CN215129679U

CN215129679U - Four-degree-of-freedom fixed support used in hospital lung puncture operation

Info

Publication number: CN215129679U
Application number: CN202022355145.7U
Authority: CN
Inventors: 雷勇; 王真
Original assignee: Zhejiang University ZJU
Current assignee: Zhejiang University ZJU
Priority date: 2020-10-21
Filing date: 2020-10-21
Publication date: 2021-12-14
Anticipated expiration: 2030-10-21

Abstract

The utility model discloses a four-degree-of-freedom fixing support used in a lung puncture operation of a hospital. Including circular supporting seat, rotatable linear guide and pjncture needle suit, circular supporting seat mainly comprises outer lane gear and circular slide rail, rotatable linear guide supports through convex slider, pjncture needle suit passes through double-screw bolt and polished rod and rotatable guide formation sliding connection, rotatable linear guide is whole to pass through motor drive gear round convex support center rotatory, two screw rods self rotate round the straight line parallel with the guide rail axis through motor drive in the rotatable linear guide, needle puncture suit carries out axial displacement and swings in perpendicular to guide rail axial plane along rotatable guide. The utility model discloses compact structure, control is simple, combines screw rod transmission to realize the horizontal plane of control target and removes and the rotation of two rotation axes through rack and pinion, and motor and control target not lug connection.

Description

Four-degree-of-freedom fixed support used in hospital lung puncture operation

Technical Field

The utility model belongs to a puncture operation control device in the field of medical equipment manufacturing and application, in particular to a four-degree-of-freedom fixing support used in the lung puncture operation of hospitals.

Background

Clinically, if a lesion is found in the lung by CT examination, but it is not certain whether it is caused by infection, non-pathological infection or tumor, and particularly malignant tumor cannot be excluded, a lung biopsy is required to determine the nature of the lesion. Lung puncture is also a routine examination of some tissues taken by puncturing to a lesion under the positioning of CT. However, CT-guided puncture also has the disadvantage that the accurate positioning is caused by respiratory movement due to non-timely imaging, and a patient must be trained to master the respiratory time phase. When the puncture needle needs to form a certain angle with the cross section, the puncture technology has certain difficulty, so that the pose of the puncture needle needs to be continuously adjusted through a CT image. However, the generation of the CT images often requires a certain time, and the observation of the CT images requires leaving the operating table. Therefore, in the process of lung puncture surgery, the pose of the puncture needle needs to be continuously adjusted according to the CT image before the puncture needle enters the process, and after the pose is preliminarily determined, a doctor pastes positioning paper in a proper place to preliminarily determine the position of the puncture point. Therefore, the surgeon needs to constantly adjust the puncture needle and then fix the puncture needle. After the initial positioning is completed, the doctor needs to leave the operating room, and perform CT scanning again on the patient to determine the needle inserting direction and angle and finally determine the puncture point. After the needle is inserted and the puncture needle enters the preset depth, CT scanning is needed again to determine the position of the needle point; if the needle tip does not reach the focus, the adjustment is needed according to the scanning result, and the puncturing is finished finally by repeating the steps. Most medical personnel fix half of the puncture needle on the patient by puncturing the positioning needle. However, the puncture needle is driven to move together under the respiration action of the patient, and the puncture needle is easy to shift and even fall off during the operation. Finally, the problems of operation failure, inaccurate positioning, excessive lung tissue removal and the like are caused. The existing solution of medical staff is to directly adopt a tape or gauze winding and fixing mode, and partially adopt a gantry support arranged on an operating table to fix a puncture needle. But this is often poor due to patient respiration. It is difficult to actually fix the puncture needle. And a medical staff cannot be arranged for manual fixation because the medical staff cannot be under the ray for a long time due to the health reasons of the medical staff and the CT scanning process cannot be interfered. Therefore, at present, a small puncture needle fixing device which can be attached to a patient needs to be developed urgently, and the fixing device needs to realize the movement with multiple degrees of freedom, so that a doctor can conveniently realize the control of the movement track of the puncture angle of the puncture needle and the fixation of the puncture needle in the puncture process.

Since the fixing device is used for liver puncture operation in practical application, the device needs to realize movement in a plane of 100mm x 100mm so as to ensure that the puncture needle can puncture any position. Meanwhile, the uncertainty of the puncture position often needs to control not only the plane position of the puncture needle, but also the spatial posture of the puncture needle, namely the puncture angle. The fixation device also requires control of the needle's angle of oscillation. However, the extra freedom of control means more motor input and more drive mechanisms, and the fixation device must be attached to the patient's chest, so the device needs to be compact. Therefore, under the condition of ensuring normal use, the device can control four degrees of freedom of the puncture needle so as to realize movement along a horizontal plane, rotation in a vertical plane and rotation in the horizontal plane.

SUMMERY OF THE UTILITY MODEL

In order to realize the function that needs to realize among the background art, the utility model provides a four degrees of freedom lung puncture needle fixing device that is arranged in the fixed usefulness of pjncture needle removal and gesture in the needle puncture operation of hospital. The device can realize the movement of the puncture needle along the horizontal plane, the rotation in the vertical plane and the rotation around a certain axis of the horizontal plane so as to adapt to various puncture positions and angles.

The utility model discloses the technical scheme who adopts as follows:

the utility model comprises a circular supporting seat, a rotatable linear guide rail and a puncture needle sleeve set; the circular supporting seat comprises a driving motor A, L type motor seat A, a pinion, two semi-circular arc-shaped sliding blocks and an outer gear ring with a guide rail; the outer gear ring with the guide rail is fixed, the side surface of the periphery of the outer gear ring with the guide rail is of an outer gear ring structure, the top surface of the outer gear ring with the guide rail is provided with an arc-shaped boss, two semi-circular arc-shaped sliding blocks form an arc-shaped sliding block, the semi-circular arc-shaped sliding blocks are embedded on the arc-shaped boss and rotate along the circumference of the arc-shaped boss, so that the semi-circular arc-shaped sliding blocks and the outer gear ring with the guide rail form a rotating pair; the motor A is fixedly arranged on the side part of the arc-shaped sliding block through an L-shaped motor base A, an output shaft of the motor A is coaxially connected with a pinion, and the pinion is meshed with a gear ring structure with a guide rail outer gear ring; the motor A drives the pinion to rotate, the outer gear ring with the guide rail is fixed, the pinion rotates in a gear meshing mode relative to the outer gear ring with the guide rail, the L-shaped motor base A drives the arc-shaped sliding block to rotate around the central shaft of the outer gear ring with the guide rail along the arc-shaped boss under the driving of the motor A, and the rotation freedom degree of the arc-shaped sliding block around the central shaft of the outer gear ring is achieved.

The rotatable linear guide rail comprises a driving motor B, L type motor base B, a flange plate base B, L type guide rail motor fixing piece B, a horizontal bearing sleeve B, a rotating shaft, a screw B, a polished rod, a screw C, a linear sliding block B, a rotating shaft base, a gear shaft, a puncture needle sleeve group, a strip-shaped rack, a linear sliding block C, a guide rail fixing block, a driving motor C, L type motor base C, a flange plate base C, a set screw, a horizontal bearing sleeve C, L type guide rail motor fixing piece C and a driving motor D; the driving motor B and the driving motor C are respectively arranged at two symmetrical sides of the arc-shaped sliding block, the driving motor B and the driving motor C are respectively and fixedly arranged on an L-shaped motor base B, L type motor base C, the L-shaped motor base B, L type motor base C is respectively and fixedly connected with a flange plate base B and a flange plate base C through bolts, the outer side parts of the flange plate base B and the flange plate base C are provided with outward extending rotating shafts, the outward extending rotating shafts of the flange plate base B and the flange plate base C are respectively and movably sleeved in the horizontal bearing sleeve B and the horizontal bearing sleeve C, the horizontal bearing bush B and the horizontal bearing bush C are respectively fixed on the fixing piece C of the motor of the L-shaped guide rail B, L type guide rail, and the outward extending rotating shaft of the flange plate seat C passes through the horizontal bearing sleeve C, L type guide rail motor fixing piece C and then is coaxially connected with the output shaft of a driving motor D arranged on the L type guide rail motor fixing piece C.

The screw B, the polished rod and the screw C are horizontally arranged in parallel, two ends of the screw B, the polished rod and the screw C are respectively supported and connected between the driving motor B and the driving motor C through respective guide rail fixing blocks, an output shaft of the driving motor B is coaxially connected with the end part of the screw B, an output shaft of the driving motor C is coaxially connected with the screw C, meanwhile, the linear slide block B and the linear slide block C are movably sleeved outside the polished rod, and meanwhile, the linear slide block B and the linear slide block C are respectively sleeved outside the screw B and the screw C through threads; the driving motor B drives the screw B to rotate so as to drive the linear sliding block B to axially move under the guide of the polished rod, and the driving motor C drives the screw C to rotate so as to drive the linear sliding block C to axially move under the guide of the polished rod, so that the radial movement freedom degree of the linear sliding block B and the linear sliding block C is realized; a rack driving gear shaft is arranged on the top surface of the linear sliding block B, two ends of the rack driving gear shaft are rotatably and horizontally supported on the top surface of the linear sliding block B through a rotating shaft seat, a strip-shaped rack extending towards the linear sliding block B is arranged on the top surface of the linear sliding block C, the strip-shaped rack is meshed with the rack driving gear shaft to form a rack-and-pinion pair, and a puncture needle sleeve set is fixedly arranged at the end part of the rack driving gear shaft; the linear sliding block B and the linear sliding block C are driven by the respective driving motor B and the respective driving motor C to mutually approach or separate, so that the strip-shaped rack is driven to horizontally move in the radial direction relative to the rack driving gear shaft, the rack driving gear shaft and the puncture needle sleeve on the rack driving gear shaft are driven to rotate, and the rotation freedom of the puncture needle sleeve around the central axis of the rack driving gear shaft is realized; meanwhile, the driving motor D drives the flange plate seat C to rotate, and the whole formed by the driving motor B and the driving motor C is driven by the L-shaped motor seat C to rotate around the motor shaft of the driving motor D, so that the rotational freedom degree around the driving motor D is realized.

The puncture needle is placed in the puncture needle sleeve group and used for placing and fixing the puncture needle.

The puncture needle kit comprises a puncture needle and a puncture needle fixing device and is used for keeping the relative position of the puncture needle and the four-degree-of-freedom lung puncture needle fixing device. The puncture needle fixing device utilizes four motor-driven mechanical transmission mechanisms to realize the posture adjustment of four degrees of freedom: rotation and movement in a horizontal plane, rotation in a vertical plane a, and rotation in a plane b perpendicular to the linear guide rail. Is used for adjusting the relative position of the puncture needle and the fixing device and the space posture of the puncture needle.

And the flange plate seat C and the L-shaped motor seat C are fixedly connected through a set screw.

And the output shafts of the driving motor B and the driving motor C are positioned on the same axis.

The utility model discloses a four degree of freedom fixing support can show puncture needle cover group four degree of freedom's motion control and fixed, and the fixing device periphery is arranged in to the motor, does not directly link to each other with puncture needle cover group, makes things convenient for the fixing device disinfection after the motor dismantles.

The utility model discloses a four degree of freedom fixing support adopt differential drive, drive two screw rods respectively through two driving motor and drive two sliders, utilize the slider stroke difference, combine rack and pinion mechanism to realize the control of the rotational degree of freedom of pjncture needle suit.

The utility model discloses a four degrees of freedom fixing support adopt circular motion control, change ordinary coordinate system motion control into polar coordinate system motion control, can realize the arrival of working plane optional position through controlling holistic mechanism turned angle and slider radial migration distance.

The utility model discloses beneficial effect:

the utility model discloses a four degree of freedom lung puncture needle fixing device, compact structure has four degrees of freedom, can control the pjncture needle and reach the regional optional position of target and the target gesture of putting.

Simultaneously the utility model provides an all motor equipartitions are put around work area, do not directly link to each other with the pjncture needle, can not mutual interference between motor and the motor, can lift the motor off the back after the operation is accomplished and carry out disinfection treatment to remaining fixing device part can.

Drawings

Fig. 1 is an overall assembly view of the present invention.

FIG. 2 is a schematic view of the needle assembly as it moves from a vertical to a horizontal plane;

FIG. 3 is a schematic illustration of the swinging motion on another vertical surface of the needle assembly;

fig. 4 is a schematic view of the horizontal rotation of the needle assembly.

In the figure: 1-driving motor A, 2-L type motor base A, 3-pinion, 4-semi-circular arc slide block, 5-driving motor B, 6-L type motor base B, 7-flange plate base B, 8-L type guide rail motor fixing piece B, 9-horizontal type bearing sleeve B, 10-overhanging rotating shaft, 11-screw rod B, 12-polish rod, 13-screw rod C, 14-linear slide block B, 15-rotating shaft base, 16-gear shaft, 17-puncture needle sleeve group, 18-strip rack, 19-linear slide block C, 20-guide rail outer gear ring, 21-guide rail fixing block, 22-driving motor C, 23-L type motor base C, 24-flange plate base C, 25-set screw, 26-horizontal type bearing sleeve C, 26-horizontal type guide rail fixing piece C, and the like, 27-L type guide rail motor fixing parts C, 28-driving motor D.

Detailed Description

The technical solution of the present invention will be further specifically described with reference to the accompanying drawings and examples.

The specific implementation is shown in figure 1, and comprises a circular support seat, a rotatable linear guide and a puncture needle set 17.

The circular supporting seat comprises a driving motor A1, an L-shaped motor seat A2, a pinion 3, two semi-circular arc-shaped sliding blocks 4 and an outer gear ring 20 with a guide rail; the external gear ring with the guide rail 20 is fixed, the peripheral side surface of the external gear ring with the guide rail 20 is of an external gear ring structure, the top surface of the external gear ring with the guide rail is provided with an arc-shaped boss, two semi-circular arc-shaped sliding blocks 4 form a whole arc-shaped sliding block, and the semi-circular arc-shaped sliding blocks 4 are embedded on the arc-shaped boss and rotate along the circumference of the arc-shaped boss, so that the semi-circular arc-shaped sliding blocks 4 and the external gear ring with the guide rail form a revolute pair; the motor A1 is fixedly arranged on the side part of the arc-shaped sliding block through an L-shaped motor base A2, the L-shaped motor base A2 is fixed on the semi-arc-shaped sliding block 4 through a bolt L, an output shaft of the motor A1 is coaxially connected with the pinion 3, and the pinion 3 is meshed with a gear ring structure with the guide rail outer gear ring 20; the motor A1 drives the pinion 3 to rotate, and because the outer gear ring 20 with the guide rail is fixed, the pinion 3 rotates in a gear meshing manner relative to the outer gear ring with the outer gear ring 20 with the guide rail, and the L-shaped motor seat A2 drives the circular arc-shaped sliding block to rotate around the central shaft of the outer gear ring 20 with the guide rail along the arc-shaped boss under the driving of the motor A1, so that the rotational freedom of the circular arc-shaped sliding block around the central shaft of the outer gear ring 20 is realized, and the horizontal plane rotation of the puncture needle set 17 is realized.

The rotatable linear guide rail comprises a driving motor B5, an L-shaped motor base B6, a flange plate base B7, an L-shaped guide rail motor fixing piece B8, a horizontal bearing sleeve B9, a rotating shaft 10, a screw B11, a polished rod 12, a screw C13, a linear slider B14, a rotating shaft base 15, a gear shaft 16, a puncture needle set 17, a strip-shaped rack 18, a linear slider C19, a guide rail fixing block 21, a driving motor C22, an L-shaped motor base C23, a flange plate base C24, a set screw 25, a horizontal bearing sleeve C26, an L-shaped guide rail motor fixing piece C27 and a driving motor D28; a driving motor B5 and a driving motor C22 are respectively arranged at two symmetrical sides of the arc-shaped sliding block, a driving motor B5 and a driving motor C22 are respectively and fixedly arranged on an L-shaped motor base B6 and an L-shaped motor base C23, an L-shaped motor base B6 and an L-shaped motor base C23 are respectively and fixedly connected with a flange plate base B7 and a flange plate base C24 through bolts, outward extending rotating shafts 10 are respectively arranged at the outer sides of the flange plate base B7 and the flange plate base C24, the outward extending rotating shafts 10 of the flange plate base B7 and the flange plate base C24 are respectively and movably sleeved in a horizontal bearing sleeve B9 and a horizontal bearing sleeve C26, the horizontal bearing sleeve B9 and the horizontal bearing sleeve C26 are respectively fixed on an L-shaped guide rail motor fixing piece B8 and an L-shaped guide rail motor fixing piece C27, and the outward extending rotating shaft 10 of the flange plate base C24 penetrates through a horizontal bearing sleeve C26, an L-shaped guide rail motor fixing piece C27 and a driving motor D27 and is connected with an output shaft 28, and the flange seat C24 and the L-shaped motor seat C23 are fixedly connected through a set screw 25.

The screw B11, the polished rod 12 and the screw C13 are horizontally arranged in parallel, two ends of the screw B11, the polished rod 12 and the screw C13 are all supported and connected between the driving motor B5 and the driving motor C22 through respective guide fixing blocks 21, an output shaft of the driving motor B5 is coaxially connected with one end of the screw B11, the other end of the screw B11 is hinged and supported on one side of the driving motor C22 through the guide fixing blocks 21, an output shaft of the driving motor C22 is coaxially connected with the screw C13, the other end of the screw C13 is hinged and supported on one side of the driving motor B5 through the guide fixing blocks 21, the driving motor B5 drives the screw B11 to rotate, and the driving motor C22 drives the screw C13 to rotate. Meanwhile, the linear sliding block B14 and the linear sliding block C19 are movably sleeved outside the polished rod 12, and the linear sliding block B14 and the linear sliding block C19 are respectively sleeved outside the screw B11 and the screw C13 through threads, so that the linear sliding block B14, the polished rod 12 and the screw B11 form a sliding pair and a threaded connection respectively to form a lead screw nut pair A; the linear slider C19 and the polished rod 12 and the screw C13 are respectively in sliding pair and threaded connection to form a lead screw nut pair B; the driving motor B5 drives the screw B11 to rotate and further drives the linear slider B14 to axially move under the guide of the polished rod 12, the driving motor C22 drives the screw C13 to rotate and further drives the linear slider C19 to axially move under the guide of the polished rod 12, the degree of freedom of radial movement of the linear slider B14 and the linear slider C19 is realized, and as shown in figure 4, the horizontal plane movement of the puncture needle sleeve group 17 is realized.

A rack driving gear shaft 16 is arranged on the top surface of the linear sliding block B14, two ends of the rack driving gear shaft 16 are rotatably and horizontally supported on the top surface of the linear sliding block B14 through a rotating shaft seat 15, a strip-shaped rack 18 extending towards the linear sliding block B14 is arranged on the top surface of the linear sliding block C19, the strip-shaped rack 18 and the rack driving gear shaft 16 are meshed to form a rack-and-pinion pair, and a puncture needle sleeve set 17 is fixedly arranged at the end part of the rack driving gear shaft 16; the linear slider B14 and the linear slider C19 are driven by the respective driving motor B5 and the respective driving motor C22 to approach or separate from each other, so as to drive the bar-shaped rack 18 to move horizontally in the radial direction relative to the rack driving gear shaft 16, and drive the rack driving gear shaft 16 and the puncture needle set 17 thereon to rotate, and since the puncture needle set 17 is fixed on the gear shaft 16 and rotates along with the gear shaft 16, the rotational freedom of the puncture needle set 17 around the central axis of the rack driving gear shaft 16 is realized, and as shown in fig. 2, the puncture needle set 17 swings on one vertical surface.

In fig. 2, the upper and middle diagrams respectively show the process of realizing the swing of the puncture needle set 17 on one vertical surface, the middle and lower diagrams show the process of realizing the horizontal movement of the puncture needle set 17,

meanwhile, the driving motor D28 drives the flange seat C24 to rotate, and as the driving motor B5 and the driving motor C22 form a rigid whole through the screw B11, the polished rod 12, the screw C13 and the guide rail fixing block 21, the whole formed by the driving motor B5, the driving motor C22 and the screw B11, the polished rod 12 and the screw C13 in the middle of the driving motor B22, the polished rod C13 and the L-shaped motor seat C23 are driven to rotate around the motor shaft of the driving motor D28, so that the degree of freedom of rotation around the driving motor D is realized, and as shown in FIG. 3, the other vertical surface of the puncture needle set 17 swings.

The utility model discloses a working process and mode as follows:

the puncture needle is fixed on the puncture needle sleeve group 17, the puncture needle sleeve group 17 is fixed on the linear sliding block B14, the linear guide rail is controlled to integrally rotate by controlling the driving motor A1, so that the rotation angle of the puncture needle sleeve group 17 under a polar coordinate system is controlled, the radial displacement of the linear sliding block B14 is controlled by driving the screw B11 by the driving motor B5, and then the radial displacement of the puncture needle sleeve group 17 is controlled. Thus, any position under the target circular area of the horizontal plane can be reached by the drive motor A1 and the drive motor B5.

The driving motor C22 drives the screw rod C13 to control the radial displacement of the linear slider C19, and the linear slider C19 and the linear slider B14 generate relative displacement, so that the linear slider C19 drives the strip-shaped rack 18 on the linear slider C19 through relative movement, and finally the strip-shaped rack 18 drives the gear shaft 16 on the slider A1 to drive the puncture needle group 17 to rotate.

The motor shaft is directly driven by the driving motor D, so that the linear guide rail is directly driven to integrally rotate around the axis of the motor. Therefore, the rotation angle of the puncture needle set 17 under a polar coordinate system is controlled by controlling the driving motor A1, the radial movement of the puncture needle set under the polar coordinate system is controlled by controlling the driving motor B5, the rotation angle of the puncture needle set 17 perpendicular to the linear guide rail is controlled by controlling the driving motor C22, the rotation angle of the puncture needle set 17 around the axis parallel to the linear guide rail is controlled by controlling the driving motor D28, and finally the puncture needle reaches a specified position and has a target placing posture.

In the concrete implementation, the motor is arranged in a transmission decoupling mode, so that the motor is decoupled, the motor can be detached, and the disinfection work after the operation is finished can be facilitated. And adopt differential gear drive rack to rotate, replace rectangular coordinate system through the polar coordinate system and control removal and rotation, can more accord with the operation workspace, avoid the dead angle.

Therefore, the utility model discloses compact structure, control is simple, combines the xy horizontal plane's that screw rod transmission realized the control target removal and around rotation and the swing of x axle, y axle through rack and pinion, and motor and control target lug connection not.

Claims

1. The utility model provides a four degree of freedom fixing support for in hospital's lung puncture operation which characterized in that:

comprises a circular supporting seat, a rotatable linear guide rail and a puncture needle sleeve set (17); the circular supporting seat comprises a driving motor A (1), an L-shaped motor seat A (2), a pinion (3), two semi-circular arc-shaped sliding blocks (4) and an outer gear ring (20) with a guide rail; the outer gear ring (20) with the guide rail is fixed, the side surface of the periphery of the outer gear ring (20) with the guide rail is of an outer gear ring structure, the top surface of the outer gear ring is provided with an arc-shaped boss, two semi-circular arc-shaped sliding blocks (4) form an arc-shaped sliding block, the semi-circular arc-shaped sliding blocks (4) are embedded on the arc-shaped boss and rotate along the circumference of the arc-shaped boss, so that the semi-circular arc-shaped sliding blocks (4) and the outer gear ring with the guide rail form a revolute pair; the motor A (1) is fixedly arranged on the side part of the arc-shaped sliding block through an L-shaped motor base A (2), an output shaft of the motor A (1) is coaxially connected with the pinion (3), and the pinion (3) is meshed with a gear ring structure with a guide rail outer gear ring (20); the motor A (1) drives the pinion (3) to rotate, the outer gear ring (20) with the guide rail is fixed, the pinion (3) rotates in a gear meshing mode relative to the outer gear ring (20) with the guide rail, the L-shaped motor base A (2) drives the arc-shaped sliding block to rotate around the central shaft of the outer gear ring (20) with the guide rail under the driving of the motor A (1) along the arc-shaped boss, and the rotational freedom degree of the arc-shaped sliding block around the central shaft of the outer gear ring (20) with the guide rail is achieved;

the rotatable linear guide rail comprises a driving motor B (5), an L-shaped motor base B (6), a flange plate base B (7), an L-shaped guide rail motor fixing piece B (8), a horizontal bearing sleeve B (9), a rotating shaft (10), a screw rod B (11), a polished rod (12), a screw rod C (13), a linear sliding block B (14), a rotating shaft base (15), a gear shaft (16), a puncture needle sleeve group (17), a strip-shaped rack (18), a linear sliding block C (19), a guide rail fixing block (21), a driving motor C (22), an L-shaped motor base C (23), a flange plate base C (24), a set screw (25), a horizontal bearing sleeve C (26), an L-shaped guide rail motor fixing piece C (27) and a driving motor D (28); a driving motor B (5) and a driving motor C (22) are respectively arranged at two symmetrical sides of the arc-shaped sliding block, the driving motor B (5) and the driving motor C (22) are respectively and fixedly arranged on an L-shaped motor base B (6) and an L-shaped motor base C (23), the L-shaped motor base B (6) and the L-shaped motor base C (23) are respectively and fixedly connected with a flange plate base B (7) and a flange plate base C (24) through bolts, outward extending rotating shafts (10) are respectively arranged at the outer sides of the flange plate base B (7) and the flange plate base C (24), the outward extending rotating shafts (10) of the flange plate base B (7) and the flange plate base C (24) are respectively and movably sleeved in a horizontal bearing sleeve B (9) and a horizontal bearing sleeve C (26), the horizontal bearing sleeve B (9) and the horizontal bearing sleeve C (26) are respectively fixed on a fixing piece of the L-shaped guide rail motor B (8) and a fixing piece of the L-shaped guide rail motor C (27), an outward extending rotating shaft (10) of the flange plate seat C (24) penetrates through the horizontal bearing sleeve C (26) and the L-shaped guide rail motor fixing piece C (27) and then is coaxially connected with an output shaft of a driving motor D (28) arranged on the L-shaped guide rail motor fixing piece C (27);

the screw B (11), the polished rod (12) and the screw C (13) are horizontally arranged in parallel, two ends of the screw B (11), the polished rod (12) and the screw C (13) are respectively connected between the driving motor B (5) and the driving motor C (22) in a supporting mode through respective guide rail fixing blocks (21), an output shaft of the driving motor B (5) is coaxially connected with the end portion of the screw B (11), an output shaft of the driving motor C (22) is coaxially connected with the screw C (13), meanwhile, the linear sliding block B (14) and the linear sliding block C (19) are movably sleeved outside the polished rod (12), and meanwhile, the linear sliding block B (14) and the linear sliding block C (19) are respectively sleeved outside the screw B (11) and the screw C (13) through threads; the driving motor B (5) drives the screw rod B (11) to rotate so as to drive the linear sliding block B (14) to axially move under the guide of the polished rod (12), and the driving motor C (22) drives the screw rod C (13) to rotate so as to drive the linear sliding block C (19) to axially move under the guide of the polished rod (12), so that the radial movement freedom degree of the linear sliding block B (14) and the linear sliding block C (19) is realized; a rack driving gear shaft (16) is arranged on the top surface of the linear sliding block B (14), two ends of the rack driving gear shaft (16) are rotatably and horizontally supported on the top surface of the linear sliding block B (14) through a rotating shaft seat (15), a strip-shaped rack (18) extending towards the linear sliding block B (14) is arranged on the top surface of the linear sliding block C (19), the strip-shaped rack (18) and the rack driving gear shaft (16) are meshed to form a rack-and-pinion pair, and a puncture needle set (17) is fixedly arranged at the end part of the rack driving gear shaft (16); the linear sliding block B (14) and the linear sliding block C (19) are driven by a driving motor B (5) and a driving motor C (22) to mutually approach or separate, so that a strip-shaped rack (18) is driven to horizontally move in the radial direction relative to a rack driving gear shaft (16), the rack driving gear shaft (16) and a puncture needle set (17) on the rack driving gear shaft are driven to rotate, and the rotation freedom degree of the puncture needle set (17) around the central axis of the rack driving gear shaft (16) is realized; meanwhile, the driving motor D (28) drives the flange plate seat C (24) to rotate, and the L-shaped motor seat C (23) drives the whole formed by the driving motor B (5) and the driving motor C (22) to rotate around the motor shaft of the driving motor D (28), so that the rotational freedom degree around the driving motor D is realized.

2. The four-degree-of-freedom fixed support used in the hospital lung puncture surgery according to claim 1 is characterized in that: the puncture needle sleeve set (17) is provided with a puncture needle.

3. The four-degree-of-freedom fixed support used in the hospital lung puncture surgery according to claim 1 is characterized in that: the puncture needle set (17) comprises a puncture needle and a puncture needle fixing device and is used for keeping the relative position of the puncture needle and the four-degree-of-freedom lung puncture needle fixing device.

4. The four-degree-of-freedom fixed support used in the hospital lung puncture surgery according to claim 1 is characterized in that: and the flange plate seat C (24) is fixedly connected with the L-shaped motor seat C (23) through a set screw (25).

5. The four-degree-of-freedom fixed support used in the hospital lung puncture surgery according to claim 1 is characterized in that: and the output shafts of the driving motor B (5) and the driving motor C (22) are positioned on the same axis.