CN217566246U

CN217566246U - Connecting rod type puncture needle positioning and guiding device

Info

Publication number: CN217566246U
Application number: CN202220780433.3U
Authority: CN
Inventors: 张昊任; 徐岩; 温浩; 何睿; 陈向前; 史纪鹏; 滕绯虎
Original assignee: Truehealth Beijing Medical Technology Co Ltd
Current assignee: Truehealth Beijing Medical Technology Co Ltd
Priority date: 2022-03-31
Filing date: 2022-03-31
Publication date: 2022-10-14
Anticipated expiration: 2032-03-31

Abstract

The application discloses connecting rod formula pjncture needle positioning guide device includes: the driving assemblies are arranged into two groups; each group of driving components comprises a first linear motion mechanism, a second linear motion mechanism, a first driving connecting rod, a second driving connecting rod and a connecting joint; the first end of the first driving connecting rod is hinged with the vertical shaft of the first linear motion mechanism, and the second end of the first driving connecting rod is hinged with the first end of the connecting joint through a Y-direction horizontal shaft; the first end of the second driving connecting rod is hinged with the second linear motion mechanism through a vertical shaft, and the second end of the second driving connecting rod is hinged with the first driving connecting rod through a vertical shaft; still include first fixed part and second fixed part, first fixed part passes through the X direction horizontal axis and articulates on one of them connects the joint, and the second fixed part passes through the X direction horizontal axis and articulates on another connects the joint. The puncture machine solves the problems that the puncture machine in the related art is large in size, small in working space, small in puncture posture type and small in adjustable posture angle.

Description

Connecting rod type puncture needle positioning and guiding device

Technical Field

The application relates to the technical field of medical equipment, in particular to a connecting rod type medical auxiliary device.

Background

Many conventional therapies applied in modern clinical practice involve the percutaneous insertion of medical tools (e.g., needles and catheters) for biopsy, drug delivery, and other diagnostic and therapeutic procedures. The goal of the insertion procedure is to place the tip of a suitable medical tool safely and accurately at the target area, which may be a lesion, tumor, organ or vessel. Examples of treatments requiring insertion of such medical tools include vaccination, blood/fluid sampling, local anesthesia, tissue biopsy, catheterization, cryoablation, electrolytic ablation, brachytherapy, neurosurgery, deep brain stimulation, and various minimally invasive procedures.

In recent years, miniaturized automatic positioning guide devices have been introduced. Some of these devices are guide devices that help select the insertion point and help align the needle with the insertion point and target, and the physician then manually inserts the needle. These devices can be mounted on the body of a patient to automatically compensate for breathing, and therefore require that the device be small enough and light enough, and the puncture direction of the needle is determined by the guiding direction of the device, so that the puncture operation effect of the puncture needle at the needle inserting position and posture guided by the device can be directly influenced.

SUMMERY OF THE UTILITY MODEL

The main purpose of this application is to provide a connecting rod formula pjncture needle positioning and guiding device to solve the puncture machine human volume among the correlation technique great, workspace is less, and the gesture type that can puncture is less, and the less problem of adjustable gesture angle.

In order to achieve the above object, the present application provides a link-type puncture needle positioning guide, including: the driving component, the first fixing part and the second fixing part; wherein, the first and the second end of the pipe are connected with each other,

the driving assemblies are arranged into at least two groups;

each group of driving components comprises a first linear motion mechanism, a second linear motion mechanism, a first driving connecting rod, a second driving connecting rod and a connecting joint;

the first linear motion mechanism and the second linear motion mechanism are arranged along the transverse direction; the first end of the first driving connecting rod is hinged with the output end of the first linear motion mechanism through a vertical shaft, and the second end of the first driving connecting rod is hinged with the first end of the connecting joint through a Y-direction horizontal shaft;

the first end of the second driving connecting rod is hinged with the output end of the second linear motion mechanism through a vertical shaft, and the second end of the second driving connecting rod is hinged with the first driving connecting rod through a vertical shaft;

the first fixing part is hinged to the connecting joint of one of the driving components through an X-direction horizontal shaft, the second fixing part is hinged to the connecting joint of the other driving component through an X-direction horizontal shaft, and the first fixing part is connected with the second fixing part in a sliding mode; the second fixing part is used for installing a puncture needle.

Further, the first driving connecting rod comprises a horizontal part and a vertical part, and the horizontal part is arranged into a crank arm structure;

the first end of the horizontal part is hinged with the output end of the first linear motion mechanism through a vertical shaft, and the second end of the horizontal part is connected with the vertical part;

the second end of the second driving connecting rod is hinged with the bent part of the horizontal part through a vertical shaft;

the vertical part is hinged with the first end of the connecting joint through a Y-direction horizontal shaft.

Further, the first fixing part and the second fixing part are respectively provided with a first mounting sleeve and a second mounting sleeve;

the first mounting sleeve is hinged with the second end of the connecting joint on one of the driving components through an X-direction horizontal shaft;

the second mounting sleeve is hinged with the second end of the connecting joint on the other driving assembly through an X-direction horizontal shaft;

a linear guide rail is connected between the first mounting sleeve and the second mounting sleeve in a sliding manner;

and the second mounting sleeve is provided with a mounting hole for fixing the puncture needle.

Furthermore, the connecting joint comprises a connecting ear seat and a connecting plate;

the bottom of the connecting lug seat is hinged with the horizontal part through a Y-direction horizontal shaft, so that the connecting lug seat can rotate along the Y-axis;

the first end of the connecting plate is hinged in the connecting lug seat through an X-direction horizontal shaft, and the second end of the connecting plate is connected with the corresponding first mounting sleeve and the second mounting sleeve, so that the first mounting sleeve and the second mounting sleeve can rotate around the X-axis.

Furthermore, the driving assemblies are arranged into two groups and distributed up and down, the first linear motion mechanisms of each group of driving assemblies correspond up and down, and the second linear motion mechanisms of each group of driving assemblies correspond up and down.

Furthermore, the axis of the output end of the first linear motion mechanism and the axis of the output end of the second linear motion mechanism of each group of driving assemblies are located on the same horizontal plane.

Furthermore, each group of driving assemblies also comprises a first connecting block and a second connecting block;

the first end of the first connecting block is fixedly sleeved at the output end of the first linear motion mechanism, and the second end of the first connecting block is hinged with the first end of the first driving connecting rod;

the first end of the second connecting block is fixedly sleeved at the output end of the second linear motion mechanism, and the second end of the second connecting block is hinged with the first end of the second driving connecting rod.

Further, still include the mounting bracket, the fixed part of first linear motion mechanism with the second linear motion mechanism is all fixed on the mounting bracket.

Further, the mounting rack comprises a bottom plate, a partition plate, side plates and a top plate;

the side plates are vertically fixed on two sides of the bottom plate, the partition plate is positioned above the bottom plate and fixedly connected with the side plates, and the top plate is fixed above the side plates;

a first linear motion mechanism and a second linear motion mechanism of one group of driving assemblies are fixed between the bottom plate and the partition plate;

and the first linear motion mechanism and the second linear motion mechanism of the other group of driving assemblies are fixed between the partition plate and the top plate.

Further, the first linear motion mechanism and the second linear motion mechanism are both set to be linear motors.

In the embodiment of the application, the driving assemblies are arranged into at least two groups; each group of driving components comprises a first linear motion mechanism, a second linear motion mechanism, a first driving connecting rod, a second driving connecting rod and a connecting joint; the first linear motion mechanism and the second linear motion mechanism are arranged along the transverse direction; the first end of the first driving connecting rod is hinged with the output end of the first linear motion mechanism through a vertical shaft, and the second end of the first driving connecting rod is hinged with the first end of the connecting joint through a Y-direction horizontal shaft; the first end of the second driving connecting rod is hinged with the output end of the second linear motion mechanism through a vertical shaft, and the second end of the second driving connecting rod is hinged with the first driving connecting rod through a vertical shaft; the first fixing part is hinged to the connecting joint of one driving assembly through an X-direction horizontal shaft, the second fixing part is hinged to the connecting joint of the other driving assembly through an X-direction horizontal shaft, and the first fixing part and the second fixing part are in sliding connection; the second fixing part is used for installing the puncture needle, and the first driving connecting rod and the second driving connecting rod can be driven to move in different directions by the cooperative action of the first linear motion mechanism and the second linear motion mechanism in the two groups of driving components, so that the puncture needle on the first fixing part can be translated, deflected around an X axis, deflected around a Y axis and deflected around a Z axis to achieve the four-degree-of-freedom posture adjustment, the structural design of the optimized robot is realized, the whole robot has smaller volume and weight, higher degree of freedom and more working spaces, and the problems of larger size, smaller working space, fewer types of postures capable of puncturing and smaller adjustable posture angle of the puncture robot in the related technology are solved.

Simultaneously, the puncture needle positioning and guiding device can be fixed on the abdomen, the back, the lateral back and the front chest of a patient due to small size, and guides the needle inserting position and posture of the puncture needle through the first linear motion mechanism and the second linear motion mechanism which jointly drive the two layers of driving assemblies, so that the puncture needle guiding and positioning function is realized, and a doctor is assisted to complete a puncture operation. The device has compact structure, small volume, light weight and low cost, can be fixed on a human body to compensate respiratory motion, and is also suitable for being used in combination with the navigation, CT navigation, ultrasonic navigation and the like of the existing optical instrument.

In addition, the puncture needle positioning and guiding device can be mounted on the mechanical arm, is laterally arranged beside the body of a patient, guides the needle inserting position and posture of the puncture needle by jointly driving the first linear motion mechanism and the second linear motion mechanism of the two layers of driving assemblies, realizes the puncture needle guiding and positioning function, and assists a doctor to complete a puncture operation.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, are included to provide a further understanding of the application and to enable other features, objects, and advantages of the application to be more apparent. The drawings and their description illustrate the embodiments of the invention and do not limit it. In the drawings:

FIG. 1 is a schematic structural diagram according to an embodiment of the present application;

FIG. 2 is a schematic view showing a configuration of one movement posture of the puncture needle according to the embodiment of the present application;

FIG. 3 is a schematic view showing the configuration of one movement posture of the puncture needle according to the embodiment of the present application;

FIG. 4 is a schematic view showing a configuration of one movement posture of the puncture needle according to the embodiment of the present application;

FIG. 5 is a schematic view showing a configuration of one movement posture of the puncture needle according to the embodiment of the present application;

FIG. 6 is a schematic view showing a configuration of one movement posture of the puncture needle according to the embodiment of the present application;

FIG. 7 is a schematic view showing the structure of one movement posture of the puncture needle according to the embodiment of the present application;

FIG. 8 is a schematic view showing the configuration of one movement posture of the puncture needle according to the embodiment of the present application;

FIG. 9 is a schematic illustration of an explosive structure according to an embodiment of the present application;

the device comprises a driving assembly 1, a first linear motion mechanism 101, a second linear motion mechanism 102, a first driving connecting rod 2, a horizontal part 21, a vertical part 22, a first connecting block 3, a second driving connecting rod 4, a connecting joint 5, a linear guide rail 6, a puncture needle 7, a first fixing part 8, a first mounting sleeve 81, a second fixing part 9, a second mounting sleeve 91, a mounting frame 10, a top plate 1011, a bottom plate 1022, a partition 1033 and a second connecting block 11.

Detailed Description

In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all 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 application.

It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances in order to facilitate the description of the embodiments of the application herein.

In this application, the terms "upper", "lower", "inside", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings. These terms are used primarily to better describe the present application and its embodiments, and are not used to limit the indicated devices, elements or components to a particular orientation or to be constructed and operated in a particular orientation.

Moreover, some of the above terms may be used to indicate other meanings besides the orientation or positional relationship, for example, the term "on" may also be used to indicate some kind of attachment or connection relationship in some cases. The specific meaning of these terms in this application will be understood by those of ordinary skill in the art as appropriate.

Furthermore, the terms "disposed," "provided," "connected," "secured," and the like are to be construed broadly. For example, "connected" may be a fixed connection, a detachable connection, or a unitary construction; can be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements or components. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as the case may be.

In addition, the term "plurality" shall mean two as well as more than two.

It should be noted that, in the present application, the embodiments and features of the embodiments may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.

In order to improve the precision and efficiency of the needle puncture operation of a doctor on a patient, a puncture robot is adopted for auxiliary puncture in the related technology. The puncture position and puncture angle of the puncture needle are determined by the puncture robot through posture adjustment, so that the position and angle at which the needle can puncture are also directly limited by the posture and angle that the puncture robot can guide. And in some cases the piercing robot needs to be fixed on the patient's body, requiring that the piercing robot be relatively bulky and heavy.

Therefore, the application provides a connecting rod type puncture needle positioning and guiding device to achieve the purposes of enabling a puncture machine to have a larger working space, a larger posture angle adjustment and more postures while being small in size and weight. The details are as follows:

as shown in fig. 1 to 9, an embodiment of the present application provides a link-type puncture needle positioning guide, including: the driving assembly 1, the first fixing part 8 and the second fixing part 9; wherein, the first and the second end of the pipe are connected with each other,

the driving assemblies 1 are arranged into at least two groups;

each group of driving components 1 comprises a first linear motion mechanism 101, a second linear motion mechanism 102, a first driving connecting rod 2, a second driving connecting rod 4 and a connecting joint 5;

the first linear motion mechanism 101 and the second linear motion mechanism 102 are arranged in the lateral direction; the first end of the first driving connecting rod 2 is hinged with the output end of the first linear motion mechanism 101 through a vertical shaft, and the second end of the first driving connecting rod is hinged with the first end of the connecting joint 5 through a Y-direction horizontal shaft;

a first end of the second driving connecting rod 4 is hinged with the output end of the second linear motion mechanism 102 through a vertical shaft, and a second end of the second driving connecting rod 4 is hinged with the first driving connecting rod 2 through a vertical shaft;

the first fixing part 8 is hinged on the connecting joint 5 of one driving component 1 through an X-direction horizontal shaft, the second fixing part 9 is hinged on the connecting joint 5 of the other driving component 1 through an X-direction horizontal shaft, and the first fixing part 8 is connected with the second fixing part 9 in a sliding mode; the second fixing portion 9 is used for mounting the puncture needle 7.

In this embodiment, the driving unit 1 is used as a driving part of the parallel type puncture robot, and the power output end of the driving unit 1 can be connected to the puncture needle 7 because the movement of the driving unit 1 is used to move the puncture needle 7. The driving assemblies 1 are arranged in two groups and distributed up and down in the embodiment, and the structures of the two groups of driving assemblies 1 are substantially the same as a whole.

Each group of driving components 1 consists of five parts, namely a first linear motion mechanism 101, a second linear motion mechanism 102, a first driving connecting rod 2, a second driving connecting rod 4 and a connecting joint 5. The first linear motion mechanism 101 and the second linear motion mechanism 102 have the same structure, and they may be arranged side by side on the same horizontal plane. The first linear motion mechanism 101 and the second linear motion mechanism 102 are both composed of a fixed end and an output end, wherein the output end can move linearly on the fixed end, and a linear motor, an air cylinder, a hydraulic cylinder or a lead screw transmission structure and the like can be adopted.

The output ends of the first linear motion mechanism 101 and the second linear motion mechanism 102 can be extended or contracted independently. The first driving connecting rod 2 and the second driving connecting rod 4 are respectively hinged at the output ends of the first linear motion mechanism 101 and the second linear motion mechanism 102, and the second end of the second driving connecting rod 4 is hinged with the first driving connecting rod 2, so that the first driving connecting rod 2 and the second driving connecting rod 4 form a connecting rod structure capable of applying translational motion and rotary motion around a Z axis. The connecting joint 5 is hinged at the end part of the first driving connecting rod 2 through a Y-direction horizontal shaft, and the first fixing part 8 and the second fixing part 9 are hinged on the corresponding connecting joint 5 through an X-direction horizontal shaft, so that the first fixing part 8 and the second fixing part 9 can rotate around the X-axis on the connecting joint 5, and meanwhile, the first fixing part 8 and the second fixing part 9 can also rotate around the Y-axis at the end part of the first driving connecting rod 2 through the connecting joint 5.

Since the driving assemblies 1 are arranged in two sets arranged up and down in this embodiment, when the puncture needle 7 needs to be controlled to deflect around the Y axis and deflect around the X axis, the driving assemblies 1 in the two sets apply force to the puncture needle 7 at the same time. Therefore, in the embodiment, the first fixing part 8 and the second fixing part 9 are connected in a sliding manner, so that the resultant force of the motion of the upper and lower sets of driving assemblies 1 is output to the puncture needle 7, and the posture adjustment of the puncture needle 7 on the deflection around the Y axis and the deflection around the X axis can be realized.

The following describes various attitude adjustments:

1. the puncture needle 7 linearly moves in the horizontal direction while remaining vertical

As shown in fig. 1 and 2, the axes of the output ends of the two first linear motion mechanisms 101 arranged up and down are located in the same vertical plane, and the axes of the output ends of the two second linear motion mechanisms 102 are located in the same vertical plane. At this time, the puncture needle 7 mounted on the first fixing section 8 can be controlled to linearly move in the horizontal direction by controlling the two first linear motion mechanisms 101 and the two second linear motion mechanisms 102 to synchronously operate. For example, the two first linear motion mechanisms 101 and the two second linear motion mechanisms 102 are controlled to extend out simultaneously to drive the puncture needle 7 to keep a vertical state and translate outwards, and the two first linear motion mechanisms 101 and the two second linear motion mechanisms 102 are controlled to retract simultaneously to drive the puncture needle 7 to keep a vertical state and translate inwards.

2. The puncture needle 7 rotates around the Z-axis while remaining upright

As shown in fig. 3 and 4, the first linear motion mechanism 101 located at the upper portion drives the first driving connecting rod 2 to extend, the second linear motion mechanism 102 drives the second driving connecting rod 4 to retract, and since the end of the second driving connecting rod 4 is also hinged to the first driving connecting rod 2, the connecting rod structure formed by the two mechanisms can enable the second end of the first driving connecting rod 2 to rotate clockwise by a certain angle around the Z axis after the above actions. Similarly, the first linear motion mechanism 101 and the second linear motion mechanism 102 located at the lower portion also synchronously operate to drive the second end of the first driving link 2 located at the lower portion to rotate clockwise around the Z-axis by the same angle. It can be understood that the second end of the first driving link 2 can be rotated counterclockwise by a certain angle about the Z-axis by controlling the first linear motion mechanism 101 and the second linear motion mechanism 102 to be retracted and extended, respectively.

In this embodiment, the connection joint 5, the first fixing portion 8, the second fixing portion 9, and the puncture needle 7 can all rotate around the Z axis synchronously by controlling the rotation of the second end of the first driving link 2, so as to adjust the posture of the puncture needle 7 deflecting around the Z axis. And in the process, the first linear motion mechanism 101 and the second linear motion mechanism 102 can be translated while keeping the puncture needle 7 deflected about the Z-axis when synchronously extended or retracted.

3. Deflection of the puncture needle 7 about the Y-axis

As shown in fig. 7 and 8, the posture adjustment needs to be realized by using the motion output of the upper driving assembly 1 rotating around the Z-axis, which is different from the motion output of the lower driving assembly 1 rotating around the Z-axis. Specifically, when the first drive link 2 in the upper drive assembly 1 rotates clockwise about the Z-axis, the first drive link 2 in the lower drive assembly 1 may remain stationary or rotate counterclockwise about the Z-axis such that the upper first drive link 2 and the lower first drive connection have a motion differential. Because the end of the upper first driving connecting rod 2 is hinged with a connecting joint 5 through a Y-direction horizontal shaft, the end of the lower first driving connecting rod 2 is also hinged with a connecting joint 5 through a Y-direction horizontal shaft, and the two connecting joints 5 are connected by a first fixing part 8 and a second fixing part 9. Therefore, when the upper first driving link 2 and the lower first driving link have a motion difference, the two connecting joints 5 are caused to rotate around the respective horizontal axes in the Y direction by the first fixing part 8 and the second fixing part 9, so that the first fixing part 8 and the second fixing part 9 also deflect around the Y axis synchronously, and the puncture needle 7 on the first fixing part 8 is caused to realize posture adjustment of deflection around the Y axis.

4. Deflection of the puncture needle 7 about the X-axis

As shown in fig. 5 and 6, the posture adjustment needs to be realized by using the motion output of the upper driving assembly 1 in translation different from the motion output of the lower driving assembly 1 in translation. Specifically, the position of the upper connecting joint 5 in the horizontal direction can be made smaller than that of the lower connecting joint 5 by controlling the first linear motion mechanism 101 and the second linear motion mechanism 102 in the upper driving assembly 1 to retract synchronously while controlling the first linear motion mechanism 101 and the second linear motion mechanism 102 in the lower driving assembly 1 to remain stationary or to extend synchronously. Because the first fixing part 8 and the second fixing part 9 are respectively hinged on the corresponding connecting joints 5 through the X-direction horizontal shafts, the first fixing part 8 and the second fixing part 9 can rotate around the X-axis, and the puncture needle 7 on the first fixing part 8 can deflect anticlockwise around the X-axis.

Similarly, the clockwise deflection of the puncture needle 7 around the X axis can be realized by controlling the first linear motion mechanism 101 and the second linear motion mechanism 102 in the upper driving assembly 1 to synchronously extend and simultaneously controlling the first linear motion mechanism 101 and the second linear motion mechanism 102 in the lower driving assembly 1 to keep still or synchronously retract.

Compared with the technical scheme that the puncture needle 7 needs to be translated in the horizontal direction by adopting an orthogonal moving platform and the puncture robot needs to be deflected around the Y axis by adopting a linear structure such as a piston mechanism, the puncture robot in the embodiment can adjust the postures of the puncture needle 7 in multiple directions by adopting a link structure consisting of the first driving link 2 and the second driving link 4, two groups of the first linear motion mechanism 101 and the second linear motion mechanism 102 which are connected in parallel, two connecting joints 5, the first fixing part 8 and the second fixing part 9. Compared with a robot provided with a moving platform, the puncture robot is smaller in size, and meanwhile, as the moving mechanisms of the upper part and the lower part can actively act, the working space can be increased, the adjustable posture of the cross section puncture needle 7 is large, the adjustable posture types are more, and the posture angle is larger.

Since the deflection posture adjustment of the puncture needle 7 about the Z-axis needs to be output by the first drive link 2 under the action of the second drive link 4, in order to facilitate the second end of the first drive link 2 to rotate in a wide range, the first drive link 2 in this embodiment includes a horizontal portion 21 and a vertical portion 22, and the horizontal portion 21 is provided in a crank arm structure; the first end of the horizontal part 21 is hinged with the output end of the first linear motion mechanism 101 through a vertical shaft, and the second end is connected with the vertical part 22; the second end of the second driving link 4 is hinged with the bend of the horizontal part 21 through a vertical shaft; the vertical portion 22 is hinged to the first end of the connecting joint 5 by an X-direction horizontal axis.

As shown in fig. 1, the first fixing portion 8 and the second fixing portion 9 are a first mounting sleeve 81 and a second mounting sleeve 91, respectively;

the first mounting sleeve 81 is hinged with the second end of the connecting joint 5 on one of the driving assemblies 1 through an X-direction horizontal shaft;

the second mounting sleeve 91 is hinged with the second end of the connecting joint 5 on the other driving assembly 1 through an X-direction horizontal shaft;

a linear guide rail 6 is connected between the first mounting sleeve 81 and the second mounting sleeve 91 in a sliding manner;

the second mounting sleeve 91 is provided with a mounting hole for fixing the puncture needle 7.

Specifically, in order to realize the sliding connection relationship between the first fixing portion 8 and the second fixing portion 9, the first fixing portion 8 and the second fixing portion 9 are respectively configured as a first mounting sleeve 81 and a second mounting sleeve 91 in the present embodiment. The second mounting sleeve 91 is fixed with a linear guide rail 6, and the upper end of the linear guide rail 6 passes through the first mounting sleeve 81 and is in sliding connection, so that the requirement that the motion of the two groups of driving assemblies 1 is subjected to resultant force and then output to the puncture needle 7 is met. In order to install the puncture needle 7, the second mounting sleeve 91 of the embodiment is further provided with a mounting hole, and the puncture needle 7 can pass through the mounting hole and then be fixed in the mounting hole.

In order to stabilize the posture adjustment of the puncture needle 7, the axis of the linear guide 6 and the axis of the puncture needle 7 are located on the same plane and kept parallel.

As shown in fig. 9, the connection joint 5 includes a connection ear seat and a connection plate;

the bottom of the connecting ear seat is hinged with the horizontal part 21 through a Y-direction horizontal axis, so that the connecting ear seat can rotate along the Y axis;

the first end of connecting plate passes through the X direction horizontal axis and articulates in connecting the ear seat, and the second end is connected with first installation cover 81 and the second installation cover 91 that corresponds to make first installation cover 81 and second installation cover 91 all can be around the X axle rotation.

Specifically, it should be noted that the connecting lug is hinged to the horizontal portion 21 of the first driving link 2 through a Y-direction horizontal shaft, and two ends of the Y-direction horizontal shaft are connected to the corresponding connecting lug and the horizontal portion 21 through a connecting bearing, so that the connecting lug can rotate around the Y-axis. The first end of connecting plate extends into between two curb plates of connecting the ear seat to pass through X direction horizontal axis with two curb plates and articulate, be connected through connecting bearing between X direction horizontal axis and the curb plate that corresponds, make the connecting plate can wind the X rotation of axes.

The second end of the connecting plate is connected with the corresponding first mounting sleeve 81 and the second mounting sleeve 91, so that the first mounting sleeve 81 and the second mounting sleeve 91 rotate around the X axis. The first mounting sleeve 81 and the second mounting sleeve 91 are connected in series via the linear guide 6.

Further, the axis of the output end of the first linear motion mechanism 101 and the axis of the output end of the second linear motion mechanism 102 of each set of drive assembly 1 are located on the same horizontal plane, thereby facilitating the motion calculation of the first linear motion mechanism 101 and the second linear motion mechanism 102.

As shown in fig. 1, in order to facilitate the connection of the first linear motion mechanism 101 and the first driving link 2, and the connection of the second linear motion mechanism 102 and the second driving link 4, each set of driving assemblies 1 in this embodiment further includes a first connecting block 3 and a second connecting block 11;

the first end of the first connecting block 3 is fixedly sleeved at the output end of the first linear motion mechanism 101, and the second end of the first connecting block is hinged with the first end of the first driving connecting rod 2;

the first end of the second connecting block 11 is fixedly sleeved at the output end of the second linear motion mechanism 102, and the second end is hinged with the first end of the second driving connecting rod 4.

Specifically, it should be noted that the first connecting block 3 and the second connecting block 11 have the same structure, and only have different installation positions. The first connecting block 3 is L-shaped as a whole, the vertical part 22 is fixedly sleeved on the output end of the corresponding first linear motion mechanism 101, and the horizontal part 21 is hinged with the first driving connecting rod 2 through a vertical shaft. The upper end and the lower end of the vertical shaft are hinged with the first connecting block 3 and the first driving connecting rod 2 through connecting bearings. The second connecting block 11 is similarly arranged and will not be described in detail here.

In order to facilitate the installation of the first linear motion mechanism 101 and the second linear motion mechanism 102, the puncture robot in this embodiment further includes a mounting frame 10, and fixing portions of the first linear motion mechanism 101 and the second linear motion mechanism 102 are fixed on the mounting frame 10. In order to improve the compactness of the whole device, the mounting rack 10 of the embodiment includes a bottom plate 1022, a partition 1033, side plates, and a top plate 1011; the side plates are vertically fixed on two sides of the bottom plate 1022, the partition plate 1033 is positioned above the bottom plate 1022 and is fixedly connected with the side plates, and the top plate 1011 is fixed above the side plates; the first linear motion mechanism 101 and the second linear motion mechanism 102 of one set of the driving assemblies 1 are both fixed between the bottom plate 1022 and the partition plate 1033; the first linear motion mechanism 101 and the second linear motion mechanism 102 of the other group of drive units 1 are fixed between the partition plate 1033 and the top plate 1011.

Further, the first linear motion mechanism 101 and the second linear motion mechanism 102 are both provided as linear motors.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A connecting rod type puncture needle positioning guide device is characterized by comprising: the driving component, the first fixing part and the second fixing part; wherein, the first and the second end of the pipe are connected with each other,

the driving assemblies are arranged into at least two groups;

2. The link-type needle positioning guide as claimed in claim 1, wherein the first driving link includes a horizontal portion and a vertical portion, the horizontal portion being provided in a crank arm structure;

the second end of the second driving connecting rod is hinged with the bending part of the horizontal part through a vertical shaft;

3. The link-type puncture needle positioning guide according to claim 2, wherein the first fixing portion and the second fixing portion are provided as a first mounting sleeve and a second mounting sleeve, respectively;

4. The connecting rod-type puncture needle positioning guide according to claim 3, wherein the connecting joint includes a connecting ear base and a connecting plate;

5. The connecting rod type puncture needle positioning and guiding device according to any one of claims 1 to 4, wherein the driving assemblies are arranged in two groups and distributed up and down, the first linear motion mechanism of each group of driving assemblies corresponds up and down, and the second linear motion mechanism of each group of driving assemblies corresponds up and down.

6. The link-type puncture needle positioning guide apparatus according to claim 5, wherein the axis of the output end of the first linear motion mechanism and the axis of the output end of the second linear motion mechanism of each set of the drive assemblies are located on the same horizontal plane.

7. The connecting rod-type puncture needle positioning guide of claim 6, wherein each set of the driving assemblies further comprises a first connecting block and a second connecting block;

8. The link-type puncture needle positioning guide apparatus according to claim 6 or 7, further comprising a mounting bracket to which the fixing portions of the first linear motion mechanism and the second linear motion mechanism are fixed.

9. The link-type puncture needle positioning guide according to claim 8, wherein the mounting bracket includes a bottom plate, a partition plate, a side plate, and a top plate;

10. The linked needle positioning guide of claim 9, wherein the first linear motion mechanism and the second linear motion mechanism are each configured as linear motors.