CN219557493U - Puncture needle clamping structure, robot end effector and robot - Google Patents

Abstract

The utility model discloses a puncture needle clamping structure, a robot end effector and a robot, wherein the puncture needle clamping structure comprises a first base, a needle head accommodating groove for accommodating a needle head part of a puncture needle is formed in the first base, a clamping groove is formed in the lower end of the first base, a limiting piece is arranged at the upper end of the first base, and the limiting piece corresponds to the clamping groove vertically; the opening direction of the needle head accommodating groove is the same as the opening direction of the clamping groove; the needle head part of the puncture needle is clamped into the needle head accommodating groove through the clamping groove and is propped against the limiting piece, and the limiting piece limits the movement of the puncture needle in the axial direction. The utility model realizes the technical effects of ensuring the normal needle insertion of the puncture needle and realizing the rapid installation and release of the puncture needle, and further solves the problems of complex operation and time consumption and incapability of rapid release of the puncture needle by clamping the puncture needle through a knob, a bolt, a clamping jaw linked with the knob and the bolt and the like in the related art.

Description

Puncture needle clamping structure, robot end effector and robot

Technical Field

The utility model relates to the technical field of puncture robots, in particular to a puncture needle clamping structure, a robot end effector and a robot.

Background

The robot puncture can effectively improve the stability and the accuracy of the puncture operation, and the robot can stably clamp the puncture needle and keep the puncture position and the puncture angle. The robot holds the puncture needle by the end effector and performs the puncture needle insertion operation, and the end effector needs to have the functions of holding the puncture needle and inserting the puncture needle. In addition, the end effector also provides for quick release of the needle: when a patient moves by mistake, the puncture needle is quickly released to avoid injury to the patient; after the puncture is completed, the puncture needle is released, and the puncture needle and the patient perform CT scanning together to verify whether the puncture is in place.

The existing scheme needs manual clamping and releasing of the puncture needle, and the puncture needle is clamped through a knob, a bolt, a clamping jaw linked with the knob, and the like, so that the operation is complex and time-consuming, and the puncture needle cannot be released quickly.

Disclosure of Invention

The utility model mainly aims to provide a puncture needle clamping structure and a robot end effector, which are used for solving the problems that in the related art, a puncture needle is clamped through a knob, a bolt, a clamping jaw linked with the knob and the bolt, the operation is complex and time-consuming, and the puncture needle cannot be released quickly.

In order to achieve the above object, the present utility model provides a puncture needle clamping structure, which comprises a first base, wherein a needle head accommodating groove for accommodating a needle head part of a puncture needle is formed in the first base, a clamping groove is formed in the lower end of the first base, a limiting piece is arranged at the upper end of the first base, and the limiting piece corresponds to the clamping groove vertically;

the opening direction of the needle head accommodating groove is the same as the opening direction of the clamping groove; the needle head part of the puncture needle is clamped into the needle head accommodating groove through the clamping groove and is propped against the limiting piece, and the limiting piece limits the movement of the puncture needle in the axial direction.

Further, the limiting piece comprises a tail fixing plate, a second force sensor and a soft rubber pad which are arranged at the upper end of the first base;

the second force sensor and the soft rubber pad are arranged in the needle head accommodating groove, the fixed end of the second force sensor is connected with the tail fixing plate, the soft rubber pad is arranged at the detection end of the second force sensor, and the soft rubber pad is propped against the needle head of the puncture needle in the puncture process.

Further, the device also comprises a limiting ring, wherein the limiting ring is clamped in the clamping groove, and a first puncture hole for the puncture needle to pass through is formed in the limiting ring.

Further, the limiting ring comprises a conical part and a cylindrical part, the first needle penetrating hole penetrates through the conical part and the cylindrical part, and the first needle penetrating hole is in sliding connection with the puncture needle;

the diameter of the large diameter end of the conical part is larger than that of the cylindrical part, and the cylindrical part is positioned at the small diameter end of the conical part;

the clamping groove is internally provided with a conical surface attached to the conical part and a cylindrical surface attached to the cylindrical part.

Further, the first base consists of two oppositely arranged side plates, a back plate arranged on the back surface of the side plates and a bottom plate arranged at the lower ends of the side plates and the back plate;

the needle head containing groove is formed between the two side plates, the clamping groove is formed in the bottom plate, and the tail fixing plate is fixedly arranged at the upper end of the side plate.

Further, the device also comprises an upper connecting rod and a first force sensor;

the first end of the upper connecting rod is fixedly connected with the detection end of the first force sensor, and the second end of the upper connecting rod is fixedly connected with the first base.

Further, a first mounting arm is arranged at the detection end of the first force sensor, a first mounting groove is formed in the first mounting arm, and the first end of the upper connecting rod is inserted into the first mounting groove and locked through a bolt.

Further, the upper connecting rod is arranged in a Z-shaped structure.

According to another aspect of the present utility model, there is provided a robotic end effector comprising the above-described lancet holding structure.

According to another aspect of the present utility model, there is provided a surgical navigational positioning robot comprising the robotic end effector described above.

In the embodiment of the utility model, through arranging the first base, a needle head accommodating groove for accommodating the needle head part of the puncture needle is formed in the first base, a clamping groove is formed in the lower end of the first base, a limiting piece is arranged at the upper end of the first base, and the limiting piece corresponds to the clamping groove vertically; the opening direction of the needle head accommodating groove is the same as the opening direction of the clamping groove; the needle head part of the puncture needle is clamped into the needle head accommodating groove through the clamping groove and is propped against the limiting piece, the limiting piece limits the puncture needle to move in the axial direction, so that the puncture needle is only required to be clamped into the clamping groove in the horizontal direction when the puncture needle is installed, the needle head part is arranged in the needle head accommodating groove, the limiting piece is used for limiting the puncture needle in the axial direction in the needle inserting process, the technical effects of realizing quick installation and release of the puncture needle while ensuring the normal needle inserting of the puncture needle are achieved, and the problems that the operation is complex and time-consuming and the puncture needle cannot be released quickly due to clamping of a knob, a bolt, a clamping jaw and the like in the related art are solved.

Drawings

The accompanying drawings, which are included to provide a further understanding of the utility model, are incorporated in and constitute a part of this specification. The drawings and their description are illustrative of the utility model and are not to be construed as unduly limiting the utility model. In the drawings:

FIG. 1 is a schematic view of an assembled structure according to an embodiment of the present utility model;

FIG. 2 is a schematic view of a first base in an embodiment of the present utility model;

FIG. 3 is a schematic cross-sectional view of a first base in accordance with an embodiment of the present utility model;

FIG. 4 is a schematic view of a stop collar according to an embodiment of the present utility model;

FIG. 5 is a schematic view of a rotary cap in an unlocked position according to an embodiment of the present utility model;

FIG. 6 is a schematic view of a rotary cap in a locked position according to an embodiment of the present utility model;

FIG. 7 is a schematic side view of a second base in accordance with an embodiment of the utility model;

FIG. 8 is a schematic view of a stopper according to an embodiment of the present utility model;

the device comprises a linear module, a screw motor, a slide rail, a steering engine, a steering wheel, a first base, a puncture needle, a second base, a guide needle groove, a connecting piece, a first upper part, a first force sensor, a first upper connecting rod, a first mounting arm, a lower connecting rod, a second mounting arm, a limiting piece, a fixed plate, a second force sensor, a soft rubber pad, a rotary cover, a positioning groove, a driving mechanism, a limiting ring, a conical part, a cylindrical part, a limiting body, a first limiting body, a second limiting body, a large cylindrical part, a small cylindrical part, a traction rope and a needle containing groove.

Detailed Description

In order that those skilled in the art will better understand the present utility model, a technical solution in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present utility model, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present utility model without making any inventive effort, shall fall within the scope of the present utility model.

It should be noted that the terms "first," "second," and the like in the description and the claims of the present utility model and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate in order to describe the embodiments of the utility model herein.

In the present utility model, the azimuth or positional relationship indicated by the terms "upper", "lower", "inner", and the like are based on the azimuth or positional relationship shown in the drawings. These terms are only used to better describe the present utility model and its embodiments and are not intended to limit the scope of the indicated devices, elements or components to the particular orientations or to configure and operate in the particular orientations.

Also, some of the terms described above may be used to indicate other meanings in addition to orientation or positional relationships, for example, the term "upper" may also be used to indicate some sort of attachment or connection in some cases. The specific meaning of these terms in the present utility model will be understood by those of ordinary skill in the art according to the specific circumstances.

Furthermore, the terms "disposed," "configured," "connected," "secured," and the like are to be construed broadly. For example, "connected" may be in a fixed connection, a removable connection, or a unitary construction; may 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 utility model can be understood by those of ordinary skill in the art according to the specific circumstances.

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

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

The robot holds the puncture needle by the end effector and performs the puncture needle insertion operation, and the end effector needs to have the functions of holding the puncture needle and inserting the puncture needle. In addition, the end effector also provides for quick release of the needle: when a patient moves by mistake, the puncture needle is quickly released to avoid injury to the patient; after the puncture is completed, the puncture needle is released, and the puncture needle and the patient perform CT scanning together to verify whether the puncture is in place.

The existing scheme needs manual clamping and releasing of the puncture needle, and the puncture needle is clamped through a knob, a bolt, clamping jaws linked with the knob and the bolt, so that the manual operation is needed to be carried out twice for the scheme that two clamping jaws are respectively used for clamping the puncture needle at the tail of the needle and the needle, the operation is complex and time-consuming, and the puncture needle cannot be released rapidly.

To solve the above-mentioned technical problems, as shown in fig. 1, 2 and 5, an embodiment of the present utility model provides an electric end effector for a robotic piercing operation, including: the device comprises a linear module 1, a driving module, an upper clamping jaw and a lower clamping jaw; wherein, the liquid crystal display device comprises a liquid crystal display device,

the upper clamping jaw is used as a clamping structure at the upper part of the puncture needle and comprises an upper connecting piece 7, the upper connecting piece 7 is arranged at the output end of the linear module 1, a limiting piece 9 is arranged at the upper end of the upper connecting piece 7, a clamping groove 10 is formed at the lower end of the upper connecting piece 7, the needle head part of the puncture needle 5 is clamped into the upper connecting piece 7 through the clamping groove 10 and is propped against the limiting piece 9, and the movement of the puncture needle 5 in the axial direction is limited by the limiting piece 9;

the lower clamping jaw comprises a lower connecting piece 8 and a rotary cover 11, and the lower connecting piece 8 is arranged at the fixed end of the linear module 1; the lower connecting piece 8 is provided with a guide pin groove 61 for accommodating the needle body part of the puncture needle 5, and the rotary cover 11 is hinged to the side surface of the lower connecting piece 8;

as shown in fig. 5 and 6, the rotary cover 11 is connected with the lower connecting piece 8 through a torsion spring, the rotary cover 11 is provided with a positioning groove 110 corresponding to the guide pin groove 61, and the positioning groove 110 can move towards or away from the guide pin groove 61 along with the rotation of the rotary cover 11;

the driving module comprises a driving mechanism 12 arranged at the fixed end of the linear module 1 and a traction rope 15 connected with the driving mechanism 12, wherein one end of the traction rope 15 away from the driving mechanism 12 is connected with the rotary cover 11 and used for driving the rotary cover 11 to rotate.

In the present embodiment, the electric tip is mainly composed of the linear module 1, the driving module, the upper jaw and the lower jaw, wherein the linear module 1 functions to realize the needle insertion operation of the puncture needle 5 by outputting the linear motion, so that the linear module 1 may employ a mechanism capable of outputting the linear motion, such as a linear motor, a screw mechanism, a linear cylinder mechanism, and the like. The upper and lower jaws act as clamping mechanisms for the needle part and the needle tail part of the needle 5, respectively. The upper clamping jaw is fixed at the output end of the linear module 1, and the linear module 1 drives the linear movement, so that after the puncture needle 5 is clamped by the upper clamping jaw and the lower clamping jaw, the puncture needle 5 is relatively fixed with the upper clamping jaw, and the puncture needle 5 and the lower clamping jaw relatively slide, so that needle insertion is realized. The upper jaw thus acts as the fixed end of the lancet 5 in the motorized end and the lower jaw acts as the movable end of the lancet 5 in the motorized end in this embodiment.

When the upper clamping jaw and the lower clamping jaw can actively apply clamping force to the puncture needle 5, the clamping and releasing needs to be realized by simultaneously controlling the actions of the upper clamping jaw and the lower clamping jaw. Because the upper clamping jaw is in a moving state and the lower clamping jaw is in a fixed state, the structure for simultaneously controlling the clamping and releasing of the upper clamping jaw and the lower clamping jaw is complex. Therefore, in order to simplify the overall structure, the upper clamping jaw does not actively apply a clamping force to the puncture needle 5, but only applies a certain clamping force to the puncture needle 5 by the lower clamping jaw, so that the puncture needle 5 can be kept from shifting in the puncture process under the action of the clamping force, and meanwhile, the puncture process is not interfered.

The upper jaw in this embodiment needs to have a function of driving the puncture needle 5 into the needle and the puncture needle 5 is easily disengaged from the upper jaw when released. For this purpose, as shown in fig. 1, the upper jaw in this embodiment is mainly composed of an upper connector 7, and the upper connector 7 is mounted at the output end of the linear module 1 and can move along with the linear module 1. The needle part of the puncture needle 5 is clamped into the upper connecting piece 7 in the horizontal direction through the clamping groove 10, and the upper end of the needle part is propped against the limiting piece 9 at the upper end of the upper connecting piece 7. The stopper 9 in the present embodiment serves to push the puncture needle 5 into the needle while preventing the puncture needle 5 from moving upward because the puncture needle 5 has a tendency to move upward due to the resistance of human tissue during the puncture. Since the upper connector 7 is not provided with an active clamping structure, stable connection between the puncture needle 5 and the upper connector 7 needs to be achieved by friction force of the clamping groove 10 and the puncture needle 5 or friction force of the lower clamping jaw and the puncture needle 5. Since the lower jaw in the present utility model actively applies a clamping force to the puncture needle 5, the stability of the puncture needle 5 is maintained mainly by the lower jaw in this embodiment.

The structure of the lower jaw needs to allow for stable clamping and quick release of the lancet 5. For this purpose, as shown in fig. 1, the lower jaw in this embodiment is composed of two parts, a lower connecting member 8 and a rotary cover 11, and the lower connecting member 8 is mounted as a fixing member at the lower end of the linear module 1. The lower connector 8 is provided with a guide pin groove 61 along the axial direction of the puncture needle 5, the guide pin groove 61 is of a through groove structure, and when the rotary cover 11 is in an unlocked state, the tail part of the puncture needle 5 can be clamped into the guide pin groove 61 in the horizontal direction (as shown in fig. 5). The rotary cover 11 is hinged to the side face of the lower connecting piece 8, the rotary cover 11 is connected with the upper connecting piece 7 through a torsion spring, the rotary cover 11 is provided with a positioning groove 110, and an opening of the positioning groove 110 faces the puncture needle 5. In a normal state, the rotary cover 11 is located at a locking position (as shown in fig. 6) under the action of the torsion spring, at this time, the positions of the guide pin groove 61 and the positioning groove 110 are relatively close, and both ends of the guide pin groove 61 are interfered by the rotary cover 11, and although at this time, the guide pin groove 61 and the positioning groove 110 are in a communicating state, the puncture needle 5 cannot be placed in the guide pin groove 61 in a horizontal direction.

When the puncture needle 5 is clamped, the rotary cover 11 needs to be rotated to an unlocking position (shown in fig. 5), so that the two ends of the guide needle groove 61 are not interfered by the rotary cover 11, the needle tail part of the puncture needle 5 can be placed in the guide needle groove 61 in the horizontal direction, then the rotary cover 11 is released, and the rotary cover 11 is reset to the locking position (shown in fig. 6) under the action of the torsion spring. The rotating cap 11 is in contact with the puncture needle 5 at this time, and simultaneously, a pushing force in the horizontal direction is applied to the puncture needle 5, and the puncture needle 5 is held in the guide needle groove 61 by the pushing force, and the pushing force does not affect the needle insertion of the puncture needle 5 by the upper jaw. When the puncture needle 5 is released, the rotary cap 11 needs to be rotated reversely, so that the two ends of the guide needle groove 61 are not interfered by the rotary cap 11 again. At this time, the puncture needle 5 loses the clamping force applied by the rotary cover 11, and the operator can take out the puncture needle 5 from the upper jaw and the lower jaw at the same time in the horizontal direction.

In this embodiment, the holding and releasing of the puncture needle 5 by the lower clamping jaw are realized by rotating the rotary cover 11, that is, the rotary cover 11 rotates forward to realize the holding of the puncture needle 5, and rotates backward to realize the releasing of the puncture needle 5. As shown in fig. 1, in this embodiment, the driving mechanism 12 and the traction rope 15 cooperate to realize two-direction rotation of the rotary cover 11. The driving mechanism 12 is arranged on the linear module 1 and can be arranged at the same position with the driving end of the linear module 1, so that the control and the circuit connection are facilitated. The driving mechanism 12 can pull the traction rope 15 or pay out the traction rope 15, and because the traction rope 15 is connected with the rotating cover 11, when the traction rope 15 is pulled, the rotating cover 11 rotates under the action of pulling force to open the guide needle groove 61, and when the traction rope 15 is paid out, the rotating cover 11 rotates under the action of the torsion spring to close the guide needle groove 61. Pulling and paying out of the traction rope 15 can be achieved by rotation of the driving mechanism 12 or lifting of the driving mechanism 12, and pulling and paying out of the traction rope 15 is preferably achieved by rotation of the driving mechanism 12 in order to reduce the volume of the device.

The utility model achieves the aim of realizing needle insertion by controlling the action of the upper clamping jaw by the linear module 1, connecting the puncture needle 5 with the upper clamping jaw in a clamping way, clamping the puncture needle 5 by the lower clamping jaw, and realizing the clamping and releasing of the puncture needle 5 by controlling the action of the rotary cover 11 in the lower clamping jaw by the driving mechanism 12, thereby realizing the technical effect of still being capable of rapidly clamping and releasing the puncture needle 5 under the condition of simultaneously clamping the needle head part and the needle tail part of the puncture needle 5 and electrically inserting the needle, and further solving the problem that an end effector with a needle head clamping jaw and a needle tail clamping jaw in the related art has complex operation and can not be rapidly released when clamping and releasing the puncture needle 5.

As shown in fig. 2 and 3, in order to collect the pressure applied to the puncture needle 5 in the needle insertion direction during the puncture process of the puncture needle 5, the puncture needle holding structure, i.e., the upper connector 7, is specifically described in this embodiment:

the puncture needle clamping structure comprises a first force sensor 71, an upper connecting rod 72 and a first base 4;

the first force sensor 71 is arranged at the output end of the linear module 1, the first end of the upper connecting rod 72 is fixedly connected with the detection end of the first force sensor 71, and the second end is fixedly connected with the first base 4; the limiting piece 9 and the clamping groove 10 are arranged on the first base 4.

Specifically, in this embodiment, the upper link 72 has a rod-shaped structure, and in order to reduce the distance between the end of the upper link 72 and the lower jaw and improve the stability of the movement of the puncture needle 5, the upper link 72 may be configured in a Z-shape with a certain downward inclination at the lower end. The first end of the upper link 72 is connected to the detection end of the first force sensor 71, and the first base 4 is fixed to the second end of the upper link 72 by a bolt, and the needle portion of the puncture needle 5 is mounted in the first base 4.

In order to facilitate the installation of the needle part of the puncture needle 5, the first base 4 is provided with a needle accommodating groove 16, the opening direction of the needle accommodating groove 16 is the same as the opening direction of the clamping groove 10, and the needle accommodating groove 16 is communicated with the clamping groove 10; the limiting member 9 is provided at the upper end of the needle accommodating groove 16.

Specifically, the first base 4 comprises two side plates, a back plate and a bottom plate, wherein the two side plates and the back plate are oppositely arranged, and the bottom plate is arranged at the lower ends of the two side plates and the back plate. The two side plates and the bottom plate together form a needle accommodating groove 16, the clamping groove 10 is formed in the bottom plate, and the limiting piece 9 is arranged at the upper ends of the two side plates and opposite to the bottom plate. The puncture needle 5 is mounted so that the needle body is locked in the locking groove 10 in a horizontal direction, the needle portion is positioned in the needle accommodating groove 16, and the upper end of the needle portion is abutted against the stopper 9.

The limiting member 9 is configured to apply a downward pushing force to the puncture needle 5 and prevent the puncture needle 5 from being pressed and moved upward, and the structure of the limiting member 9 will be specifically described in this embodiment:

as shown in fig. 2 and 3, the limiting member 9 includes a tail fixing plate 91, a second force sensor 92 and a soft rubber pad 93, which are disposed at the upper end of the first base 4;

the second force sensor 92 and the soft rubber pad 93 are arranged in the needle accommodating groove 16, the fixed end of the second force sensor 92 is connected with the tail fixing plate 91, the soft rubber pad 93 is arranged at the detection end of the second force sensor 92, and the soft rubber pad 93 is propped against the needle of the puncture needle 5 in the puncture process.

Specifically, the tail fixing plate 91 is a flat plate structure, and is fixed at the upper end of the first base 4, the second force sensor 92 is fixed at the lower end of the tail fixing plate 91 and is located in the needle accommodating groove 16, the detection end of the second force sensor 92 faces downwards, and the soft rubber pad 93 is installed at the detection end of the second force sensor 92. The needle head of the puncture needle 5 is propped against the soft rubber cushion 93, and the soft rubber cushion 93 is compressed when the puncture needle 5 is pressed, so that the soft rubber cushion 93 generates certain deformation, the puncture needle 5 can be prevented from sliding transversely, and the needle head part of the puncture needle 5 is prevented from being separated from the first base 4 from the clamping groove 10. At the same time, the second force sensor 92 also detects the pressure transmitted by the lancet 5, which pressure data is more direct than the pressure data detected by the first force sensor 71. When applied to a force feedback device, the data collected by the first force sensor 71 and the second force sensor 92 can be integrated to perform feedback.

In order for the card slot 10 to provide a certain limit for the puncture needle 5, the size of the card slot 10 needs to be matched with the size of the puncture needle 5. In practice, the puncture needles 5 having different diameters are used, which results in poor interchangeability. For this reason, as shown in fig. 2 and 3, the upper connector 7 in this embodiment further includes a limiting ring 13, the limiting ring 13 is clamped in the clamping groove 10, and a first puncture hole for the puncture needle 5 to pass through is formed in the limiting ring 13. The size of the limiting ring 13 is matched with that of the clamping groove 10, and the puncture needle 5 can be installed by clamping the limiting ring 13 in the clamping groove 10 after the puncture needle 5 passes through the limiting ring 13. When different puncture needles 5 are replaced, only the corresponding limiting rings 13 are required to be replaced, so that the interchangeability and the use flexibility of the device are improved.

Because the puncture needle 5 is clamped into the clamping groove 10 of the first base 4 in the horizontal direction, the clamping groove 10 will not interfere with the transverse movement of the puncture needle 5 in the installation direction, and in order to avoid the puncture needle 5 from being separated from the first base 4 from the clamping groove 10 under pressure in the puncture process, the structures of the limiting ring 13 and the clamping groove 10 need to be further improved:

as shown in fig. 4, the limiting ring 13 includes a conical portion 131 and a cylindrical portion 132, and the first needle penetrating hole penetrates the conical portion 131 and the cylindrical portion 132, and is slidably connected with the puncture needle 5; the diameter of the large diameter end of the conical part 131 is larger than that of the cylindrical part 132, and the cylindrical part 132 is positioned at the small diameter end of the conical part 131; a conical surface attached to the conical portion 131 and a cylindrical surface attached to the cylindrical portion 132 are provided in the clip groove 10.

Specifically, in this embodiment, the stop collar 13 is composed of a conical portion 131 and a cylindrical portion 132, wherein the conical portion 131 and the cylindrical portion 132 are vertically distributed, the cross-sectional area of the conical portion 131 is gradually reduced from top to bottom, and the diameter of the cylindrical portion 132 is the same as that of the small diameter end of the conical portion 131. When in installation, the limiting ring 13 is sleeved on the puncture needle 5, and the limiting ring 13 is close to the needle head of the puncture needle 5. Then, the needle head part of the puncture needle 5 is installed in the first base 4, the limiting ring 13 is located in the needle head accommodating groove 16 of the first base 4, then the limiting ring 13 is moved downwards on the puncture needle 5, the limiting ring 13 is inserted into the clamping groove 10, the conical part 131 of the limiting ring 13 is attached to the conical surface of the clamping groove 10, and the cylindrical part 132 is attached to the cylindrical surface of the clamping groove 10.

When the force applied to the puncture needle 5 is within the set range, the limiting ring 13 cannot be directly separated from the clamping groove 10 in the horizontal direction, i.e. the puncture needle 5 cannot be separated from the first base 4 in the horizontal direction. When the puncture needle 5 needs to be released, the puncture needle 5 is pulled by a horizontal force, the limiting ring 13 moves upwards on the puncture needle 5 due to the cooperation of the conical part 131 of the limiting ring 13 and the conical surface of the clamping groove 10, and when the limiting ring 13 moves until the conical part 131 is separated from the conical surface of the clamping groove 10, the limiting ring 13 can be separated from the clamping groove 10 in the horizontal direction, so that the release of the puncture needle 5 is completed.

Therefore, by further improving the structure of the limiting ring 13, the embodiment realizes that the puncture needle 5 is not easy to separate from the first base 4 in the needle inserting process, and is convenient to separate from the first base 4 when the puncture needle 5 is released, so that the use stability is improved, and the release flexibility is improved.

As shown in fig. 1, in order to facilitate connection and disconnection of the upper link 72 and the first force sensor 71, a first mounting arm 73 is provided at a detection end of the first force sensor 71, a first mounting groove is formed in the first mounting arm 73, and a first end of the upper link 72 is inserted into the first mounting groove in a direction of opening the first mounting groove and is locked by a bolt.

The lower connector 8 is a structure that needs to actively clamp the puncture needle 5, and this embodiment specifically describes the structure:

as shown in fig. 1, 5 and 6, the lower connecting member 8 includes a lower connecting rod 81 and a second base 6, a first end of the lower connecting rod 81 is connected with a fixed end of the linear module 1, and a second end is connected with the second base 6; the guide pin groove 61 is formed in the second base 6, and the rotary cover 11 is hinged to the side face of the second base 6 through a torsion spring.

Specifically, the lower link 81 is provided in a rod-like structure having a certain downward inclination, thereby reducing the contact area with the patient during the puncturing process and increasing the moving space. Both ends of the lower link 81 are connected to the lower end of the linear module 1 and the second base 6, respectively. The tail portion of the puncture needle 5 is located in the guide needle groove 61 of the second base 6 and is locked and unlocked by the rotary cover 11 mounted on the side of the second base 6. Since the needle head portion of the puncture needle 5 is clamped in the clamping groove 10 and the needle tail portion is clamped in the guide needle groove 61, the guide needle groove 61 is coaxial with the clamping groove 10 in this embodiment.

Since the holding and releasing of the puncture needle 5 are realized by the rotation of the rotary cover 11, the second base 6 in this embodiment is provided with a rotating shaft, the axis of the rotating shaft is parallel to the axis of the puncture needle 5, the rotating shaft is rotationally connected with the second base 6, and the end of the rotating shaft extends out of the second base 6 and is fixedly connected with the rotary cover 11.

In order to improve interchangeability, as shown in fig. 7 and 8, the lower connecting piece 8 in the embodiment further comprises a limiting block 14, wherein a second puncture hole for the puncture needle 5 to pass through is formed in the limiting block 14, and when the puncture needle 5 with different sizes is replaced, only the different limiting block 14 needs to be replaced, and the diameters of the second puncture holes of the different limiting block 14 are different; the size of the guide pin groove 61 is matched with the size of the limiting block 14, and the limiting block 14 is clamped in the guide pin groove 61.

In addition, the puncture needle 5 is an elongated rod member, and is not easily held directly. Therefore, in this embodiment, the end of the limiting block 14 extends out of the guide pin slot 61 and corresponds to the positioning slot 110, and the rotating cover 11 clamps the puncture needle 5 by clamping the limiting block 14 during clamping.

In order to enable the stopper 14 to be stably installed in the guide pin groove 61, a further improvement on the structure of the stopper 14 is required, specifically, as shown in fig. 8, the stopper 14 in this embodiment includes a large cylindrical portion 143132 and small cylindrical portions 144132 located at two ends of the large cylindrical portion 143132, and a notch corresponding to the large cylindrical portion 143132 is formed in the guide pin groove 61;

the large cylindrical part 143132 is clamped in the notch, the two side walls of the notch are in contact with the outer end face of the small cylindrical part 144132, the limiting block 14 can be limited to move in the axial direction through the notch, the offset in the needle inserting process of the puncture needle 5 is avoided, and the concentric limiting effect can be achieved.

In order to improve interchangeability and facilitate clamping of the puncture needle 5, a limiting block 14 is adopted as a middle piece. And in order to avoid the problem that the limiting block 14 is remained on the puncture needle 5 after the puncture needle 5 is released, the puncture needle 5 is inclined and the like. The structure of the stopper 14 is further improved in this embodiment:

as shown in fig. 8, the limiting block 14 includes a first limiting body 141 and a second limiting body 142, the first limiting body 141 and the second limiting body 142 can be abutted along the radial direction of the guide pin groove 61, the first limiting body 141 and the second limiting body 142 are internally provided with a pin penetrating groove, and a second pin penetrating hole is formed after the abutting joint.

Specifically, in this embodiment, the limiting block 14 is configured as a first limiting body 141 and a second limiting body 142 that are half, and the first limiting body 141 and the second limiting body 142 are buckled to form the limiting block 14 during installation. After the puncture needle 5 is released, the limiting block 14 can be directly dismantled and split into a first limiting body 141 and a second limiting body 142, so that the middle piece is prevented from being reserved on the puncture needle 5.

Because the clamping force applied to the puncture needle 5 is mainly provided by the rotary cover 11, in order to make the puncture needle 5 uniformly stressed, the rotary cover 11 in the embodiment comprises two cover bodies and a connecting body connected between the two cover bodies, and the cover bodies and the connecting body at the two ends can be integrally formed; the two cover bodies are distributed along the axial direction of the guide pin groove 61, the two cover bodies are respectively positioned at two ends of the guide pin groove 61, the positioning groove 110 is formed in the cover body, and two ends of the limiting block 14 extend out of the guide pin groove 61 and correspond to the positioning grooves 110 at two ends; the cover body is hinged with the rotating shaft, and the connecting body is connected with the traction rope 15. During clamping, the cover bodies at the two ends of the guide pin groove 61 apply clamping force to the puncture needle 5, so that the puncture needle 5 is uniformly stressed at the two ends of the guide pin groove 61, and the needle feeding stability of the puncture needle 5 is improved.

Since the positioning groove 110 is required to be engaged with the small cylindrical portion 144132 of the stopper 14 during clamping, the positioning groove 110 is provided as an arc-shaped groove corresponding to the small cylindrical portion 144132 in this embodiment. In order to prevent the puncture needle 5 from being separated from the guide needle groove 61 in the opening direction of the guide needle groove 61 during the puncture, the depth of the positioning groove 110 is greater than or equal to the opening width of the guide needle groove 61.

In order to facilitate connection and disassembly of the linear module 1 and the lower connecting rod 81, a second mounting arm 82 is fixedly arranged at the lower end of the linear module 1, a second mounting groove is formed in the second mounting arm 82, and the first end of the lower connecting rod 81 is inserted into the second mounting groove and locked through a bolt.

As shown in fig. 1, the linear module 1 includes a slide rail 102, a screw, a slider, and a screw motor; the screw rod is arranged in the sliding rail 102, the sliding block is clamped on the sliding rail 102 and is in threaded connection with the screw rod, and the screw rod motor 101 is fixedly arranged at the end part of the sliding rail 102 and is in transmission connection with the screw rod;

the driving mechanism 12 comprises a steering engine 2 and a steering wheel 3, the steering engine 2 is fixedly arranged at the end part of the sliding rail 102 and is in transmission connection with the steering wheel 3, the traction rope 15 is fixedly arranged on the steering wheel 3, the steering wheel 2 drives the steering wheel 3 to swing to realize the pulling and the sending of the traction rope 15, and the traction rope 15 is arranged as a steel wire rope for improving the use stability.

In order to facilitate the control and circuit connection of the driving part, the end part of the sliding rail 102 is provided with a mounting plate, and the screw motor 101 and the steering engine 2 are fixedly arranged on the mounting plate, namely, the screw motor 101 and the steering engine 2 are used as the driving part to be mounted at a close position, so that the arrangement of electronic elements such as a circuit board is facilitated;

in order to facilitate the laying of the haulage rope 15, a guiding pipe is arranged on the side surface of the sliding rail 102, and one end of the haulage rope 15 far away from the rudder disk 3 passes through the guiding pipe and then is connected with the rotary cover 11.

According to another aspect of the present utility model, there is provided a surgical navigational positioning robot comprising the robotic end effector described above.

The above description is only of the preferred embodiments of the present utility model and is not intended to limit the present utility model, but various modifications and variations can be made to the present utility model by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model should be included in the protection scope of the present utility model.

Claims (10)

1. The puncture needle clamping structure is characterized by comprising a first base, wherein a needle head accommodating groove for accommodating a needle head part of a puncture needle is formed in the first base, a clamping groove is formed in the lower end of the first base, a limiting piece is arranged at the upper end of the first base, and the limiting piece corresponds to the clamping groove vertically;

the opening direction of the needle head accommodating groove is the same as the opening direction of the clamping groove; the needle head part of the puncture needle is clamped into the needle head accommodating groove through the clamping groove and is propped against the limiting piece, and the limiting piece limits the movement of the puncture needle in the axial direction.

2. The puncture needle clamping structure according to claim 1, wherein the limiting piece comprises a tail fixing plate, a second force sensor and a soft rubber pad which are arranged at the upper end of the first base;

the second force sensor and the soft rubber pad are arranged in the needle head accommodating groove, the fixed end of the second force sensor is connected with the tail fixing plate, the soft rubber pad is arranged at the detection end of the second force sensor, and the soft rubber pad is propped against the needle head of the puncture needle in the puncture process.

3. The puncture needle clamping structure according to claim 2, further comprising a limiting ring, wherein the limiting ring is clamped in the clamping groove, and a first puncture hole for a puncture needle to pass through is formed in the limiting ring.

4. The lancet holding structure of claim 3, wherein the retainer ring comprises a conical portion and a cylindrical portion, the first puncture hole extending through the conical portion and the cylindrical portion, the first puncture hole being slidably coupled to the lancet;

the diameter of the large diameter end of the conical part is larger than that of the cylindrical part, and the cylindrical part is positioned at the small diameter end of the conical part;

the clamping groove is internally provided with a conical surface attached to the conical part and a cylindrical surface attached to the cylindrical part.

5. The lancet holder according to any one of claims 2 to 4, wherein the first base is composed of two oppositely disposed side plates, a back plate provided on the back surface of the side plates, and a bottom plate provided on the lower ends of the side plates and the back plate;

the needle head containing groove is formed between the two side plates, the clamping groove is formed in the bottom plate, and the tail fixing plate is fixedly arranged at the upper end of the side plate.

6. The lancet holding structure of claim 5, further comprising an upper link and a first force sensor;

the first end of the upper connecting rod is fixedly connected with the detection end of the first force sensor, and the second end of the upper connecting rod is fixedly connected with the first base.

7. The lancet holding structure of claim 6, wherein the first force sensor has a first mounting arm at a detection end thereof, a first mounting groove is formed in the first mounting arm, and the first end of the upper link is inserted into the first mounting groove and locked by a bolt.

8. The lancet holding structure of claim 7, wherein the upper link is provided in a Z-shaped configuration.

9. A robotic end effector comprising a lancet holding structure according to any one of claims 1 to 8.

10. A surgical navigational positioning robot comprising the robotic end effector of claim 9.