CN114469285B - Connecting rod type five-degree-of-freedom puncture robot - Google Patents
Connecting rod type five-degree-of-freedom puncture robot Download PDFInfo
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- CN114469285B CN114469285B CN202210334907.6A CN202210334907A CN114469285B CN 114469285 B CN114469285 B CN 114469285B CN 202210334907 A CN202210334907 A CN 202210334907A CN 114469285 B CN114469285 B CN 114469285B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B10/00—Other methods or instruments for diagnosis, e.g. instruments for taking a cell sample, for biopsy, for vaccination diagnosis; Sex determination; Ovulation-period determination; Throat striking implements
- A61B10/02—Instruments for taking cell samples or for biopsy
- A61B10/0233—Pointed or sharp biopsy instruments
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
- A61B2017/00398—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like using powered actuators, e.g. stepper motors, solenoids
Abstract
The application discloses a connecting rod type five-degree-of-freedom puncture robot, which comprises two groups of driving components; each group of driving components comprises a first linear motion mechanism, a second linear motion mechanism, a first driving connecting rod, a second driving connecting rod and a connecting joint; the first end of the first driving connecting rod is hinged with the vertical shaft of the first linear motion mechanism, and the second end of the first driving connecting rod is hinged with the first end of the connecting joint through a Y-direction horizontal shaft; the first end and the second end of the second driving connecting rod are respectively hinged with the second linear motion mechanism and the first driving connecting rod through vertical shafts; the first fixing part is hinged to one of the connecting joints through an X-direction horizontal shaft, and the second fixing part is hinged to the other connecting joint through an X-direction horizontal shaft; = a needle feeding mechanism consisting of a lifting motor and a pneumatic clamping jaw. According to the needle feeding device, the needle feeding position and posture of the puncture needle are guided by driving the first linear motion mechanism and the second linear motion mechanism of the two layers of driving assemblies, and the puncture needle moves in the axial direction of the puncture needle by the needle feeding mechanism.
Description
Technical Field
The application relates to the technical field of medical equipment, in particular to a puncture robot.
Background
Many of the conventional treatments applied in modern clinical practice involve the percutaneous insertion of medical tools (e.g., needles and catheters) for biopsy, drug delivery, and other diagnostic and therapeutic procedures. The goal of the insertion procedure is to place the tip of a suitable medical tool safely and accurately at the target area, which may be a lesion, tumor, organ or vessel. Examples of treatments requiring insertion of such medical tools include vaccination, blood/fluid sampling, local anesthesia, tissue biopsy, catheterization, cryoablation, electrolytic ablation, brachytherapy, neurosurgery, deep brain stimulation, and various minimally invasive procedures.
In recent years, a miniaturized piercing robot has been introduced. Some of these devices are guide devices that help select the insertion point and help align the needle with the insertion point and target, and then the penetration is done automatically or remotely by the physician. These devices can be mounted on the body of the patient to automatically compensate for breathing, thus requiring the device to be sufficiently small in size, light in weight, and with the direction of penetration of the needle determined by the direction of guidance of the device. Because the device can be remotely punctured by a doctor, and the doctor is prevented from being irradiated.
Disclosure of Invention
The main objective of the present application is to provide a link type five-degree-of-freedom puncture robot, so as to solve the problems of a large body size, a small working space, a small number of puncture posture types, and a small adjustable posture angle of a puncture robot in the related art.
In order to achieve the above object, the present application provides a link-type five-degree-of-freedom puncture robot, including: the needle feeding mechanism comprises a driving assembly, a needle feeding mechanism, a first fixing part and a second fixing part; wherein, the first and the second end of the pipe are connected with each other,
the driving assemblies are arranged into at least two groups;
each group of driving components comprises a first linear motion mechanism, a second linear motion mechanism, a first driving connecting rod, a second driving connecting rod and a connecting joint;
the first linear motion mechanism and the second linear motion mechanism are arranged along the transverse direction; the first end of the first driving connecting rod is hinged with the output end of the first linear motion mechanism through a vertical shaft, and the second end of the first driving connecting rod is hinged with the first end of the connecting joint through a Y-direction horizontal shaft;
the first end of the second driving connecting rod is hinged with the output end of the second linear motion mechanism through a vertical shaft, and the second end of the second driving connecting rod is hinged with the first driving connecting rod through a vertical shaft;
the first fixing part is hinged to the connecting joint of one of the driving components through an X-direction horizontal shaft, and the second fixing part is hinged to the connecting joint of the other driving component through an X-direction horizontal shaft;
the second fixing part is used for mounting a puncture needle, a linear guide rail is fixedly arranged on the second fixing part, the axis of the linear guide rail and the axis of the puncture needle are positioned on the same plane and are kept parallel, and the upper end of the linear guide rail penetrates through the first fixing part in a sliding manner;
the needle feeding mechanism is used for driving the puncture needle to insert or withdraw along the axial direction of the puncture needle.
Further, the first driving connecting rod comprises a horizontal part and a vertical part, and the horizontal part is arranged into a crank arm structure;
the first end of the horizontal part is hinged with the output end of the first linear motion mechanism through a vertical shaft, and the second end of the horizontal part is connected with the vertical part;
the second end of the second driving connecting rod is hinged with the bent part of the horizontal part through a vertical shaft;
the horizontal part is hinged with the first end of the connecting joint through a Y-direction horizontal shaft.
Further, the first fixing part and the second fixing part are respectively provided with a first mounting sleeve and a second mounting sleeve;
the first mounting sleeve is hinged with the second end of the connecting joint on one of the driving components through an X-direction horizontal shaft;
the second mounting sleeve is hinged with the second end of the connecting joint on the other driving assembly through an X-direction horizontal shaft;
a linear guide rail is connected between the first mounting sleeve and the second mounting sleeve in a sliding manner;
and the second mounting sleeve is provided with a mounting hole for fixing the puncture needle.
Furthermore, the connecting joint comprises a connecting ear seat and a connecting plate;
the bottom of the connecting lug seat is hinged with the horizontal part through a Y-direction horizontal shaft, so that the connecting lug seat can rotate along the Y-axis;
the first end of the connecting plate is hinged in the connecting lug seat through an X-direction horizontal shaft, and the second end of the connecting plate is connected with the corresponding first mounting sleeve and the second mounting sleeve, so that the first mounting sleeve and the second mounting sleeve can rotate around the X-axis.
Furthermore, the driving assemblies are arranged into two groups and distributed up and down, the first linear motion mechanisms of each group of driving assemblies correspond up and down, and the second linear motion mechanisms of each group of driving assemblies correspond up and down.
Furthermore, the axis of the output end of the first linear motion mechanism and the axis of the output end of the second linear motion mechanism of each group of driving assemblies are located on the same horizontal plane.
Furthermore, each group of driving assemblies also comprises a first connecting block and a second connecting block;
the first end of the first connecting block is fixedly sleeved at the output end of the first linear motion mechanism, and the second end of the first connecting block is hinged with the first end of the first driving connecting rod;
the first end of the second connecting block is fixedly sleeved at the output end of the second linear motion mechanism, and the second end of the second connecting block is hinged to the first end of the second driving connecting rod.
Furthermore, the mounting rack is further included, and the fixing parts of the first linear motion mechanism and the second linear motion mechanism are fixed on the mounting rack.
Furthermore, the mounting frame comprises a mounting base and two fixing sleeves which are arranged on the mounting base and distributed up and down, each fixing sleeve corresponds to one group of driving assemblies, and the two fixing sleeves are connected in a sliding manner through a connecting column;
the two fixing sleeves are identical in structure and respectively comprise a bottom plate and a top plate, the top plate is fixed at the upper end of the bottom plate, and an installation space for fixing the first linear motion mechanism and the second linear motion mechanism is arranged between the bottom plate and the top plate, so that the first linear motion mechanism and the second linear motion mechanism of one group of driving assemblies are fixed between the bottom plate and the top plate at the lower part; the first linear motion mechanism and the second linear motion mechanism of the other group of driving components are fixed between the bottom plate and the top plate at the upper part;
the lower end of the connecting column can be fixed on an installation foundation, and the upper end of the connecting column sequentially penetrates through the bottom plate at the lower part, the top plate at the lower part, the bottom plate at the upper part and the top plate at the upper part, so that the bottom plate and the top plate at the upper part can slide up and down on the connecting column.
Further, the first linear motion mechanism and the second linear motion mechanism are both set to be linear motors.
Further, the needle feeding mechanism comprises a lifting motor arranged on the bottom plate and pneumatic clamping jaws arranged on the first mounting sleeve and the second mounting sleeve;
the output end of the lifting motor is fixedly connected with the fixed sleeve at the upper part;
the two pneumatic clamping jaws can be clamped on the puncture needle in an independently controlled manner.
In the embodiment of the application, the driving components are arranged into at least two groups; each group of driving components comprises a first linear motion mechanism, a second linear motion mechanism, a first driving connecting rod, a second driving connecting rod and a connecting joint; the first linear motion mechanism and the second linear motion mechanism are arranged along the transverse direction; the first end of the first driving connecting rod is hinged with the output end of the first linear motion mechanism through a vertical shaft, and the second end of the first driving connecting rod is hinged with the first end of the connecting joint through a Y-direction horizontal shaft; the first end of the second driving connecting rod is hinged with the output end of the second linear motion mechanism through a vertical shaft, and the second end of the second driving connecting rod is hinged with the first driving connecting rod through a vertical shaft; the first fixing part is hinged to the connecting joint of one driving assembly through an X-direction horizontal shaft, the second fixing part is hinged to the connecting joint of the other driving assembly through an X-direction horizontal shaft, and the first fixing part and the second fixing part are in sliding connection; the second fixing part is used for installing a puncture needle, the needle feeding mechanism is used for driving the puncture needle to insert or withdraw along the axial direction of the puncture needle, the first linear motion mechanism and the second linear motion mechanism in the two groups of driving components can drive the first driving connecting rod and the second driving connecting rod to move in different directions through the cooperative action, so that the puncture needle on the first fixed part can perform four-degree-of-freedom posture adjustment of translation, deflection around an X axis, deflection around a Y axis and deflection around a Z axis, and the purposes of needle insertion and needle withdrawal of the puncture needle are realized by the needle feeding mechanism, thereby realizing the technical effects of optimizing the structural design of the robot, leading the whole robot to have smaller volume and weight, higher degree of freedom and more working space, further solves the problems that the puncture machine in the related technology has large human body volume, small working space, less puncture gesture types and smaller adjustable gesture angle.
The application relates to a miniaturized puncture robot, because its small in size can be fixed in patient's belly, back, side back, preceding chest, also can install on the arm, the side stands on patient's side. The robot guides the needle entering position and posture of the puncture needle through the first linear motion mechanism and the second linear motion mechanism which jointly drive the two layers of driving assemblies, and the puncture needle moves in the axial direction through the needle feeding mechanism. The robot can complete autonomous puncture or doctor remote control puncture in a narrow range, can be fixed on a human body to compensate respiratory motion, and is also suitable for being used in combination with navigation, CT navigation, ultrasonic navigation and the like of the existing optical instrument.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, serve to provide a further understanding of the application and to enable other features, objects, and advantages of the application to be more apparent. The drawings and the description of the exemplary embodiments of the present application are provided for explaining the present application and do not constitute an undue limitation on the present application. In the drawings:
FIG. 1 is a schematic structural diagram according to an embodiment of the present application;
FIG. 2 is a schematic view showing a configuration of one movement posture of the puncture needle according to the embodiment of the present application;
FIG. 3 is a schematic view showing a configuration of one movement posture of the puncture needle according to the embodiment of the present application;
FIG. 4 is a schematic view showing a configuration of one movement posture of the puncture needle according to the embodiment of the present application;
FIG. 5 is a schematic view showing the configuration of one movement posture of the puncture needle according to the embodiment of the present application;
FIG. 6 is a schematic view showing a configuration of one movement posture of the puncture needle according to the embodiment of the present application;
FIG. 7 is a schematic view showing the structure of one movement posture of the puncture needle according to the embodiment of the present application;
FIG. 8 is a schematic view showing the structure of one movement posture of the puncture needle according to the embodiment of the present application;
FIG. 9 is a schematic illustration of an explosive structure according to an embodiment of the present application;
FIG. 10 is an isometric configuration schematic from another perspective of a piercing robot according to an embodiment of the present application;
FIG. 11 is a schematic view of a pneumatic jaw in an embodiment of the present application;
FIG. 12 is a schematic view of the internal structure of a pneumatic clamp jaw in the embodiment of the present application;
FIG. 13 is a schematic cross-sectional view of a pneumatic clamp jaw in an embodiment of the present application;
the automatic assembling device comprises a driving assembly 1, a first linear motion mechanism 101, a second linear motion mechanism 102, a first driving connecting rod 2, a horizontal part 21, a vertical part 22, a first connecting block 3, a second driving connecting rod 4, a connecting joint 5, a linear guide rail 6, a puncture needle 7, a first fixing part 8, a first mounting sleeve 81, a second fixing part 9, a second mounting sleeve 91, a mounting rack 10, a top plate 1011, a bottom plate 1022, a mounting base 1033, a fixing sleeve 1044, a second connecting block 11, a pneumatic clamping jaw 18, an air inlet pipe 181, a clamping piston 182, a 183 pneumatic cavity, an external component 184, a connecting column 19 and a lifting motor 20.
Detailed Description
In order to make the technical solutions of the present application better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only some embodiments of the present application, and not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without making any creative effort shall fall within the protection scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the accompanying drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances in order to facilitate the description of the embodiments of the application herein.
In the present application, the terms "upper", "lower", "inner", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings. These terms are used primarily to better describe the present application and its embodiments, and are not used to limit the indicated devices, elements or components to a particular orientation or to be constructed and operated in a particular orientation.
Moreover, some of the above terms may be used in other meanings besides orientation or positional relationship, for example, the term "upper" may also be used in some cases to indicate a certain attaching or connecting relationship. The specific meaning of these terms in this application will be understood by those of ordinary skill in the art as appropriate.
Furthermore, the terms "disposed," "provided," "connected," "secured," and the like are to be construed broadly. For example, "connected" may be a fixed connection, a detachable connection, or a unitary construction; can be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements or components. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
In addition, the term "plurality" shall mean two as well as more than two.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
In order to improve the precision and efficiency of the needle puncture operation of a doctor on a patient, a puncture robot is adopted for auxiliary puncture in the related technology. The puncture position and puncture angle of the puncture needle are determined by the puncture robot through posture adjustment, so that the position and angle at which the needle can puncture are also directly limited by the posture and angle that can be guided by the puncture robot. And in some cases the piercing robot needs to be fixed on the patient's body, thus requiring high requirements on the volume and weight of the piercing robot.
Therefore, the connecting rod type five-degree-of-freedom puncture robot is provided, and the aims of enabling the puncture robot to have a larger working space, a larger posture angle adjustment and more postures while the size and the weight of the puncture robot are smaller are fulfilled. The details are as follows:
as shown in fig. 1 to 9, an embodiment of the present application provides a link-type five-degree-of-freedom puncture robot, including: the needle feeding mechanism comprises a driving component 1, a needle feeding mechanism first fixing part 8 and a second fixing part 9; wherein the content of the first and second substances,
the driving assemblies 1 are at least arranged into two groups;
each group of driving components 1 comprises a first linear motion mechanism 101, a second linear motion mechanism 102, a first driving connecting rod 2, a second driving connecting rod 4 and a connecting joint 5;
the first linear motion mechanism 101 and the second linear motion mechanism 102 are arranged in the lateral direction; the first end of the first driving connecting rod 2 is hinged with the output end of the first linear motion mechanism 101 through a vertical shaft, and the second end of the first driving connecting rod is hinged with the first end of the connecting joint 5 through a Y-direction horizontal shaft;
a first end of the second driving connecting rod 4 is hinged with the output end of the second linear motion mechanism 102 through a vertical shaft, and a second end of the second driving connecting rod 4 is hinged with the first driving connecting rod 2 through a vertical shaft;
the first fixing part 8 is hinged on the connecting joint 5 of one driving component 1 through an X-direction horizontal shaft, and the second fixing part 9 is hinged on the connecting joint 5 of the other driving component 1 through an X-direction horizontal shaft;
the second fixing part 9 is used for installing the puncture needle 7, a linear guide rail 6 is fixedly arranged on the second fixing part 9, the axis of the linear guide rail 6 and the axis of the puncture needle 7 are positioned on the same plane and keep parallel, and the upper end of the linear guide rail 6 penetrates through the first fixing part 8 in a sliding manner;
the needle feeding mechanism is used for driving the puncture needle to insert or withdraw along the axial direction of the puncture needle.
In this embodiment, the driving assembly 1 is used as a driving part of the parallel type puncture robot, and since the movement of the driving assembly 1 is used for driving the puncture needle 7 to move, the power output end of the driving assembly 1 can be connected with the puncture needle 7. The driving assemblies 1 are arranged in two groups and distributed up and down in the embodiment, and the structures of the two groups of driving assemblies 1 are substantially the same as a whole.
Each group of driving components 1 consists of five parts, namely a first linear motion mechanism 101, a second linear motion mechanism 102, a first driving connecting rod 2, a second driving connecting rod 4 and a connecting joint 5. The first linear motion mechanism 101 and the second linear motion mechanism 102 have the same structure, and they may be arranged side by side on the same horizontal plane. The first linear motion mechanism 101 and the second linear motion mechanism 102 are both composed of a fixed end and an output end, wherein the output end can move linearly on the fixed end, and a linear motor, an air cylinder, a hydraulic cylinder or a lead screw transmission structure and the like can be adopted.
The output ends of the first linear motion mechanism 101 and the second linear motion mechanism 102 can be extended or contracted independently. The first driving connecting rod 2 and the second driving connecting rod 4 are respectively hinged at the output ends of the first linear motion mechanism 101 and the second linear motion mechanism 102, and the second end of the second driving connecting rod 4 is hinged with the first driving connecting rod 2, so that the first driving connecting rod 2 and the second driving connecting rod 4 form a connecting rod structure capable of applying translational motion and rotary motion around a Z axis. The connecting joint 5 is hinged at the end part of the first driving connecting rod 2 through a Y-direction horizontal shaft, and the first fixing part 8 and the second fixing part 9 are hinged on the corresponding connecting joint 5 through an X-direction horizontal shaft, so that the first fixing part 8 and the second fixing part 9 can rotate around the X-axis on the connecting joint 5, and meanwhile, the first fixing part 8 and the second fixing part 9 can also rotate around the Y-axis at the end part of the first driving connecting rod 2 through the connecting joint 5.
Since the driving assemblies 1 are arranged in two sets arranged up and down in this embodiment, when the puncture needle 7 needs to be controlled to deflect around the Y axis and deflect around the X axis, the driving assemblies 1 in the two sets apply force to the puncture needle 7 at the same time. Therefore, in the embodiment, the first fixing part 8 and the second fixing part 9 are slidably connected to cause resultant force of motion of the upper and lower sets of driving assemblies 1 to be output to the puncture needle 7, so that posture adjustment of the puncture needle 7 in deflection around the Y axis and deflection around the X axis can be realized.
The following describes various attitude adjustments:
1. the puncture needle 7 linearly moves in the horizontal direction while remaining vertical
As shown in fig. 1 and fig. 2, the axes of the output ends of the two first linear motion mechanisms 101 arranged up and down are located in the same vertical plane, and the axes of the output ends of the two second linear motion mechanisms 102 are located in the same vertical plane. At this time, the puncture needle 7 mounted on the first fixing section 8 can be controlled to linearly move in the horizontal direction by controlling the two first linear motion mechanisms 101 and the two second linear motion mechanisms 102 to synchronously operate. For example, the puncture needle 7 can be driven to keep a vertical state and be translated outwards by controlling the two first linear motion mechanisms 101 and the two second linear motion mechanisms 102 to extend out simultaneously, and the puncture needle 7 can be driven to keep a vertical state and be translated inwards by controlling the two first linear motion mechanisms 101 and the two second linear motion mechanisms 102 to retract simultaneously.
2. The puncture needle 7 rotates around the Z axis while remaining upright
As shown in fig. 3 and 4, the first linear motion mechanism 101 located at the upper portion drives the first driving connecting rod 2 to extend, the second linear motion mechanism 102 drives the second driving connecting rod 4 to retract, and since the end of the second driving connecting rod 4 is also hinged to the first driving connecting rod 2, the connecting rod structure formed by the two mechanisms can enable the second end of the first driving connecting rod 2 to rotate clockwise by a certain angle around the Z axis after the above actions. Similarly, the first linear motion mechanism 101 and the second linear motion mechanism 102 located at the lower portion also synchronously operate to drive the second end of the first driving link 2 located at the lower portion to rotate clockwise by the same angle around the Z-axis. It can be understood that the second end of the first driving link 2 can be rotated counterclockwise by a certain angle about the Z-axis by controlling the first linear motion mechanism 101 and the second linear motion mechanism 102 to be retracted and extended, respectively.
In this embodiment, the connection joint 5, the first fixing portion 8, the second fixing portion 9, and the puncture needle 7 can all rotate around the Z axis synchronously by controlling the rotation of the second end of the first driving link 2, so that the posture adjustment of the puncture needle 7 deflecting around the Z axis is realized. And in the process, the first linear motion mechanism 101 and the second linear motion mechanism 102 can be translated while keeping the puncture needle 7 deflected about the Z-axis when synchronously extended or retracted.
3. Deflection of the puncture needle 7 about the Y-axis
As shown in fig. 7 and 8, the posture adjustment needs to be realized by using the motion output of the upper driving assembly 1 rotating around the Z-axis, which is different from the motion output of the lower driving assembly 1 rotating around the Z-axis. Specifically, when the first drive link 2 in the upper drive assembly 1 rotates clockwise about the Z-axis, the first drive link 2 in the lower drive assembly 1 may remain stationary or rotate counterclockwise about the Z-axis such that the upper first drive link 2 and the lower first drive connection have a motion differential. Because the end part of the upper first driving connecting rod 2 is hinged with a connecting joint 5 through a Y-direction horizontal shaft, the end part of the lower first driving connecting rod 2 is also hinged with a connecting joint 5 through a Y-direction horizontal shaft, and the two connecting joints 5 are connected by a first fixing part 8 and a second fixing part 9. Therefore, when the upper first driving link 2 and the lower first driving link have a motion difference, the two connecting joints 5 are rotated around the respective Y-direction horizontal axes by the first fixing part 8 and the second fixing part 9, so that the first fixing part 8 and the second fixing part 9 are also synchronously deflected around the Y axis, and the puncture needle 7 on the first fixing part 8 is subjected to posture adjustment of deflection around the Y axis.
4. Deflection of the puncture needle 7 about the X-axis
As shown in fig. 5 and 6, the posture adjustment needs to be realized by using the motion output of the upper driving assembly 1 during the translation, which is different from the motion output of the lower driving assembly 1 during the translation. Specifically, the position of the upper connecting joint 5 in the horizontal direction can be made smaller than that of the lower connecting joint 5 by controlling the first linear motion mechanism 101 and the second linear motion mechanism 102 in the upper driving assembly 1 to retract synchronously while controlling the first linear motion mechanism 101 and the second linear motion mechanism 102 in the lower driving assembly 1 to remain stationary or to extend synchronously. Because the first fixing part 8 and the second fixing part 9 are respectively hinged on the corresponding connecting joints 5 through the X-direction horizontal shafts, the first fixing part 8 and the second fixing part 9 can rotate around the X-axis, and the puncture needle 7 on the first fixing part 8 can deflect anticlockwise around the X-axis.
Similarly, the puncture needle 7 can be deflected clockwise around the X axis by controlling the first linear motion mechanism 101 and the second linear motion mechanism 102 in the upper driving assembly 1 to synchronously extend, and simultaneously controlling the first linear motion mechanism 101 and the second linear motion mechanism 102 in the lower driving assembly 1 to keep still or synchronously retract.
The needle feeding mechanism drives the puncture needle to perform needle insertion and needle withdrawal along the self axial direction, and the needle feeding mechanism can be a mechanism capable of pushing the puncture needle to perform reciprocating linear motion.
Compared with the technical scheme that the puncture needle 7 needs to be translated in the horizontal direction by adopting an orthogonal moving platform and the puncture needle 7 needs to be deflected around the Y axis by adopting a linear structure such as a piston mechanism, the puncture robot in the embodiment can realize the posture adjustment of the puncture needle 7 in multiple directions by adopting a link structure consisting of the first driving link 2 and the second driving link 4, two groups of the first linear motion mechanism 101 and the second linear motion mechanism 102 which are connected in parallel, two connecting joints 5, the first fixing part 8 and the second fixing part 9. Compared with a robot provided with a moving platform, the puncture robot is smaller in size, and meanwhile, the moving mechanisms of the upper part and the lower part can act actively, so that the working space can be increased, the adjustable pose of the cross-section puncture needle 7 is large, more adjustable pose types are provided, and the pose angle is larger.
Since the deflection posture adjustment of the puncture needle 7 about the Z-axis needs to be output by the first drive link 2 under the action of the second drive link 4, in order to facilitate the second end of the first drive link 2 to rotate in a wide range, the first drive link 2 in this embodiment includes a horizontal portion 21 and a vertical portion 22, and the horizontal portion 21 is provided in a crank arm structure; the first end of the horizontal part 21 is hinged with the output end of the first linear motion mechanism 101 through a vertical shaft, and the second end is connected with the vertical part 22; the second end of the second driving link 4 is hinged with the horizontal part 21 at its bend by a vertical shaft; the horizontal portion 21 is hinged to a first end of the connection joint 5 via an X-direction horizontal axis.
As shown in fig. 1, the first fixing portion 8 and the second fixing portion 9 are a first mounting sleeve 81 and a second mounting sleeve 91, respectively;
the first mounting sleeve 81 is hinged with the second end of the connecting joint 5 on one of the driving assemblies 1 through an X-direction horizontal shaft;
the second mounting sleeve 91 is hinged with the second end of the connecting joint 5 on the other driving assembly 1 through an X-direction horizontal shaft;
a linear guide rail 6 is connected between the first mounting sleeve 81 and the second mounting sleeve 91 in a sliding manner;
the second mounting sleeve 91 is provided with a mounting hole for fixing the puncture needle 7.
Specifically, in order to realize the sliding connection relationship between the first fixing portion 8 and the second fixing portion 9, the first fixing portion 8 and the second fixing portion 9 are respectively configured as a first mounting sleeve 81 and a second mounting sleeve 91 in the present embodiment. The second mounting sleeve 91 is fixed with a linear guide rail 6, and the upper end of the linear guide rail 6 passes through the first mounting sleeve 81 and is connected in a sliding manner, so that the requirement that the motion of the two groups of driving assemblies 1 is subjected to resultant force and then output to the puncture needle 7 is met. In order to install the puncture needle 7, the second mounting sleeve 91 of the embodiment is further provided with a mounting hole, and the puncture needle 7 can pass through the mounting hole and then be fixed in the mounting hole.
As shown in fig. 9, the connection joint 5 includes a connection ear seat and a connection plate;
the bottom of the connecting ear seat is hinged with the horizontal part 21 through a Y-direction horizontal axis, so that the connecting ear seat can rotate along the Y axis;
the first end of connecting plate passes through the X direction horizontal axis and articulates in connecting the ear seat, and the second end is connected with first installation cover 81 and the second installation cover 91 that corresponds to make first installation cover 81 and second installation cover 91 all can be around the X axle rotation.
Specifically, it should be noted that the connecting lug is hinged to the horizontal portion 21 of the first driving link 2 through a Y-direction horizontal axis, and two ends of the Y-direction horizontal axis are connected to the corresponding connecting lug and the horizontal portion 21 through a connecting bearing, so that the connecting lug can rotate around the Y-axis. The first end of connecting plate extends into between two curb plates of connecting the ear seat to pass through X direction horizontal axis with two curb plates and articulate, be connected through connecting bearing between X direction horizontal axis and the curb plate that corresponds, make the connecting plate can wind the X rotation of axes.
The second end of the connecting plate is connected with the corresponding first mounting sleeve 81 and the second mounting sleeve 91, so that the first mounting sleeve 81 and the second mounting sleeve 91 rotate around the X axis. The first mounting sleeve 81 and the second mounting sleeve 91 are connected in series by the linear guide 6.
Further, the axis of the output end of the first linear motion mechanism 101 and the axis of the output end of the second linear motion mechanism 102 of each set of drive assembly 1 are located on the same horizontal plane, thereby facilitating the motion calculation of the first linear motion mechanism 101 and the second linear motion mechanism 102.
As shown in fig. 1, in order to facilitate the connection of the first linear motion mechanism 101 and the first driving link 2, and the connection of the second linear motion mechanism 102 and the second driving link 4, each set of driving units 1 in this embodiment further includes a first connecting block 3 and a second connecting block 11;
the first end of the first connecting block 3 is fixedly sleeved at the output end of the first linear motion mechanism 101, and the second end of the first connecting block is hinged with the first end of the first driving connecting rod 2;
a first end of the second connecting block 11 is fixedly sleeved at the output end of the second linear motion mechanism 102, and a second end is hinged with the first end of the second driving connecting rod 4.
Specifically, it should be noted that the first connecting block 3 and the second connecting block 11 have the same structure, and only have different installation positions. The first connecting block 3 is L-shaped as a whole, the vertical portion 22 thereof is fixedly sleeved on the output end of the corresponding first linear motion mechanism 101, and the horizontal portion 21 is hinged with the first driving connecting rod 2 through a vertical shaft. The upper end and the lower end of the vertical shaft are hinged with the first connecting block 3 and the first driving connecting rod 2 through connecting bearings. The second connecting block 11 is similarly arranged and will not be described in detail here.
In order to facilitate the installation of the first linear motion mechanism 101 and the second linear motion mechanism 102, the puncture robot in this embodiment further includes an installation frame 10, and the fixed parts of the first linear motion mechanism 101 and the second linear motion mechanism 102 are fixed on the installation frame 10.
As shown in fig. 10, in order to improve the structural compactness of the whole apparatus, the mounting rack 10 of the present embodiment includes a mounting base and two fixing sleeves 1044 distributed up and down on the mounting base, each fixing sleeve 1044 corresponds to one group of driving assemblies 1, and the two fixing sleeves 1044 are connected in a sliding manner through a connecting column 19.
The two fixing sleeves 1044 have the same structure and each comprise a bottom plate 1022 and a top plate 1011, the top plate 1011 is fixed at the upper end of the bottom plate 1022, and an installation space for fixing the first linear motion mechanism 101 and the second linear motion mechanism 102 is arranged between the bottom plate 1022 and the top plate 1011, so that the first linear motion mechanism 101 and the second linear motion mechanism 102 of one group of the driving assemblies 1 are fixed between the bottom plate 1022 and the top plate 1011 at the lower part; the first linear motion mechanism 101 and the second linear motion mechanism 102 of the other set of drive assemblies 1 are fixed between the upper bottom plate 1022 and the top plate 1011.
The lower end of the connecting column 19 can be fixed on the installation foundation, and the upper end of the connecting column passes through the lower bottom plate 1022, the lower top plate 1011, the upper bottom plate 1022 and the upper top plate 1011 in sequence, so that the upper bottom plate 1022 and the upper top plate 1011 can slide up and down on the connecting column 19.
Further, the first linear motion mechanism 101 and the second linear motion mechanism 102 are both provided as linear motors.
As shown in fig. 10 to 13, the present embodiment will be described in detail with respect to the needle feed mechanism:
in the present application, the needle insertion and needle withdrawal of the puncture needle 7 are realized by controlling the first linear motion mechanism 101 and the second linear motion mechanism 102 located in the fixing sleeve 1044 and in the fixing sleeve 1044 to synchronously lift and release in cooperation with the manner of intermittently clamping and releasing the upper part and the lower part of the puncture needle 7, as follows:
the needle feeding mechanism comprises a lifting motor 20 arranged on the mounting base and a pneumatic clamping jaw 18 arranged on the first mounting sleeve 81 and the second mounting sleeve 91;
the output end of the lifting motor 20 is fixedly connected to the bottom plate 1022 and/or the top plate 1011 of the fixing sheath 1044 located at the upper part, and guides the lifting motion of the fixing sheath 1044 through the connecting column 19.
Two pneumatic jaws 18 can be clamped on the puncture needle 7 in an individually controllable manner.
In this embodiment, two pneumatic jaws 18 are provided and are mounted on the first mounting sleeve 81 and the second mounting sleeve 91, respectively, and the two pneumatic jaws 18 can independently grip and release the puncture needle 7. When the puncture needle 7 needs to be inserted, the pneumatic clamping jaws 18 on the second mounting sleeve 91 cancel clamping of the puncture needle 7, the pneumatic clamping jaws 18 on the first mounting sleeve 81 maintain clamping of the puncture needle 7, and simultaneously the lifting motor 20 drives the upper fixing sleeve 1044 to descend, so that the first linear motion mechanism 101 and the second linear motion mechanism 102 on the fixing sleeve 1044 are driven to descend synchronously, and the first mounting sleeve 81 is driven to descend synchronously. Since the puncture needle 7 is held and fixed by the pneumatic gripper 18 on the first mounting sleeve 81 at this time, the puncture needle 7 is lowered by the elevator motor 20.
Since the single needle-inserting stroke of the puncture needle 7 is determined by the maximum descending stroke of the lifting motor 20, the whole volume of the small puncture robot is small, and the single needle-inserting of the puncture needle 7 is small. For this purpose, the puncturing needle 7 is clamped and released by controlling two pneumatic clamping jaws 18.
Specifically, after the puncture needle 7 is lowered for one time, the pneumatic clamping jaw 18 on the second mounting sleeve 91 clamps and fixes the puncture needle 7, the pneumatic clamping jaw 18 on the first mounting sleeve 81 releases the puncture needle 7, and the lifting motor 20 drives the upper fixing sleeve 1044 and the first mounting sleeve 81 and the corresponding pneumatic clamping jaw 18 to ascend to the maximum ascending stroke. The pneumatic jaws 18 on the first mounting sleeve 81 then grip the fixed puncture needle 7, the pneumatic jaws 18 on the second mounting sleeve 91 release the puncture needle 7, and the above-described needle insertion operation is repeated again. By the mode, multiple needle insertions can be realized, so that the puncture needle 7 reaches the position of the puncture needle 7 to complete puncture.
The same operation as that for withdrawing the puncture needle 7 will not be described in detail in this application.
The present embodiment is described in detail with respect to the structure of the pneumatic gripper 18:
the pneumatic clamping jaw 18 comprises an outer component 184, wherein two pneumatic cavities 183 which are oppositely arranged are arranged in the outer component 184, the two pneumatic cavities 183 are communicated, the puncture needle 7 can penetrate through the communication part of the two pneumatic cavities 183, a clamping piston 182 is arranged in each pneumatic cavity 183, after the clamping piston 182 is installed, the pneumatic cavities 183 are in a closed state, and one end of each pneumatic cavity 183 is connected with an air inlet pipe 181. Air is introduced into the pneumatic chamber 183 through the air inlet pipe 181 to push the clamping piston 182 to move relatively, and then the puncture needle 7 is clamped. To facilitate the engagement of the holder piston 182 and the puncture needle 7, semicircular grooves are provided on the opposite sides of the holder piston 182, and when the two holder pistons 182 are engaged, the two semicircular grooves are matched to form a circle that fits the contour of the puncture needle 7.
For the needle feeding mechanism in the present application, when the puncture needle 7 is in a state perpendicular to the horizontal plane, the connecting joint 5, the first mounting sleeve 81 and the second mounting sleeve 91 are all in an immovable state, and needle insertion and needle withdrawal can be realized only by the cooperation of the lifting motor 20 and the pneumatic clamping jaw 18. However, when the puncture needle 7 is in the inclined state, it is necessary to consider a problem that the moving direction of the elevator motor 20 is not the same as the axial direction of the puncture needle 7. In contrast, in the present invention, the hinge structure of the coupling joint 5 and the hinge structure of the first mounting sleeve 81 and the second mounting sleeve 91 are used ingeniously, so that the needle insertion and needle withdrawal can be achieved while maintaining a straight shape by the rotational motion of the coupling joint 5 and the rotational motion of the first mounting sleeve 81 and the second mounting sleeve 91 when the lift motor 20 is lifted and lowered even when the puncture needle 7 is in an inclined state.
The puncture robot in this application's mechanism advantage:
the connecting rod type upper and lower layers of parallel structures are compact in overall size, the connecting rod type upper and lower layers of parallel structures are completely contracted to be 105mm long, 63mm wide and 38mm high, the connecting rod type upper and lower layers of parallel structures are light in weight, the total mass is only about 500g, the connecting rod type upper and lower layers of parallel structures are the smallest in size and volume seen in the current market and documents, and the connecting rod type upper and lower layers of parallel structures are more space-saving because the four linear motors are tightly fixed together. And under the smaller volume size, the adjustment of different positions and poses can be realized. The miniaturized puncture robot is compact, small in size, light in weight and low in cost, can finish autonomous puncture or doctor remote control puncture in a narrow range, avoids the doctor from being radiated, can be fixed in the chest, the abdomen, the side back, the back and other places of a human body and compensates respiratory motion, and is also suitable for being used in combination with the navigation, the CT navigation, the ultrasonic navigation and the like of the existing optical instrument.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (9)
1. The utility model provides a connecting rod formula five degrees of freedom puncture robot which characterized in that includes: the needle feeding mechanism comprises a driving assembly, a needle feeding mechanism, a first fixing part and a second fixing part; wherein, the first and the second end of the pipe are connected with each other,
the driving assemblies are arranged into two groups and distributed up and down, and each group of driving assemblies comprises a first linear motion mechanism, a second linear motion mechanism, a first driving connecting rod, a second driving connecting rod and a connecting joint; the first linear motion mechanisms of each group of driving assemblies correspond to each other up and down, and the second linear motion mechanisms of each group of driving assemblies correspond to each other up and down;
the first linear motion mechanism and the second linear motion mechanism are arranged along the transverse direction; the first end of the first driving connecting rod is hinged with the output end of the first linear motion mechanism through a vertical shaft, and the second end of the first driving connecting rod is hinged with the first end of the connecting joint through a Y-direction horizontal shaft;
the first end of the second driving connecting rod is hinged with the output end of the second linear motion mechanism through a vertical shaft, and the second end of the second driving connecting rod is hinged with the first driving connecting rod through a vertical shaft; the first fixing part is hinged to the connecting joint of one of the driving components through an X-direction horizontal shaft, and the second fixing part is hinged to the connecting joint of the other driving component through an X-direction horizontal shaft;
the second fixing part is used for installing a puncture needle, a linear guide rail is fixedly arranged on the second fixing part, the axis of the linear guide rail and the axis of the puncture needle are positioned on the same plane and are kept parallel, and the upper end of the linear guide rail penetrates through the first fixing part in a sliding manner;
the needle feeding mechanism is used for driving the puncture needle to insert or withdraw along the axial direction of the puncture needle;
the tail ends of the upper driving assembly and the lower driving assembly can be respectively controlled to linearly move along the Y axis by controlling the two first linear motion mechanisms and the two second linear motion mechanisms to act at the same motion output quantity;
the tail ends of the upper driving assembly and the lower driving assembly can be respectively controlled to rotate around the Z axis by controlling the motion output quantity of the two first linear motion mechanisms to be different from the transportation output quantity of the two second linear motion mechanisms;
the puncture needle can be controlled to deflect around the X axis by controlling the difference of the motion output quantity of the linear movement of the tail ends of the upper driving component and the lower driving component along the Y axis;
the puncture needle can be controlled to deflect around the Y axis by controlling the difference of the output quantity of the movement of the tail ends of the upper driving component and the lower driving component rotating around the Z axis.
2. The link type five-degree-of-freedom piercing robot according to claim 1, wherein the first driving link includes a horizontal portion and a vertical portion, the horizontal portion being provided as a crank arm structure;
the first end of the horizontal part is hinged with the output end of the first linear motion mechanism through a vertical shaft, and the second end of the horizontal part is connected with the vertical part;
the second end of the second driving connecting rod is hinged with the bending part of the horizontal part through a vertical shaft;
the horizontal part is hinged with the first end of the connecting joint through a Y-direction horizontal shaft.
3. The link type five-degree-of-freedom puncture robot according to claim 2, wherein the first fixing portion and the second fixing portion are respectively provided as a first mounting sleeve and a second mounting sleeve;
the first mounting sleeve is hinged with the second end of the connecting joint on one of the driving components through an X-direction horizontal shaft;
the second mounting sleeve is hinged with the second end of the connecting joint on the other driving assembly through an X-direction horizontal shaft;
a linear guide rail is connected between the first mounting sleeve and the second mounting sleeve in a sliding manner;
and the second mounting sleeve is provided with a mounting hole for fixing the puncture needle.
4. The link type five-degree-of-freedom puncture robot according to claim 3, wherein the connection joint includes a connection ear base and a connection plate;
the bottom of the connecting lug seat is hinged with the horizontal part through a Y-direction horizontal shaft, so that the connecting lug seat can rotate along the Y-axis;
the first end of the connecting plate is hinged in the connecting lug seat through an X-direction horizontal shaft, and the second end of the connecting plate is connected with the corresponding first mounting sleeve and the second mounting sleeve, so that the first mounting sleeve and the second mounting sleeve can rotate around the X-axis.
5. The link type five-degree-of-freedom puncture robot according to claim 4, wherein an axis of the output end of the first linear motion mechanism and an axis of the output end of the second linear motion mechanism of each set of the drive components are located on the same horizontal plane.
6. The link type five-degree-of-freedom puncture robot according to claim 5, wherein each set of the driving assemblies further includes a first connecting block and a second connecting block;
the first end of the first connecting block is fixedly sleeved at the output end of the first linear motion mechanism, and the second end of the first connecting block is hinged with the first end of the first driving connecting rod;
the first end of the second connecting block is fixedly sleeved at the output end of the second linear motion mechanism, and the second end of the second connecting block is hinged to the first end of the second driving connecting rod.
7. The link type five-degree-of-freedom puncture robot according to claim 5 or 6, further comprising a mounting frame, wherein the fixing portions of the first linear motion mechanism and the second linear motion mechanism are fixed to the mounting frame.
8. The link type five-degree-of-freedom puncture robot according to claim 7, wherein the mounting frame comprises a mounting base and two fixing sleeves which are vertically distributed and are positioned on the mounting base, each fixing sleeve corresponds to one group of driving components, and the two fixing sleeves are connected in a sliding manner through a connecting column;
the two fixing sleeves are identical in structure and respectively comprise a bottom plate and a top plate, the top plate is fixed at the upper end of the bottom plate, and an installation space for fixing the first linear motion mechanism and the second linear motion mechanism is arranged between the bottom plate and the top plate, so that the first linear motion mechanism and the second linear motion mechanism of one group of driving assemblies are fixed between the bottom plate and the top plate at the lower part; the first linear motion mechanism and the second linear motion mechanism of the other group of driving components are fixed between the bottom plate and the top plate at the upper part;
the lower end of the connecting column can be fixed on an installation foundation, and the upper end of the connecting column sequentially penetrates through the bottom plate at the lower part, the top plate at the lower part, the bottom plate at the upper part and the top plate at the upper part, so that the bottom plate and the top plate at the upper part can slide up and down on the connecting column.
9. The link type five-degree-of-freedom puncture robot according to claim 8, wherein the needle feeding mechanism comprises a lifting motor arranged on the mounting base, and pneumatic clamping jaws arranged on the first mounting sleeve and the second mounting sleeve;
the output end of the lifting motor is fixedly connected with the fixed sleeve at the upper part; the pneumatic clamping jaw positioned at the upper part is driven to lift by the lifting motor;
the two pneumatic clamping jaws can be independently controlled to clamp the puncture needle, the puncture needle is alternatively clamped by the two pneumatic clamping jaws, and the needle insertion and needle withdrawal of the puncture needle are controlled under the driving of the lifting motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210334907.6A CN114469285B (en) | 2022-03-31 | 2022-03-31 | Connecting rod type five-degree-of-freedom puncture robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210334907.6A CN114469285B (en) | 2022-03-31 | 2022-03-31 | Connecting rod type five-degree-of-freedom puncture robot |
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| CN114469285A CN114469285A (en) | 2022-05-13 |
| CN114469285B true CN114469285B (en) | 2022-07-22 |
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| CN117340898B (en) * | 2023-12-05 | 2024-02-20 | 真健康(广东横琴)医疗科技有限公司 | Kinematic analysis method for miniaturized hybrid puncture robot |
Family Cites Families (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3476878B2 (en) * | 1993-11-15 | 2003-12-10 | オリンパス株式会社 | Surgical manipulator |
| WO2005039835A1 (en) * | 2003-10-24 | 2005-05-06 | The University Of Western Ontario | Force reflective robotic control system and minimally invasive surgical device |
| JP6440177B2 (en) * | 2015-10-13 | 2018-12-19 | 国立大学法人 岡山大学 | Puncture robot |
| CN106037937B (en) * | 2016-07-08 | 2018-06-22 | 天津大学 | A kind of operating robot motion arm with adaptive ability |
| CN106691591B (en) * | 2016-11-23 | 2023-08-04 | 深圳市罗伯医疗科技有限公司 | Single-hole minimally invasive surgery robot arm |
| CN106618736B (en) * | 2016-12-16 | 2019-03-08 | 微创（上海）医疗机器人有限公司 | Mechanical arm and operating robot with double freedom |
| CN107184275B (en) * | 2017-07-25 | 2018-09-14 | 吉林大学 | A kind of robot for assisting splanchnocoel Minimally Invasive Surgery |
| CN107411821B (en) * | 2017-08-28 | 2018-08-10 | 哈尔滨理工大学 | Five degree of freedom flexibility Needle-driven Robot |
| CN108742797A (en) * | 2018-07-10 | 2018-11-06 | 哈尔滨理工大学 | A kind of passive hybrid subclavian vein puncture robot of master |
| CN109223181A (en) * | 2018-09-19 | 2019-01-18 | 中国科学院苏州生物医学工程技术研究所 | The puncture needle robot for the treatment of is felt for pain |
| CN209422104U (en) * | 2018-09-19 | 2019-09-24 | 中国科学院苏州生物医学工程技术研究所 | The puncture needle robot for the treatment of is felt for pain |
| CN210354899U (en) * | 2019-05-31 | 2020-04-21 | 凯伊曼科技（天津）有限公司 | Medical surgical robot |
| CN111437011B (en) * | 2020-03-30 | 2021-04-13 | 中国科学院深圳先进技术研究院 | Puncture surgery robot system |
| CN113081276B (en) * | 2021-03-29 | 2022-07-15 | 上海健康医学院 | Four-bar linkage venipuncture needle advancing and retreating execution device with needle picking action |
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Effective date of registration: 20230104 Address after: Room 105-75274, No. 6, Baohua Road, Hengqin New District, Zhuhai City, Guangdong Province, 519000 (centralized office area) Patentee after: True Health (Zhuhai) Medical Technology Co.,Ltd. Address before: 100192 Room 308, floor 3, building 2, Tiandi Linfeng, No. 1, yongtaizhuang North Road, Haidian District, Beijing Patentee before: ZHENJIANKANG (BEIJING) MEDICAL TECHNOLOGY Co.,Ltd. |