CN113940759A

CN113940759A - Puncture operation master control platform and puncture robot

Info

Publication number: CN113940759A
Application number: CN202111130569.6A
Authority: CN
Inventors: 路壮壮; 朱龙泉
Original assignee: Wuhan United Imaging Zhirong Medical Technology Co Ltd
Current assignee: Wuhan United Imaging Zhirong Medical Technology Co Ltd
Priority date: 2021-09-26
Filing date: 2021-09-26
Publication date: 2022-01-18
Also published as: WO2023046185A1

Abstract

The invention relates to a puncture operation master control console and a puncture robot. The puncture operation master control console comprises an operation table; the hidden structure is arranged on the operating table; and the main operator can be movably arranged in the hidden structure, under the puncturing working condition, the main operator extends out of the hidden structure and is exposed out of the operating table, and under the non-puncturing working condition, the main operator retracts into the operating table and is hidden in the hidden structure. Expose or hide in hiding the structure through main operation ware for main operation ware is located when not using and hides the structure, can not expose the operation table, and then operating personnel can not touch main operation ware, reduces the potential safety hazard in the use. Simultaneously, bear main operation ware through the operation table, need not handheld main operation ware to, operating personnel's elbow can be placed on the surface of operation table, can reduce operating personnel's fatigue like this, guarantees the puncture effect.

Description

Puncture operation master control platform and puncture robot

Technical Field

The invention relates to the technical field of puncture control equipment, in particular to a puncture operation master console and a puncture robot.

Background

In recent years, X-ray Computed Tomography (CT) imaging has made tremendous progress, both in basic technology and in new clinical applications. The various components of CT, such as the bulb, detector, slip ring, data acquisition system and algorithm, have made great progress. Since the appearance of spiral CT and multi-layer CT, a plurality of new clinical applications appear, and the method has the advantages of short scanning time, clear images and the like, and can be used for checking various diseases. The development of CT technology over thirty years has again become one of the most exciting diagnostic methods in the field of medical imaging.

CT is no longer available today as a simple image examination. Under the promotion of various diversified modes such as breaking the boundary of each department and interdependence and joint exploration in modern medical science, CT is matched with each clinical department to realize various examinations and treatments and obtain remarkable medical effects. CT guided percutaneous puncture is a technique which is more clinically applied at present. The method is a technology for accurately penetrating a puncture needle into a focus in a body and acquiring lesion tissues under the accurate guidance of CT scanning.

The puncture operation is to insert a puncture instrument into a patient body to complete biopsy or excision of a focus, the existing puncture operation is blind puncture, a doctor completes the puncture operation according to clinical experience under the condition that the position of the focus is not known exactly, the mode is generally low in success rate, multiple injuries are easily caused to the patient, and high requirements are provided for operating doctors of the puncture operation. The puncture operation under the guidance of the CT image can judge the direction of a puncture instrument in real time and adjust the direction in time on the premise of CT imaging (human tissues and puncture needles), greatly improves the success rate of the operation, reduces the risk of the operation, and improves the recovery speed and the life quality of a patient.

Because the CT equipment adopts X rays, gamma rays and the like to complete the work, the puncture operation master console is arranged beside the CT and the puncture operation is completed, so that doctors can be exposed to the radiation environment for a long time, and great threat is caused to the health. A master-slave teleoperation type robot-assisted puncture surgery system is produced. The auxiliary puncture surgery system of the master-slave teleoperation type robot can remotely operate a slave mobile mechanical arm outside a CT room (operation room) through a puncture surgery master console, and simultaneously, images in real time through the CT and transmits the images to a display of the operation room, so that an operator can observe whether the current posture of a puncture instrument meets the requirement of further puncture, and the posture of the puncture instrument is adjusted in real time according to the image of the display. The system can greatly improve the puncture success rate and reduce the operation risk while avoiding the exposure of a doctor to X-ray radiation in the operation process.

A master-slave teleoperated robot assisted puncture surgical mode is used as a surgical mode for comparing the front ends. The puncture operation master console (placed in an operation room) is used as a system component for directly observing the posture of a puncture needle and controlling a slave mobile mechanical arm to complete the puncture operation, and plays a very important role naturally. The operation box of the prior master-slave teleoperation type robot is handheld, and the motion direction of a puncture needle is adjusted through a remote rod. The operation process is completed by holding the operation box in a hand in the long-time operation process, which easily causes fatigue of operators, thereby possibly causing the problems of reduction of the puncture success rate and the like. When only scanning is performed without puncture surgery, operators may touch the main operator, and potential safety hazards exist.

Disclosure of Invention

Therefore, a main console for a puncture operation and a puncture robot need to be provided to solve the problem of potential safety hazard caused by easily touching the main manipulator when puncture is not performed at present.

A puncture procedure console comprising:

an operating table;

the hidden structure is arranged on the operating table; and

the main operator can move and be arranged in the hiding structure, under the puncturing working condition, the main operator extends out of the hiding structure and exposes out of the operating table, and under the non-puncturing working condition, the main operator retracts into the operating table and is hidden in the hiding structure.

In one embodiment, the hiding structure comprises a connecting assembly and a driving assembly, the connecting assembly rotatably connects the main manipulator to the operating table, and the driving assembly drives the main manipulator to rotate relative to the operating table, so that the main manipulator is accommodated in the operating table or extends out of the operating table.

In one embodiment, the connecting assembly comprises a connecting seat and a rotating seat, the rotating seat is rotatably connected with one end of the connecting seat, the main operator is fixedly installed on the rotating seat, and the other end of the connecting seat is fixedly installed on the operating table.

In one embodiment, the operating table has an operating platform, the operating platform is provided with a through hole, the hidden structure is arranged below the operating platform, the main operator passes through the through hole and at least partially extends out of the operating platform or is integrally accommodated in the hidden structure below the operating platform, and the main console for puncture surgery further comprises a closed shell which is covered on the through hole.

In one embodiment, the puncture surgery console further comprises a support structure, the support structure is arranged on the operating table and used for supporting an elbow of an operator, and the support structure can move along with the elbow when the operator operates the main operator.

In one embodiment, the supporting structure comprises a moving assembly and a supporting assembly, the moving assembly comprises a guide rail and a moving slider, the guide rail is arranged on the operating platform, the moving slider is slidably arranged on the guide rail, and the supporting assembly is mounted on the moving slider.

In one embodiment, the linear movement direction of the guide rail is parallel to the in-layer rotation axis or the inter-layer rotation axis of the main operator.

In one embodiment, the support assembly is rotatably disposed on the moving block.

In one embodiment, the support assembly comprises a support bracket and a rotating member, and the bottom of the support bracket is rotatably arranged on the moving slide block through the rotating member.

A puncture robot comprises a robot host, a puncture tail end and a puncture operation master console according to any technical characteristics, wherein the puncture tail end bears a puncture needle and is arranged on the robot host, and the puncture operation master console is electrically connected with the puncture tail end and is used for controlling the puncture tail end to drive the puncture needle to perform puncture operation.

After the technical scheme is adopted, the invention at least has the following technical effects:

according to the puncture operation master console, the main operator controls the puncture tail end to drive the puncture needle to perform puncture operation, the main operator can be movably arranged on the hiding structure, and the hiding structure is arranged on the operation table. When the puncture operation main control console is used for puncture operation, the main operator is operated, so that the puncture assembly of the main operator is exposed out of the hidden structure and extends out of the operation table, and an operator operates the puncture assembly to control the puncture tail end to drive the puncture needle to perform puncture operation. When the puncture operation is finished or is not performed, the main manipulator rotates to enter the hidden structure, so that the puncture assembly of the main manipulator does not expose the hidden structure and the operating table. Expose or hide in hiding the structure through main operation ware, effectual solution runs into the potential safety hazard problem that main operation ware leads to easily when not puncturing for main operation ware is located when not using and hides the structure, can not expose the operation table, and then operating personnel can not touch main operation ware, reduces the potential safety hazard in the use. Simultaneously, bear main operation ware through the operation table, need not handheld main operation ware to, operating personnel's elbow can be placed on the surface of operation table, can reduce operating personnel's fatigue like this, guarantees the puncture effect.

Drawings

FIG. 1 is a perspective view of a lancing surgical console according to one embodiment of the present invention with the main operator exposed;

FIG. 2 is a perspective view of the main manipulator of the lancing surgical console shown in FIG. 1;

FIG. 3 is a schematic diagram of the operation of the main operator shown in FIG. 2;

FIG. 4 is the configuration of the lancing robotic arm coupled to the lancing tip as controlled by the lancing surgical console shown in FIG. 1;

FIG. 5 is a schematic diagram of the operation of the adjustment of the puncture tip shown in FIG. 4;

FIG. 6 is a detailed view of the hidden structure of the master console of FIG. 1 connected to a master manipulator;

FIG. 7 is a schematic view of a closure housing in the lancing surgical console shown in FIG. 1;

FIG. 8 is a perspective view of a second closure shell in the closure shell shown in FIG. 7;

FIG. 9 is a cut-away, schematic view of the second closure shell shown in FIG. 8;

FIG. 10 is a side view of the lancing surgical console shown in FIG. 1, with the main operator extending through the second enclosure housing;

FIG. 11 is a schematic view of the lancing surgical console of FIG. 10 with the main operator oriented;

FIG. 12 is a side view of the lancing surgical console of FIG. 1 with hidden structures exposed;

FIG. 13 is a schematic view of the lancing surgical console of FIG. 12 with the main operator hidden;

FIG. 14 is a side view of the console of the lancing system of FIG. 1 with an operator's elbow positioned on the support structure;

FIG. 15 is a schematic diagram of the support structure of the puncture console system of FIG. 14 during interlaminar pose adjustment;

FIG. 16 is a functional schematic diagram of the support structure of the puncture console system of FIG. 14 during in-layer pose adjustment;

FIG. 17 is a perspective view of a support structure in the puncture console system shown in FIG. 14;

fig. 18 is a schematic cut-away view of the support structure shown in fig. 17.

Wherein: 100. a puncture operation master console; 110. an operating table; 111. an operating platform; 112. a support; 113. a wiring hole; 114. a wiring groove; 115. adjustable ground feet; 120. a hidden structure; 121. a connecting assembly; 1211. a connecting seat; 1212. a rotating seat; 122. a drive assembly; 1221. a brake; 1222. a source of rotational power; 130. a main operator; 131. a puncture assembly; 1311. a handle; 1312. a hand-held slider; 1313. a linear movement shaft assembly; 132. a posture adjusting component; 1321. an interlayer member; 13211. an interlayer rotation axis; 1322. an intralayer component; 13221. an in-layer rotating shaft; 140. a closed housing; 141. a first closed housing; 142. a second enclosing case; 1421. a shielding shell; 14211. a motion hole; 14212. a first cover; 14213. a second cover; 1422. an embedded shell; 150. a support structure; 151. a moving assembly; 1511. a guide rail; 1512. moving the slide block; 1513. mounting a base; 152. a support assembly; 1521. a support bracket; 1522. a rotating member; 153. edge sealing plates; 160. a display; 200. a puncture mechanical arm; 210. a fourth rotary joint; 220. a fifth rotary joint; 300. puncturing needle; 400. the elbow.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention.

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

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements 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 the like as used herein are for illustrative purposes only and do not denote a unique embodiment.

Referring to fig. 1, 11-13, the present invention provides a master console 100 for a puncture surgery. The puncture operation master console 100 is applied to a puncture robot, and can realize remote control of a puncture tip of the puncture robot, so that a puncture needle 300 carried by the puncture tip can be inserted into a target puncture target in a patient body. Moreover, the puncture robot can be used in cooperation with imaging equipment such as CT (computed tomography) equipment, so that remote puncture operation based on real-time imaging guidance can be realized, and the influence of radiation of the imaging equipment on the body health of operators is avoided.

Currently, a master-slave teleoperated robot controls a puncture needle to perform puncture actions. However, when only scanning is performed without performing a puncture operation, an operator may touch the main operator, so that the puncture needle may move, and potential safety hazards exist; moreover, the operation box of the robot is handheld during master-slave teleoperation, so that the operator is easy to fatigue during use, and the puncture operation is not convenient to be smoothly performed.

To this end, the present invention provides a novel master console 100 for a puncture surgery. This puncture operation master console 100 can avoid pjncture needle 300 drunkenness under the non-puncture operating mode, reduces the potential safety hazard, and simultaneously, puncture operation master console 100 can also support patient's elbow 400, and operating personnel's fatigue feels when reducing the puncture operation guarantees the puncture effect. The specific structure of the puncture control console is described in detail below.

Referring to fig. 1, 11-13, in one embodiment, the master console 100 includes a table 110, a concealing structure 120, and a master manipulator 130. The hidden structure 120 is disposed on the operation table 110. The main operator 130 is movably disposed on the hiding structure 120, and in the puncturing operation condition, the main operator 130 extends out of the hiding structure 120 and exposes the operating table 110, and in the non-puncturing operation condition, the main operator 130 retracts into the operating table 110 and is hidden in the hiding structure 120.

The operating table 110 is used for carrying components of the console 100. After the operation table 110 is arranged, an operator can sit in front of the operation table 110 in a sitting posture mode, so that when the operator controls the operation of the puncture tail end through the puncture operation master console 100, the elbow 400 of the operator can be placed on the surface of the operation table 110, the condition that the elbow 400 of the operator is suspended in the air is avoided, the fatigue degree of the elbow 400 of the operator is reduced, and the puncture operation effect is further ensured.

The main operator 130 is a main component for controlling the movement of the puncture tip (the schematic diagram of the puncture tip is shown in fig. 4 and 5) to drive the puncture needle 300, the hidden structure 120 is disposed on the operation table 110, and the main operator 130 can move the hidden structure 120 so that the main operator 130 can move into or out of the hidden structure 120. During puncturing, the main operator 130 is rotated to move the main operator 130 out of the hidden structure 120 and expose the operation table 110, and an operator can control the movement of the puncturing end by holding the main operator 130, so as to drive the puncturing needle 300 to perform puncturing operation. After the puncture is completed or when the puncture is not needed, the main operator 130 is rotated to move the main operator 130 into the hidden structure 120, at this time, the main operator 130 does not expose the operation table 110, and an operator does not touch the main operator 130 when performing other operations, thereby ensuring the safety of use. That is, when the puncture operation is required, the main operator 130 is removed from the hidden structure 120, and after the puncture operation is completed or other operations such as imaging are performed, the main operator 130 is moved into the hidden structure 120.

Specifically, the bottom of the main operator 130 is rotatably disposed in the hidden structure 120, and the top of the main operator 130 can rotate around the bottom of the main operator 130, so that the top of the main operator 130 moves into or out of the operation table 110. During puncturing, the bottom of the main operator 130 rotates and drives the top of the main operator 130 to move out of the operating table 110, so that the operator can operate the main operator 130. After the puncturing operation is completed or when the puncturing operation is not performed, the bottom of the main operator 130 rotates to drive the top of the main operator 130 to move into the operating table 110, so that an operator is prevented from accidentally touching the main operator 130.

The puncture surgery master console 100 of the above embodiment is exposed or hidden in the hidden structure 120 through the main operator 130, so that the potential safety hazard problem caused by the main operator being easily encountered when the puncture is not performed is effectively solved, the main operator 130 is located in the hidden structure 120 when the puncture surgery master console is not used, the operating table 110 is not exposed, and further, the operator does not touch the main operator 130, and the potential safety hazard in the using process is reduced. Meanwhile, the main operator 130 is carried by the operating table 110, the main operator 130 does not need to be held by hands, and elbows of operators can be placed on the surface of the operating table 110, so that the fatigue of the operators can be reduced, and the puncture effect is ensured.

Optionally, the operation table 110 is a hollow structure. Of course, in other embodiments of the present invention, the operation table 110 may be a solid structure, and the hidden structure 120 may be disposed inside the operation table 110 or on the surface of the operation table 110. The present invention will be described by taking the operation table 110 as a hollow structure. Optionally, the operation table 110 includes an operation platform 111 and a bracket 112 disposed below the operation platform 111. The hidden structure 120 and the main operator 130 are supported by the operation platform 111. The form of the support 112 is not limited in principle, as long as stable support of the operation platform 111 is achieved.

Alternatively, the hiding structure 120 may be disposed on the upper surface of the operation platform 111 of the operation table 110, and may also be disposed on the lower surface of the operation platform 111 of the operation table 110. In the present invention, the hidden structure 120 is disposed on the lower surface of the operation table 110. The operating table 110 has a through hole, the bottom of the main operator 130 is rotatably disposed in the hiding structure 120, and the top of the main operator 130 passes through the through hole and moves out of the hiding structure 120 when puncturing. After the piercing is completed or when the piercing is not needed, the top of the main operator 130 is moved through the via hole into the hidden structure 120.

Main operation ware 130 can realize the terminal remote control of puncture for the main part that the control puncture end drove pjncture needle 300 motion, and simultaneously, this main operation ware 130 can also simulate clinical puncture operating mode in fact for medical personnel experience the resistance when pjncture needle 300 advances the needle, let whole puncture process safer, high-efficient, improve the operating accuracy, and then improve the puncture success rate.

Referring to fig. 1 to 3, the main operator 130 includes a puncture assembly 131 and a posture adjustment assembly 132. The puncture unit 131 is a main structure for the main operator 130 to control the puncture needle 300 to perform a puncture operation. The main operator 130 can be in transmission connection with the robot main unit of the piercing robot, wherein the transmission connection is an electrical connection or a communication connection. The puncture assembly 131 can feed back a puncture signal to the robot host, so that the robot host controls the puncture tail end to prepare for puncture action, then, when the puncture assembly 131 moves, the motion of the puncture assembly 131 can be fed back to the robot host in real time, and then the robot host can control the puncture tail end to drive the puncture needle 300 to execute puncture operation according to the motion of the puncture assembly 131.

The posture adjustment assembly 132 is a main structure for the main operator 130 to adjust the posture of the puncture needle 300. The puncture assembly 131 is rotatably disposed in the posture adjustment assembly 132. When the posture of the puncture needle 300 is adjusted, the puncture component 131 can rotate relative to the posture adjusting component 132, the posture adjusting component 132 can detect the inclination angle information of the puncture component 131, the posture adjusting component 132 feeds the inclination angle information back to the robot host, and the robot host can adjust the posture of the puncture tail end according to the inclination angle information of the puncture component 131 so as to achieve the purpose of adjusting the posture of the puncture needle 300, so that the puncture needle 300 can be aligned to a target puncture target point, and the accuracy of puncture operation is ensured.

When the main operator 130 is used for puncture control, the posture of the puncture needle 300 in the space is determined according to a target puncture target point, then the main operator 130 controls the puncture component 131 to rotate relative to the posture adjustment component 132 by a preset angle, then the posture adjustment component 132 feeds back inclination angle information to the robot host, and the robot host adjusts the posture of the puncture needle 300 on the puncture tail end according to the inclination angle information, so that the puncture needle 300 can be aligned to the target puncture target point. Then, the puncture assembly 131 works, the puncture assembly 131 moves and feeds back to the robot host, and the robot host controls the puncture needle 300 to drive the puncture tip to perform puncture operation.

In the main manipulator 130, the bottom of the posture adjusting assembly 132 is in the hiding structure 120 and is connected with the rotating part of the hiding structure 120, and the top of the posture adjusting assembly 132 is provided with the puncture assembly 131. The rotating part of the hidden structure 120 is a driving component 122, and when the driving component 122 drives the posture adjustment component 132 to rotate, the posture adjustment component 132 can drive the puncture component 131 to move, so that the puncture component 131 can move into or out of the hidden structure 120.

Referring to fig. 1-3, in one embodiment, lancing assembly 131 includes a handle 1311, a hand slider 1312, a linear motion shaft assembly 1313, and attitude adjustment assembly 132 includes an inter-layer member 1321 and an intra-layer member 1322, inter-layer member 1321 includes an inter-layer rotation shaft 13211, and intra-layer member 1322 includes an intra-layer rotation shaft 13221. Wherein the handle 1311 is a hand-held part of the operator during posture adjustment; the hand-held slider 1312 is used for the operator to perform the puncturing operation, and can move up and down along the linear moving shaft assembly 1313, and the force feedback part is embedded in the linear moving shaft assembly 1313, so that the main operator 130 can not only simulate the puncturing process, but also feed back the acting force between the puncturing needle 300 and the human tissue of the operator. The hand-held slider 1312 is integrated with a puncture enabling button (which may be mechanical or electrical) for the operator to trigger the puncture process, i.e. to control the puncture needle 300 at the puncture tip to perform a linear motion at the same speed as the hand-held slider 1312. The piercing tip configuration is shown in fig. 4 and 5.

In fig. 2 and 3, the interlayer rotation axis 13211 and the interlayer rotation axis 13221 are connected in series and are coplanar with each other, and it is important that the interlayer rotation axis 13211 and the interlayer rotation axis 13221 intersect the linear movement at a point a, so that any point on the upper surface of the handle 1311 during posture adjustment is on a spherical surface having the three-axis intersection point a as the spherical center. The inter-layer rotation axis 13211 and the intra-layer rotation axis 13221 are connected in series in the same manner as the piercing robot 200 is articulated, and the piercing robot 200 is configured as shown in fig. 4 and 5. The interlayer rotation shaft 13211 controls the fifth rotation joint 220 of the puncture robot 200, and the interlayer rotation shaft 13221 controls the fourth rotation joint 210 of the robot 200. When the fourth rotary joint 210 of the puncture mechanical arm 200 rotates, the direction of the axis of the fifth rotary joint 220 in space changes, the working principle of the interlayer rotary shaft 13211 and the interlayer rotary shaft 13221 of the main manipulator 130 is consistent with that, and both the interlayer rotary shaft 13211 and the interlayer rotary shaft 13221 have a force feedback function, that is, the interaction force between the puncture needle 300 and the human tissue can be simulated in the posture adjusting process.

The main operator 130 is provided with full force feedback (all degrees of freedom have force feedback functions) for the purpose that an operator can feel the same feeling as that of actual needle holding puncture at the operating platform 111 end, only the image feedback main-slave teleoperation type puncture surgery system cannot identify tissue attributes and pathological changes by touching tissues through the main operator 130, and doctors lack of the operation force feeling can increase the risk and uncertainty of surgery, increase the surgery time and reduce the surgery efficiency; research shows that real-time force sense feedback is provided for operators in master-slave teleoperation, so that the operation process is safer and more efficient, and the operation precision can be improved.

Referring to fig. 1 and 6, in an embodiment, the hiding structure 120 includes a connecting assembly 121 and a driving assembly 122, the connecting assembly 121 rotatably connects the main operator 130 to the operating table 110, and the driving assembly 122 drives the main operator 130 to rotate relative to the operating table 110, so that the main operator 130 is received in the operating table 110 or extends out of the operating table 110.

One part of the connecting assembly 121 is rotatably connected to the bottom of the posture adjusting assembly 132 of the main operator 130, and the other part of the connecting assembly 121 is fixed to the lower surface of the operation platform 111 of the operation table 110. The driving assembly 122 is a power source of the hiding structure 120, and the driving assembly 122 is connected to the bottom of the posture adjusting assembly 132 through a rotating portion of the connecting assembly 121. Thus, when the driving assembly 122 outputs a rotational motion, the driving assembly 122 can drive the posture adjusting assembly 132 to rotate through the rotating portion of the connecting assembly 121, and then the posture adjusting assembly 132 can drive the puncture assembly 131 to move when rotating, so that the puncture assembly 131 moves into or out of the inner side of the operating platform 111 of the operating table 110.

When a puncture operation needs to be performed, the driving assembly 122 drives the posture adjustment assembly 132 to drive the puncture assembly 131 to rotate, so that the puncture assembly 131 rotates by a preset angle to move out of the operating platform 111. At this time, the operator can control the puncture tip to drive the puncture needle 300 to perform the puncture operation through the puncture assembly 131. When the puncture operation is completed or the puncture operation is not required, the driving assembly 122 drives the posture adjustment assembly 132 to drive the puncture assembly 131 to rotate by a preset angle, so that the puncture assembly 131 moves into the operation platform 111. Alternatively, the preset angle is about 90 °, however, in other embodiments of the present invention, the preset angle may be other angles as long as the puncturing assembly 131 is hidden under the operation platform 111 of the operation table 110.

Referring to fig. 1 and 6, in an embodiment, the connecting assembly 121 includes a connecting seat 1211 and a rotating seat 1212, the rotating seat 1212 is rotatably connected to one end of the connecting seat 1211, the main operating unit 130 is fixedly mounted on the rotating seat 1212, the other end of the connecting seat 1211 is fixedly mounted on the operating table 110, and the driving assembly 122 is connected to the rotating seat 1212 for driving the rotating seat 1212 to rotate the main operating unit 130. Alternatively, connecting seat 1211 is mounted to operation platform 111 by means of screws.

One end of the connecting seat 1211 is rotatably connected to the rotating seat 1212, and the other end of the connecting seat 1211 is fixedly mounted on the lower surface of the operation platform 111. The rotating base 1212 is fixedly connected to the bottom of the posture adjusting assembly 132, and the output end of the driving assembly 122 is rotatably connected to the rotating connection portion between the rotating base 1212 and the connecting base 1211. That is, the output end of the driving unit 122 corresponds to a rotation shaft, and the output end of the driving unit 122 rotatably extends through the connecting seat 1211 and is connected to the rotating seat 1212. Thus, when the output end of the driving assembly 122 outputs motion, the driving assembly 122 can drive the rotating seat 1212 to move and rotate relative to the connecting seat 1211, and further the rotating seat 1212 can drive the posture adjusting assembly 132 and the puncturing assembly 131 to rotate, so that the puncturing assembly 131 moves into or out of the operating platform 111.

Optionally, the connecting seat 1211 includes a vertical connecting portion and a horizontal connecting portion, the vertical connecting portion is disposed along a vertical direction, one end of the vertical connecting portion is connected to the horizontal connecting portion, the rotating seat 1212 is rotatably mounted on the other end of the vertical connecting portion, the vertical connecting portion is disposed perpendicular to the horizontal connecting portion, and the horizontal connecting portion is configured to be mounted on the lower surface of the operating platform 111. Alternatively, the vertical connecting portion and the horizontal connecting portion are flat plate-shaped. Of course, in the embodiment of the present invention, the vertical connection portion and the horizontal connection portion may also be other components capable of rotatably mounting the rotation seat 1212 and connecting with the operation platform 111.

Referring to fig. 1 and 6, in an embodiment, the number of the connecting assemblies 121 is two, two connecting assemblies 121 are symmetrically disposed on both sides of the posture adjustment assembly 132, and the driving assembly 122 is connected to the active connecting assembly 121, and the other is a passive connecting assembly 121. The two groups of connecting components 121 are respectively connected with the posture adjusting component 132 and the operating platform 111 at two sides of the posture adjusting component 132. The driving assembly 122 drives the rotating base 1212 connected thereto to rotate relative to the connecting base 1211, and the rotating base 1212 drives the posture adjusting assembly 132 to rotate, so that the posture adjusting assembly 132 can drive the other rotating base 1212 to rotate relative to the connecting base 1211 when rotating. The two connecting assemblies 121 can ensure that the posture adjusting assembly 132 rotates stably, so that the posture adjusting assembly 132 drives the puncture assembly 131 to move into or out of the operating platform 111. Of course, in other embodiments of the present invention, the number of the connecting members 121 may be one. At this time, the connecting assembly 121 is connected to the posture adjusting assembly 132 in a cantilever manner.

Referring to fig. 1 and 6, in an embodiment, the driving assembly 122 includes a rotary power source 1222 and a brake 1221, the rotary power source 1222 is disposed in the operating table 110 and connected to the rotary seat 1212, and the brake 1221 is disposed at an output end of the rotary power source 1222 for controlling the rotary power source 1222 to be locked or unlocked. The rotary power source 1222 is a power component of the driving assembly 122, the rotary power source 1222 is fixed at the bottom of the operation platform 111, and the output end of the rotary power source 1222 is rotatable through the connecting seat 1211 and connected with the rotating seat 1212. When the rotary power source 1222 outputs a rotary motion, the rotary base 1212 can be driven to rotate so as to drive the posture adjustment assembly 132 to rotate, and then the posture adjustment assembly 132 drives the puncture assembly 131 to move into or out of the operation platform 111.

A brake 1221 is provided at the output of the rotary power source 1222 to control the locking of the rotary power source 1222 after power down so that the attitude adjusting assembly 132 can be maintained in the rotated position. Specifically, after the rotary power source 1222 drives the rotary seat 1212 to drive the posture adjustment assembly 132 to move in place, the controller of the main console 100 for puncture surgery controls the rotary power source 1222 to be powered off, and then the brake 1221 is powered on to lock the output end of the rotary power source 1222, so as to prevent the output end of the rotary power source 1222 from moving to affect the position of the posture adjustment assembly 132. When the position of the puncture assembly 131 needs to be adjusted, the controller controls the brake 1221 to be powered off to unlock the output end of the rotary power source 1222, and the rotary power source 1222 can drive the rotation seat 1212 to drive the posture adjustment assembly 132 and the puncture assembly 131 to rotate after being powered on. Alternatively, the rotary power source 1222 is a rotary motor or other power source that outputs rotary motion.

Referring to fig. 1, fig. 6, and fig. 10 to fig. 13, specifically, when the puncture operation is performed, the rotation power source 1222 is powered to drive the rotation seat 1212 to rotate, and when the rotation seat 1212 rotates, the posture adjustment assembly 132 and the puncture assembly 131 can be driven to rotate, so that the puncture assembly 131 rotates 90 ° to move out of the operation platform 111. When the puncture assembly 131 moves in place, the controller controls the power failure of the rotary power source 1222, the brake 1221 is electrified, and the brake 1221 locks the output end of the rotary power source 1222, so that the puncture assembly 131 is fixed in position, and the operation is convenient to perform in the later period. At this time, the operator can operate the puncture assembly 131 to control the puncture tip to drive the puncture needle 300 to perform the puncture operation.

After the puncture operation is completed or when the puncture operation is not needed, the controller controls the brake 1221 to be powered off, the rotating power source 1222 is electrified to drive the rotating seat 1212 to rotate, and the rotating seat 1212 can drive the posture adjusting assembly 132 and the puncture assembly 131 to rotate when rotating, so that the puncture assembly 131 rotates 90 degrees to move into the operating platform 111. When the puncture assembly 131 moves in place, the controller controls the power-off of the rotary power source 1222, the power of the brake 1221 is charged, and the brake 1221 locks the output end of the rotary power source 1222, so as to ensure the fixed position of the puncture assembly 131 and prevent the puncture assembly 131 from moving out of the operation platform 111. In this case, the operator can perform another operation without being concerned about safety of use due to touching the puncture set 131.

Optionally, the concealing structure 120 further comprises two limit switches, wherein one limit switch is disposed at a position where the puncture assembly 131 extends out of the operation platform 111, and the other limit switch is disposed at a position where the puncture assembly 131 moves into the operation platform 111. The control of the brake 1221 is realized by the cooperation of the limit switch and the brake 1221, and the rotary power source 1222 is prevented from being in a torque output state all the time.

When the puncture assembly 131 extends out of the operating platform 111, the limit switch can be triggered, and the limit switch controls the brake 1221 to be electrified through the controller so as to tightly hold the output end of the rotary power source 1222, so that the rotary power source 1222 does not drive the rotary seat 1212 to rotate, and the rotary seat 1212 is fixed. The puncturing assembly 131 can also trigger a limit switch when moving into the operation platform 111, and the limit switch controls the brake 1221 to be electrified through the controller so as to tightly hold the output end of the rotating power source 1222, so that the rotating power source 1222 does not drive the rotating seat 1212 to rotate, and the rotating seat 1212 is fixed.

In one embodiment, the hiding structure 120 further includes a protective housing, which is disposed on the operation table 110 and covers the posture adjusting structure of the main operator 130. The protective shell is arranged below the operation platform 111, and covers the connecting assembly 121 and the driving assembly 122, so that the posture adjusting assembly 132 is located in the protective shell. Can avoid operating personnel mistake to touch and transfer appearance subassembly 132 to the unexpected condition like this, can also avoid debris to get into simultaneously and transfer appearance subassembly 232 in, guarantee to transfer appearance subassembly 132's performance.

Referring to fig. 1, in an embodiment, the operation platform 111 of the operation table 110 has a through hole, the hiding structure 120 is disposed below the operation platform 111, and the main operator 130 at least partially protrudes above the operation platform 111 through the through hole or is integrally received in the hiding structure 120 below the operation platform 111.

The via hole passes through the inner wall of operation platform 111, transfers appearance subassembly 132 to set up the below of operation platform 111, and when drive assembly 122 drive transferred appearance subassembly 132 to rotate, transferred appearance subassembly 132 can drive puncture subassembly 131 and can stretch out the top of operation platform 111 through the via hole at least part, perhaps wholly accomodate the below of operation platform 111. When the puncture assembly 131 penetrates through the via hole and moves into the lower part of the operating platform 111, the puncture assembly 131 is hidden, potential safety hazards caused by touching the puncture assembly 131 after the puncture is completed or when the puncture is not performed are avoided, and the use safety is ensured. When the puncture assembly 131 extends out of the operation platform 111 through the hole, the puncture assembly 131 exposes the end of the operation platform 111, which is convenient for the operator to operate the puncture assembly 131.

Referring to fig. 1, 7-9, in one embodiment, the console 100 further includes a closure housing 140, and the closure housing 140 covers the through hole. The closed housing 140 can cover the through hole, and can shield the structure below the operating platform 111 to avoid mistaken touch. During the process of moving the puncture assembly 131 into or out of the operation platform 111, the through hole is opened by the closed shell 140, and after the movement of the puncture assembly 131 is completed, the through hole is closed by the closed shell 140.

In one embodiment, the closure housing 140 is telescopically arranged. With the closure housing 140 retracted to open the via, the spike assembly 131 can be moved into and out of the operating platform 111; the closed housing 140 extends to close the through hole, and the closed housing 140 covers the posture adjusting component 132 on the operation platform 111, or the closed housing 140 has a position avoiding channel for the puncture component 131 to extend.

Specifically, after the puncturing operation is completed or when the puncturing assembly 131 is not used, the closed housing 140 is retracted, the through hole is exposed, the puncturing assembly 131 can move into the operating platform 111 through the through hole, then the closed housing 140 is extended, and the closed housing 140 can shield the through hole, so that the puncturing assembly 131 is hidden. When the puncture operation is performed, the closed shell 140 is operated, the through hole is exposed, the puncture assembly 131 can move out of the operating platform 111 along with the posture adjusting assembly 132, then the closed shell 140 extends, and the puncture assembly 131 is avoided through the position avoiding channel, so that the puncture assembly 131 is exposed out of the operating platform 111. In this case, the closure housing 140 can block the via hole without interfering with the use of the spike assembly 131.

Referring to fig. 1, 7 to 9, in an embodiment, the close enclosure 140 further includes a first close enclosure 141, the first close enclosure 141 is detachably disposed on the operation table 110, and the first close enclosure 141 is used for covering the through hole in the non-puncturing operation condition. The first sealing housing 141 is detachably disposed on the operation platform 111 and covers the through hole to be hidden in the operation platform 111 to prevent the puncture assembly 131 from being exposed. That is, the first closure housing 141 can shield the puncture set 131 from the slot operating platform 111 when the puncture set 131 is not in operation.

When the puncture assembly 131 is used, the first sealing housing 141 is first detached, and then the driving assembly 122 drives the rotating base 1212 to drive the posture adjustment assembly 132 to rotate, so that the puncture assembly 131 moves out of the operating platform 111, and at this time, a puncture operation can be performed.

Referring to fig. 1, 7-9, in an embodiment, the closed housing 140 includes a second closed housing 142, the second closed housing 142 is detachably disposed on the operating table 110, the second closed housing 142 is used for covering the hole under the puncturing operation, and the puncturing assembly 131 of the main operator 130 extends through the second closed housing 142.

The second sealing housing 142 is detachably disposed on the operation platform 111, and shields a via hole on the operation platform 111, and the second sealing housing 142 can shield the via hole when the puncture assembly 131 extends out of the operation platform 111, that is, the puncture assembly 131 can extend out through the second sealing housing 142, and when the puncture assembly 131 drives the posture adjusting assembly 132 to adjust the posture of the puncture tip, the puncture assembly 131 can move in the second sealing housing 142. That is to say, the second sealing housing 142 can cover the through hole under the puncturing condition, and the posture adjusting assembly 132 is prevented from being exposed.

When the second sealing housing 142 is used, the driving assembly 122 drives the rotating base 1212 to drive the posture adjustment assembly 132 to rotate, so that the second sealing housing 142 passes through the puncture assembly 131 and is covered in the through hole after the puncture assembly 131 moves out of the operating platform 111. When the puncture operation is completed or the puncture operation is not required, the second sealing housing 142 is detached, and then the driving assembly 122 drives the rotating base 1212 to drive the posture adjustment assembly 132 to rotate, so that the puncture assembly 131 moves into the operating platform 111.

Referring to fig. 1, 7 to 13, in an embodiment, the second enclosure housing 142 includes a shielding shell 1421 and an embedded shell 1422, the shielding shell 1421 has a handle 1311 moving hole 14211, the embedded shell 1422 is movably disposed in the shielding shell 1421 and is disposed corresponding to the handle 1311 moving hole 14211, the piercing assembly 131 is connected to the embedded shell 1422 and extends through the handle 1311 moving hole 14211, and the piercing assembly 131 can drive the embedded shell 1422 to move in the handle 1311 moving hole 14211.

That is to say, the second enclosure 142 has a double-layer structure, the shielding shell 1421 is an outer layer, and the embedded shell 1422 is an inner layer. The shielding shell 1421 is disposed on the operation platform 111 and covers the through hole. The shielding case 1421 has a handle movement hole 14211, and the insert case 1422 is disposed inside the shielding case 1421 and is movably disposed in the handle movement hole 14211. The built-in housing 1422 can shield the handle movement hole 14211 and move with respect to the handle movement hole 14211.

When the second sealing housing 142 is used, the driving assembly 122 drives the rotating seat 1212 to drive the posture adjusting assembly 132 to rotate, so that the puncture assembly 131 is moved out of the operating platform 111, the embedded shell 1422 is fixed on the puncture assembly 131, the shielding shell 1421 is installed on the operating platform 111 through the handle moving hole 14211, and the through hole is formed in the cover, at this time, the embedded shell 1422 corresponds to the handle moving hole 14211. When the position of the puncture tip is manipulated, the puncture assembly 131 can bring the built-in housing 1422 into the handle movement hole 14211 through the position adjustment assembly 132. When the puncture operation is completed or not performed, the shielding shell 1421 and the embedded shell 1422 are sequentially detached, and then the driving assembly 122 drives the rotating base 1212 to drive the posture adjustment assembly 132 to rotate, so that the puncture assembly 131 moves into the operating platform 111.

Optionally, the arc-shaped portion of the embedded casing 1422 is a portion of a spherical surface, and accordingly, the shape of the shielding casing 1421 at the movement hole 14211 of the handle 1311 is also a portion of a spherical surface. This facilitates rotation of the insert housing 1422 within the handle movement opening 14211 by the spike assembly 131. When the puncturing assembly 131 drives the posture adjusting assembly 132 to rotate to adjust the posture of the puncturing end, the puncturing assembly 131 can drive the embedded shell 1422 to rotate. Optionally, the outer diameter of the insert housing 1422 corresponds to the inner diameter dimension at the shield housing 1421. Optionally, the embedded shell 1422 is in clearance fit with the shielding shell 1421. Can avoid embedded shell 1422 like this and shelter from the friction between the shell 1421, and then avoid the effect of influence power feedback.

Alternatively, the puncture surgery console 100 is covered with the first enclosure case 141 only with the through holes. Thus, when the puncture assembly 131 is not used, the first sealing housing 141 covers the through hole, and the puncture assembly 131 is hidden in the operating platform 111, when a puncture operation is performed, the first sealing housing 141 is detached from the operating platform 111, and then the driving assembly 122 drives the rotating base 1212 to drive the posture adjustment assembly 132 to rotate, so that the puncture assembly 131 is moved out of the operating platform 111. At this time, the puncture set 131 can be operated to perform a puncture operation. When the puncture operation is completed or not performed, the driving assembly 122 drives the rotating seat 1212 to drive the posture adjustment assembly 132 to rotate, so that the puncture assembly 131 moves into the operating platform 111, and then the first sealing housing 141 is covered on the through hole. That is to say, in the present embodiment, the first sealing case 141 covers the through hole under the non-puncturing condition, and under the puncturing condition, the through hole is exposed and not shielded.

Alternatively, the central console 100 may be covered with only the second closure housing 142. Thus, when the puncture assembly 131 is not used, the puncture assembly 131 is hidden in the operation platform 111, the via hole is not shielded, and an operator can see the puncture assembly 131 in the operation platform 111 through the via hole. When the puncture operation is performed, the first sealing housing 141 is detached from the operation platform 111, and then the driving assembly 122 drives the rotating base 1212 to drive the posture adjusting assembly 132 to rotate, so that the puncture assembly 131 moves out of the operation platform 111. Subsequently, the second closure housing 142 is mounted to the via hole through the spike assembly 131. At this time, the puncturing assembly 131 can be operated to perform puncturing operation, and when the puncturing assembly 131 drives the posture adjustment assembly 132 to rotate, the puncturing assembly 131 can drive the embedded shell 1422 to shield the handle 1311 of the shell 1421 from moving the hole 14211. When the puncture operation is completed or not performed, the second closing housing 142 is detached from the operation platform 111; the driving assembly 122 drives the rotating base 1212 to drive the posture adjusting assembly 132 to rotate, so that the puncture assembly 131 moves into the operation platform 111. That is to say, this embodiment covers through second close housing 142 and establishes the via hole under the puncture operating mode, and under the non-puncture operating mode, the via hole exposes, is not sheltered from.

Alternatively, the puncture surgical console 100 may also employ a combination of the first enclosure case 141 and the second enclosure case 142. That is, the structure of the cover through hole is different when the puncture assembly 131 is in different states/positions. When the spike assembly 131 is moved into the operation platform 111, the first closure housing 141 covers the through hole. When the spike assembly 131 is moved out of the operation platform 111, a hole is covered by the second close housing 142.

When the puncture assembly 131 is not used, the puncture assembly 131 is hidden in the operation platform 111, and the first sealing case 141 covers the operation platform 111 and shields the puncture assembly 131. When the puncture operation is performed, the first sealing housing 141 is detached from the operation platform 111, and then the driving assembly 122 drives the rotating base 1212 to drive the posture adjustment assembly 132 to rotate, so that the puncture assembly 131 moves out of the operation platform 111. Subsequently, the second closure housing 142 is mounted to the via hole through the spike assembly 131. At this time, the puncturing assembly 131 can be operated to perform puncturing operation, and when the puncturing assembly 131 drives the posture adjustment assembly 132 to rotate, the puncturing assembly 131 can drive the embedded shell 1422 to shield the handle 1311 of the shell 1421 from moving the hole 14211.

When the puncture operation is completed or not performed, the second closing housing 142 is detached from the operation platform 111; then, the driving assembly 122 drives the rotating seat 1212 to drive the posture adjustment assembly 132 to rotate, so that the puncture assembly 131 moves into the operating platform 111, and then the first sealing housing 141 is covered on the through hole, so that the puncture assembly 131 is hidden from the operating platform 111 by the first sealing housing 141.

That is, when the main operator 130 is in the operating state, the first closing housing 141 is detached and the second closing housing 142 is replaced; when the main operator 130 is in the non-operating state, the second close housing 142 is detached and the first close housing 141 is replaced. In addition, the first and second sealing

cases

141 and 142 are frictionally coupled to the operation platform 111, thereby facilitating replacement.

In one embodiment, the through hole includes a first through hole and a second through hole, the first through hole corresponds to the posture adjustment assembly 132 of the main manipulator 130, the puncture assembly 131 enters the operation table 110 through the second through hole when hidden, and the main manipulator 130 rotates in the first through hole when the main manipulator 130 adjusts the posture of the puncture tip.

The first through hole and the second through hole are different in cross-sectional size, and the cross-sectional size of the first through hole is larger than that of the second through hole. The first through hole corresponds to the posture adjustment member 132 of the main operator 130. When the puncture assembly 131 moves out of the operating platform 111 through the second through hole, the posture adjustment assembly 132 can drive the puncture assembly 131 to rotate, so that the puncture assembly 131 is located in the first through hole, and the puncture assembly 131 can execute a puncture operation at the first through hole and drive the posture adjustment assembly 132 to move to adjust the posture of the puncture tip. After the puncturing operation is completed, the posture adjusting component 132 drives the puncturing component 131 to move into the operation platform 111 from the second through hole.

Optionally, the shielding case 1421 includes a first cover 14212 and a second cover 14213, the first cover 14212 is configured to cover a through hole, the second cover 14213 is configured to cover a second through hole, the first cover 14212 is connected to the second cover 14213, a middle region of the first cover 14212 has a movement hole 14211, and the first cover 14212 is a part of a spherical surface. The edge of the first cover 14212 has a flange to facilitate the installation of the first cover 14212 on the operation platform 111. Of course, the second sealing housing 142 may also include a third cover and a fourth cover, the third cover is connected to the fourth cover, the third cover is disposed on the first through hole, and the fourth cover is disposed on the second through hole.

Referring to fig. 14-18, in one embodiment, the central console 100 further includes a support structure 150, the support structure 150 is disposed on the table 110 for supporting an elbow 400 of the operator, and the support structure 150 is movable along the elbow 400 when the operator operates the main operator 130.

A support structure 150 is provided on the operation platform 111 for supporting the elbow 400 of the user. When the operator operates the main operator 130, the operator's elbow 400 can be located in the support structure 150. When the operator controls the puncture assembly 131 to ascend, descend or rotate, the elbow 400 of the operator can drive the supporting structure 150 to move synchronously, so that the elbow 400 of the operator is prevented from being suspended, and the fatigue of the operator is reduced.

Referring to fig. 14-18, in one embodiment, the support structure 150 includes a moving assembly 151 and a support assembly 152, the moving assembly 151 is disposed in the table 110 and movably coupled to the support assembly 152, and the support assembly 152 is configured to support an elbow 400 of an operator. The moving assembly 151 is disposed in the operation platform 111, the moving assembly 151 can output moving motion, and the output end of the moving assembly 151 is mounted on the support assembly 152 and can drive the support assembly 152 to move relative to the operation platform 111. The support assembly 152 is used to support the operator's elbow 400.

In actual use, the operator's elbow 400 is placed on the support assembly 152 and the operator's hand is held by the slave puncture assembly 131. When the puncturing assembly 131 is operated to perform a puncturing operation, the hand-held slider 1312 can move up and down, so that the height of the hand of the operator is changed, and when the height of the hand is changed, the arm elbow 400 can be close to or far away from the puncturing assembly 131, and in the process, the arm elbow 400 drives the support assembly 152 to move synchronously, so that the support assembly 152 can always support the arm elbow 400 of the operator.

Furthermore, when the puncture assembly 131 is operated to perform a puncture or a posture adjustment (e.g., between layers, within layers, or simultaneously), the position of the elbow 400 may change relative to the position of the operation platform 111, and if the elbow 400 is in direct contact with the operation platform 111, friction may exist between the elbow 400 and the operation platform 111, causing discomfort to the operator's elbow 400. If the elbow 400 is suspended, the fatigue of the elbow 400 of the operator is increased, and the puncturing effect is affected. Thus, in the present application, the elbow 400 is supported by the engagement of the displacement assembly 151 with the support assembly 152. The elbow 400 is moved to move the support assembly 152 relative to the movable assembly 151 to adjust the position of the support assembly 152 so that the support assembly 152 can reliably support the elbow 400.

Referring to fig. 14 to 18, in an embodiment, the moving assembly 151 includes a guide rail 1511 and a moving block 1512, the guide rail 1511 is disposed on the operating table 110, the moving block 1512 is slidably disposed on the guide rail 1511, and the supporting assembly 152 is mounted on the moving block 1512. The guide rail 1511 is fixedly disposed on the operation platform 111, the movable block 1512 is slidably disposed on the guide rail 1511, and the support assembly 152 is mounted on the top of the movable block 1512. When the support assembly 152 supports the operator's elbow 400, the elbow 400 can move the support assembly 152 along the guide rail 1511 via the moving block 1512.

Optionally, the moving assembly 151 further comprises a mounting base 1513, the operation platform 111 has a mounting hole, the mounting base 1513 is fixed in the mounting hole, and the guide rail 1511 is disposed on the mounting base 1513.

In one embodiment, the linear movement direction of the guide 1511 is parallel to the in-layer rotation axis or the inter-layer rotation axis of the main operator 130. That is, the direction of movement of the support 150 with the elbow 400 is in the direction of the rotation axis within the layer or the rotation axis between the layers.

Referring to fig. 14-18, in one embodiment, the support assembly 152 is rotatably disposed on the moving block 1512. That is, the support assembly 152 is able to rotate relative to the moving slide 1512. Thus, when the operator adjusts the position of the puncture tip through the puncture assembly 131, the operator needs to control the puncture assembly 131 to rotate the position adjustment assembly 132, and at this time, the angle of the elbow 400 is also changed. The supporting effect can be ensured through the rotatable supporting component 152, and the requirements of different working conditions are met.

In one embodiment, the supporting assembly 152 includes a supporting bracket 1521 and a rotating member 1522, and the bottom of the supporting bracket 1521 is rotatably disposed on the moving block 1512 through the rotating member 1522. The rotating member 1522 is disposed at the bottom of the support bracket 1521, and after the support bracket 1521 carries the elbow 400, the force of the elbow 400 can make the support bracket 1521 drive the rotating member 1522 to rotate relative to the moving block 1512.

Optionally, the support bracket 1521 is bowl-shaped, however, the support bracket 1521 may be an arc plate or other member capable of supporting the elbow 400. Optionally, the support assembly 152 further includes an edge sealing plate 153, a through hole is disposed on the edge sealing plate 153, the movable slider 1512 has a spherical groove, the rotating member 1522 passes through the through hole and is mounted in the spherical groove, and the edge sealing plate 153 is fixed on the movable slider 1512, so as to ensure that the rotating member 1522 rotates smoothly. Alternatively, the rotating member 1522 is provided in a spherical shape, and may be a spherical hinge or a ball bearing, etc.

As shown in fig. 15, the supporting member 152 is shown in a schematic view when the main actuator 130 operates only around the interlayer rotating shaft 13211. The support assembly 152 includes two motions: the rotational movement about the rotating member 1522 is coupled with the linear movement along the guide rail 1511. The emphasis is that the linear motion direction along guide 1511 is parallel to in-layer rotation axis 13221 and the two axes are in the same vertical plane. When the puncture assembly 131 is in the zero position (i.e., the puncture assembly 131 is perpendicular to the operation platform 111), the default support assembly 152 is also perpendicular to the operation platform 111, but the forearm lengths of different operators are not consistent and the sitting postures are not consistent, so that in most cases the support assembly 152 may not be perpendicular to the operation platform 111, as determined by the comfort level of the operator when placing the arm elbow 400.

When the interlayer posture adjustment is needed, the operator holds the puncture assembly by hand and rotates around the interlayer rotation shaft 13211, as shown in the position 1 and the position 2 in fig. 16, at this time, the support assembly 152 adapts to the length of the forearm, and the linear motion along the guide rail 1511 and the rotation motion around the rotating member 1522 are generated at the same time, so that the discomfort of stretching and the discomfort of friction between the elbow 400 and the operation platform 111 do not exist in the forearm of the operator.

Figure 16 is a schematic diagram of the operation of the elbow 400 follower support assembly 152 when the main operator 130 is operating about only the in-layer rotational axis 13221. As can be seen from the figure, when the main operator 130 performs in-layer posture adjustment, the support member 152 may only rotate around the rotation member 1522, as shown in fig. 16, at the position 1 and the position 2, and the forearm may not have a significant stretching feeling, but considering that the linear movement portion is a non-constrained movement manner, a relatively small linear movement may be generated on the linear movement axis.

Fig. 15 and 16 are both the movement modes of the support assembly 152 during the unidirectional posture adjustment movement, and there may be a working condition in which the interlayer posture adjustment and the in-layer posture adjustment are performed simultaneously in the actual work, and the movement of the support assembly 152 at this time is the superposition of the movements generated during the unidirectional posture adjustment movement.

Referring to fig. 1, in an embodiment, the main console 100 for puncture surgery includes an imaging display 160, and the imaging display 160 is disposed on the operation platform 111 of the operation table 110 for displaying images of the human tissue and the puncture needle 300 by the imaging device for the operator to observe. Optionally, the operating table 110 further includes a wire trough 114 and a wire trough 113, the wire trough 114 is disposed in the support 112 of the operating table 110, the wire trough 113 is disposed through the operating platform 111, and the wire trough 114 is used for routing power lines and signal lines. Optionally, the operation table 110 further comprises an adjustable anchor 115, and the adjustable anchor 115 is disposed at the bottom of the bracket 112 for adjusting the levelness of the operation table 110.

The invention further provides a puncture robot, which comprises a robot host, a puncture tail end and the puncture operation master console 100 in any embodiment, wherein the puncture tail end is used for bearing the puncture needle 300 and is arranged on the robot host, and the puncture operation master console 100 is electrically connected with the puncture tail end and is used for controlling the puncture tail end to drive the puncture needle 300 to perform puncture operation. After the puncture operation master console 100 of the embodiment is adopted by the puncture robot of the invention, the main operator 130 can be positioned in the hidden structure 120 when not in use, and the operation table 110 cannot be exposed, so that an operator cannot touch the main operator 130, and the potential safety hazard in the use process is reduced. Meanwhile, the main operator 130 is carried by the operating table 110, the main operator 130 does not need to be held by hands, and elbows of operators can be placed on the surface of the operating table 110, so that the fatigue of the operators can be reduced, and the puncture effect is ensured.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. A paracentesis procedure console (100), comprising:

an operation table (110);

a concealing structure (120) arranged on the operating table (110); and

the main operator (130) is movably arranged on the hiding structure (120), under the puncturing working condition, the main operator (130) extends out of the hiding structure (120) and exposes the operating table (110), and under the non-puncturing working condition, the main operator (130) retracts into the operating table (110) and is hidden in the hiding structure (120).

2. The stab surgery console (100) of claim 1, wherein the concealing structure (120) comprises a connecting assembly (121) and a driving assembly (122), the connecting assembly (121) rotatably connects the main operator (130) to the operating table (110), and the driving assembly (122) drives the main operator (130) to rotate relative to the operating table (110) so that the main operator (130) is received in the operating table (110) or extends out of the operating table (110).

3. The lancing surgical console (100) according to claim 2, wherein the connecting assembly (121) includes a connecting base (1211) and a rotating base (1212), the rotating base (1212) is rotatably connected to one end of the connecting base (1211), the main operator (130) is fixedly mounted on the rotating base (1212), and the other end of the connecting base (1211) is fixedly mounted on the operating table (110).

4. The console (100) of claim 1, wherein the console (110) has an operation platform (111), the operation platform (111) is provided with a through hole, the hidden structure (120) is disposed below the operation platform (111), the main manipulator (130) at least partially protrudes above the operation platform (111) through the through hole or is integrally received in the hidden structure (120) below the operation platform (111), and the console (100) further comprises a closed housing (140), and the closed housing (140) covers the through hole.

5. A puncture surgical console (100) according to any one of claims 1 to 4, characterized in that the puncture surgical console (100) further comprises a support structure (150), the support structure (150) being provided at the table (110) for supporting an elbow (400) of an operator, the support structure (150) being movable along with the elbow (400) when the operator operates the main manipulator (130).

6. The stab surgical console (100) of claim 5, wherein said support structure (150) comprises a moving assembly (151) and a support assembly (152), said moving assembly (151) comprises a guide rail (1511) and a moving block (1512), said guide rail (1511) is disposed on said operating platform (111), said moving block (1512) is slidably disposed on said guide rail (1511), and said support assembly (152) is mounted on said moving block (1512).

7. The stab surgical console (100) of claim 6, wherein a direction of linear movement of said rail (1511) is parallel to an intra-layer rotational axis or an inter-layer rotational axis of said main operator (130).

8. The stab surgical console (100) of claim 6, wherein said support assembly (152) is rotatably disposed on said mobile sled (1512).

9. The puncture surgery console (100) according to claim 8, characterized in that the support assembly (152) comprises a support bracket (1521) and a rotating member (1522), and the bottom of the support bracket (1521) is rotatably disposed on the movable slider (1512) through the rotating member (1522).

10. A puncture robot, comprising a robot host, a puncture tip and a main console (100) for puncture surgery according to any one of claims 1 to 9, wherein the puncture tip carries a puncture needle (300) and is disposed on the robot host, and the main console (100) for puncture surgery is electrically connected to the puncture tip for controlling the puncture tip to drive the puncture needle (300) to perform puncture operation.