120. After an interventional operation is performed on the puncture needle assembly 200, the puncture needle assembly 200 is disassembled from the puncture excitation structure 120, and a new puncture excitation structure is re-installed. Needle assembly 200, and then perform the interventional operation again, which can avoid cross-contamination and contamination of the sample. Optionally, the puncture needle assembly 200 can be directly installed on the puncture excitation structure 120; of course, the puncture needle assembly 200 can also be indirectly installed on the puncture excitation structure 120, which will be mentioned later.

Further, the puncture excitation structure 120 includes a puncture component 121 and an excitation component 122. The puncture needle assembly 200 is mounted on the puncture component 121, and the puncture component 121 can move relative to the adapter structure 110. In this way, the puncture component 121 can drive the excitation component 122 and the puncture component. The needle assembly 200 moves synchronously to move the puncture needle assembly 200 to the puncture position. Furthermore, the excitation assembly 122 is also movable relative to the transition structure 110 . After the puncture assembly 121 drives the puncture needle assembly 200 to move to the puncture position, the excitation assembly 122 can move relative to the puncture assembly 121 to activate the puncture needle assembly 200, so that the puncture needle assembly 200 penetrates the lesion in the patient to realize the interventional operation.

Optionally, the excitation assembly 122 can move with the puncture assembly 121, and the puncture assembly 121 is in a stationary state when the excitation assembly 122 moves. That is to say, the connection between the excitation component 122 and the puncture component 121 is irreversible, the excitation component 122 can move with the puncture component 121, but the puncture component 121 does not move with the excitation component 122; that is, the puncture component 121 can drive the excitation component 122 to move However, when the excitation assembly 122 excites the puncture needle assembly 200, the puncture assembly 121 remains stationary, so that the excitation assembly 122 can accurately excite the puncture needle assembly 200 and avoid the position of the puncture platform 1213 from moving, which affects the accuracy of the interventional operation. Exemplarily, the excitation assembly 122 is movably connected to the piercing assembly 121 , and the excitation assembly 122 and the piercing assembly 121 are non-rotatably connected. That is to say, the excitation assembly 122 and the puncturing assembly 121 can move synchronously but not rotate synchronously. The specific movements of the excitation assembly 122 and the puncturing assembly 121 will be mentioned later.

It can be understood that the puncture needle assembly 200 includes an outer puncture needle and an inner puncture needle. The firing assembly 122 is used to achieve firing of the puncture needle assembly 200 . Activation of the puncture needle assembly 200 refers to the operation of extending the inner puncture needle relative to the outer puncture needle. The puncture needle assembly 200 also has an actuator. The firing assembly 122 is operably connected to the actuator of the puncture needle assembly 200 . It can be understood that the operative connection here refers to abutting, clamping connection, connecting member connection, etc., as long as the excitation component 122 can drive the actuating member to move (such as pushing, pulling, rotating or other forms of movement), the The excitation of the puncture needle is sufficient. In this embodiment, operably connected means that the excitation component 122 is in contact with the actuator, and the excitation component 122 can push the actuator to move, so that the actuator excites the inner puncture needle to extend out of the outer puncture needle. In this way, the inner puncture needle can pierce the lesion position in the patient's body during the process of extending the outer puncture needle, so as to realize the interventional operation.

In use, the puncture needle assembly 200 is mounted to the puncture assembly 121 and the actuating member of the puncture needle assembly 200 is operably associated with the firing assembly 122 . When the puncture needle assembly 200 is inserted into the needle, the puncture needle assembly 121 first drives the puncture needle assembly 200 and the excitation assembly 122 to move synchronously, so that the puncture needle assembly 200 gradually approaches the patient, and penetrates into the body of the patient from the target point on the patient's body surface, so that the puncture needle assembly 200 movement to the puncture position. At this time, the puncture needle assembly 200 has not yet reached the location of the lesion, but has only reached the vicinity of the location of the lesion. Then, the activation assembly 122 activates the movement of the actuator, and the movement of the actuator can automatically activate the inner puncture needle, so that the inner puncture needle is extended relative to the outer puncture needle, so as to realize the activation of the puncture needle assembly 200 . At this time, the puncture inner needle can accurately penetrate the lesion location, and the puncture inner needle can perform operations such as tissue cutting, biopsy sampling, and cell extraction at the lesion location, and can also inject therapeutic agents into the lesion location.

When using the puncture device 100 of the above embodiment to perform an interventional operation, when the puncture assembly 121 moves linearly along the transition structure 110, it can drive the puncture needle assembly 200 thereon to move and move to the puncture position; then, the excitation assembly 122 activates The puncture needle assembly 200 allows the puncture needle assembly 200 to perform an interventional operation. The puncture device 100 controls the puncture needle assembly 200 to perform interventional operations through the puncture assembly 121 and the excitation assembly 122, effectively solving the problem of inaccurate operation caused by the manual intervention by medical staff at present; The assembly 200 can accurately extend into the lesion position of the patient, thereby reducing safety risks and potential safety hazards caused by complicated operations, and at the same time, improving intervention efficiency.

It should be noted that the movement of the puncture device 100 is automatically controlled by a controller of the surgical robot, and the controller may be a component that can be automatically controlled, such as a host computer. Before the operation of the puncture device 100 , the controller stores in advance information such as lesion location information in the patient's body, location information of the target point on the patient's body surface, and puncture location information. After the controller controls the mechanical arm of the surgical robot to drive the puncture device 100 to move to a designated position, the puncture needle assembly 200 is aimed at the target point on the patient's body surface. Then, the controller controls the mechanical arm to stop moving and locks the mechanical arm to make the puncture device The position of 100 is fixed.

Subsequently, the controller issues an instruction for needle insertion, that is, the puncture assembly 121 drives the puncture needle assembly 200 to move to the puncture position, but the puncture needle assembly 200 has not moved to the lesion position. Specifically, the controller controls the puncture assembly 121 to drive the puncture needle assembly 200 and the excitation assembly 122 to move synchronously, so that the puncture needle assembly 200 gradually approaches the patient, and penetrates the patient's body from a target point on the patient's body surface, so that the puncture needle assembly 200 moves to the puncture site. The controller issues an instruction to activate the operation, and the activation assembly 122 activates the puncture needle assembly 200 . Specifically, the controller controls the excitation assembly 122 to activate the movement of the actuator, and the movement of the actuator can automatically activate the inner puncture needle, so that the inner puncture needle protrudes relative to the outer puncture needle, thereby realizing the excitation of the puncture needle assembly 200 . After completion, the controller issues a needle withdrawal instruction, and the controller controls the puncture assembly 121 to drive the puncture needle assembly 200 to move, so that the puncture needle assembly 200 is moved out of the patient's body.

It can be understood that the designated position here is different from the puncture position. The puncture position refers to the position of the puncture needle when the outer puncture needle is inserted into the patient; the designated position refers to the entire puncture device when the 100 is in a position that allows the needle assembly 200 to be directed outside the patient's body to a target on the patient's body surface. In addition, the protruding distance of the puncture inner needle in the puncture needle assembly 200 by the excitation assembly 122 is fixed. For patients with different body types, in order to ensure that the puncture inner needle can accurately penetrate the patient's lesion position, the puncture assembly 121 needs to be adjusted according to the patient's condition. Different body sizes move to corresponding puncture positions.

Referring to FIG. 1 , in one embodiment, the adapter structure 110 includes an adapter flange 111 and a mounting base 112 connected to the adapter flange 111 . The adapter flange 111 is detachably connected to the robotic arm of the surgical robot, and the adapter flange 111 is installed at the end of the robotic arm. The movement of the mechanical arm is controlled by the surgical robot to drive the adapter flange 111 and the mounting base 112 to move synchronously with the components thereon. The installation base 112 is used to install the puncture assembly 121 and the excitation assembly 122 , the fixed parts of the puncture assembly 121 and the excitation assembly 122 are installed on the installation base 112 , and the moving parts of the puncture assembly 121 and the excitation assembly 122 are movably arranged on the installation base 112 , which is described in detail later.

In one embodiment, the adapter structure 110 further includes a cable interface board 113 , and the cable interface board 113 is used to fix the cable that is electrically connected to the puncture component 121 and the excitation component 122 , and is used to realize the puncture component 121 and the excitation component 122 . of automatic control.

In one embodiment, the puncture assembly 121 includes a puncture drive member 1211, a puncture transmission member 1212, and a puncture platform 1213. The puncture transmission member 1212 is drivingly connected to the puncture driver 1211 and the puncture platform 1213, and the puncture platform 1213 is used to install the puncture needle assembly 200. The puncture drive member 1211 drives the puncture transmission member 1212 to drive the puncture platform 1213 to move relative to the transition structure 110 . The puncture platform 1213 plays a bearing role, and the puncture needle assembly 200 is detachably mounted on the puncture platform 1213 . Exemplarily, the puncturing platform 1213 is a mounting block, which is movably mounted on the puncturing transmission member 1212 and connected with the excitation assembly 122 . Of course, in other modes of the present invention, the puncture platform 1213 may also be other structures capable of installing the puncture needle assembly 200 and connecting the puncture transmission member 1212 and the excitation assembly 122 . The puncture driving member 1211 is the power source of the puncture assembly 121, and is used to provide the power for the puncture assembly 121 to move relative to the adapter structure 110, so as to drive the puncture needle assembly 200 to move. The puncture transmission member 1212 drives and connects the puncture driver 1211 and the puncture platform 1213 to realize the power transmission of the puncture driver 1211 .

It can be understood that the puncture driving member 1211 can drive the puncturing platform 1213 to move to the puncturing position in one direction through the puncturing transmission member 1212 to perform the intervention operation; A direction away from the puncture site allows the puncture needle assembly 200 to be removed from the patient. In this way, the puncture needle assembly 200 can be withdrawn from the patient's body according to the angle of intervening in the patient's body, thereby avoiding secondary injury to the patient and improving the safety of the interventional operation.

1 to 6 , in one embodiment, the puncture transmission member 1212 includes a first transmission shaft 12121 and a second transmission shaft 12123, the axis of the first transmission shaft 12121 is parallel to the axis of the second transmission shaft 12123, and the puncture platform 1213 It is arranged on the first transmission shaft 12121 and the second transmission shaft 12123, and can move along the axial direction of the first transmission shaft 12121 and the second transmission shaft 12123. When the first drive shaft 12121 rotates, the first drive shaft 12121 can drive the puncture platform 1213 to move along its axial direction, and at the same time, the puncture platform 1213 can move along the axial direction of the second drive shaft 12123; when the second drive shaft 12123 drives , the puncturing platform 1213 is stationary relative to the second transmission shaft 12123, so as to realize the excitation of the excitation component thereon.

That is to say, the second transmission shaft 12123 has two functions, one is to guide the movement of the puncture platform 1213 in the axial direction, so that the puncture platform 1213 is driven by the first transmission shaft 12121 to cooperate with the second transmission shaft 12123 It can move smoothly in the axial direction; the second is to realize the driving of the movement of the excitation assembly. When the second transmission shaft 12123 rotates, the puncture platform 1213 is stationary, and the second transmission shaft 12123 can drive the excitation assembly to move, so that the excitation assembly activates the puncture needle assembly 200. This specific form of movement is mentioned later.

In one embodiment, the piercing transmission member 1212 further includes a piercing gear set 12122 . The piercing gear set 12122 is installed on the end of the first transmission shaft 12121, and is used to realize the driving of the rotational movement of the first transmission shaft 12121. For puncturing, the first transmission shaft 12121 is transformed into the axial movement of the puncture platform 1213 through the rotational motion, so as to realize the adjustment of the position of the puncture platform 1213 . The puncture drive member 1211 drives the first transmission shaft 12121 to move through the puncture gear set 12122 , and then the first transmission shaft 12121 drives the puncture platform 1213 to move linearly, thereby controlling the puncture platform 1213 to move relative to the mounting base 112 . Of course, in other embodiments of the present invention, the puncture gear set 12122 can also be replaced with structures such as pulleys, sprockets, and the like.

It should be noted that the specific structure of the first transmission shaft 12121 is not limited in principle, as long as the rotational motion can be converted into linear motion. Optionally, the first transmission shaft 12121 is a screw rod, and the puncture transmission member 1212 further includes a puncture nut. The puncture nut is rotatably arranged on the first transmission shaft 12121, and the puncture nut is connected to the puncture platform 1213. The first transmission shaft 12121 can drive the puncture platform 1213 to move along the axial direction of the first transmission shaft 12121 and the second transmission shaft 12123 through the puncture nut.

Specifically, the puncture nut is sleeved on the first transmission shaft 12121, the outer wall of the puncture nut is connected to the puncture platform 1213, one end of the first transmission shaft 12121 is connected to the puncture drive member 1211, and the puncture drive member 1211 drives the first drive through the puncture gear set 12122. A transmission shaft 12121 rotates, and then the first transmission shaft 12121 drives the puncture nut to move, so that the puncture nut moves linearly along the axial direction of the first transmission shaft 12121, and then the puncture nut drives the puncture platform 1213 to perform linear movement to drive the puncture needle assembly 200 into the patient's body.

In one embodiment, the puncture driving member 1211 includes a motor; the output end of the motor is connected to the puncturing transmission member 1212 . The puncture depth of the puncture needle assembly 200 can be ensured by the motor, thereby ensuring the length of the puncture needle assembly 200 extending into the patient's body, so that the puncture needle assembly 200 can accurately extend into the patient's lesion position; at the same time, the use of motor control can also improve the control The accuracy of the puncture transmission element 1212 is ensured, thereby improving the puncturing accuracy of the puncture needle assembly 200 and improving the reliability of the interventional operation. For example, the motor is a servo motor, which can ensure the puncturing accuracy of the puncture needle assembly 200 . Of course, the motor can also be an ultrasonic motor or a stepper motor or the like. In other embodiments of the present invention, the puncture driver 1211 may also be other components capable of outputting power.

In one embodiment, the excitation assembly 122 includes an excitation driving member 1221, an excitation transmission member 1222, and an excitation execution member 1223. The excitation transmission member 1222 is sleeved on the second transmission shaft 12123 and is drivingly connected to the excitation driving member 1221 and the excitation execution member 1223. The excitation transmission member 1222 is also connected to the puncture platform 1213 . After the puncture assembly 121 moves to the puncturing position, the excitation driver 1221 drives the excitation transmission member 1222 to drive the excitation actuator 1223 to move to activate the puncture needle assembly 200 .

The excitation driver 1221 is the power source of the excitation assembly 122, and is used to provide the power to move the excitation assembly 122 relative to the adapter structure 110, so as to activate the movement of the puncture needle assembly 200, so that the puncture needle assembly 200 penetrates the lesion in the patient. The excitation transmission member 1222 is drivingly connected to the excitation driving member 1221 and the excitation execution member 1223 through the second transmission shaft 12123, so as to realize the transmission of the power of the excitation driving member 1221. When the excitation actuator 1223 moves, the excitation actuator 1223 can drive the second transmission shaft 12123 to rotate, and then the second transmission shaft 12123 drives the excitation actuator 1223 to move through the excitation transmission element 1222, so that the excitation actuator 1223 can interact with the puncture needle assembly 200. The actuating member abuts to activate the puncture needle assembly 200 . The puncture platform 1213 is connected with the excitation transmission member 1222, and the puncture platform 1213 can drive the excitation transmission member 1222 and the excitation actuator 1223 to move, and when the excitation transmission member 1222 moves, the puncture platform 1213 remains stationary.

Specifically, when the puncture drive member 1211 drives the puncture platform 1213 and the puncture needle assembly 200 to move through the first transmission shaft 12121 and the puncture nut, the puncture platform 1213 can drive the excitation transmission member 1222 and the excitation actuator 1223 to move synchronously along the second transmission shaft 12123 When the puncture needle assembly 200 moves to the puncturing position, the puncture platform 1213 is in a static state; then, the excitation drive member 1221 can drive the second transmission shaft 12123 to rotate, and then the second transmission shaft 12123 drives the excitation transmission member 1222 to move, so that the excitation transmission member 1222 moves. The actuator 1222 drives the excitation actuator 1223 to move. At this time, the excitation actuator 1223 can excite the actuator of the puncture needle assembly 200, so that the inner puncture needle extends out of the outer puncture needle and accurately penetrates the lesion.

It can be understood that the specific structural shape of the excitation actuator 1223 is not limited in principle, as long as the excitation of the puncture needle assembly 200 can be realized, that is, the actuating member of the puncture needle assembly 200 can be activated. Exemplarily, the excitation actuator 1223 is a block-shaped structure; of course, in other embodiments of the present invention, the excitation actuator 1223 may also be a plate-shaped structure or other components capable of triggering the actuator.

Referring to FIGS. 3 to 5 , in one embodiment, the excitation transmission member 1222 includes an excitation screw 12221 sleeved on the second transmission shaft 12123 and an excitation nut 12222 rotatably disposed on the excitation screw 12221. The excitation nut 12222 is connected to the excitation screw 12222. The actuator 1223 is connected, and the rotation of the second transmission shaft 12123 drives the excitation actuator 1223 to move through the excitation screw 12221 and the excitation nut 12222. Moreover, the excitation screw 12221 can be rotatably installed in the puncture platform 1213 , and the puncture platform 1213 can drive the excitation screw 12221 to move along the second transmission shaft 12123 . The excitation driving member 1221 is connected with the second transmission shaft 12123 , and the excitation screw can move relative to the second transmission shaft 12123 , and can also rotate relative to the puncturing platform 1213 .

When the puncture driver 1211 drives the puncture platform 1213 to move, the puncture platform 1213 can drive the excitation screw 12221 to drive the excitation actuator 1223 to move along the second transmission shaft 12123 through the excitation nut; when the puncture platform 1213 moves to the puncture position, the puncture driver 1211 stops driving the puncturing platform 1213 to move. Then, the excitation driving member 1221 can drive the excitation screw 12221 to move through the second transmission shaft 12123, so that the excitation screw 12221 drives the excitation actuator 1223 to move through the excitation screw nut, and then the excitation actuator 1223 excites the puncture needle assembly 200 to perform the interventional operation . Optionally, the excitation screw 12221 and the excitation nut 12222 are a trapezoidal screw and a trapezoidal screw nut; of course, the excitation screw 12221 and the excitation nut 12222 can also be matched with other types of screws and nuts.

In one embodiment, the excitation transmission member 1222 further includes an excitation gear set 12223 . The excitation gear set 12223 is drivingly connected to the second transmission shaft 12123 and the excitation drive member 1221 . Of course, in other embodiments of the present invention, the excitation gear set 12223 can also be replaced with structures such as pulleys, sprockets, and the like.

Optionally, the excitation transmission member 1222 further includes a connection bearing, and the connection bearing is rotatably connected to the excitation screw 12221 and the puncture platform 1213 . In this way, the puncture platform 1213 can drive the excitation screw 12221 to move through the connection bearing; when the second drive shaft 12123 drives the excitation screw 12221 to rotate, the excitation screw 12221 can rotate relative to the puncture platform 1213 through the connection bearing, so that the puncture platform 1213 Keep still to avoid the position of the needle assembly 200 from shifting.

In one embodiment, the second transmission shaft 12123 has a first matching portion 121231 extending in the axial direction, the excitation screw 12221 has a second matching portion slidably fitted with the first matching portion 121231, and the excitation screw 12221 passes through the first The matching portion 121231 and the second matching portion move relative to the second transmission shaft 12123 and rotate with the second transmission shaft 12123 . The relative movement and synchronous rotation between the second transmission shaft 12123 and the excitation screw 12221 are realized through the first matching portion 121231 and the second matching portion. Specifically, when the puncture platform 1213 drives the excitation screw 12221 to move, the second matching portion can slide along the first matching portion 121231 to realize the movement of the excitation screw 12221 relative to the second transmission shaft 12123 . When the second transmission shaft 12123 rotates, the first matching part 121231 can drive the excitation screw 12221 to rotate through the second matching part, so as to realize the synchronous rotation of the second transmission shaft 12123 and the excitation screw 12221 .

Exemplarily, the first matching portion 121231 is a groove, and the second matching portion is a protrusion. That is to say, the second transmission shaft 12123 is a keyway shaft, and the movement and rotation of the excitation screw rod 12221 are realized through the cooperation of the keyway shaft and the excitation screw rod 12221 . Of course, the first matching portion 121231 can also be a protrusion; the second matching portion is a groove. Optionally, the shape of the groove is not limited in principle, as long as it can realize the fitting connection with the protrusion. In other embodiments of the present invention, the first matching portion 121231 and the second matching portion may also be keyed structures or the like.

Referring to FIGS. 2 to 4 , in one embodiment, the excitation assembly 122 further includes an excitation guide 1224 disposed along the axial direction, the excitation guide 1224 is disposed on the puncture platform 1213, the excitation actuator 1223 is disposed on the excitation guide 1224, and move axially along the excitation guide 1224. The excitation guide 1224 is used to guide the movement of the excitation actuator 1223 , so that the movement trajectory of the excitation actuator 1223 is accurate, thereby ensuring the excitation accuracy of the puncture needle assembly 200 . One end of the excitation guide 1224 is fixed on the puncture platform 1213 , and the other end of the excitation guide 1224 protrudes through the excitation actuator 1223 . When the excitation screw 12221 drives the excitation actuator 1223 to move, the excitation actuator 1223 can move along the excitation guide 1224 to ensure that the excitation guide 1224 moves in a straight line. Illustratively, the firing guide 1224 is a guide shaft.

In one embodiment, the number of excitation guides 1224 is multiple, and the plurality of excitation guides 1224 are arranged at intervals, and can be movably connected to the puncture platform 1213 and the excitation actuator 1223 to ensure that the overall motion of the excitation actuator 1223 is consistent and the excitation Effect. Of course, in other embodiments of the present invention, the excitation guide member 1224 may also be a component that can realize linear guidance, such as a rail-slider structure.

Referring to FIGS. 1 and 2 , in one embodiment, the puncture excitation structure 120 further includes a guide assembly 123 , and the guide assembly 123 is disposed on the transition structure 110 for guiding the interventional trajectory of the puncture needle assembly 200 . The guide assembly 123 is used to guide the needle insertion angle of the puncture needle assembly 200, so that the puncture needle assembly 200 can accurately pierce the patient's body according to a preset trajectory, ensure the safety of the interventional operation, and avoid deviation of the interventional position.

In one embodiment, the guide assembly 123 includes a lamp socket 1231 and an indicator light 1232 disposed on the lamp socket 1231 . The lamp socket 1231 is disposed in the adapter structure 110 , and the indicator light 1232 emits light for guiding the insertion of the puncture needle assembly 200 . The lamp socket 1231 is fixed on the mounting base 112 . Moreover, the lamp socket 1231 is located in the needle insertion direction of the puncture needle assembly 200 . The indicator light 1232 emits an indicator light, which is aimed at a target point on the patient's body surface. The puncture needle assembly 200 is advanced along the indicator light to move to the puncture position. Optionally, the indicator light 1232 is a laser light; of course, the indicator light 1232 can also be other lights with a guiding function. It can be understood that the form of the lamp socket 1231 is not limited in principle, as long as the installation of the indicator light 1232 can be realized.

In one embodiment, the guide assembly 123 further includes a needle guide base 1233, a needle guide 1234 disposed on the needle guide base 1233, and a pressing member 1235. The needle guide base 1233 is disposed on the lamp base 1231, and the needle guide 1234 is used for the puncture needle assembly. 200 is passed through, and the pressing member 1235 is arranged in the needle guide seat 1233 and abuts against the fixed needle guide 1234 . The needle guide seat 1233 is used for installing the needle guide 1234, and the needle guide 1234 has a guide hole through which the puncture outer needle of the puncture needle assembly 200 passes. It can be understood that the needle portion of the puncture needle assembly 200 is a slender structure with a long length. One end of the needle portion is a fixed end and the other end is a free end. The free end of the needle portion will sag, affecting the accuracy of intervention. Therefore, a needle guide 1234 is added to the puncture device 100 of the present invention, and the needle guide 1234 supports and guides the needle of the puncture needle assembly 200 to ensure that the puncture assembly can accurately move from the target point on the patient's body surface into the patient's body.

Optionally, the needle guide seat 1233 and the needle guide 1234 are slidably connected, and the needle guide 1234 is installed on the needle guide 1234 in a sliding manner to facilitate disassembly and assembly. Further, the needle guide seat 1233 and the needle guide 1234 are slidably connected by means of a dovetail groove and a dovetail block. In use, the needle portion of the puncture needle assembly 200 is first installed in the needle guide 1234 , and then the puncture needle assembly 200 is installed on the puncture platform 1213 ; then the needle guide 1234 is installed on the needle guide seat 1233 .

Further, in order to ensure reliable fixation between the needle guide 1234 and the needle guide seat 1233, a pusher 1235 is added between the needle guide 1234 and the needle guide seat 1233, and the needle guide 1234 is pushed tightly by the pusher 1235, so that the needle The guide 1234 is securely fixed to the needle guide seat 1233 . In this way, the position of the needle guide 1234 can be fixed, and the movement trajectory of the puncture needle assembly 200 can be ensured accurately, and the needle part of the puncture needle assembly 200 can be prevented from being displaced, so that the puncture needle assembly 200 can accurately penetrate the patient's lesion. When the ejector 1235 pushes the needle guide 1234, the needle guide 1234 is subjected to upward force, but since the needle guide 1234 and the needle guide seat 1233 are matched with the dovetail block through the dovetail groove, the dovetail groove and the dovetail block can be tightly contacted. Then, the needle guide 1234 is fixed by the friction between the dovetail groove and the dovetail block. Optionally, the pressing member 1235 is a plunger. Of course, in other embodiments of the present invention, the pressing member 1235 can also be a retractable cylinder, a motor, or the like.

Referring to FIGS. 2 to 6 , in one embodiment, the puncturing assembly 121 further includes a position detecting member 1214 , and the position detecting member 1214 is connected to the puncturing transmission member 1212 for detecting the moving position of the puncturing platform 1213 . After the position detector 1214 detects the position of the puncture platform 1213, the movement position of the puncture needle assembly 200 can be obtained, thereby ensuring that the puncture needle assembly 200 can move to the puncture position accurately. The position detector 1214 is connected to the controller of the surgical robot for transmission, and the position detector 1214 feeds back the motion and displacement information of the detected puncture platform 1213 to the controller. When the puncture platform 1213 moves to the puncture position, the controller controls the puncture driver 1211 to stop. sports.

Optionally, the position detector 1214 is an encoder, and the encoder is installed on the end of the puncture screw. When the puncture drive member 1211 drives the puncture screw to rotate, the encoder moves synchronously, and the encoder determines the moving distance of the puncture platform 1213 by detecting the number of turns of the puncture screw, and then obtains the moving distance of the puncture needle assembly 200 to determine the puncture needle assembly. 200 to achieve the purpose of controlling the accurate movement of the puncture needle assembly 200 to the puncture position. Of course, in other embodiments of the present invention, the position detector 1214 may also be a position sensor or the like.

It can be understood that before the puncture device 100 performs the interventional operation, each component of the puncture device 100 returns to the initial position, the puncture needle assembly 200 also returns to the initial position, and the encoder is an absolute encoder to ensure the accuracy of the detection of the movement distance of the puncture needle. .

Referring to FIG. 1 , in one embodiment, the puncture device 100 further includes a limiter 140 , the limiter 140 is disposed at the end of the adapter structure 110 , and the limiter 140 abuts against the puncture platform 1213 for limiting the puncture platform Motion stroke of 1213. The limiting member 140 is disposed on the mounting base 112 for electrically limiting the puncture platform 1213 to ensure reliable movement of the puncture needle assembly 200 . Optionally, the limit member 140 is a travel switch. Optionally, the stroke switch may be electrically connected to the puncture driving member 1211, and when the puncturing platform 1213 touches the stroke switch, the controller controls the puncturing driving member 1211 to stop moving.

Referring to FIG. 2 to FIG. 6 , in one embodiment, the puncture excitation structure 120 further includes mounting components 160 , the mounting components 160 are respectively disposed on both ends of the transition structure 110 , and the mounting components 160 can rotatably support the first transmission shaft 12121 and the The second transmission shaft 12123 and the mounting assembly 160 are also used to limit the movement and displacement of the puncture platform 1213 . The mounting assembly 160 plays a supporting role to rotatably support the first transmission shaft 12121 and the second transmission shaft 12123, so that the first transmission shaft 12121 and the second transmission shaft 12123 rotate smoothly and avoid interference.

Exemplarily, the mounting assembly 160 includes a puncture mounting seat 161 and an excitation mounting seat 162 , and the puncturing mounting seat 161 is respectively disposed at both ends of the first transmission shaft 12121 for rotatably supporting the first transmission shaft 12121 . The excitation mounts 162 are respectively disposed on both ends of the second transmission shaft 12123 for rotatably supporting the second transmission shaft 12123 . The piercing mount 161 and the excitation mount 162 are mounted on the mounting base 112 . Optionally, the puncture mounting seat 161 and the excitation mounting seat 162 may be an integral structure, or may be provided separately.

Also, the piercing platform 1213 is between the piercing mount 161 and the excitation mount 162 . That is, the puncture mount 161 and the excitation mount 162 are also used to limit the movement and displacement of the puncture platform 1213 to prevent the puncture platform 1213 from running over travel. Specifically, when the puncture drive member 1211 cannot be stopped, the puncture platform 1213 can be limited by the puncture mount 161 and the excitation mount 162 to prevent the puncture needle assembly 200 from hurting the patient.

1 , in one embodiment, the puncture device 100 further includes a guide structure 150 , the guide structure 150 is disposed between the puncture platform 1213 and the transition structure 110 , and the guide structure 150 guides the puncture platform to move along the transition structure 110 . The guiding structure 150 can guide the movement of the puncture platform 1213 to ensure that the puncture platform 1213 can move in a straight line, thereby ensuring the needle insertion trajectory of the puncture needle assembly 200, reducing the surgical risk caused by the puncture platform 1213 moving, and ensuring the safety of the operation.

Further, the guide structure 150 includes a first guide member 151 and a second guide member 152 matched with the first guide member 151 . The first guide member 151 is disposed on the puncture platform 1213 , and the second guide member 152 is disposed on the installation base 112 of the adapter structure 110 . When the puncture drive member 1211 drives the puncture platform 1213 to move relative to the installation base 112 , the puncture platform 1213 slides along the second guide member 152 through the first guide member 151 to ensure that the puncture platform 1213 moves in a straight line. Optionally, the first guide member 151 is a slide block, and the second guide member 152 is a slide rail; of course, the first guide member 151 can also be a slide rail, and the second guide member 152 is a slide block. In other embodiments of the present invention, the first guide member 151 and the second guide member 152 may also be other components capable of linear guidance.

1 , 7 and 8 , in one embodiment, the puncture device 100 further includes a puncture installation structure 130 , the puncture installation structure 130 is installed on the puncture platform, and the puncture installation structure 130 is used to detachably install the puncture needle assembly 200 . The puncture installation structure 130 realizes that the puncture needle assembly 200 can be detachably installed on the puncture platform 1213 . Optionally, the puncture installation structure 130 has a first installation part 1311, and the puncture platform 1213 has a second installation part, and the puncture installation structure is installed on the puncture platform 1213 through the cooperation of the first installation part 1311 and the second installation part, which is convenient for the puncture needle. The disassembly and assembly of the assembly 200 is convenient for use. Exemplarily, the first mounting portion 1311 and the second mounting portion are dovetail blocks and dovetail grooves; for example, the first mounting portion 1311 is a dovetail groove, and the second mounting portion is a dovetail block. In other embodiments of the present invention, the first mounting portion 1311 and the second mounting portion may also be a detachable connection structure such as a buckle.

In one embodiment, the puncture mounting structure 130 includes a mounting base 131 and a triggering member 132 movably disposed on the mounting base 131 . The mounting base 131 is detachably mounted on the puncturing platform 1213 , and the puncture needle assembly 200 is disposed on the mounting base 131 and is activated. The member 132 is operably connected to the puncture needle assembly 200 , and the movement of the activation member 132 is controlled by the activation actuator 1223 . The mounting base 131 plays a bearing role, which facilitates the detachable installation of the puncture needle assembly 200 on the puncture platform 1213 . Exemplarily, the first mounting portion 1311 is disposed on the mounting base 131 . The mounting base 131 is mounted on the puncture platform 1213 through the first mounting portion 1311 .

The triggering member 132 is moved and disposed on the mounting base 131 for mounting the actuating member of the puncture needle assembly 200 . The excitation driver 1221 can drive the excitation actuator 1223 through the excitation screw 12221 and the excitation nut 12222 through the second transmission shaft 12123 to drive the excitation member 132 to move, so that the excitation member 132 moves relative to the mounting base 131 and stimulates the puncture needle assembly 200 to move. The puncture inner needle is advanced to perform the interventional operation. Optionally, the triggering member 132 is a combination of a push rod and a push plate, the push rod is telescopically arranged in the mounting base 131, and the push plate is installed on the end of the push rod for clamping the actuator of the puncture needle assembly 200. . When the excitation actuator 1223 touches the push plate, the push plate can push the push plate to move, so as to activate the actuator. Of course, in other embodiments of the present invention, the excitation element 132 may also be other components capable of realizing excitation of the actuating element.

In one embodiment, the piercing installation structure 130 further includes an unlocking component 133 , the unlocking component 133 is movably disposed on the mounting base 131 , and the unlocking component 133 can unlock the mounting base 131 from the piercing platform 1213 . The unlocking assembly 133 can realize the unlocking and locking of the mounting base 131 relative to the puncture platform 1213 . When the unlocking assembly 133 is unlocked, at this time, the puncture installation structure 130 can be installed on the puncture platform 1213, and can also be disassembled from the puncture platform 1213, which is convenient for use. When the unlocking assembly 133 is locked, the puncture installation structure 130 can be reliably fixed on the puncture platform 1213, so that the position of the puncture needle assembly 200 is fixed, the position of the puncture needle assembly 200 is prevented from moving, and the safety of the interventional operation is ensured.

In one embodiment, the unlocking assembly 133 includes an unlocking button 1331, a swinging member 1332, and a locking member 1333. A section of the swinging member 1332 abuts against the unlocking button 1331, and the other end of the The stopper 1333 has an unlocking position and a limiting position that restricts the movement of the mounting base 131 , and the unlocking button 1331 drives the locking piece 1333 to move from the limiting position to the unlocking position through the swinging piece 1332 . The swinging member 1332 is swingably installed in the mounting base 131 , and when the swinging member 1332 swings, it can drive the locking member 1333 to move. The locking member 1333 can limit the mounting base 131 to the puncture platform 1213 to prevent the puncture mounting structure 130 from slipping off the puncture platform 1213 , thereby achieving reliable fixation of the puncture needle assembly 200 . Specifically, the locking member 1333 has an unlocking position and a limiting position. When the locking member 1333 is in the unlocking position, the mounting base 131 can be installed on or detached from the puncturing platform 1213; when the locking member 1333 is in the locking position , the mounting base 131 is limited to the puncture platform 1213 .

When the locking member 1333 moves from the unlocking position to the limiting position, the mounting base 131 is locked on the puncture platform 1213, and the position of the puncture needle assembly 200 is fixed; when the locking member 1333 moves from the limiting position to the unlocking position, the medical care Personnel can disassemble and assemble the puncture mounting structure 130 . The unlocking button 1331 can unlock the locking member 1333 . After the unlocking button 1331 is pressed, the unlocking button 1331 drives the swinging member 1332 to move, so that the swinging member 1332 drives the locking member 1333 to move from the limiting position to the unlocking position. When the unlocking button 1331 is in a free state after being reset, the swinging member 1332 and the locking member 1333 are reset. At this time, the locking member 1333 moves from the unlocking position to the limiting position. At this time, the locking member 1333 can limit the puncture platform 1213 .

Further, the locking member 1333 is movably located on the side of the first mounting portion 1311 . The mounting base 131 is limited to the puncture platform 1213 by the blocking of the locking member 1333 to the puncture platform 1213 . When the unlocking button 1331 is in a free state, after the first mounting portion 1311 and the second mounting portion cooperate, the locking member 1333 can limit the second mounting portion to the first mounting portion 1311, so that the puncture mounting structure 130 can be reliably fixed to the puncture Platform 1213. After the unlocking button 1331 is pressed, the locking member 1333 can move away from the first installation part 1311 , and at this time, the second installation part can be moved out or in from the first installation part 1311 to realize the disassembly and assembly of the puncture installation structure 130 .

Illustratively, the rocker 1332 is a torsion bar. The torsion bar is swingably installed in the mounting base 131 , and the two protruding ends of the torsion bar are respectively in contact with the unlocking button 1331 and the locking member 1333 . The locking member 1333 is arranged in a T shape, one end of the locking member 1333 is rotatably mounted on the mounting base 131 , the other end of the locking member 1333 protrudes toward the locking member 1333 , and the third end of the locking member 1333 faces the puncture platform 1213 Extend in the direction. The third end of the locking member 1333 is movably located on the side of the first mounting portion 1311 . When the first mounting portion 1311 is engaged with the second mounting portion, the locking member 1333 can limit the second mounting portion to the first mounting portion 1311. In other embodiments of the present invention, the unlocking button 1331 can be a toggle member, and the toggle member drives the locking member 1333 away from or close to the first installation portion 1311; of course, the unlocking button 1331 and the locking member 1333 can also be Other components that can limit the installation base 131 to the puncture platform 1213 can be realized.

In one embodiment, the unlocking assembly 133 further includes an elastic member 1334. The elastic member 1334 is disposed in the mounting base 131 and elastically connects the mounting base 131 and the locking member 1333. The elastic force of the elastic member 1334 keeps the locking member 1333 in the position of the locking member 1333. limit position. That is to say, the elastic member 1334 always controls the locking member 1333 to keep the limit position, so that the mounting base 131 is always located on the puncture platform 1213 to prevent the position of the puncture needle assembly 200 from moving; only under the action of external force, the locking member 1333 is compressed The elastic member 1334 moves to the unlocking position; when the external force disappears, the elastic force of the elastic member 1334 drives the locking member 1333 to return to the limit position again. Exemplarily, the elastic member 1334 is a torsion spring or a compression spring or the like.

Referring to FIG. 1 , the present invention further provides a surgical robot, including a controller, a robotic arm, and the puncturing device 100 in the above embodiment. The puncture device 100 is disposed at the end of the robotic arm, and the controller is respectively connected to the robotic arm and the puncture device 100 for transmission. Optionally, the robotic arm may include multiple series arms and/or multiple parallel arms, and multiple series arms and/or multiple parallel arms are connected. It should be noted that the specific working process of the controller controlling the puncture device 100 to perform the interventional operation has been mentioned above, and will not be repeated here. The surgical robot of the present invention realizes the automatic control of the puncture device 100 through the controller, so that the puncture device 100 can automatically realize the interventional operation, so as to ensure the safety of the interventional operation and reduce potential safety hazards.

The technical features of the above-described embodiments can be combined arbitrarily. For the sake of brevity, all possible combinations of the technical features in the above-described embodiments are not described. However, as long as there is no contradiction between the combinations of these technical features, All should be regarded as the scope of description in this specification.

The above-mentioned embodiments only represent several embodiments of the present invention, and the descriptions thereof are specific and detailed, but should not be construed as a limitation on the scope of the patent of the present invention. It should be pointed out that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can also be made, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention should be subject to the appended claims.

Claims (18)

1. A puncture device, wherein the puncture device is used to drive a puncture needle assembly to perform an interventional operation, and the puncture device comprises: an adapter structure mounted on the surgical robot; and The puncture excitation structure includes a puncture component and an excitation component movably arranged on the transfer structure, the puncture component is installed with the puncture needle component, and the puncture component can drive the puncture needle component to move to the puncture position, while all the The puncture assembly can drive the excitation assembly to move synchronously with the puncture needle assembly, and the excitation assembly can also move relative to the puncture assembly to activate the puncture needle assembly, so that the puncture needle assembly performs an intervention operation; The puncture assembly includes a puncture drive member, a puncture transmission member and a puncture platform; The puncture transmission member includes a first transmission shaft and a second transmission shaft that are parallel to each other, and the puncture platform is arranged on the first transmission shaft and the second transmission shaft; When the first transmission shaft rotates, it drives the puncture platform to move along its axial direction, and at the same time, the puncture platform can move along the axial direction of the second transmission shaft; when the second transmission shaft drives the The puncture platform is stationary relative to the second transmission shaft, and the second transmission shaft can drive the excitation assembly to move to activate the puncture needle assembly; Wherein, the excitation assembly includes an excitation drive member, an excitation transmission member and an excitation execution member, the excitation transmission member is sleeved on the second transmission shaft and drives the excitation drive member and the excitation execution member, the excitation transmission member is The excitation transmission member is also connected to the puncture platform, and after the puncture assembly moves to the puncture position, the excitation drive member drives the excitation transmission member to drive the excitation actuator to move, so as to activate the puncture needle assembly. 2 . The puncture device according to claim 1 , wherein the puncture transmission member is drivingly connected to the puncture drive member and the puncture platform, and the puncture platform is used to install the puncture needle assembly, and the puncture The driving member drives the puncturing transmission member to drive the puncturing platform to move relative to the transfer structure. 3. The puncture device according to claim 2, wherein the axis of the first transmission shaft is parallel to the axis of the second transmission shaft, and the puncture platform can be connected to the first transmission shaft along the first transmission shaft. the axial movement of the second transmission shaft. 4. The puncture device according to claim 3, wherein the first transmission shaft is a screw rod, and the puncture transmission member further comprises a puncture nut, and the puncture nut is rotatably arranged on the first transmission shaft The puncture nut is connected with the puncture platform, and the first transmission shaft can drive the puncture platform to move along the axial direction of the first transmission shaft and the second transmission shaft through the puncture nut. 5 . The puncturing device according to claim 1 , wherein the excitation transmission member comprises an excitation screw movably sleeved on the second transmission shaft and an excitation nut rotatably disposed on the excitation screw. 6 . The excitation nut is connected with the excitation actuator, and the rotation of the second transmission shaft drives the excitation actuator to move through the excitation screw and the excitation nut. 6 . The puncturing device according to claim 5 , wherein the second transmission shaft has a first matching portion extending in the axial direction, and the excitation screw has a sliding matching portion with the first matching portion. 7 . a second matching part, the excitation screw moves relative to the second transmission shaft through the first matching part and the second matching part and rotates with the second transmission shaft; The first matching portion and the second matching portion are a matching structure of a protrusion and a groove. 7 . The puncture device according to claim 5 , wherein the excitation assembly further comprises an excitation guide, the excitation guide is arranged on the puncture platform, and the excitation actuator is arranged on the excitation guide. 8 . , and can move along the axial direction of the excitation guide. 8 . The puncture device according to claim 2 , wherein the puncture excitation structure further comprises a guide component, the guide component is disposed on the adapter structure and used to guide the intervention of the puncture needle component. 9 . trajectory. 9 . The puncturing device according to claim 8 , wherein the guide assembly comprises a lamp holder and an indicator light arranged on the lamp holder, the lamp holder is arranged on the adapter structure, and the indicator light The lamp emits an indicator light that guides the intervention of the puncture needle assembly. 10. The puncture device according to claim 9, wherein the guide assembly further comprises a needle guide seat, a needle guide provided on the needle guide seat, and a pressing member, and the needle guide seat is provided on the The lamp holder, the needle guide allows the puncture needle assembly to pass through, and the pressing member is arranged in the needle guide seat and abuts and fixes the needle guide. 11. The puncture device according to any one of claims 2 to 10, wherein the puncture assembly further comprises a position detection member, the position detection member is connected with the puncture transmission member, and is used for detecting the puncture The motion position of the platform. 12. The puncture device according to any one of claims 3 to 10, wherein the puncture excitation structure further comprises a mounting component, the mounting components are respectively disposed at both ends of the transition structure, and the mounting component The first transmission shaft and the second transmission shaft are rotatably supported, and the mounting assembly is also used to limit the movement and displacement of the puncture platform. 13. The puncture device according to any one of claims 2 to 10, wherein the puncture device further comprises a limiting member, the limiting member is disposed at the end of the transition structure, and the limiting member is The position piece is in contact with the puncturing platform, and is used to limit the movement stroke of the puncturing platform. 14. The puncture device according to any one of claims 2 to 10, wherein the puncture device further comprises a guide structure, and the guide structure is arranged between the puncture platform and the transition structure, so that the The guide structure guides the puncture platform to move along the transfer structure. 15. The puncture device according to any one of claims 2 to 10, wherein the puncture device further comprises a puncture installation structure, the puncture installation structure is mounted on the puncture platform, and the puncture installation structure is used for The puncture needle assembly is detachably installed. 16 . The puncture device according to claim 15 , wherein the puncture installation structure comprises an installation base and a triggering member movably arranged on the installation base, and the installation base is detachably installed on the puncture platform, 16 . The puncture needle assembly is disposed on the installation base, and the triggering member is operably connected to the puncture needle assembly, and the movement of the triggering member is controlled by the triggering executing member. 17 . The puncture device according to claim 16 , wherein the puncture installation structure further comprises an unlocking component, the unlocking component is movably disposed on the installation base, and the unlocking component can lock the installation base. 18 . Unlocked on the piercing platform. 18. A surgical robot, comprising a controller, a robotic arm and the puncture device according to any one of claims 1 to 17; The puncturing device is arranged at the end of the mechanical arm, the controller is respectively connected to the mechanical arm and the puncturing device for transmission, and the controller controls the mechanical arm to drive the puncturing device to move to a preset position , the controller controls the puncturing device to perform an interventional operation.

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