CN114343733A

CN114343733A - Surgical robot and puncture mechanism thereof

Info

Publication number: CN114343733A
Application number: CN202111604637.8A
Authority: CN
Inventors: 刘剑; 方啸; 孟杰勇
Original assignee: Wuhan United Imaging Zhirong Medical Technology Co Ltd
Current assignee: Wuhan United Imaging Zhirong Medical Technology Co Ltd
Priority date: 2018-08-23
Filing date: 2018-08-23
Publication date: 2022-04-15
Anticipated expiration: 2038-08-23
Also published as: CN110856660B; CN114343733B; CN110856660A

Abstract

The invention relates to a surgical robot and a puncture mechanism thereof. This puncture mechanism includes: a base; the puncture motion structure comprises a puncture driving component, a puncture transmission component and a moving platform, the puncture transmission component is movably arranged on the base and connected with the puncture driving component, and the moving platform is arranged on the puncture transmission component and moves along with the puncture transmission component; and the limiting structure comprises a limiting driving assembly, a limiting transmission assembly and a limiting part, the limiting transmission assembly can be movably arranged on the base and is connected with the limiting driving assembly, the limiting part is arranged on the limiting transmission assembly and moves along with the limiting transmission assembly, and the limiting part is used for limiting the movement of the mobile platform. The puncture needle assembly can accurately extend into the focus position of a patient, so that the puncture needle assembly is prevented from penetrating through the focus position or not reaching the focus position, the safety during intervention operation is improved, and the potential safety hazard is reduced.

Description

Surgical robot and puncture mechanism thereof

The application is a divisional application with the application date of 2018, 08 and 23, the application number of 201810969495.7, and the patent name of surgical robot and puncture mechanism thereof.

Technical Field

The invention relates to medical puncture equipment, in particular to a surgical robot and a puncture mechanism thereof.

Background

The puncture biopsy is very common in interventional operation, and the length of the puncture needle entering the human body is changed every time because the body shape and the lesion position of each person are almost different. Usually, the puncture needle has a circle of marks on the outer wall of the needle cylinder every 10mm, and the marks are used for helping a doctor to calculate the length of the puncture needle penetrating into a human body so as to judge whether a target position is reached. Because the marks on the outer ring of the puncture needle are 10mm at intervals, a doctor can only read out the approximate length when observing by naked eyes, for example, the puncture depth of the puncture needle is 30-40 mm. If more accurate values are needed, the position of the needle point is often detected by the ultrasonic equipment for a plurality of times, and even then, the puncture error is difficult to control by doctors within 3 mm. Therefore, when the puncture needle is used, medical staff cannot accurately judge the length of the puncture needle extending into the focus position of a patient, the safety of the puncture biopsy interventional operation is affected, and potential safety hazards exist.

Disclosure of Invention

Based on this, it is necessary to provide a puncture mechanism which can conveniently judge the puncture depth of a puncture needle assembly and ensure the safety aiming at the safety problem caused by the fact that the current medical care personnel can not accurately judge the length of the puncture needle extending into the focus position of a patient, and simultaneously, the surgical robot comprising the puncture mechanism is also provided.

The above purpose is realized by the following technical scheme:

a lancing mechanism, comprising:

a base;

the puncture motion structure comprises a puncture driving component, a puncture transmission component and a moving platform, the puncture transmission component is movably arranged on the base and connected with the puncture driving component, and the moving platform is arranged on the puncture transmission component and moves along with the puncture transmission component; and

the limiting structure comprises a limiting driving assembly, a limiting transmission assembly and a limiting part, wherein the limiting transmission assembly can be movably arranged on the base and is connected with the limiting driving assembly, the limiting part is arranged on the limiting transmission assembly and moves along with the limiting transmission assembly, and the limiting part is used for limiting the movement of the mobile platform.

In one embodiment, the limit transmission assembly and the puncture transmission assembly are arranged in parallel and at intervals.

In one embodiment, the limiting member is a limiting baffle, and the limiting baffle can abut against the moving platform when moving along with the limiting transmission assembly, so as to limit the movement of the moving platform towards the direction of the limiting baffle.

In one embodiment, the puncture driving component and the limit driving component comprise a motor, a reduction gearbox and an encoder, the motor is arranged on the base and connected with the reduction gearbox, the output end of the reduction gearbox is connected with the puncture transmission component or the limit transmission component, and the encoder is electrically connected with the motor and used for receiving a signal for controlling the rotation of the motor; the motor is a servo motor;

the puncture transmission assembly and/or the limit transmission assembly are/is a screw nut assembly.

In one embodiment, the puncture mechanism further comprises a guide structure, the guide structure is arranged on the base and connected with the moving platform, and the guide structure is used for guiding the moving platform to do linear motion.

In one embodiment, the guide structure includes a guide slide rail and a first guide slider, the guide slide rail is disposed on the base, the first guide slider is disposed on the mobile platform, and the guide slide rail is slidably connected to the first guide slider.

In one embodiment, the moving platform comprises a platform base body, a first mounting part and a second mounting part, wherein the first mounting part and the second mounting part are arranged on the platform base body, the first mounting part is used for mounting the puncture needle assembly, and the second mounting part is used for connecting the puncture transmission assembly;

the mobile platform still includes the third installation department, the third installation department set up in the platform base member, the third installation department be used for with guide structure connects.

In one embodiment, the base comprises a mounting base and two supporting seats, the two supporting seats are oppositely arranged on the mounting base, and two ends of the puncture transmission assembly and the limit transmission assembly are respectively and rotatably arranged on the two supporting seats.

In one embodiment, the puncture mechanism further comprises a puncture zero-position switch and a limit zero-position switch, the puncture zero-position switch and the limit zero-position switch are both arranged on the base, and the puncture zero-position switch is arranged corresponding to the puncture motion structure and used for correcting the initial position of the mobile platform; the limit zero position switch is arranged corresponding to the limit structure and used for correcting the initial position of the limit part.

A surgical robot comprises a control device, an imaging device, a mechanical arm assembly and a puncture mechanism with any one of the technical characteristics;

the puncture mechanism is arranged at the tail end of the mechanical arm assembly, the control device is respectively in transmission connection with the imaging device, the mechanical arm assembly and the puncture mechanism, the imaging device is used for obtaining a target position point of a focus position of a patient and feeding back the target position point to the control device, and the control device controls the puncture mechanism to drive the puncture needle assembly to perform puncture operation according to the target position point.

After the technical scheme is adopted, the invention has the beneficial effects that:

according to the surgical robot and the puncture mechanism thereof, when the puncture motion assembly drives the moving platform to move, the moving platform drives the puncture needle assembly to move and slide out of the base, so that the puncture needle assembly can extend into a focus position in a patient body, and intervention operation is realized; meanwhile, the limiting transmission assembly can drive the limiting piece to move, so that the limiting piece slides to a preset position to play a role of safety protection, and thus, the puncture motion structure drives the puncture needle assembly to abut against the limiting piece after sliding to the preset position along the base, so as to ensure the length of the puncture needle assembly extending into the focus position of a patient; the safety problem caused by the fact that medical staff cannot accurately judge the length of the puncture needle extending into the focus position of a patient at present is effectively solved; the puncture needle assembly can accurately extend into the focus position of a patient, the puncture needle assembly is prevented from penetrating through the focus position or not reaching the focus position, the safety of the puncture mechanism during interventional operation is improved, and potential safety hazards are reduced.

Drawings

FIG. 1 is a schematic view of a lancing mechanism having a lancet assembly mounted thereon according to one embodiment of the present invention;

FIG. 2 is a schematic view of the base of the lancing mechanism of FIG. 1;

FIG. 3 is a schematic view of the moving platform of the lancing movement structure in the lancing mechanism of FIG. 1;

FIG. 4 is a schematic view of a lancing mechanism according to another embodiment of the present invention;

FIG. 5 is an exploded view of the lancing mechanism of FIG. 4 with a lancet assembly mounted thereon.

Wherein: 100. a puncture mechanism; 110. a base; 111. mounting a base; 112. a supporting seat; 120. a puncture motion structure; 121. a puncture drive assembly; 122. a puncture transmission assembly; 123. a mobile platform; 1231. a platform substrate; 1232. a first mounting portion; 1233. a second mounting portion; 1234. a third mounting portion; 124. a motion platform; 125. an adapter; 130. a limiting structure; 131. a limiting driving component; 132. a limiting transmission component; 133. a limiting member; 150. a firing motion structure; 151. a firing drive assembly; 152. a firing transmission assembly; 153. a push rod; 154. a mounting seat; 155. a percussion housing; 160. a guide structure; 161. a guide slide rail; 162. a first guide slider; 163. a second guide slider; 164. a guide housing; 170. a puncture zero position switch; 180. a limit zero position switch; 190. a connecting flange; 200. an introducer needle assembly; 202. a handle.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the surgical robot and the puncturing mechanism thereof according to the present invention will be further described in detail by embodiments with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

The numbering of the components as such, e.g., "first", "second", etc., is used herein only to distinguish the objects as described, and does not have any sequential or technical meaning. The term "connected" and "coupled" when used in this application, unless otherwise indicated, includes both direct and indirect connections (couplings). In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.

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.

Referring to fig. 1 and 4, the present invention provides a lancing mechanism 100, the lancing mechanism 100 can carry a lancet assembly 200 for driving the lancet assembly 200 to perform an interventional procedure. The puncture mechanism 100 drives the puncture needle assembly 200 to perform interventional operation, so that the puncture needle assembly 200 can accurately extend into the focus position of a patient, the puncture needle assembly 200 is prevented from penetrating through the focus position or not reaching the focus position, the safety of the puncture mechanism 100 during interventional operation is improved, and potential safety hazards are reduced; the automatic triggering of the puncture needle assembly 200 can be realized, the position of the puncture mechanism 100 can not move, the puncture inner needle can accurately stretch into the focus position in the body of a patient, and the safety of intervention operation is ensured. It is understood that the interventional procedure includes, but is not limited to, interventional procedures, such as various interventional procedures including, but not limited to, tissue biopsy, tumor ablation, particle implantation, fluid collection, nerve block, superficial surgery, and the like. Moreover, the needle assembly 200 may be any type of needle commercially available such as a biopsy needle, an ablation needle, etc., so long as an interventional procedure is enabled.

Referring to fig. 1 to 3, in an embodiment of the present invention, the puncturing mechanism 100 includes a base 110, a puncturing motion structure 120 and a limiting structure 130. The puncturing motion structure 120 is slidably disposed on the base 110; the position limiting structure 130 is also slidably disposed on the base 110. The base 110 is used for bearing the puncture motion structure 120 and the position-limiting structure 130 thereon, and the puncture motion structure 120 can move linearly relative to the base 110, and the position-limiting structure 130 can also move linearly relative to the base 110. The lancet assembly 200 is disposed on the lancing movement structure 120, and the lancing movement structure 120 drives the lancet assembly 200 to slide out or in relative to the base 110. It is understood that the needle assembly 200 is detachably mounted to the puncture moving structure 120, and after performing an interventional procedure, the needle assembly 200 is detached from the puncture moving structure 120, a new needle assembly 200 is mounted again, and the interventional procedure is performed again, so that cross-infection and contamination of the sample can be prevented.

Moreover, when the puncture moving structure 120 moves linearly along the base 110, the puncture needle assembly 200 thereon can be driven to move to realize the interventional operation. The puncture motion structure 120 drives the puncture needle assembly 200 to slide out relative to the base 110 means that the puncture motion structure 120 drives the puncture needle assembly 200 to extend out of the base 110 and gradually penetrate into the body of a patient; the puncture motion structure 120 drives the puncture needle assembly 200 to slide in relative to the base 110 means that after the puncture needle assembly 200 performs the intervention operation, the puncture motion structure 120 drives the puncture needle assembly 200 to reset, so that the puncture needle assembly 200 gradually separates from the patient. The puncturing mechanism 100 of the present invention can be used in cooperation with a robot arm assembly, the puncturing mechanism 100 is mounted at the end of the robot arm assembly, and the robot arm assembly can drive the puncturing mechanism 100 to move to a designated position.

It is understood that the designated position is a position planned by the control device according to the imaging information of the lesion position of the patient by the imaging device, the designated position is located above the surface of the patient, and the distance from the designated position to the surface of the patient is a safe distance from the puncture needle assembly 200 to the patient, so that the puncture needle assembly 200 is prevented from being dropped suddenly to hurt the patient. After the mechanical arm component drives the puncture mechanism 100 to move to the designated position, the mechanical arm component stops moving, then, the puncture motion structure 120 drives the puncture needle component 200 to move, so that the puncture needle component 200 gradually approaches to the body surface target of the patient, and the puncture motion structure 120 continuously drives the puncture needle component 200 to move, so that the puncture needle component 200 can penetrate into the body of the patient through the body surface target of the patient and gradually extend into the focus position in the body of the patient, and intervention operation is completed. In the present embodiment, the puncture needle assembly 200 is a biopsy needle, which can perform operations such as biopsy sampling and cell aspiration on a lesion site in a patient body, and can inject a therapeutic agent or the like to the lesion site.

It should be noted that, when the puncture motion structure 120 is moving normally, the motion stroke of the puncture needle assembly 200 can be controlled, that is, the puncture motion structure 120 can make the puncture needle assembly 200 accurately penetrate into the lesion position in the patient, but when the puncture motion structure 120 is moving abnormally, the puncture motion structure 120 will always drive the puncture needle assembly 200 to move relative to the base 110, and there is a possibility that the puncture needle assembly 200 will continue to penetrate through the lesion position, so the puncture needle assembly 200 will deviate from the lesion position, and there is a safety hazard, and meanwhile, the intervention operation on the lesion position cannot be performed. Therefore, the puncturing mechanism 100 of the present invention limits the movement stroke of the puncturing movement structure 120 by the limiting structure 130. The limiting structure 130 can abut against the puncturing motion structure 120 and is used for limiting the motion stroke of the puncturing motion structure 120.

When the puncturing mechanism 100 performs an interventional operation, the limiting structure 130 slides to a preset position along the base 110, and then the puncturing motion structure 120 drives the puncturing needle assembly 200 to move so as to puncture a lesion position in a patient body, thereby realizing the interventional operation. When the puncture motion structure 120 normally operates, the puncture motion structure 120 stops moving after moving to a preset position, and the puncture motion structure 120 does not contact with the limiting structure 130, so that the puncture needle assembly 200 can accurately puncture a lesion site in the body of a patient; when the puncture motion structure 120 is abnormally operated, the puncture motion structure 120 does not stop moving after moving to the preset position, then the puncture motion structure 120 is abutted to the limiting structure 130, the limiting structure 130 can play a role in blocking, the motion stroke of the puncture motion structure 120 is blocked, so that the puncture motion structure 120 cannot continue moving towards the direction of the limiting structure 130, namely, the puncture needle assembly 200 cannot continue to penetrate into the body of a patient, at the moment, due to the blocking effect of the limiting structure 130, the accurate puncture needle assembly 200 can be ensured to penetrate into the focus position in the body of the patient, the puncture needle assembly 200 is convenient to perform operations such as tissue biopsy, and the safety of intervention operation is ensured.

The preset position is generated by the control device according to the information calculation plan of the imaging device after scanning and imaging the lesion position in the patient body. Specifically, after the control device obtains a target position point of the lesion position according to the imaging device, the control device calculates a preset position of the limiting structure 130 on the base 110 according to the target position point, and the preset position can ensure that the puncture needle assembly 200 can accurately penetrate into the lesion position in the patient. The limiting structure 130 of the present invention can provide a safety protection for the puncture mechanism 100, effectively solve the problem that the puncture needle assembly 200 pierces deeper human tissue due to the failure of the puncture motion structure 120 during the motion process, and ensure the safety of the puncture mechanism 100 during the intervention operation. Moreover, the reason why the limiting structure 130 is slidably disposed is that the fat and thin degree of each patient is different, the lesion position is also different, and further the needle of the puncture needle assembly 200 is different in the needle insertion, and the control device calculates the preset position of the limiting structure 130 according to the target position point obtained by the imaging device, thereby ensuring the safety of the interventional operation.

The puncture mechanism 100 of the invention limits the movement of the puncture movement structure 120 through the limiting structure 130, and plays a role of safety protection, so that even if the puncture movement structure 120 breaks down in the movement process, the puncture needle assembly 200 cannot be caused to penetrate into deeper human tissues due to the blocking and limiting effect of the limiting structure 130; this ensures that the lancet assembly 200 extends the length of the lesion in the patient's body; the safety problem caused by the fact that medical staff cannot accurately judge the length of the puncture needle extending into the focus position of a patient at present is effectively solved; the puncture needle assembly 200 can accurately extend into the focus position of a patient, the puncture needle assembly 200 is prevented from penetrating through the focus position or not reaching the focus position, the safety of the puncture mechanism 100 during interventional operation is improved, and potential safety hazards are reduced.

As an implementation manner, the puncture motion structure 120 includes a puncture driving assembly 121, a puncture transmission assembly 122 and a moving platform 123, the puncture transmission assembly 122 is in transmission connection with the puncture driving assembly 121 and the moving platform 123, the puncture driving assembly 121 can drive the puncture transmission assembly 122 to drive the moving platform 123 to slide along the base 110, and the moving platform 123 is used for installing the puncture needle assembly 200 and driving the puncture needle assembly 200 to slide relative to the base 110. The platform 123 is load bearing and the needle assembly 200 is removably mounted to the platform 123. It will be appreciated that the movable platform 123 may be a separate plate-like structure capable of mounting the lancet assembly 200; of course, the translation platform 123 may also be a structure for firing the lancet assembly 200, as described in more detail below. The puncture driving assembly 121 is a power source of the puncture motion structure 120, and the puncture driving assembly 121 drives the puncture transmission assembly 122 to drive the puncture needle assembly 200 thereon to move through the moving platform 123, so as to drive the puncture needle assembly 200 to perform an interventional operation; moreover, after intervention operation is completed, the puncture driving assembly 121 can also drive the puncture transmission assembly 122 to drive the puncture needle assembly 200 to exit from the patient body through the moving platform 123, so that the puncture needle assembly 200 can exit from the patient body according to the angle of penetrating into the patient body, secondary damage to the patient is avoided, and the safety of intervention operation is improved. The puncture transmission assembly 122 plays a role of motion transmission, so that the motion is transmitted to the moving platform 123 to drive the moving platform 123 and the puncture needle assembly 200 thereon to move, thereby realizing the interventional operation of the puncture needle assembly 200.

Optionally, the puncture driving assembly 121 includes a motor, a reduction gearbox and an encoder, an output end of the motor is connected to the reduction gearbox, the reduction gearbox is connected to the puncture transmission assembly 122, and the encoder is electrically connected to the motor and configured to receive a signal for controlling the rotation of the motor. The motor is used as a power source, the puncture transmission assembly 122 drives the moving platform 123 and the puncture needle assembly 200 thereon to move, so that the puncture depth of the puncture needle assembly 200 can be ensured, the length of the puncture needle assembly 200 extending into the body of a patient is further ensured, and the puncture needle assembly 200 can accurately extend into the focus position of the patient; meanwhile, the control precision can be improved by adopting the motor control, the running precision of the puncture transmission assembly 122 is ensured, the puncture precision of the puncture needle assembly 200 is further improved, and the reliability of the intervention operation is improved. Of course, in other embodiments of the present invention, the puncture driving assembly 121 may also include only a motor, which is connected to the puncture driving assembly 122 to drive the puncture driving assembly 122 to move. Illustratively, the motor is a servo motor, which can ensure the puncture precision of the puncture needle assembly 200, so that the precision of the puncture depth is improved to be within 0.1 mm. Of course, in other embodiments of the present invention, the motor may also be an ultrasonic motor or a stepping motor, etc.

Optionally, the penetration transmission assembly 122 is a lead screw nut assembly. Specifically, puncture drive assembly 122 includes puncture lead screw and puncture nut, puncture nut cover locates on the puncture lead screw, the one end moving platform 123 of puncture nut connects, puncture lead screw and puncture drive assembly 121 are motor connections promptly, puncture drive assembly 121 drives the puncture lead screw and rotates, and then puncture lead screw drive puncture nut motion for the puncture nut is linear motion along the puncture lead screw, and then the puncture nut drives moving platform 123 and is linear motion, and it is internal to pierce the patient with drive puncture needle subassembly 200. Of course, in other embodiments of the present invention, the puncture driving assembly 122 may further include a cylinder, an electromagnet, or a telescopic rod, which can realize linear motion. Moreover, the puncture transmission assembly 122 further includes a puncture coupling, and the puncture screw rod and the puncture driving assembly 121 are connected by the puncture coupling.

Optionally, the base 110 includes a mounting base 111, and the mounting base 111 is used for carrying the puncturing motion structure 120 and the limiting structure 130. The mounting base 111 may be a flat plate-like structure or other structure that enables mounting. Further, the base 110 further includes two supporting seats 112, the two supporting seats 112 are disposed oppositely, the supporting seats 112 are used for supporting the transmission assembly, that is, for supporting the piercing screw rod, two ends of the piercing screw rod are respectively rotatably mounted on the supporting seats 112, and one end of the piercing screw rod extends out of the mounting seat 154 and is connected with the piercing driving assembly 121. Still further, the base 110 further comprises a first supporting bearing, and the first supporting bearing is disposed between the piercing screw and the supporting seat 112, and is used for connecting the piercing screw and the supporting seat 112, so as to avoid interference between the rotation motion of the piercing screw and the supporting seat 112.

As an implementation manner, the limiting structure 130 includes a limiting driving component 131, a limiting transmission component 132 and a limiting component 133, the limiting transmission component 132 is connected to the limiting driving component 131 and the limiting component 133 in a transmission manner, and the limiting driving component 131 can drive the limiting transmission component 132 to drive the limiting component 133 to move to a preset position. Spacing drive assembly 131 is the power supply of limit structure 130, spacing drive assembly 132 can play the effect of motion transmission, spacing drive assembly 131 drives spacing drive assembly 132 and drives locating part 133 motion, so that locating part 133 can move to the preset position, locating part 133 can play the effect of blockking, be used for blockking puncture motion structure 120, continue to pierce to the patient in vivo when avoiding puncture motion structure 120 to take place the motion fault, improve the security of intervene operation.

It is understood that the stopper 133 refers to a structure capable of achieving the stopper. In this embodiment, the limiting member 133 is a limiting baffle, and the limiting baffle can abut against the moving platform 123 to limit the moving platform 123 from sliding toward the direction in which the limiting baffle is located. Specifically, limit baffle extends towards the direction at puncture motion structure 120 place to can stretch into on moving platform 123's the motion trail, like this, when puncture drive assembly 121 drove moving platform 123 and breaks down the overtravel motion, because limit baffle's the effect of blockking, moving platform 123 can't cross limit baffle and continue the motion, makes moving platform 123 stop in limit baffle department, realizes safety protection's effect. Of course, in other embodiments of the present invention, the limiting member 133 may also be a limiting member or other structures capable of achieving limiting.

Optionally, the limiting driving components 131 each include a motor, a reduction gearbox and an encoder, an output end of the motor is connected to the reduction gearbox, the reduction gearbox is connected to the limiting transmission component 132, and the encoder is electrically connected to the motor and configured to receive a signal for controlling the rotation of the motor. The motor is used as a power source, the limiting part 133 is driven to move through the limiting transmission component 132, the position adjusting precision of the limiting part 133 can be guaranteed, and then the length of the puncture needle assembly 200 extending into the body of a patient is guaranteed, so that the puncture needle assembly 200 can accurately extend into the focus position of the patient, and the reliability of intervention operation is improved. Of course, in other embodiments of the present invention, the limit driving assembly 131 may also include only a motor, and the motor is connected to the limit transmission assembly 132 to drive the limit transmission assembly 132 to move. Illustratively, the motor is a servo motor, which ensures the adjustment of the position limiter 133, so that the precision of the penetration depth is increased to within 0.1 mm. Of course, in other embodiments of the present invention, the motor may also be an ultrasonic motor or a stepping motor, etc.

Optionally, the limit drive assembly 132 is a lead screw nut assembly. Specifically, the limiting transmission assembly 132 comprises a limiting screw rod and a limiting nut, the limiting nut is sleeved on the limiting screw rod, a limiting part 133 at one end of the limiting nut is connected, the limiting screw rod is connected with the limiting driving assembly 131, namely a motor, the limiting driving assembly 131 drives the limiting screw rod to rotate, the limiting screw rod drives the limiting nut to move, the limiting nut is made to do linear motion along the limiting screw rod, the limiting nut further drives the limiting part 133 to do linear motion, the limiting part 133 is driven to move to a preset position, and blocking of the moving platform 123 is achieved. Of course, in other embodiments of the present invention, the limit transmission assembly 132 may further include a cylinder, an electromagnet, or a telescopic rod, which can realize linear motion. It will be appreciated that the two ends of the spacing screw are rotatably mounted on the support base 112, respectively. Further, the base 110 further includes a second support bearing, and the second support bearing is disposed between the spacing lead screw and the support base 112, and is used for connecting the spacing lead screw and the support base 112, so as to avoid interference between the rotation motion of the spacing lead screw and the support base 112. Moreover, the limit transmission assembly 132 further comprises a limit coupler, and the limit lead screw and the limit driving assembly 131 are connected through the limit coupler.

In one embodiment, the movable platform 123 includes a platform base 1231, and a first mounting portion 1232 and a second mounting portion 1233 disposed on the platform base 1231, the first mounting portion 1232 is used for mounting the lancet assembly 200, and the second mounting portion 1233 is used for connecting with the lancet actuator assembly 122, for example, with a lancet nut. It will be appreciated that the second mounting portion 1233 itself may also function as a pierce nut. The platform base 1231 serves as a bearing connection for bearing the puncture needle and also for connecting with the puncture nut of the puncture drive assembly 122. For example, the platform base 1231 may have a flat plate shape, and the first mounting portion 1232 and the second mounting portion 1233 are respectively located at two sides of the platform base 1231, that is, the first mounting portion 1232 is located above the platform base 1231, and the second mounting portion 1233 is located below the platform base 1231. The lancet assembly 200 is detachably mounted on the first mounting portion 1232, and the first mounting portion 1232 may have a flat plate-like structure, so that the lancet assembly 200 can be mounted conveniently; the second mounting portion 1233 may be connected to the piercing nut by a sleeving method, or may be connected to the piercing nut by a fastening method using a screw. Furthermore, the first mounting portion 1232 is further provided with a positioning column for positioning the puncture needle assembly 200, such as a biopsy needle, so as to prevent the puncture needle assembly 200 from moving during an intervention operation, and improve the safety of the intervention operation.

Optionally, the lancing mechanism 100 further includes a guide structure 160, the guide structure 160 is disposed on the base 110, the movable platform 123 further includes a third mounting portion 1234, and the guide structure 160 is connected to the third mounting portion 1234 for guiding the movable platform 123 to move linearly. The guiding structure 160 is used for guiding the movement of the moving platform 123, so that the moving platform 123 moves linearly along the guiding structure 160, thereby preventing the moving platform 123 from deflecting when the puncture transmission assembly 122 drives the moving platform 123 to move, ensuring the accurate penetration angle of the puncture needle assembly 200 into the body of the patient, and further ensuring that the puncture needle assembly 200 can reliably penetrate into the focus position of the patient. Illustratively, the guide structure 160 includes a guide rail 161 and a first guide slider 162, the guide rail 161 extends along the movement direction of the lancet assembly 200, the first guide slider 162 is slidably disposed on the guide rail 161, and the first guide slider 162 is connected to the third mounting portion 1234 of the moving platform 123, so that when the lancet transmission assembly 122 drives the moving platform 123 to move, the moving platform 123 can make a linear motion along the guide rail 161 via the first guide slider 162, so that the lancet assembly 200 can penetrate into the patient body at an accurate needle insertion angle, and the safety of the interventional operation is ensured. It will be appreciated that the second mount 1233 is on the same side of the platform base 1231 as the third mount 1234. Of course, the third mounting portion 1234 may be integrally formed with the second mounting portion 1233. Of course, in other embodiments of the present invention, the guide may be provided by way of the guide housing 164, which will be described in detail later; and the guide shaft can also be matched with the guide hole for guiding in a guide mode and the like.

Further, the guiding structure 160 is further connected to the limiting member 133 for guiding the limiting member 133 to perform a linear motion. Therefore, the situation that the limiting part 133 deflects when moving and further influences the limiting effect on the moving platform 123 can be avoided. Specifically, the guiding structure 160 further includes a second guiding slider 163, and the second guiding slider 163 is also slidably disposed on the guiding slide rail 161, the second guiding slider 163 and the first guiding slider 162 are disposed side by side along the guiding slide rail 161, and a preset distance exists between the second guiding slider 163 and the first guiding slider 162, so as to avoid the second guiding slider 163 colliding with the first guiding slider 162 to affect the use of the puncturing mechanism 100. The second guide slider 163 is connected to the stopper 133.

Optionally, the puncturing mechanism 100 further includes a puncturing zero-position switch 170 and a limiting zero-position switch 180, both the puncturing zero-position switch 170 and the limiting zero-position switch 180 are disposed on the base 110, and the puncturing zero-position switch 170 is disposed corresponding to the puncturing motion structure 120, and is configured to correct an initial position of the moving platform 123; the limit zero switch 180 is disposed corresponding to the limit structure 130, and is used for calibrating the initial position of the limit member 133. It can be understood that an error exists after the puncture transmission assembly 122 drives the moving platform 123 to move, in order to avoid the influence of the error on subsequent intervention operation, the puncture zero position switch 170 is arranged on the base 110, the puncture zero position switch 170 represents the initial position of the moving platform 123, and the moving platform 123 is corrected after each use is completed, so that the penetrating precision of the puncture needle assembly 200 is ensured; in order to avoid the error from affecting the subsequent blocking of the moving platform 123, a limit zero position switch 180 is disposed on the base 110, the limit zero position switch 180 represents an initial position of the limiting member 133, and the limiting member 133 is corrected after each use, so that the limiting member 133 can block the moving platform 123 at an accurate preset position, and the error is prevented from affecting the penetration depth of the puncture needle assembly 200.

Referring to fig. 4-5, in an embodiment of the present invention, the puncturing mechanism 100 includes a puncturing motion structure 120 and a firing motion structure 150. The lancet movement structure 120 is linearly movable for driving the lancet assembly 200 to perform an interventional procedure. The structure and working manner of the puncturing motion structure 120 in this embodiment are substantially the same as those of the puncturing motion structure 120 in the above embodiments, and are not repeated herein. The firing motion feature 150 is a variation of the moving platform 123. Specifically, the trigger motion structure 150 is disposed on the puncture motion structure 120; the firing motion structure 150 is used for carrying the puncture needle assembly 200, such as the firing motion structure 150 for firing the biopsy needle, so that the biopsy needle can perform operations of biopsy sampling, cell suction and the like on a focus position in the body of a patient, and can inject a therapeutic agent and the like to the focus position. The puncture motion structure 120 can drive the percussion motion structure 150 to do linear motion, so that the puncture needle assembly 200 extends into the body of a patient; the firing mechanism 150 is capable of automatically firing the lancet assembly 200 to move linearly so that the lancet assembly 200 extends into a lesion in a patient.

It is understood that the lancet assembly 200 includes an outer lancet and an inner lancet. The firing motion feature 150 is used to effect firing of the needle assembly 200. The firing of the puncture needle assembly 200 refers to the operation of extending the puncture inner needle relative to the puncture outer needle. The lancet assembly 200 also has an actuation member. The firing motion feature 150 is operatively connected to an actuation member of the lancet assembly 200. It is understood that operably connected means that the firing mechanism 150 can be abutted, snap-fit connected, linked, etc., as long as it is capable of moving the actuating member (e.g., pushing, pulling, rotating, or other movement) to effect firing of the inner piercing needle. In this embodiment, operably connected means that the triggering motion structure 150 abuts against the actuating member, and the triggering motion structure 150 can push the actuating member to move, so that the actuating member triggers the inner puncturing needle to extend out of the outer puncturing needle.

In use, the lancet assembly 200 is secured to the firing motion structure 150 and an actuation member of the lancet assembly 200 is operably associated with the firing motion structure 150. When the lancet assembly 200 performs an interventional operation, the puncturing motion structure 120 drives the triggering motion structure 150 to move, and further drives the lancet assembly 200 on the triggering motion structure 150 to move, so that the lancet assembly 200 gradually approaches to a patient. The lancet assembly 200 penetrates the patient's body from a target point on the patient's body surface. At this point, the needle assembly 200 has not yet reached the focal site, but rather has reached the vicinity of the focal site. Then, the actuating member is driven by the actuating mechanism 150 to move, so as to automatically actuate the inner puncturing needle, and the inner puncturing needle extends relative to the outer puncturing needle, thereby implementing the actuation of the puncturing needle assembly 200. At this time, the puncture inner needle can be accurately inserted into the focal site, and the puncture inner needle can perform operations such as tissue cutting, biopsy sampling, cell aspiration, etc. on the focal site, and can also inject a therapeutic agent, etc. to the focal site.

After the mechanical arm assembly of the surgical robot moves to a designated position, the puncture motion structure 120 drives the triggering motion structure 150 and the puncture needle assembly 200 thereon to move, so that the puncture needle assembly 200 can be punctured into the body of a patient from a target point on the body surface of the patient, then the triggering motion structure 150 triggers the puncture motion assembly so that the puncture inner needle of the puncture needle assembly 200 moves, and the puncture inner needle can be stretched into the focus position of the patient, thereby realizing interventional operation; the problem that the position of the puncture mechanism 100 is shifted due to the fact that the puncture needle assembly 200 needs to be manually fired at present is effectively solved; the automatic triggering of the puncture needle assembly 200 is realized, the position of the puncture mechanism 100 is ensured not to move, the puncture inner needle can be ensured to accurately stretch into the focus position in the body of a patient, and the safety of intervention operation is ensured. The designated position is also a position planned and generated by the control device based on the imaging information of the lesion position of the patient by the imaging device, as defined in the above-described embodiment.

It will be appreciated that firing of the actuating member is to be avoided by inadvertent actuation. The actuator may include a handle 202 and a firing safety. The handle 202 is operatively connected to the firing motion structure 150. The percussion safety is linked with the puncture inner needle. Also, there is some spacing between the handle 202 and the firing safety. The handle 202 is driven by the trigger motion mechanism 150 to move, the handle 202 moves to the position of the trigger safety or contacts with the trigger safety, the trigger safety can be triggered by the handle 202, and at the moment, the trigger safety can realize the triggering of the puncture inner needle. If the handle 202 stops after sudden movement, the handle 202 is still at a distance from the firing safety, at which point the handle 202 cannot fire the inner piercing needle. The handle 202 is prevented from being touched by mistake due to misoperation, structural problems or other reasons, and the operation safety is ensured.

As an embodiment, the puncturing motion structure 120 includes a base 110, and a puncturing transmission assembly 122 and a puncturing driving assembly 121 disposed on the base 110, wherein the puncturing transmission assembly 122 is drivingly connected to the puncturing driving assembly 121 and the firing motion structure 150, and the puncturing driving assembly 121 can drive the firing motion structure 150 to move through the puncturing transmission assembly 122. The specific structure and operation of the puncture driving assembly 122 and the puncture driving assembly 121 of the base 110 and the puncture moving structure 120 are mentioned above, and are not described in detail herein.

As an implementation manner, the firing mechanism 150 includes a mounting seat 154, and a firing transmission assembly 152 and a firing driving assembly 151 disposed on the mounting seat 154, wherein the firing transmission assembly 152 is drivingly connected to the firing driving assembly 151 and the lancet assembly 200, and the firing driving assembly 151 can drive the lancet assembly 200 to move through the firing transmission assembly 152. The mounting block 154 functions as a carrier for carrying the firing transmission assembly 152, the firing drive assembly 151, and the lancet assembly 200. The firing driving assembly 151 is a power source of the firing motion structure 150, the firing driving assembly 151 drives the firing transmission assembly 152 to rotate, and then the firing transmission assembly 152 can drive the firing safety motion of the puncture needle assembly 200 to complete the firing of the puncture needle assembly 200, so that the puncture inner needle can accurately extend into the focus position of the patient. Moreover, after the interventional operation performed by the inner puncture needle is completed, the triggering motion structure 150 is driven by the puncture motion structure 120 to move, so that the puncture needle assembly 200 exits from the body of the patient along the needle entering angle, and the safety of the interventional operation is improved. The penetration transmission assembly 122 enables transmission of motion.

Further, the trigger motion structure 150 further comprises a trigger housing 155, the trigger housing 155 covers the mounting seat 154, and covers the trigger transmission assembly 152 and the trigger driving assembly 151, so that the intervention precision of the lancet assembly 200 can be prevented from being affected by the touch of medical personnel, and meanwhile, the transmission precision can be prevented from being affected by the entrance of impurities such as dust and the like. The lancet assembly 200 is mounted to the firing housing 155 to facilitate mounting and securing of the lancet assembly 200. In addition, the firing housing 155 is further provided with a positioning column for positioning the puncture needle assembly 200, such as a biopsy needle, so as to prevent the puncture needle assembly 200 from moving during the interventional operation, thereby improving the safety of the interventional operation.

Still further, the firing motion structure 150 also includes a push rod 153, the push rod 153 being coupled to the firing transmission assembly 152, the push rod 153 being operably coupled to an actuation member of the lancet assembly 200. Firing transmission assembly 152 moves the actuator via push rod 153. Here, the push rod is operably connected to the handle 202 of the actuator, which means that the push rod 153 abuts an end surface of the handle 202, and the firing transmission assembly 152 translates the push rod 153, which in turn translates the handle 202 against which the push rod 153 abuts (e.g., downward in the direction of FIG. 5). The push rod 153 continues to translate the handle 202 and further movement at a predetermined position may cause the handle 202 to trip the firing safety.

When the lancet assembly 200 is installed, the lancet assembly 200 is mounted to the firing housing 155 and the handle 202 is operably associated with the push rod 153 such that the push rod 153 actuates the firing safety via the handle 202. When the puncture needle assembly 200 is fired, the firing driving assembly 151 drives the firing transmission assembly 152 to move, and then the firing transmission assembly 152 drives the push rod 153 to move, and as the puncture needle assembly 200 is fixed on the firing shell 155, after the firing safety is triggered, the puncture inner needle moves relative to the puncture outer needle, so that the firing of the puncture inner needle is realized, the puncture inner needle extends into the focus position in the body of a patient, and the tissue cutting and other operations are completed. Moreover, the firing housing 155 is provided with an open slot from which the push rod 153 extends for secure engagement with the firing of the lancet assembly 200; the open slots also facilitate movement of the push rod 153, avoiding interference.

Optionally, the puncture motion structure 120 further includes a motion platform 124 and an adaptor 125, the motion platform 124 is driven by the puncture transmission assembly 122, and the adaptor 125 connects the motion platform 124 with the mounting seat 154. The motion platform 124 is a mechanism for connecting the firing motion structure 150 to the puncture transmission assembly 122, and in this embodiment, the motion platform 124 is a motion slider, and the motion slider is connected to a puncture nut of the puncture transmission assembly 122. The adaptor 125 is used to connect the moving platform 124 with the mounting seat 154, and the adaptor 125 may be an adaptor flange or a threaded connector.

Optionally, the puncture movement structure 120 further comprises a guide housing 164, the guide housing 164 accommodating the puncture movement structure 120 on the base 110. The guide housing 164 is provided with a guide groove extending along the movement direction of the puncture needle assembly 200, and the adaptor 125 is inserted into the guide groove and connected with the mounting seat 154, and the guide groove is used for guiding the movement of the mounting seat 154. The guiding shell 164 is used for guiding the movement of the moving platform 124, so that the moving platform 124 moves linearly along the guiding structure 160, and further drives the trigger moving structure 150 and the puncture needle assembly 200 thereon to move linearly, thereby avoiding the puncture needle assembly 200 from deflecting during movement, ensuring the accurate penetration angle of the puncture needle assembly 200 into the body of the patient, and further ensuring that the puncture inner needle can reliably penetrate into the focus position of the patient.

Optionally, the firing drive assembly 151 includes a motor that is coupled to the firing transmission assembly 152 to drive the firing transmission assembly 152 in motion. Illustratively, the motor is a servo motor, which can ensure the control of the motion precision of the push rod 153, so that the precision of the puncture depth of the puncture inner needle is improved to be within 0.1 mm. Of course, in other embodiments of the present invention, the motor may also be an ultrasonic motor or a stepping motor, etc. Of course, in other embodiments of the present invention, the firing driving assembly 151 includes a motor, a reduction box and an encoder, wherein an output end of the motor is connected to the reduction box, the reduction box is connected to the firing transmission assembly 152, and the encoder is electrically connected to the motor for receiving a signal for controlling the rotation of the motor. The motor is used as a power source, the triggering transmission assembly 152 drives the push rod 153 to move, the puncture needle assembly 200 with the reliable push rod 153 can be triggered, the puncture inner needle can accurately stretch into the focus position of a patient, and the reliability of intervention operation is improved.

Optionally, the firing transmission assembly 152 is a lead screw nut assembly. Specifically, percussion drive assembly 152 includes percussion lead screw and percussion nut, percussion nut cover is located on the percussion lead screw, the one end and the push rod 153 of percussion nut are connected (or push rod 153 is as the nut itself), the percussion lead screw is connected with percussion drive assembly 151 motor promptly, percussion drive assembly 151 drive percussion lead screw rotates, and then percussion lead screw drive percussion nut motion, make the percussion nut be rectilinear motion along the percussion lead screw, and then the percussion nut drives push rod 153 and is rectilinear motion, realize the percussion of percussion insurance, with the interior needle of drive puncture and pierce into the focus position. Of course, in other embodiments of the present invention, the firing transmission assembly 152 may further include a cylinder, an electromagnet, or a telescopic rod, which can achieve linear motion. Moreover, the firing transmission assembly 152 further comprises a piercing coupling, and a firing screw and a firing driving assembly 151 are connected through the firing coupling.

Optionally, the puncturing mechanism 100 further comprises a connecting flange 190, one end of the connecting flange 190 is connected to the puncturing motion structure 120, and the other end of the connecting flange 190 is adapted to be mounted on the mechanical arm assembly, so as to connect the puncturing mechanism 100 with the mechanical arm assembly.

In an embodiment of the present invention, the puncturing mechanism 100 may include either the position-limiting structure 130 of the above-mentioned embodiment or the firing mechanism 150 of the above-mentioned embodiment. The puncture motion structure 120 is limited by the limiting structure 130, and the puncture inner needle triggered by the trigger motion structure 150 is limited, so that the puncture inner needle accurately extends into the focus position of the patient. The position-limiting structure 130 and the firing motion structure 150 are mentioned above, and are not described herein.

Referring to fig. 1 to 3, the present invention also provides a surgical robot including a control device, an imaging device, a mechanical arm assembly, and a puncture mechanism 100 as in the above embodiments. The puncturing mechanism 100 is arranged at the tail end of the mechanical arm assembly, the control device is respectively in transmission connection with the imaging device, the mechanical arm assembly and the puncturing mechanism 100, the imaging device is used for obtaining a target position point of a focus position of a patient and feeding back the target position point to the control device, and the control device plans a motion path of the mechanical arm assembly and a preset position of the limiting part 133 of the puncturing mechanism 100 according to the target position point. The control device controls the mechanical arm assembly to move to a specified position according to the movement path, controls the limiting member 133 to move to a preset position, and controls the puncture movement structure 120 to drive the puncture needle assembly 200 to move, and when the puncture movement structure 120 moves to the preset position and abuts against the limiting member 133, the limiting member 133 can limit the puncture movement structure 120 to continue moving.

The robotic arm assembly may include a plurality of serial mechanisms and/or a plurality of parallel mechanisms, the plurality of serial mechanisms and/or the plurality of parallel mechanisms being connected. That is, the mechanical arm assembly may include a plurality of serial mechanisms connected by the plurality of serial mechanisms, the puncturing mechanism 100 is installed at the end of the serial mechanisms, and the plurality of serial mechanisms drive the puncturing mechanism 100 to move to a designated position, so as to ensure the needle insertion position and the needle insertion angle of the puncturing needle assembly 200. The mechanical arm assembly may also include a plurality of parallel mechanisms connected through a plurality of parallel mechanisms, the puncturing mechanism 100 is installed at the end of the parallel mechanisms, and the plurality of parallel mechanisms drive the puncturing mechanism to move to the finger position, so as to ensure the needle inserting position and the needle inserting angle of the puncturing needle assembly 200. Of course, the mechanical arm assembly may further include at least one serial mechanism and at least one parallel mechanism, and the serial mechanism and the parallel mechanism cooperate together, at this time, the parallel mechanism is located at the end of the serial mechanism, the puncturing mechanism 100 is installed at the end of the parallel mechanism, and the serial mechanism and the parallel mechanism drive the puncturing mechanism 100 to move to a designated position, so as to ensure the needle insertion position and the needle insertion angle of the puncturing needle assembly 200. It will be appreciated that the tandem mechanism comprises a plurality of single arms, with rotatable connections between adjacent arms. The parallel mechanism may comprise, for example, a stewart platform.

The imaging device includes one or more of a Computed Tomography (CT) system, a Magnetic Resonance imaging (MR) system, a positron emission Tomography (pet) system, a radiation therapy system, an X-ray imaging system, a single photon emission Computed Tomography (pet) system, an ultrasound imaging system, and the like. The patient is scanned and imaged through the imaging device to obtain a target position point of a focus position in the patient, then the target position point is transmitted to the control device, and the control device calculates the motion path of the mechanical arm assembly according to the target position point. Specifically, a surgical navigation planning module is integrated in the control device, and the surgical navigation module is used for planning the movement path of the mechanical arm assembly (the planning here may be manual planning by medical staff, automatic planning by navigation software in the surgical navigation planning module, or semi-automatic planning assisted by the navigation software). The control device can also calculate the penetration depth of the puncture needle assembly 200 according to the target position point, and further control the preset position of the limiting member 133 of the limiting structure 130 in the puncture mechanism 100.

After the target location point of the lesion position is obtained by the imaging device, the coordinates of the target location point are transmitted to a control device such as a computer, etc., and the control device plans the movement path of the robot arm assembly according to the target location point and calculates the preset position of the position-limiting member 133. Then, the control device controls the mechanical arm assembly to move according to the movement path and move to the designated position, and the control device issues a movement instruction to the limiting driving assembly 131 of the limiting structure 130, so that the limiting driving assembly 131 drives the limiting member 133 to reach the preset position through the limiting transmission assembly 132. Then the control device issues a movement instruction to the puncture driving assembly 121 of the puncture movement structure 120, and the puncture driving assembly 121 drives the moving platform 123 to start moving through the puncture transmission assembly 122, so as to drive the puncture needle assembly 200 to start advancing to the target location point. In this manner, the needle assembly 200 can be gradually brought closer to the patient and advanced from a target point on the patient's body surface and moved to the lesion site.

Since the stopper 133 is already at the predetermined position before the lancet assembly 200 reaches the target position, a safety guard is disposed. Even if the moving platform 123, the puncture transmission assembly 122 and the puncture drive assembly 121 are out of order during the movement, it is impossible to cause the puncture needle assembly 200 to penetrate deeper into the human tissue. Therefore, the safety of the interventional operation is improved, and the safety of the surgical robot is further improved.

Referring to fig. 4 and 5, the present invention is also a surgical robot including a control device, an imaging device, a robot arm assembly, and a puncture mechanism 100 as in the above embodiments. The puncture mechanism 100 is arranged at the tail end of the mechanical arm assembly, the control device is respectively in transmission connection with the imaging device, the mechanical arm assembly and the puncture mechanism 100, the imaging device is used for obtaining a target position point of a focus position of a patient and feeding back the target position point to the control device, and the control device plans a motion path of the mechanical arm assembly according to the target position point. The control device controls the mechanical arm assembly to move to a designated position according to the movement path, and the control device controls the puncture movement structure 120 to drive the percussion movement structure 150 and the puncture needle assembly 200 to move and puncture into the body of the patient; the control device controls the firing motion mechanism to push the actuating piece of the puncture needle assembly 200, so that the puncture inner needle of the puncture needle assembly 200 is punctured into the lesion position.

It can be understood that the control device, the imaging device and the mechanical arm assembly in this embodiment are completely the same as the control device, the imaging device and the mechanical arm assembly in the above embodiments in structure and operation, and are not described herein again. The control device can also control the firing driving assembly 151 to drive the firing transmission assembly 152 to move, so that the firing transmission assembly 152 fires the firing safety of the puncture needle assembly 200 to fire the puncture inner needle, the puncture inner needle extends into a focus position, and tissue cutting and the like are realized.

The technical features of the embodiments described above can 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 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 present 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 lancing mechanism (100), comprising:

a base (110);

the puncture motion structure (120) comprises a puncture driving component (121), a puncture transmission component (122) and a moving platform (123), wherein the puncture transmission component (122) is movably arranged on the base (110) and connected with the puncture driving component (121), and the moving platform (123) is arranged on the puncture transmission component (122) and moves along with the puncture transmission component (122); and

limiting structure (130), including spacing drive assembly (131), spacing transmission assembly (132) and locating part (133), spacing transmission assembly (132) movable set up in base (110) connect spacing drive assembly (131), locating part (133) set up in spacing transmission assembly (132) to along with spacing transmission assembly (132) motion, locating part (133) are used for carrying on spacingly to the motion of moving platform (123).

2. The lancing mechanism (100) according to claim 1, wherein the limit drive assembly (132) is disposed parallel to and spaced apart from the lancing drive assembly (122).

3. The lancing mechanism (100) according to claim 1, wherein the stop member (133) is a stop baffle, which can abut against the moving platform (123) when moving with the stop transmission assembly (132) for limiting the movement of the moving platform (123) towards the direction of the stop baffle.

4. The puncture mechanism (100) according to claim 1, wherein the puncture driving assembly (121) and the limit driving assembly (131) each comprise a motor, a reduction gearbox and an encoder, the motor is disposed on the base (110) and connected to the reduction gearbox, an output end of the reduction gearbox is connected to the puncture transmission assembly (122) or the limit transmission assembly (132), and the encoder is electrically connected to the motor and configured to receive a signal for controlling the rotation of the motor; the motor is a servo motor;

the puncture transmission assembly (122) and/or the limit transmission assembly (132) is a lead screw nut assembly.

5. The lancing mechanism (100) according to any of claims 1 to 4, wherein the lancing mechanism (100) further comprises a guide structure (160), the guide structure (160) is disposed on the base (110) and connected to the moving platform (123), and the guide structure (160) is used for guiding the moving platform (123) to move linearly.

6. The lancing mechanism (100) according to claim 5, wherein the guide structure (160) comprises a guide rail (161) and a first guide slider (162), the guide rail (161) is disposed on the base (110), the first guide slider (162) is disposed on the movable platform (123), and the guide rail (161) is slidably connected to the first guide slider (162).

7. The lancing mechanism (100) according to claim 5, wherein the moving platform (123) comprises a platform base (1231), a first mounting portion (1232) and a second mounting portion (1233), the first mounting portion (1232) and the second mounting portion (1233) being provided to the platform base (1231), the first mounting portion (1232) being used for mounting the lancet assembly (200), the second mounting portion (1233) being used for connecting the lancet transmission assembly (122);

the mobile platform (123) further comprises a third mounting portion (1234), the third mounting portion (1234) is arranged on the platform base body (1231), and the third mounting portion (1234) is used for being connected with the guide structure (160).

8. The lancing mechanism (100) according to any one of claims 1 to 4, wherein the base (110) comprises a mounting base (111) and two supporting seats (112), the two supporting seats (112) are oppositely disposed on the mounting base (111), and two ends of the lancing transmission assembly (122) and the limiting transmission assembly (132) are respectively rotatably disposed on the two supporting seats (112).

9. The lancing mechanism (100) according to any one of claims 1 to 4, wherein the lancing mechanism (100) further comprises a lancing zero-position switch (170) and a limiting zero-position switch (180), the lancing zero-position switch (170) and the limiting zero-position switch (180) are both disposed on the base (110), and the lancing zero-position switch (170) is disposed corresponding to the lancing movement structure (120) for calibrating the initial position of the moving platform (123); the limit zero position switch (180) is arranged corresponding to the limit structure (130) and used for correcting the initial position of the limit part (133).

10. A surgical robot comprising a control device, an imaging device, a robotic arm assembly and a piercing mechanism (100) according to any of claims 1 to 9;

the puncture mechanism (100) is arranged at the tail end of the mechanical arm assembly, the control device is respectively in transmission connection with the imaging device, the mechanical arm assembly and the puncture mechanism (100), the imaging device is used for obtaining a target position point of a focus position of a patient and feeding back the target position point to the control device, and the control device controls the puncture mechanism (100) to drive the puncture needle assembly (200) to execute puncture operation according to the target position point.