CN116158818A - An automated medical abdominal surgery puncture device and puncture method - Google Patents

Abstract

The present invention provides an automated medical abdominal surgery puncture device and puncture method, comprising a base 1, an adsorption mechanism 2, a puncture positioning mechanism 3, and a transposition mechanism 4, and the transposition mechanism 4 is connected with an ultrasonic thickness measurement module, a cutting module, and a puncture module , the base is provided with a mechanical interface 5, and the mechanical interface is connected with the mechanical arm of the surgical robot. The ultrasonic thickness measuring module of the present invention measures the thickness of the part that needs to be punctured, the cutting module is used to make an incision on the punctured part, and the puncture module is used to perform puncture from the incision. The transposition action of the ultrasonic thickness measuring mechanism, the cutting mechanism, and the puncture mechanism is realized through the transposition mechanism, and it is convenient to perform corresponding operation actions.

Description

An automated medical abdominal surgery puncture device and puncture method

technical field

The invention relates to the technical field of medical instruments, in particular to an automatic medical abdominal surgery puncture device and a puncture method.

Background technique

With the development of medical technology, surgical operations are gradually becoming minimally invasive, and laparoscopic surgery is becoming more and more common. However, laparoscopic surgery requires the establishment of observation holes to place laparoscopic lenses and several operating holes to place laparoscopic instruments for related operations.

At present, the puncture operation of the observation hole in laparoscopic surgery mainly relies on the surgeon, and the surgeon performs all manually. The specific process is as follows. The surgeon needs to use cloth forceps to clamp the patient's abdominal skin, lift the skin up, and separate the skin from the internal organs. The puncturer performs manual puncture, and the whole puncture process is relatively complicated, and there are certain potential safety hazards.

Therefore, it is necessary to provide a new automatic medical abdominal surgery puncture device to solve the above technical problems.

Contents of the invention

In order to solve the above technical problems, the object of the present invention is to provide an automatic medical abdominal surgery puncture device and puncture method with reasonable design, convenient use and strong practicability.

To achieve the above object, the technical scheme of the present invention is as follows:

An automatic medical puncture device and a puncture method for abdominal surgery, comprising a base, an adsorption mechanism, a puncture positioning mechanism, and a transposition mechanism. The transposition mechanism is connected with an ultrasonic thickness measurement module, a cutting module, and a puncture module, and a mechanical interface is provided on the base, and the mechanical interface is detachably connected with the mechanical arm of the surgical robot;

The base adopts a square frame structure, the upper part of the square frame is provided with a puncture positioning mechanism, and the bottom of the square frame is provided with an adsorption mechanism, and the puncture positioning mechanism includes a first movement mechanism and a second movement mechanism;

The first movement mechanism includes a lateral movement mechanism and a longitudinal movement mechanism, and realizes the movement of the second movement mechanism back and forth, left and right;

The second movement mechanism includes an upper platform and a lower platform, and a plurality of linear adjustment mechanisms, such as cylinders and linear motors, are arranged between the upper and lower platforms. A second movement mechanism is arranged below the first movement mechanism, and a cable is arranged on the first movement mechanism, and the upper platform of the second movement mechanism is connected through the cable, and x and y are realized through the connection between the second movement mechanism and the first movement mechanism , z three directions and angle adjustment. A transposition mechanism is provided on the lower platform, and the transposition mechanism is connected with an ultrasonic thickness measurement module, a cutting module and a puncture module.

In the above solution, the square frame has four side walls, front, rear, left, and right, each side wall is provided with a groove, the four grooves are on the same horizontal plane, and the end to the end is connected to form a channel. The left and right grooves are respectively provided with first slide rails, and the first slide rails are slidably connected with first sliders; the front and rear grooves are respectively provided with second slide rails, and the second slide rails are slidably connected with second sliders.

The first movement mechanism includes a lateral movement mechanism and a longitudinal movement mechanism;

The lateral movement mechanism includes a first drive motor, a first pulley, a second pulley, a third pulley, a fourth pulley, and a first cable, the first drive motor is fixed in the left groove of the square frame, and the output of the first drive motor The shaft is provided with a first driving wheel, the first pulley is arranged at the intersection of the left groove and the rear groove, the second pulley is arranged at the intersection of the right groove and the rear groove, the third pulley and the fourth pulley are respectively arranged at the corresponding One end of the first cable is connected to the left side of the upper platform, and the other end goes around the fourth pulley in a counterclockwise direction, and goes around the first driving wheel, the first pulley, the The second pulley and the third pulley, and the other end of the first cable bypasses the third pulley clockwise and is connected to the right side of the upper platform;

The longitudinal movement mechanism includes a second drive motor, a fifth pulley, a sixth pulley, a seventh pulley, an eighth pulley, and a second cable, the second drive motor is fixed in the rear groove of the square frame, and the output of the second drive motor The shaft is provided with a second driving wheel, the fifth pulley is arranged at the intersection of the rear groove and the right groove, the sixth pulley is arranged at the intersection of the right groove and the front groove, the seventh pulley and the eighth pulley are respectively arranged at the corresponding One end of the second cable is connected to the rear side of the upper platform, and the other end goes around the eighth pulley in a counterclockwise direction, and goes around the second drive wheel, the fifth pulley, the Six pulleys and the seventh pulley, and the other end of the second cable goes around the seventh pulley clockwise and is connected to the front side of the upper platform.

Therefore, the forward and reverse rotation of the first and second driving motors can realize the left, right, front and rear movement of the upper platform in the horizontal plane, and then roughly align the puncture position.

Further, the second motion mechanism includes a lower platform connected to the bottom of the upper platform, and a plurality of linear adjustment mechanisms, such as cylinders and linear motors, are arranged between the upper and lower platforms, forming a six-degree-of-freedom parallel mechanism as a whole. The fine adjustment of the puncturing position and the precise adjustment of the puncturing angle in the three directions of x, y, and z are realized through the second movement mechanism.

There is a transposition mechanism on the lower platform, and the transposition mechanism is connected with an ultrasonic thickness measurement module, a cutting module, and a puncture module, and the transposition action of the ultrasonic thickness measurement mechanism, cutting mechanism, and puncture mechanism is realized through the transposition mechanism, which is convenient for performing corresponding operations action.

The transposition mechanism includes a rotating motor, a driving gear, a reduction gear, a cylinder, a fixed sleeve and a rotating sleeve.

The rotating motor is arranged on the upper part of the lower platform, the middle part of the lower platform is provided with a mounting hole, and the cylinder is rotatably connected in the mounting hole through a bearing. The driving gear is installed at the output end of the rotary motor, and an outer ring gear is installed on the upper part of the cylinder, and the driving gear, the reduction gear, and the outer ring gear are sequentially meshed for transmission.

The fixed sleeve is fixedly connected under the lower platform, the opening side of the fixed sleeve is arranged obliquely, and the opening side is rotatably connected with a rotating sleeve. The rotating sleeve is centered on the rotating transposition axis, around the rotational transposition axis and rotates relative to the fixed sleeve, thereby realizing the rotational transposition of the ultrasonic thickness measurement module, the cutting module and the puncture module.

Further, the rotating sleeve has three cylindrical working ends, and the three cylindrical working ends are distributed at intervals of 120 degrees. The ultrasonic thickness measurement module, the cutting module and the puncture module are connected to the three cylindrical working ends of the rotating sleeve. There is a universal tool connector rotating inside the cylindrical working end, and the ultrasonic thickness measuring module, cutting module and puncture module can be quickly connected to one end of the universal tool connector. The other end of the universal tool joint is provided with a rotary power joint, such as an external spline, an external hexagonal joint, etc., for forming a transmission cooperation with the internal rotary power interface at the end of the telescopic shaft.

Further, bevel gear 1 is sheathed on the end of the telescopic shaft, and bevel gear 2 is rotatably arranged at the rotation transposition axis inside the rotating sleeve, and bevel gear 1 and bevel gear 2 can mesh with each other.

Further, the rotation axis of the tool on each universal tool joint intersects the rotation transposition axis of the rotating sleeve, and the rotation axis of the tool coincides with the telescopic axis of the cylinder.

Compared with prior art, the beneficial effect of the present invention is:

1) The robotic arm is detachably connected to the base of the automated medical abdominal surgery puncture equipment, and the operation of this independent module is realized through the robotic arm. The robotic arm has multiple joints, including linear movement joints, rotary joints, and swing joints. The combination of multiple joints on the robotic arm realizes the lifting motion, translation motion, 360-degree rotation motion, and swing motion at a certain angle. Through the above The moving combined mechanical arm drives the automatic abdominal puncture equipment to realize the pre-positioning of the puncture.

2) The skin is firmly sucked by the suction cup, and the suction cup is lifted by the mechanical arm to separate the skin from the internal organs.

3) Through the positive and negative rotation of the two-dimensional mobile platform of the first and second driving motors, the upper platform can move left and right, forward and backward in the horizontal plane, and then perform rough alignment on the puncture position, and realize the x, Fine adjustment of the puncture position in the y and z directions realizes the three-dimensional movement of the puncture instrument and the precise adjustment of the puncture angle.

4) The ultrasonic thickness measurement module measures the thickness of the part that needs to be punctured. By measuring the thickness of the skin, the feeding depth of the cutter and the puncturer can be controlled, which is helpful for subsequent incision and puncture operations; the cutting module It is used to make an incision on the puncture site; the puncture module is used to puncture from the incision. The transposition action of the ultrasonic thickness measuring mechanism, the cutting mechanism and the puncture mechanism is realized through the transposition mechanism, which is convenient for performing corresponding operation actions.

5) Through the transposition mechanism set on the lower platform, after the transposition is completed, the corresponding cylindrical working end of the rotating sleeve is just on the telescopic axis of the cylinder, and then the rotating motor stops rotating, and the cylinder drives the telescopic shaft to extend to the lowest point. At this time, bevel gear 1 and bevel gear 2 are disengaged, and the rotating power interface provided at the end of the telescopic shaft forms a transmission cooperation with the rotating power joint of the universal tool joint of the cutting module or puncture module, thereby realizing the ultrasonic thickness measurement module, The rotation and transposition of the cutting module and the puncturing module.

Description of drawings

Fig. 1 is a schematic structural view of a preferred embodiment of an automated medical abdominal surgery puncture device and a puncture method provided by the present invention;

Fig. 2 is the structural representation of base shown in the present invention;

Fig. 3 is the structural representation of the first kinematic mechanism shown in the present invention;

Fig. 4 is a schematic diagram of the structure between the lower platform and the transposition mechanism shown in the present invention;

Symbols in the figure: 1, base; 2, adsorption mechanism; 3, puncture positioning mechanism; 4, transposition mechanism; 5, mechanical interface; 6, first movement mechanism; 61, lateral movement mechanism; 62, longitudinal movement mechanism; 7 , the second movement mechanism; 71, the upper platform; 72, the lower platform;

11. Groove; 12. The first slide rail; 13. The first slide block; 14. The second slide rail; 15. The second slide block;

611, the first drive motor; 612, the first pulley; 613, the second pulley; 614, the third pulley; 615, the fourth pulley; 616, the first pulley;

621, the second drive motor; 622, the fifth pulley; 623, the sixth pulley; 624, the seventh pulley; 625, the eighth pulley; 626, the second pulley;

41. Rotating motor; 42. Driving gear; 43. Reduction gear; 44. Cylinder; 45. Fixed sleeve; 46. Rotating sleeve; 47. Rotation transposition axis; 48. External ring gear;

461, cylindrical working end; 462, universal tool joint; 463, rotary power joint; 464, telescopic shaft; 465, bevel gear one; 466, bevel gear two; 467, rotary power interface.

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

In the specific implementation process, as shown in Fig. 1, Fig. 2, Fig. 3 and Fig. 4, the present invention provides an automatic medical abdominal surgery puncture device and puncture method, including a base 1, an adsorption mechanism 2, a puncture positioning mechanism 3, a replacement Positioning mechanism 4, on which the transposition mechanism 4 is connected with an ultrasonic thickness measuring module, a cutting module, and a puncture module.

In the preferred embodiment, the base is provided with a mechanical interface 5, and the mechanical interface is connected with the mechanical arm of the surgical robot. That is to say, the automatic paracentesis device of the present invention is an independent module, the robotic arm is detachably connected to the base of the automatic paracentesis device, and the operation of the independent module is realized through the robotic arm. Specifically, the robotic arm can have multiple joints, including linear movement joints, rotation joints, and swing joints. Through the combination of multiple joints, the module's lifting motion, translation motion, 360-degree rotation motion, and swing motion at a certain angle are realized. Preliminary positioning of the individual modules is performed by a combination of the above movements.

The preliminary positioning is to position the above-mentioned independent module at the abdominal cavity site to be punctured through the above-mentioned movement of the mechanical arm. The robotic arm drives the automatic abdominal puncture device in the present invention to pre-position, so that the automatic abdominal puncture device is initially aligned with the skin at a certain position in the abdominal cavity.

After the preliminary positioning is completed, the adsorption mechanism 2 of the independent module can be started, specifically, the abdominal skin is adsorbed by the suction cup of the adsorption mechanism 2 . Specifically, the suction cup generates negative pressure, firmly sucks the skin, and then drives the suction cup to move through the mechanical arm. At this time, the mechanical arm can be moved up to drive the skin at the above position up, so that the skin is lifted and the skin is separated from the internal organs. Or, at this time, the upward movement of the mechanical arm, combined with a certain degree of rotational movement or swing can be used to change the angle, and the skin at the above position can be moved upward, so that the skin is lifted and the skin is separated from the internal organs.

As shown in Figure 2, the base 1 adopts a square frame structure, the upper part of the square frame is provided with a puncture positioning mechanism 3, and the bottom of the square frame is provided with an adsorption mechanism 2, and the puncture positioning mechanism 3 includes a first movement mechanism 6 and a second movement mechanism 7.

The first motion mechanism 6 can be a two-dimensional mobile platform. The two-dimensional mobile platform includes a lateral movement mechanism 61 and a vertical movement mechanism 62. The second movement mechanism can be moved back and forth and left and right through the two-dimensional mobile platform. The platform moves back and forth, left and right, and roughly adjusts and aligns the puncture position;

The second motion mechanism 7 includes an upper platform 71 and a lower platform 72, and a plurality of linear adjustment mechanisms, such as cylinders and linear motors, are arranged between the upper and lower platforms. Three directions and angles of x, y, and z can be adjusted through the second movement mechanism, and then the position of the puncturing mechanism can be precisely adjusted to precisely adjust the puncturing position and puncturing angle.

As shown in FIG. 2 , further, the base 1 has four side walls, front, rear, left, and right, and each side wall is provided with four grooves 11 , and the four grooves are on the same horizontal plane, and the ends are connected to form a channel. The left and right grooves are respectively provided with a first slide rail 12, and the first slide rail 12 is slidably connected with a first slider 13; the front and rear grooves are respectively provided with a second slide rail 14, and a second slide rail 14 is slidably connected with a second Slider 15.

As shown in FIG. 3 , the first movement mechanism 6 includes a lateral movement mechanism 61 and a longitudinal movement mechanism 62 .

The lateral movement mechanism 61 comprises a first drive motor 611, a first pulley 612, a second pulley 613, a third pulley 614, a fourth pulley 615, a first cable 616, and the first drive motor 611 is fixed to the left groove of the square frame Inside, the output shaft of the first driving motor 611 is provided with a first driving wheel, the first pulley 612 is arranged at the intersection of the left groove and the rear groove, and the second pulley 613 is arranged at the intersection of the right groove and the rear groove, The third pulley 614 and the fourth pulley 615 are respectively arranged on the corresponding first slider 13. One end of the first cable 616 is connected to the left side of the upper platform 71, and the other end goes around the fourth pulley 615 in the counterclockwise direction, And go around the first drive wheel, the first pulley 612, the second pulley 613 and the third pulley 614 clockwise, and the other end of the first cable 616 goes around the third pulley 614 clockwise and is connected to the upper platform 71 Right.

The vertical movement mechanism 62 comprises a second drive motor 621, a fifth pulley 622, a sixth pulley 623, a seventh pulley 624, an eighth pulley 625, and a second pulley 626. The second drive motor 621 is fixed on the rear of the square frame of the base 1. In the groove, the output shaft of the second drive motor 621 is provided with a second drive wheel, the fifth pulley 622 is arranged at the intersection of the rear groove and the right groove, and the sixth pulley 623 is arranged at the intersection of the right groove and the front groove , the seventh pulley 624 and the eighth pulley 625 are respectively set on the corresponding second slider 15, one end of the second cable 626 is connected to the rear side of the upper platform 71, and the other end goes around the eighth pulley in a counterclockwise direction. 625, and go around the second driving wheel, the fifth pulley 622, the sixth pulley 623 and the seventh pulley 624 clockwise, and the other end of the second cable 626 goes around the seventh pulley 624 clockwise and is connected to the The front side of the platform 71 .

Thus, the upper platform 71 can move left, right, front and back in the horizontal plane through the forward and reverse rotation of the first and second driving motors, and then roughly align the puncture position.

The second motion mechanism 7 includes a lower platform 72 connected to the bottom of the upper platform 71, and a plurality of linear adjustment mechanisms, such as cylinders, linear motors, etc., are arranged between the upper and lower platforms, forming a six-degree-of-freedom parallel mechanism as a whole. The fine adjustment of the puncturing position and the precise adjustment of the puncturing angle in the three directions of x, y, and z are realized through the second movement mechanism 7 .

As shown in FIG. 4 , a transposition mechanism 4 is provided on the lower platform 72 , and the transposition mechanism 4 is connected with an ultrasonic thickness measurement module, a cutting module, and a puncture module. The ultrasonic thickness measurement module measures the thickness of the part that needs to be punctured. By measuring the thickness of the skin, the feeding depth of the cutter and the puncturer can be controlled, which is helpful for subsequent incision and puncture operations; the cutting module is used for Make an incision on the puncture site; the puncture module is used to puncture from the incision. The transposition action of the ultrasonic thickness measuring mechanism, the cutting mechanism and the puncture mechanism is realized through the transposition mechanism, which is convenient for performing corresponding operation actions.

The transposition mechanism 4 includes a rotary motor 41 , a drive gear 42 , a reduction gear 43 , a cylinder 44 , a fixed sleeve 45 and a rotary sleeve 46 .

The rotary motor 41 is arranged on the upper part of the lower platform 72, and the middle part of the lower platform 72 is provided with a mounting hole, and the cylinder 44 is rotatably connected in the mounting hole through a bearing. The driving gear 42 is installed on the output end of the rotary motor 41, and the outer gear 48 is installed on the top of the cylinder 44, and the driving gear 42, the reduction gear 43, and the outer gear are meshed and transmitted successively.

The fixed sleeve 45 is fixedly connected under the lower platform 72 , the opening side of the fixed sleeve 45 is arranged obliquely, and the rotating sleeve 46 is rotatably connected to the opening side. The rotating sleeve 46 is centered on the rotating transposition axis 47 , around the rotational transposition axis and rotates relative to the fixed sleeve 45 , thereby realizing the rotational transposition of the ultrasonic thickness measurement module, the cutting module and the puncture module.

Further, the rotating sleeve 46 has three cylindrical working ends 461, and the three cylindrical working ends 461 are distributed at intervals of 120 degrees. On the end 461 , a universal tool joint 462 is rotated inside each cylindrical working end 461 , and the ultrasonic thickness measurement module, cutting module and puncture module can be quickly connected to one end of the universal tool joint 462 . The other end of the universal tool joint 462 is provided with a rotary power joint 463 , such as an external spline, an external hexagonal joint, etc., for forming a transmission cooperation with the rotary power interface 467 provided at the end of the telescopic shaft 464 .

Further, a bevel gear 1 465 is sheathed on the end of the telescopic shaft 464, and a bevel gear 2 466 is rotated at the rotation transposition axis 47 inside the rotating sleeve 46, and the bevel gear 1 465 and the bevel gear 2 466 can mesh with each other. In the initial state, the telescopic shaft 464 returns to the highest point, the first bevel gear 465 meshes with the second bevel gear 466, the control mechanism controls the rotation of the rotary motor 41, and the rotary motor 41 drives the cylinder 44 to rotate through the reduction gear 43, and then drives the telescopic shaft 464 to rotate, The telescopic shaft 464 drives the first bevel gear 465 to rotate, and drives the second bevel gear 466 to rotate. The second bevel gear 466 drives the rotating sleeve 46 to rotate relative to the fixed sleeve 45, thereby realizing the integration of the ultrasonic thickness measurement module, the cutting module and the puncture module. Rotate transposition.

After the transposition is completed, the corresponding cylindrical working end 461 of the rotating sleeve 46 is just located on the telescopic axis of the cylinder 44, and then the rotating motor 41 stops rotating, and the cylinder 44 drives the telescopic shaft 464 to stretch out to the lowest point. It is out of mesh with the bevel gear 2 466, and the rotating power interface provided at the end of the telescopic shaft 464 forms a transmission cooperation with the rotating power joint of the universal tool joint 462 of the cutting module or the puncturing module.

Further, the rotation axis of the tool on each universal tool joint 462 intersects the rotation transposition axis 47 of the rotating sleeve 46 , and the rotation axis of the tool coincides with the telescopic axis of the cylinder 44 .

A puncture method of an automated medical operation puncture device provided by the present invention, the working principle and operation steps are as follows:

In the first step, the automated puncture device is connected to the surgical robot.

In the second step, the robotic arm of the surgical robot drives the automated puncture equipment to move to the site to be punctured in the abdominal cavity for preliminary positioning.

In the third step, the skin at the site to be punctured is adsorbed by the adsorption mechanism.

In the fourth step, the mechanical arm of the surgical robot drives the skin to move, so that the skin at the site to be punctured is separated from the internal organs.

In the fifth step, the first movement mechanism drives the upper platform to move back and forth, left and right, and roughly align the puncture site.

In the sixth step, the platform is driven by the second movement mechanism to fine-tune front, rear, left, and right, and at the same time adjust the puncture angle.

The seventh step, the control mechanism controls the telescopic shaft to be at the highest point, the bevel gear 1 and the bevel gear 2 mesh, the control mechanism controls the rotation of the rotating motor, the rotating motor drives the cylinder to rotate through the reduction gear, and then drives the telescopic shaft to rotate, and the telescopic shaft drives the bevel gear 1 Rotate, and drive the bevel gear 2 to rotate, the bevel gear 2 drives the rotating sleeve to rotate relative to the fixed sleeve, so that the ultrasonic thickness measurement module is transposed to a vertical position for thickness measurement.

The eighth step, the control mechanism controls the telescopic shaft to be at the highest point, the bevel gear 1 and the bevel gear 2 mesh, the control mechanism controls the rotation of the rotating motor, the rotating motor drives the cylinder to rotate through the reduction gear, and then drives the telescopic shaft to rotate, and the telescopic shaft drives the bevel gear 1 Rotate, and drive the second bevel gear to rotate, the second bevel gear drives the rotating sleeve to rotate relative to the fixed sleeve, thereby transposing the cutting module to a vertical position, then, the control mechanism controls the telescopic shaft to extend to the lowest point, and the telescopic shaft end The internal rotary power interface and the rotary power joint of the universal tool joint form a transmission cooperation. At this time, the rotary motor does not rotate, and the control mechanism controls the linear adjustment mechanism of the second movement mechanism to perform Z-direction feed movement, thereby driving the entire lower platform. Moving down, the cutter advances to make an incision at the puncture site.

In the ninth step, the control mechanism controls the linear adjustment mechanism of the second motion mechanism to reset in the Z direction, and then controls the telescopic shaft to return to the highest point, the bevel gear 1 and the bevel gear 2 mesh, the control mechanism controls the rotation of the rotating motor, and the rotating motor passes through the reduction gear Drive the cylinder to rotate, and then drive the telescopic shaft to rotate. The telescopic shaft drives the bevel gear 1 to rotate, and drives the bevel gear 2 to rotate. The bevel gear 2 drives the rotating sleeve to rotate relative to the fixed sleeve, thereby transposing the puncture module to a vertical position. Then, the control mechanism controls the extension of the telescopic shaft to the lowest point, and the rotary power interface provided at the end of the telescopic shaft forms a transmission cooperation with the rotary power joint of the universal tool joint. At this time, the control mechanism controls the rotation of the rotary motor and controls the second movement The linear adjustment mechanism of the mechanism performs Z-direction feed movement, thereby driving the puncture module to rotate and feed at the same time to realize the puncture action.

In addition, after the puncture is completed, the control mechanism controls the puncture device to automatically fall off, and the surgical robot drives the automatic puncture device to leave the puncture position and is on standby. Connect the puncture device through the central air source and enter the inflation operation to realize pneumoperitoneum inflation.

The above is only an embodiment of the present invention, and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the description of the present invention and the contents of the accompanying drawings, or directly or indirectly used in other related technologies fields, are all included in the scope of patent protection of the present invention in the same way.

Claims (9)

1. An automated medical abdominal operation puncturing device, characterized in that: the ultrasonic thickness measuring device comprises a base (1), an adsorption mechanism (2), a puncture positioning mechanism (3) and a transposition mechanism (4), wherein an ultrasonic thickness measuring module, a cutting module and a puncture module are connected to the transposition mechanism (4), a mechanical interface (5) is arranged on the base, the mechanical interface (5) is detachably connected with a mechanical arm of a surgical robot, the base (1) adopts a square frame structure, the puncture positioning mechanism (3) is arranged on the upper portion of the square frame, the adsorption mechanism (2) is arranged at the bottom of the square frame, and the puncture positioning mechanism (3) comprises a first movement mechanism (6) and a second movement mechanism (7);

the first moving mechanism (6) comprises a transverse moving mechanism (61) and a longitudinal moving mechanism (62), the second moving mechanism (7) comprises an upper platform (71) and a lower platform (72), a plurality of linear adjusting mechanisms are arranged between the upper platform and the lower platform, the second moving mechanism (7) is arranged below the first moving mechanism (6), a dragline is arranged on the first moving mechanism (6), the upper platform (71) of the second moving mechanism is connected through the dragline, and three directions of x, y and z and angle adjustment are realized through the connection of the second moving mechanism (7) and the first moving mechanism (6).

2. The automated medical abdominal cavity surgical puncturing device according to claim 1, wherein the base (1) is provided with four side walls, namely front, rear, left and right side walls, each side wall is provided with a groove (11), the four grooves are positioned on the same horizontal plane, the four grooves are communicated end to form a channel, the left and right grooves are respectively provided with a first sliding rail (12), the first sliding rail (12) is slidingly connected with a first sliding block (13), the front and rear grooves are respectively provided with a second sliding rail (14), and the second sliding rail (14) is slidingly connected with a second sliding block (15).

3. The automated medical abdominal puncture device according to claim 1, wherein the lateral movement mechanism (61) comprises a first driving motor (611), a first pulley (612), a second pulley (613), a third pulley (614), a fourth pulley (615) and a first cable (616), the first driving motor (611) is fixed in a left groove of the square frame, a first driving wheel is arranged on an output shaft of the first driving motor (611), the first pulley (612) is arranged at a junction of the left groove and the rear groove, the second pulley (613) is arranged at a junction of the right groove and the rear groove, the third pulley (614) and the fourth pulley (615) are respectively arranged on a corresponding first sliding block (13), one end of the first cable (616) is connected to the left side of the upper platform (71), the other end of the first cable (616) sequentially bypasses the fourth pulley (615) in a counterclockwise direction, and bypasses the first driving wheel, the first pulley (612), the second pulley (613) and the third pulley (614) in a clockwise direction, and the other end of the first cable (616) clockwise bypasses the third pulley (614) and is connected to the right side of the upper platform (71).

4. The automated medical abdominal cavity surgical puncturing device according to claim 1, wherein the longitudinal moving mechanism (62) comprises a second driving motor (621), a fifth pulley (622), a sixth pulley (623), a seventh pulley (624), an eighth pulley (625) and a second pull rope (626), the second driving motor (621) is fixed in a rear groove of the square frame of the base (1), a second driving wheel is arranged on an output shaft of the second driving motor (621), the fifth pulley (622) is arranged at a junction of the rear groove and the right groove, the sixth pulley (623) is arranged at a junction of the right groove and the front groove, the seventh pulley (624) and the eighth pulley (625) are respectively arranged on the corresponding second sliding blocks (15), one end of the second pull rope (626) is connected to the rear side of the upper platform (71), the other end of the second pull rope (626) sequentially bypasses the eighth pulley (625) in a counterclockwise direction, the second driving wheel, the fifth pulley (622), the sixth pulley (623) and the seventh pulley (624) are sequentially bypassed in a clockwise direction, and the other end of the second pull rope (626) bypasses the seventh pulley (624) to the rear side of the upper platform (71).

5. The automated medical abdominal puncture device according to claim 1, wherein the lower platform (72) is provided with a transposition mechanism (4), the transposition mechanism (4) comprises a rotating motor (41), a driving gear (42), a reduction gear (43), a cylinder (44), a fixed sleeve (45) and a rotating sleeve (46), the rotating motor (41) is arranged on the upper portion of the lower platform (72), the middle portion of the lower platform (72) is provided with a mounting hole, the cylinder (44) is rotationally connected in the mounting hole through a bearing, the driving gear (42) is mounted at the output end of the rotating motor (41), an external gear ring (48) is mounted on the upper portion of the cylinder (44), the driving gear (42), the reduction gear (43) and the external gear ring are sequentially meshed for transmission, the fixed sleeve (45) is fixedly connected below the lower platform (72), the opening side of the fixed sleeve (45) is obliquely arranged, the opening side is rotationally connected with the rotating sleeve (46), and the rotating sleeve (46) is rotationally connected with the rotating sleeve (46) around the rotating transposition axis (47) and rotates relative to the fixed sleeve (45).

6. The automated medical laparoscopic surgical lancing apparatus according to claim 5, wherein the rotary sleeve (46) has three cylindrical working ends (461), the three cylindrical working ends (461) are spaced 120 degrees apart, the ultrasonic thickness measuring module, the cutting module and the lancing module are connected to the three cylindrical working ends (461) of the rotary sleeve (46), a universal tool joint (462) is rotatably provided at each of the cylindrical working ends (461), the ultrasonic thickness measuring module, the cutting module and the lancing module are fast connectable to one end of the universal tool joint (462), and a rotary power joint (463) is provided at the other end of the universal tool joint (462) for forming a driving engagement with a rotary power interface (467) provided in the end of the telescopic shaft (464).

7. The automated medical abdominal puncture device according to claim 6, wherein the end of the telescopic shaft (464) is sleeved with a first bevel gear (465), a second bevel gear (466) is rotatably arranged at a rotation transposition axis (47) inside the rotary sleeve (46), the first bevel gear (465) and the second bevel gear (466) can be meshed with each other, the telescopic shaft (464) is retracted to the highest point in an initial state, the first bevel gear (465) is meshed with the second bevel gear (466), the control mechanism controls the rotary motor (41) to rotate, the rotary motor (41) drives the cylinder (44) to rotate through the reduction gear (43), the telescopic shaft (464) drives the first bevel gear (464) to rotate, the second bevel gear (466) drives the rotary sleeve (46) to rotate relative to the fixed sleeve (45).

8. The automated medical laparoscopic surgical lancing apparatus according to claim 6, wherein the rotational axis of the tool on each universal tool joint (462) intersects the rotational indexing axis (47) of the rotary sleeve (46) and the rotational axis of the tool coincides with the telescopic axis of the cylinder (44).

9. A puncturing method based on an automated medical laparoscopic surgical puncturing device as claimed in claims 1-8, characterized by comprising the steps of:

a first step of connecting an automated lancing apparatus to a surgical robot;

secondly, driving the automatic puncture equipment to move to the to-be-punctured part of the abdominal cavity by a mechanical arm of the operation robot to perform preliminary positioning;

thirdly, adsorbing the skin of the part to be punctured by an adsorption mechanism;

fourthly, driving the skin to move by a mechanical arm of the surgical robot so as to separate the skin at the part to be punctured from the viscera;

fifthly, driving the upper platform to move back and forth and left and right through the first movement mechanism, and roughly aligning the puncture part;

step six, driving the lower platform to perform fine adjustment back and forth, left and right through the second movement mechanism, and adjusting the puncture angle at the same time;

seventh, the control mechanism controls the telescopic shaft to be located at the highest point, the bevel gear I is meshed with the bevel gear II, the control mechanism controls the rotating motor to rotate, the rotating motor drives the air cylinder to rotate through the reduction gear, the telescopic shaft is further driven to rotate, the telescopic shaft drives the bevel gear I to rotate and drives the bevel gear II to rotate, the bevel gear II drives the rotating sleeve to rotate relative to the fixed sleeve, and therefore the ultrasonic thickness measuring module is shifted to a vertical position for thickness measurement;

eighth, the control mechanism controls the telescopic shaft to be positioned at the highest point, the bevel gear I is meshed with the bevel gear II, the control mechanism controls the rotating motor to rotate, the rotating motor drives the air cylinder to rotate through the reduction gear so as to drive the telescopic shaft to rotate, the telescopic shaft drives the bevel gear I to rotate and drives the bevel gear II to rotate, the bevel gear II drives the rotating sleeve to rotate relative to the fixed sleeve, so that the cutting module is transposed to the vertical position, then the control mechanism controls the telescopic shaft to extend to the lowest point, a rotating power interface arranged in the end part of the telescopic shaft and a rotating power joint of the universal tool joint form transmission fit, at the moment, the rotating motor does not rotate, the control mechanism controls the linear adjusting mechanism of the second moving mechanism to perform Z-direction feeding movement, and then drives the whole lower platform to move downwards, so that the cutter is fed, and the puncture position is notched;

and ninth, the control mechanism controls the linear adjusting mechanism of the second moving mechanism to reset in the Z direction, then controls the telescopic shaft to retract to the highest point, the bevel gear I is meshed with the bevel gear II, the control mechanism controls the rotating motor to rotate, the rotating motor drives the cylinder to rotate through the reduction gear, and then drives the telescopic shaft to rotate, the telescopic shaft drives the bevel gear I to rotate and drives the bevel gear II to rotate, the bevel gear II drives the rotating sleeve to rotate relative to the fixed sleeve, so that the puncture module is transposed to a vertical position, then, the control mechanism controls the telescopic shaft to extend to the lowest point, a rotary power interface arranged in the end part of the telescopic shaft and a rotary power joint of the universal tool joint form transmission fit, at the moment, the control mechanism controls the rotating motor to rotate and controls the linear adjusting mechanism of the second moving mechanism to perform Z-direction feeding movement, and accordingly drives the puncture module to rotate and feed simultaneously, so that the puncture action is realized.

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