CN114903597A - Design method for producing puncture guide for robot minimally invasive surgery - Google Patents
Design method for producing puncture guide for robot minimally invasive surgery Download PDFInfo
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- CN114903597A CN114903597A CN202210317881.4A CN202210317881A CN114903597A CN 114903597 A CN114903597 A CN 114903597A CN 202210317881 A CN202210317881 A CN 202210317881A CN 114903597 A CN114903597 A CN 114903597A
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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
- 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
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/10—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis
- A61B90/11—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis with guides for needles or instruments, e.g. arcuate slides or ball joints
- A61B90/13—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis with guides for needles or instruments, e.g. arcuate slides or ball joints guided by light, e.g. laser pointers
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Abstract
The invention discloses a design method for producing a puncture guider for a robot minimally invasive surgery, and relates to the technical field of medical clinic. According to the design method of the puncture guider for the minimally invasive surgery of the production robot, through the arrangement of the clamping assembly, when the puncture needle is assembled, the sliding block is pulled to the side face through the loose fixing bolt, then the puncture needle is inserted into the guide hole, after the puncture needle is inserted, the sliding block and the arc-shaped plate are pulled through the elastic pull rope to position the puncture needle, the puncture needle can be prevented from falling off, meanwhile, the follow-up operations such as position adjustment and positioning are convenient to conduct, after the puncture needle is fixed through the arc-shaped plate and the sliding plate, the fixing bolt is rotated, the fixing between the sliding block and the limiting frame is guaranteed, the stability of the puncture needle is guaranteed, the situation that the puncture needle shakes inside the guide hole to affect the puncture precision in the surgery process is avoided, and the assembling convenience and stability of the puncture needle are improved.
Description
Technical Field
The invention relates to the technical field of medical treatment and clinic, in particular to a design method for producing a puncture guide device for a robot minimally invasive surgery.
Background
In minimally invasive surgery such as tumor or spine minimally invasive therapy, a therapeutic apparatus is usually directly directed to a focus through a percutaneous puncture method for targeted therapy, such as a puncture needle, a cryoneedle, a radio frequency needle, a spinal nail needle, and the like, and in practical clinical operation, a doctor generally punctures with the assistance of a free-hand puncture or a 3D printing template; the existing puncture mode has the defects of very large limitation, low accuracy of bare-handed puncture and high risk, completely depends on doctor experience and technology, and is not suitable for using a 3D printing template when the condition of a patient is greatly changed or the patient moves in parts with large motion, such as the lung.
At present, most of robots in the market are universal robots, in order to enable the robots to have the function of clinically performing minimally invasive surgery, minimally invasive treatment needs to be performed by combining a guider, the existing guider is more complicated when puncture needle positioning is performed, the existing guider is difficult to be applied to puncture needle positioning operation with different diameters, and convenience and application range of equipment are reduced.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a design method for producing a puncture guide device for a robot minimally invasive surgery, which solves the problems of convenience and low application range.
In order to achieve the purpose, the invention is realized by the following technical scheme: a design method for producing a puncture guide for a robot minimally invasive surgery specifically comprises the following steps:
s1, assembling the designed connector and the clamp through a connecting bolt, and assembling the clamp to the tail end of the robot through the connector;
s2, respectively installing a laser range finder and a puncture needle used in minimally invasive surgery into a clamp and then fixing the laser range finder and the puncture needle, so that the laser range finder and the puncture needle are connected to a robot through the matching of the clamp and a connector, and the minimally invasive surgery can be performed through the robot;
wherein, the connector in S1 comprises a support column and a chassis, the clamp in S1 comprises a support arm and a limit frame, the end of the support column is provided with a plurality of limit holes, one end of the support arm is of a sleeve type and is internally and fixedly provided with a plurality of limit columns, the sleeve end of the support arm is sleeved on the end of the support column and is fixedly connected with the support column through the matching of a plurality of limit columns and connecting bolts, the limit frame is fixedly arranged on the end of the support arm, the limit frame is internally provided with a laser placing groove, a positioning component is arranged inside the laser placing groove, the side surface of the limit frame is provided with a clamping component, the bottom of the limit frame is provided with a limit component, the clamping component comprises a slide block, the inside of the slide block is provided with a limit groove, and the two sides inside of the slide block are symmetrically provided with rectangular grooves, the limiting frame is characterized in that rectangular sliding blocks are fixedly mounted at two ends of the side face of the limiting frame, the sliding blocks are slidably mounted on the side face of the limiting frame through the matching of rectangular grooves and the rectangular sliding blocks respectively, arc grooves are formed in the end portions of the sliding blocks, arc plates are arranged in the arc grooves, limiting shaft sleeves are fixedly mounted at the center positions of the inner portions of the arc grooves, limiting rods are rotatably mounted in the limiting shaft sleeves, outer shaft sleeves are fixedly mounted at two ends of the outer sides of the arc plates, two outer shaft sleeves are fixedly sleeved at two ends of the limiting rods respectively, spring bodies are fixedly sleeved at two ends of the outer sides of the limiting rods and located at two ends of the inner sides of the limiting shaft sleeves respectively, rectangular blocks are fixedly mounted at the end portions of the side face of the limiting frame, connecting columns are fixedly mounted in the rectangular blocks and are arranged in the circular holes and are fixedly mounted in the inner portions of the circular holes, and elastic pull ropes are fixedly mounted at the end portions of the connecting columns, the other end of the elastic pull rope is fixedly connected to the middle of the side face of the sliding block, a threaded hole is formed in the limiting frame, a fixing bolt meshed with the threaded hole is arranged in the threaded hole, the end portion of the fixing bolt penetrates through the limiting groove, a guide hole is formed in the side face of the limiting frame, and the installation position of the arc-shaped plate corresponds to the arrangement position of the guide hole.
Preferably, the arc-shaped plate is rotatably arranged inside the arc-shaped groove through an outer shaft sleeve fixedly arranged on the outer side and a limiting shaft sleeve and a limiting rod which are matched with each other.
Preferably, locating component includes the locating plate, the equal fixed mounting in both sides of locating plate has the stopper, spacing spout has been seted up to the equal symmetry in inner wall both sides of laser instrument standing groove, the locating plate is respectively through the stopper of both sides and the cooperation slidable mounting between the spacing spout inside the laser instrument standing groove, the side mid-rotation of locating plate installs positioning bolt, positioning bolt's the other end pass spacing, and with spacing between through screw thread intermeshing.
Preferably, a plurality of screw positioning holes are formed in the base plate, and a positioning column is fixedly mounted on one side of the top surface of the base plate.
Preferably, the length of arc is the same with the height of spacing and slider, the inboard fixed mounting of arc has a plurality of anti-skidding lug.
Preferably, the sliding block is always parallel to the limiting frame through the matching of the corresponding rectangular groove and the rectangular sliding block, and a distance is reserved between the end part of the sliding block and the rectangular block.
Preferably, the laser placing groove is arranged at the center of the inner part of the limiting frame in a penetrating mode.
Preferably, spacing subassembly includes the spacing ring, spacing ring fixed mounting is in the bottom of spacing frame, and is located the bottom of guide hole, the equal fixed mounting in both sides has outer tube and screw shaft sleeve in the inside of spacing ring, the equal slidable mounting in both ends in the inside of outer tube has slide bar and push rod, and is connected through the elastic rib between slide bar and the push rod, the other end of push rod is provided with the gim peg, and is connected to the bottom of slider through gim peg fixed connection, the inside of screw shaft sleeve is provided with the threaded rod through the screw thread linking, the tip of threaded rod and the tip of slide bar are all rotated and are installed the locating piece, the other end of threaded rod is fixed the cup jointed wing nut.
Preferably, two the locating piece is rotated through the cooperation of threaded rod and slide bar respectively and is set up inside the spacing ring, two concave groove has all been seted up in the outside of locating piece, and rotates the tip that sets up at threaded rod and slide bar through the cooperation in concave groove respectively.
Advantageous effects
The invention provides a design method for producing a puncture guide device for a robot minimally invasive surgery. Compared with the prior art, the method has the following beneficial effects:
(1) the design method of the puncture guider for the minimally invasive surgery of the production robot comprises the steps of clamping the components and limiting the components, when the puncture needle is assembled, the sliding block is pulled to the side face through the loose fixing bolt, the puncture needle is inserted into the guide hole, the sliding block and the arc-shaped plate are pulled through the elastic pull rope after the puncture needle is inserted, the puncture needle is positioned, the puncture needle can be prevented from falling off, meanwhile, the follow-up operations such as position adjustment and positioning are convenient to conduct, after the puncture needle is fixed through the arc-shaped plate and the sliding plate, the fixing between the sliding block and the limiting frame is guaranteed through the rotation of the fixing bolt, the stability of the puncture needle is guaranteed, the phenomenon that the puncture needle shakes inside the guide hole to affect the puncture precision in the surgery process is avoided, and the assembling convenience and stability of the puncture needle are improved.
(2) This production robot is puncture director's for minimal access surgery design method, through the spacing axle sleeve that arc and arc side set up, the cooperation of subassembly such as gag lever post, when the little hour of male pjncture needle holding ring department diameter, the arc passes through the in-process that elasticity stay cord and slider reset can be at first through one side and pjncture needle contact, then make it rotate along the gag lever post through the promotion of slider, the location of pjncture needle is realized to cambered surface and a plurality of anti-skidding lug through inside, thereby can make the device be suitable for and fix a position the operation with the pjncture needle to different diameters, the application scope of device has been promoted.
(3) This production robot is puncture director's for minimal access surgery design method, through locating component's setting, when fixing a position laser range finder, through rotating positioning bolt and spacing between the meshing, can promote the locating plate to the inboard, make the locating plate can slide in the laser instrument standing groove through the stopper of both sides, fix a position the laser range finder who puts into, until through the locating plate with the laser range finder centre gripping can, it is more convenient to assemble when making laser range finder guarantee stability.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic cross-sectional view of the clamp of the present invention;
FIG. 3 is a schematic cross-sectional view of point A of the present invention;
FIG. 4 is a schematic cross-sectional view of a rectangular block according to the present invention;
FIG. 5 is a schematic view of an arc plate according to the present invention;
FIG. 6 is an enlarged view of point B of the present invention;
FIG. 7 is a schematic diagram of the overall side-view explosion configuration of the present invention;
FIG. 8 is an enlarged view of point C of the present invention;
FIG. 9 is a schematic cross-sectional view of a stop collar according to the present invention;
FIG. 10 is an enlarged view of point D of the present invention; .
In the figure: 1. a support arm; 101. a limiting column; 2. a support pillar; 3. a chassis; 301. screw positioning holes; 302. a positioning column; 4. a limiting frame; 401. a laser placing groove; 4011. a limiting chute; 402. positioning the bolt; 403. positioning a plate; 4031. a limiting block; 404. a rectangular slider; 405. a threaded hole; 5. fixing the bolt; 6. a slider; 601. an arc-shaped slot; 602. a rectangular groove; 603. a limiting groove; 7. a guide hole; 8. a rectangular block; 801. a circular hole; 802. connecting the column; 803. an elastic pull rope; 9. an arc-shaped plate; 901. an outer sleeve; 902. an anti-slip tab; 10. a limiting rod; 1001. a spring body; 11. a limiting shaft sleeve; 12. a limiting ring; 13. an outer sleeve; 1301. a slide bar; 1302. a push rod; 1303. a fixing bolt; 14. positioning blocks; 1401. a concave groove; 15. a threaded shaft sleeve; 1501. a threaded rod; 1502. wing nut.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-10, the present invention provides a technical solution: a design method for producing a puncture guide for a robot minimally invasive surgery specifically comprises the following steps:
s1, assembling the designed connector and the clamp through a connecting bolt, and assembling the clamp to the tail end of the robot through the connector;
s2, respectively installing the laser range finder and the puncture needle used in the minimally invasive surgery into the clamp and then fixing the laser range finder and the puncture needle, so that the laser range finder and the puncture needle are connected to the robot through the matching of the clamp and the connector, and the minimally invasive surgery can be performed through the robot;
wherein, the connector in S1 comprises a support pillar 2 and a chassis 3, the clamp in S1 comprises a support arm 1 and a limit frame 4, the end of the support pillar 2 is provided with a plurality of limit holes, one end of the support arm 1 is of a sleeve shape, and is fixedly provided with a plurality of limit posts 101 inside, the sleeve end of the support arm 1 is sleeved on the end of the support pillar 2 and is fixedly connected with the end of the support pillar through the matching of the limit posts 101 and connecting bolts, the limit frame 4 is fixedly arranged on the end of the support arm 1, the limit frame 4 is internally provided with a laser placing groove 401, a positioning component is arranged inside the laser placing groove 401, the side surface of the limit frame 4 is provided with a clamping component, the bottom of the limit frame 4 is provided with a limit component, the clamping component comprises a slide block 6, the slide block 6 is internally provided with a limit groove 603, the two sides inside the slide block 6 are symmetrically provided with rectangular grooves 602, the two ends of the side surface of the limit frame 4 are both fixedly provided with rectangular slide blocks 404, the slider 6 is slidably mounted on the side of the limiting frame 4 through the matching of the rectangular groove 602 and the rectangular slider 404, the end of the slider 6 is provided with an arc-shaped groove 601, the arc-shaped plate 9 is arranged inside the arc-shaped groove 601, the central position inside the arc-shaped groove 601 is fixedly provided with a limiting shaft sleeve 11, the limiting shaft sleeve 11 is rotatably mounted inside the limiting shaft sleeve 10, both ends outside the arc-shaped plate 9 are fixedly provided with outer shaft sleeves 901, the two outer shaft sleeves 901 are fixedly sleeved on both ends of the limiting rod 10 respectively, both ends outside the limiting rod 10 are fixedly sleeved with spring bodies 1001, the two spring bodies 1001 are respectively located at both ends inside the limiting shaft sleeve 11, the end of the side of the limiting frame 4 is fixedly provided with a rectangular block 8, the inside of the rectangular block 8 is provided with a circular hole 801, the inside of the circular hole 801 is fixedly provided with a linking column 802, and the end of the linking column 802 is fixedly provided with an elastic pull rope 803, the other end of the elastic pull rope 803 is fixedly connected to the middle of the side face of the sliding block 6, a threaded hole 405 is formed in the limiting frame 4, a fixing bolt 5 meshed with the threaded hole 405 is arranged in the threaded hole 405, the end part of the fixing bolt 5 penetrates through the limiting groove 603, a guide hole 7 is formed in the side face of the limiting frame 4, the installation position of the arc-shaped plate 9 corresponds to the installation position of the guide hole 7, the arc-shaped plate 9 is respectively installed in the arc-shaped groove 601 through the outer shaft sleeve 901 fixedly installed on the outer side and the matching rotation between the limiting shaft sleeve 11 and the limiting rod 10, the positioning assembly comprises a positioning plate 403, both sides of the positioning plate 403 are respectively and fixedly installed with limiting blocks 4031, both sides of the inner wall of the laser placing groove 401 are respectively and symmetrically provided with limiting sliding grooves 4011, the positioning plate 403 is respectively installed in the laser placing groove 401 through the matching sliding between the limiting blocks 4031 and the limiting sliding grooves 4011 on both sides, the middle part of the side surface of the positioning plate 403 is rotatably provided with a positioning bolt 402, the other end of the positioning bolt 402 penetrates through the limiting frame 4 and is meshed with the limiting frame 4 through threads, the inside of the chassis 3 is provided with a plurality of screw positioning holes 301, one side of the top surface of the chassis 3 is fixedly provided with a positioning column 302, the length of the arc-shaped plate 9 is the same as the heights of the limiting frame 4 and the slide block 6, the inner side of the arc-shaped plate 9 is fixedly provided with a plurality of anti-skidding lugs 902, the slide block 6 is always kept parallel with the limiting frame 4 through the matching of the corresponding rectangular groove 602 and the rectangular slide block 404, a distance is reserved between the end part of the slide block 6 and the rectangular block 8, the laser placing groove 401 is arranged at the center position in the inside of the limiting frame 4 in a penetrating way, the radian of the inner wall of the arc-shaped plate 9 is the same as the radian of the inner wall of the guide hole 7, when the diameter of the puncture needle is the same as that, the puncture needle can be fixedly clamped by the arc-shaped plate 9 and the guide hole 7 being attached to the same as that of the puncture needle, when the diameter is slightly smaller, the arc-shaped plate 9 can be slightly pressed into the guide hole 7 by rotating along the limiting rod 10 until the inner wall of the arc-shaped plate is attached to the puncture needle to complete positioning, the radian of the inner wall of the guide hole 7 exceeds 180 degrees, the puncture needle and the laser range finder are all components used for the existing minimally invasive surgery, the limiting component comprises a limiting ring 12, the limiting ring 12 is fixedly arranged at the bottom of the limiting frame 4 and is positioned at the bottom of the guide hole 7, an outer sleeve 13 and a threaded shaft sleeve 15 are fixedly arranged on two sides of the inside of the limiting ring 12, a sliding rod 1301 and a push rod 1302 are slidably arranged at two ends of the inside of the outer sleeve 13, the sliding rod 1301 and the push rod 1302 are connected through an elastic rib, a fixing bolt 1303 is arranged at the other end of the push rod 1302 and is fixedly connected to the bottom of the slide block 6 through the fixing bolt 1303, a threaded rod 1501 is arranged inside of the threaded shaft sleeve 15 through threaded connection, and a positioning block 14 is rotatably arranged at the end of the threaded rod 1501 and the end of the sliding rod 1301, the other end of the threaded rod 1501 is fixedly sleeved with a wing nut 1502, the two positioning blocks 14 are respectively arranged inside the limiting ring 12 in a rotating mode through the matching of the threaded rod 1501 and the sliding rod 1301, the outer sides of the two positioning blocks 14 are respectively provided with a concave groove 1401, the two positioning blocks are respectively arranged at the end portions of the threaded rod 1501 and the sliding rod 1301 in a rotating mode through the matching of the concave groove 1401, the rotating ranges of the two positioning blocks 14 are 0-30 degrees, and the two positioning blocks can rotate to clamp a puncture needle when being applied to fixing the puncture needle with a slightly smaller diameter.
When in use, firstly, the supporting arm 1 and the chassis 3 are assembled, the supporting arm 1, the supporting column 2 and the chassis 3 are assembled into a whole through the matching of a plurality of limiting columns 101 arranged at the end part of the supporting arm 1, and a supporting column 2 and a plurality of limiting holes arranged at the bottom part of the chassis 3, then the positioning column 302 arranged at the end part of the chassis 3 is inserted into the tail end of the robot, and then the positioning column is fixed with the tail end of the robot through a screw positioning hole 301, thus completing the assembly of the guider, after the assembly is completed, a laser range finder required by an operation is placed in a laser placing groove 401 arranged in a limiting frame 4, then the positioning bolt 402 is rotated, through the rotation of the positioning bolt 402 and the engagement between the positioning bolt 402 and the limiting frame 4, the positioning plate 403 can be pushed to the inner side, so that the positioning plate 403 can slide in the laser placing groove 401 through the limiting blocks 4031 at both sides, positioning the laser range finder until the laser range finder is clamped by the positioning plate 403, in the process of installing the puncture needle, firstly loosening the fixing bolt 5 to enable the sliding block 6 to slide through the matching of the inner rectangular groove 602 and the rectangular sliding block 404, then inserting the puncture needle into the guide hole 7 by pulling the sliding block 6 outwards, pulling the sliding block 6 and simultaneously stretching the elastic pull rope 803 by the movement of the sliding block 6, loosening the sliding block 6 after the puncture needle is inserted into the guide hole 7, resetting the sliding block by the elastic pull rope 803 to enable the arc-shaped plate 9 arranged at the end part to be attached to the outer side of the inserted puncture needle for positioning, when the diameter of the positioning ring of the inserted puncture needle is slightly small, enabling one side of the reset arc-shaped plate 9 to be firstly contacted with the puncture needle, then driving the arc-shaped plate 9 to continuously move by the sliding block 6 to enable the arc-shaped plate 9 to be attached to the puncture needle and pushed by the sliding block 6, The puncture needle fixing device is characterized in that the puncture needle fixing device rotates along a limiting rod 10 until an arc-shaped plate 9 rotates to a proper angle to fix the puncture needle, so that the puncture needle fixing device can be suitable for puncture needle positioning operation with different diameters, after positioning is completed, a fixing bolt 5 is rotated to fix a sliding block 6 and a limiting frame 4, so that the assembling stability of the puncture needle is ensured, the situation that the puncture needle shakes in a guide hole 7 to influence the puncture precision in the operation process is avoided, meanwhile, the assembling convenience and the application range of the puncture needle are improved, through the arrangement of a limiting component, when the sliding block 6 slides, a push rod 1302 can be driven to move through the matching of a fixing bolt 1303, when the puncture needle is clamped through the sliding of a sliding plate 6 after being placed, the sliding rod 1301 can be pushed forwards through the matching of the push rod 1302, then a positioning block 14 rotatably installed at the end part of the sliding rod 1301 is used for fixing one side of the puncture needle, and after the sliding block 6 is fixed, the wing nut 1502 rotates to push the threaded rod 1501 forward through the threaded sleeve 15, and the puncture needle is fixed by the corresponding positioning block 14.
And those not described in detail in this specification are well within the skill of those in the art.
It should be noted that, in this document, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (9)
1. A design method for producing a puncture guide for a robot minimally invasive surgery specifically comprises the following steps:
s1, assembling the designed connector and the clamp through a connecting bolt, and assembling the clamp to the tail end of the robot through the connector;
s2, respectively installing a laser range finder and a puncture needle used in minimally invasive surgery into a clamp and then fixing the laser range finder and the puncture needle, so that the laser range finder and the puncture needle are connected to a robot through the matching of the clamp and a connector, and the minimally invasive surgery can be performed through the robot;
wherein, in S1 the connector includes support column (2) and chassis (3), in S1 anchor clamps include support arm (1) and spacing (4), the spacing hole of a plurality of has been seted up to the tip of support column (2), the one end of support arm (1) is the bushing type, and inside fixed mounting has a plurality of spacing post (101), the sleeve pipe end cup joint of support arm (1) is at the tip of support column (2) and through a plurality of spacing post (101) and connecting bolt' S cooperation fixed connection, its characterized in that: the limiting frame (4) is fixedly arranged at the end part of the supporting arm (1), a laser placing groove (401) is formed in the limiting frame (4), a positioning assembly is arranged in the laser placing groove (401), a clamping assembly is arranged on the side surface of the limiting frame (4), and a limiting assembly is arranged at the bottom of the limiting frame (4);
the clamping assembly comprises a sliding block (6), a limiting groove (603) is formed in the sliding block (6), rectangular grooves (602) are symmetrically formed in two sides of the inner portion of the sliding block (6), rectangular sliding blocks (404) are fixedly mounted at two ends of the side surface of the limiting frame (4), the sliding block (6) is slidably mounted on the side surface of the limiting frame (4) through the matching of the rectangular grooves (602) and the rectangular sliding blocks (404), an arc-shaped groove (601) is formed in the end portion of the sliding block (6), an arc-shaped plate (9) is arranged in the arc-shaped groove (601), a limiting shaft sleeve (11) is fixedly mounted at the center position of the inner portion of the arc-shaped groove (601), a limiting rod (10) is rotatably mounted in the limiting shaft sleeve (11), outer shaft sleeves (901) are fixedly mounted at two ends of the outer side of the arc-shaped plate (9), and the outer shaft sleeves (901) are fixedly connected to two ends of the limiting rod (10) respectively in a fixed mode, the outer two ends of the limiting rod (10) are fixedly sleeved with spring bodies (1001) and two spring bodies (1001) respectively located at the inner two ends of a limiting shaft sleeve (11), the end part of the side surface of the limiting frame (4) is fixedly provided with a rectangular block (8), the inside of the rectangular block (8) is provided with a circular hole (801), the inside of the circular hole (801) is fixedly provided with a connecting column (802), the end part of the connecting column (802) is fixedly provided with an elastic pull rope (803), the other end of the elastic pull rope (803) is fixedly connected to the middle part of the side surface of a sliding block (6), the inside of the limiting frame (4) is provided with a threaded hole (405), the inside of the threaded hole (405) is provided with a fixing bolt (5) which is meshed with the threaded hole, the end part of the fixing bolt (5) penetrates through the inside of a limiting groove (603), the side surface of the limiting frame (4) is provided with a guide hole (7), the installation position of the arc-shaped plate (9) corresponds to the opening position of the guide hole (7).
2. The design method for producing the puncture guide for the robotic minimally invasive surgery of claim 1, wherein: the arc-shaped plate (9) is rotatably arranged inside the arc-shaped groove (601) through an outer shaft sleeve (901) fixedly arranged on the outer side and the matching between the limiting shaft sleeve (11) and the limiting rod (10).
3. The design method for producing the puncture guide for the robotic minimally invasive surgery according to claim 1, characterized in that: locating component includes locating plate (403), the equal fixed mounting in both sides of locating plate (403) has stopper (4031), spacing spout (4011) have been seted up to the equal symmetry in inner wall both sides of laser instrument standing groove (401), locating plate (403) are respectively through the cooperation slidable mounting between stopper (4031) and the spacing spout (4011) of both sides inside laser instrument standing groove (401), locating bolt (402) are installed in the side mid-rotation of locating plate (403), the other end of locating bolt (402) pass spacing frame (4) and with through screw thread intermeshing between spacing frame (4).
4. The design method for producing the puncture guide for the robotic minimally invasive surgery according to claim 1, characterized in that: a plurality of screw positioning holes (301) are formed in the base plate (3), and positioning columns (302) are fixedly mounted on one side of the top surface of the base plate (3).
5. The design method for producing the puncture guide for the robotic minimally invasive surgery according to claim 1, characterized in that: the length of arc (9) is the same with the height homogeneous phase of spacing (4) and slider (6), the inboard fixed mounting of arc (9) has a plurality of non-slip lug (902).
6. The design method for producing the puncture guide for the robotic minimally invasive surgery according to claim 1, characterized in that: the sliding block (6) is always kept parallel to the limiting frame (4) through the matching of the corresponding rectangular groove (602) and the rectangular sliding block (404), and a distance is reserved between the end part of the sliding block (6) and the rectangular block (8).
7. The design method for producing the puncture guide for the robotic minimally invasive surgery according to claim 1, characterized in that: the laser placing groove (401) is arranged in the center of the inner portion of the limiting frame (4) in a penetrating mode.
8. The design method for producing the puncture guide for the robotic minimally invasive surgery of claim 1, wherein: the limiting component comprises a limiting ring (12), the limiting ring (12) is fixedly arranged at the bottom of the limiting frame (4) and is positioned at the bottom of the guide hole (7), an outer sleeve (13) and a threaded shaft sleeve (15) are fixedly arranged on both sides of the inner part of the limiting ring (12), both ends of the inner part of the outer sleeve (13) are provided with a sliding rod (1301) and a push rod (1302) in a sliding way, the sliding rod (1301) is connected with the push rod (1302) through an elastic rib, the other end of the push rod (1302) is provided with a fixed bolt (1303) and is fixedly connected to the bottom of the slide block (6) through the fixed bolt (1303), a threaded rod (1501) is arranged in the threaded shaft sleeve (15) in a threaded connection mode through threads, the end part of the threaded rod (1501) and the end part of the sliding rod (1301) are both rotatably provided with a positioning block (14), and the other end of the threaded rod (1501) is fixedly sleeved with an airfoil nut (1502).
9. The design method for producing the puncture guide for the robotic minimally invasive surgery according to claim 8, characterized in that: the two positioning blocks (14) are respectively arranged inside the limiting ring (12) in a rotating mode through the matching of a threaded rod (1501) and a sliding rod (1301), the outer sides of the two positioning blocks (14) are respectively provided with a concave groove (1401), and the concave grooves (1401) are respectively arranged at the end portions of the threaded rod (1501) and the sliding rod (1301) in a rotating mode through the matching of the concave grooves (1401).
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115444552A (en) * | 2022-10-14 | 2022-12-09 | 西安交通大学医学院第一附属医院 | Positioning device for tumor patient ablation |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115444552A (en) * | 2022-10-14 | 2022-12-09 | 西安交通大学医学院第一附属医院 | Positioning device for tumor patient ablation |
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