CN220293641U - Functional module positioning bracket assembly based on double-snake-shaped locking arm - Google Patents

Abstract

The invention discloses a functional module positioning bracket assembly based on double-snake-shaped locking arms, which comprises two snake-shaped locking arms and functional modules, wherein the tail ends of the two snake-shaped locking arms are connected through the functional modules, each snake-shaped locking arm comprises a flexible universal arm capable of adjusting the pose of the functional module and a locking mechanism capable of locking or releasing the flexible universal arm, each flexible universal arm comprises a plurality of groups of hollow universal joints which are hinged with each other in sequence from head to tail through spherical matching surfaces, the locking mechanism adopts a stay rope locking mode, and a driving element of the locking mechanism can tighten or loosen a stay rope through a first transmission mechanism; one end of the pull rope penetrates through all the hollow universal joints to be connected to the head end of the snake-shaped locking arm, and the other end of the pull rope is connected with the first transmission mechanism. The serpentine locking arm of the present invention can be adjusted to any position in its workspace and lock the spatial pose of the functional module.

Description

Functional module positioning bracket assembly based on double-snake-shaped locking arm

Technical Field

The invention relates to the technical field of medical instruments, in particular to a functional module positioning bracket assembly based on double-snake-shaped locking arms.

Background

Percutaneous puncture surgery is a common clinical operation, and can complete pathological analysis, drug injection and effusion drainage through percutaneous puncture, and can also perform various minimally invasive treatments, such as microwave ablation, radio frequency ablation, particle implantation and the like. Puncture therapy has the characteristics of small wound, quick recovery and good curative effect, and is widely developed by more and more medical institutions in recent years. However, the operation requires the operator to precisely pierce the puncture needle to a specific patient position, and has high precision requirements. In order to improve the puncture accuracy, a doctor usually uses a puncture positioning guide bracket, a puncture needle guide device or a puncture needle guide template is arranged at the tail end of the bracket, and one or more puncture needles are accurately punctured under the action of the guide device or the guide template. Therefore, a gyroscope and a computing unit can be added on the puncture guiding template, the difference between the current position and the target position is determined through the gyroscope and the computing unit, the deviation of the gesture is displayed more intuitively, and a doctor can quickly understand the direction and the scale of manual adjustment according to the deviation, so that the operator is assisted in puncture positioning.

The existing single-arm clamping mechanism such as a radioactive particle implantation fixing frame disclosed in CN208660165U has the problems of weak loading capacity, insufficient rigidity, poor stability, easy shaking in the operation process and the like, so that a positioning bracket structure with higher rigidity and more stability is required to be adopted, and meanwhile, the occupied volume of the positioning bracket is required to be reduced as much as possible, so that the operation space is saved.

Disclosure of Invention

The invention aims to provide a functional module positioning bracket assembly based on double snake-shaped locking arms, which positions and supports a functional module through two snake-shaped locking arms, so that the strength, rigidity and supporting capacity of the snake-shaped locking arms are improved, and the speed and accuracy of pose adjustment are improved.

The technical aim of the invention is realized by the following technical scheme:

the functional module positioning bracket assembly based on the double-snake-shaped locking arms comprises two snake-shaped locking arms and functional modules, wherein the tail ends of the two snake-shaped locking arms are connected through the functional modules, each snake-shaped locking arm comprises a flexible universal arm capable of adjusting the pose of the functional module and a locking mechanism capable of locking or releasing the flexible universal arm, the flexible universal arm comprises a plurality of groups of hollow universal joints which are hinged with each other end to end in sequence through spherical matching surfaces, the locking mechanism adopts a stay rope locking mode, and a driving element of the locking mechanism can tighten or loosen a stay rope through a first transmission mechanism; one end of the pull rope penetrates through all the hollow universal joints to be connected to the head end of the snake-shaped locking arm, and the other end of the pull rope is connected with the first transmission mechanism.

Preferably, the first transmission mechanism is one or a combination of a reel structure, a screw nut structure, a cam structure, a hydraulic mechanism and a pneumatic mechanism.

Preferably, when the first transmission mechanism is of a cam structure, the driving element of the locking mechanism is a first motor, the tail end of the snake-shaped locking arm is connected with a base sleeve, the first motor is arranged on the base sleeve, the first transmission mechanism comprises a pull sleeve and a curved rod, the curved rod is rotatably arranged on the base sleeve, the first motor drives the curved rod to rotate, a cam deviating from the central axis is arranged on the curved rod, the pull sleeve is connected with a pull rope, the curved rod penetrates through the pull sleeve, the cam is in abutting fit with the pull sleeve, and the curved rod drives the cam to make eccentric motion so that the pull sleeve can tighten or loosen the pull rope;

when first drive mechanism is screw nut structure, locking mechanism's driving element is the second motor, serpentine lock arm's tail end connection has the tailstock, the second motor is installed on the tailstock, first drive mechanism includes lead screw and nut, the lead screw rotates and sets up on the tailstock, the second motor drives the lead screw and rotates, the nut slides along the axial direction of lead screw and sets up on the tailstock, the nut is connected with the stay cord, the nut is established soon on the lead screw, the lead screw rotates and drives the axial displacement of nut along the lead screw, so that the nut can tighten or loosen the stay cord.

Preferably, the tail ends of the two groups of snake-shaped locking arms are respectively matched and arranged on two sides or the same side of the same functional module; the functional module is one or a combination of more than one of a puncture guiding module, an endoscope supporting frame, a retractor and a camera module.

Preferably, the puncture guiding module is used for guiding at least one puncture needle to puncture along a preset puncture path; the puncture guiding module is provided with a puncture guiding part matched with the outer diameter of the puncture needle, and the puncture guiding part is in clearance fit with the puncture needle to realize guiding function;

the endoscope supporting frame can clamp the endoscope, and the snakelike locking arm can rapidly lock and release each degree of freedom so as to fix or adjust the space pose of the endoscope; the endoscope comprises a laparoscope, a thoracoscope and a hysteroscope; the tail end of the snake-shaped locking arm is matched and arranged on the endoscope supporting frame;

the traction device is provided with a traction hook for traction of organism tissues;

the camera module is connected to the tail end of the snake-shaped locking arm through the connecting base, or at least one adjusting supporting arm extends out of the connecting base, the camera module is installed on the adjusting supporting arm, and the adjusting supporting arm can carry out one or more combinations of bending shaping, rotary adjusting or moving adjusting.

Preferably, the serpentine locking arm is rigidly connected with the functional module or connected with the functional module through a quick connecting part, and when the serpentine locking arm is connected with the functional module through the quick connecting part, the quick connecting part is provided with at least one group, and the quick connecting part is connected in a threaded connection or claw connection manner;

Preferably, the quick connecting part comprises a first engaging plate and a second engaging plate which can be quickly positioned and locked at a plurality of angles, a central through hole is formed in the first engaging plate, a threaded connecting hole is formed in the second engaging plate, a locking bolt penetrates through the central through hole in the first engaging plate and is in locking connection with the threaded connecting hole, the first engaging plate and the second engaging plate can rotate around the axis of the central through hole and are locked and fixed, and the axis direction of the central through hole is perpendicular to the plane where the functional module is located, so that the serpentine locking arm can be conveniently adjusted in space and arranged in the operation environment; or the axial direction of the central through hole is parallel to the plane of the functional module; the axis of the central through hole is at an angle to the axis of the end universal joint of the serpentine locking arm, preferably 30-90 °.

Preferably, the living body fixing device further comprises a base, the serpentine locking arm is detachably mounted on the base, the base and the living body are kept relatively static, and a plurality of mounting positions are formed in the base.

Preferably, the base is a bottom plate for supporting and pressing organisms, a plurality of fixing holes are arranged on the bottom plate in an array manner, the snake-shaped locking arms are directly arranged on the fixing holes of the bottom plate or are arranged on the fixing holes of the bottom plate through a first extension rod perpendicular to the bottom plate, the fixing holes are connected with the snake-shaped locking arms or the first extension rod in a threaded connection, a buckle connection or a buckle connection mode, rapid installation and detachment of the snake-shaped locking arms or the first extension rod can be realized, and the bottom plate adopts a carbon fiber plate or a plastic plate, so that CT artifacts are reduced;

Or the base is an operation bed fixing device connected and fixed with an operation bed, the operation bed fixing device comprises a thread structure, a clamp assembly or a locking rod assembly, the serpentine locking arm is directly arranged on the operation bed fixing device or the serpentine locking arm is arranged on the operation bed fixing device through a second extending rod which is vertically arranged;

or the base is a template which is matched with the shape of the organism, and the template is one or a combination of a 3D printing template and a flexible deformable template;

or the base is a craniocerebral auxiliary positioning bracket, at least one position capable of installing a snake-shaped locking arm is arranged on the craniocerebral auxiliary positioning bracket, and the snake-shaped locking arm is connected with a functional module.

Preferably, two sets of serpentine locking arms are disposed on either side of the organism, one set of serpentine locking arms being mounted on the side of the organism's armpit or chest or waist and the other set of serpentine locking arms being mounted on the side of the organism's head or on the other side of the organism's armpit or chest or waist.

Or two groups of snake-shaped locking arms are arranged on the same side of the organism and are connected through a connecting piece, and the connecting piece is a connecting rod or a spring or an elastic belt.

The invention has the beneficial effects that:

1. the two snake-shaped locking arms are connected with each other, the functional module is installed at the tail ends of the two snake-shaped locking arms, the functional module is positioned and supported through the two snake-shaped locking arms, the strength rigidity and the supporting capacity of the snake-shaped locking arms are improved, and the snake-shaped locking arms can rapidly lock and release each degree of freedom so as to fix or adjust the space pose of the functional module.

2. The safety of the snake-shaped locking arm is improved, the snake-shaped locking arm is arranged at the armpit and the side edge of the head of a organism, and the occupied space can be reduced; the function module is installed at the tail end of the snake-shaped locking arm, the function module is positioned and supported through the snake-shaped locking arm, the function module is one or a combination of a puncture guiding module, an endoscope supporting frame, a retractor and a camera module, so that the clamping, extending, guiding and monitoring functions in an operation can be realized, and the safety of the operation is improved.

3. The snake-shaped locking arm can be quickly installed and detached on the bottom plate through the fixing holes, and the quick-detachment structure is one or a combination of threaded connection, a buckle and a clamp, so that the installation position can be adjusted according to the needs, and the needs of different people can be met.

4. The pose of the functional module is convenient and quick to adjust, the functional module is easy to detach and convenient to disinfect, the tail ends of the snake-shaped locking arms are connected with the functional module through the quick connecting parts, the first engaging plate and the second engaging plate of the quick connecting parts corresponding to each group of snake-shaped locking arms can be adjusted and locked at multiple angles in the circumferential direction, the two groups of snake-shaped locking arms are convenient to form a supporting structure, the position and the pose of the functional module can be adjusted and locked at random, and the speed and the accuracy of pose adjustment are improved.

Drawings

Fig. 1 is a schematic structural view of the present embodiment 1;

FIG. 2 is a schematic illustration of the structure of the serpentine lock arm of FIG. 1;

FIG. 3 is a partial cross-sectional view of the locking mechanism of the serpentine locking arm of FIG. 2;

FIG. 4 is a schematic view of the structure of the locking bar head of the serpentine locking arm of example 1;

fig. 5 is a schematic view showing the structure of an endoscope supporting frame and an endoscope in embodiment 1;

FIG. 6 shows an assembly view of the serpentine lock arm of example 2;

FIG. 7 shows a partial cross-sectional view of the locking mechanism of the serpentine locking arm of FIG. 6;

FIG. 8 shows a schematic of the structure of the locking bar head of the serpentine locking arm of example 2;

FIG. 9 is a schematic view showing the structure of the puncture guiding template in the present embodiment 3 for realizing single needle puncture;

fig. 10 shows one of schematic structural views of the extension rod in embodiment 3;

FIG. 11 is a second schematic view showing the structure of the extension rod in the present embodiment 3;

FIG. 12 is a schematic view showing the structure of the extension rod of the embodiment 3 with a space-addressing element;

FIG. 13 is a schematic view showing the structure of a puncture guiding template in the present embodiment 3 for achieving multi-needle puncture;

FIG. 14 is a schematic view showing the connection of the serpentine locking arm of example 4 to the array template via a quick connect;

Fig. 15 shows a schematic structural view of the quick-connect portion in this embodiment 4;

fig. 16 is a schematic view showing the structure of a first engaging plate of the quick-connect portion in this embodiment 4;

fig. 17 is a schematic view showing the structure of a second engaging plate of the quick-connect portion in this embodiment 4;

FIG. 18 is a schematic view of the connection of the serpentine locking arm of example 5 of the present invention to an array template via a quick connect;

FIG. 19 is a front view of the quick connect portion of FIG. 18 in a connected state with the piercing guide template;

FIG. 20 is a rear view of FIG. 19;

FIG. 21 is a cross-sectional view of B-B in FIG. 19;

FIG. 22 is an enlarged schematic view of FIG. 21C;

fig. 23 is a front view of the left and right angle adjusting blocks of embodiment 5 of the present invention;

FIG. 24 is a cross-sectional view of D-D of FIG. 23;

FIG. 25 is a cross-sectional view of E-E of FIG. 23;

FIG. 26 is a schematic view showing the structure of a serpentine lock arm of example 6 connected to an endoscope support frame via a quick connect;

fig. 27 shows a schematic structural view of a quick-connect portion in embodiment 6;

fig. 28 shows a schematic structural view of the first and second adjustment blocks of the quick connect.

Detailed Description

Example 1

The functional module positioning bracket assembly based on the double-snake-shaped locking arms comprises two snake-shaped locking arms and functional modules, wherein the tail ends of the two snake-shaped locking arms are connected through the functional modules, each snake-shaped locking arm comprises a flexible universal arm capable of adjusting the pose of the functional module and a locking mechanism capable of locking or releasing the flexible universal arm, the flexible universal arm comprises a plurality of groups of hollow universal joints which are hinged with each other end to end in sequence through spherical matching surfaces, the locking mechanism adopts a stay rope locking mode, and a driving element of the locking mechanism can tighten or loosen a stay rope through a first transmission mechanism; one end of the pull rope penetrates through all the hollow universal joints to be connected to the head end of the snake-shaped locking arm, and the other end of the pull rope is connected with the first transmission mechanism.

The first transmission mechanism is one or a combination of a winding wheel structure, a screw nut structure, a cam structure, a hydraulic mechanism and a pneumatic mechanism.

The snake-shaped locking arms are provided with two groups, and the tail ends of the two groups of snake-shaped locking arms are respectively matched and installed on two sides of the same functional module.

The functional module is an endoscope supporting frame (such as an endoscope clamping mechanism 111204 in the embodiment), and the functional module may be one or more of an endoscope supporting frame, a puncture guiding module, a retractor and a camera module.

The snakelike locking arm is connected with functional module rigid connection or through quick connect portion, and when connecting through quick connect portion, quick connect portion is equipped with at least a set of, and quick connect portion's connected mode adopts threaded connection or jack catch to connect.

The quick connecting part comprises a first engaging plate and a second engaging plate which can be quickly positioned and locked at a plurality of angles, a central through hole is formed in the first engaging plate, a threaded connecting hole is formed in the second engaging plate, a locking bolt penetrates through the central through hole in the first engaging plate and is in locking connection with the threaded connecting hole, the first engaging plate and the second engaging plate can rotate around the axis of the central through hole and are locked and fixed, and the axis direction of the central through hole is perpendicular to the plane where the functional module is located, so that the serpentine locking arm can be conveniently adjusted in space and the arrangement of the surgical environment is facilitated; or the axial direction of the central through hole is parallel to the plane of the functional module; the axis of the central through hole is at an angle to the axis of the end universal joint of the serpentine locking arm, preferably 30-90 °.

As shown in fig. 1 to 5, the serpentine locking arm includes a flexible universal arm (such as a flexible universal self-locking rod 111201 in the present embodiment) capable of adjusting the pose of the functional module, and a locking mechanism capable of locking or releasing the flexible universal arm, where the locking mechanism adopts a pull rope locking mode (such as a first pull rope 11120109 in the present embodiment), and a driving element of the locking mechanism can tighten or loosen the first pull rope 11120109 through a first transmission mechanism; the flexible universal arm comprises a plurality of groups of hollow universal joints (such as a joint sleeve 11120105 of the embodiment) which are hinged with each other in sequence end to end through spherical matching surfaces, one end of a first pull rope penetrates through all the hollow universal joints to be connected to the head end of the snake-shaped locking arm, the other end of the first pull rope is connected with a first transmission mechanism, and the first transmission mechanism is one or a combination of a winding wheel structure, a screw nut structure, a cam structure, a hydraulic mechanism and a pneumatic mechanism.

The endoscope supporting frame can clamp the endoscope, and the snakelike locking arm can rapidly lock and release each degree of freedom so as to fix or adjust the space pose of the endoscope; the endoscope comprises a laparoscope, a thoracoscope and a hysteroscope; the tail end of the snake-shaped locking arm is matched and arranged on the endoscope supporting frame.

The endoscope support frame is internally provided with a clamping piece in a rotating manner, the clamping piece is provided with a clamping mechanism, the clamping mechanism is used for clamping an endoscope, and the clamping piece can rotate around the axis of the endoscope, so that the endoscope can rotate around the axis of the endoscope shaft, the endoscope support frame is also provided with a locking mechanism, and the rotation angle of the endoscope around the axis of the endoscope shaft can be locked through the locking mechanism. The clamping piece is a rotary piece, the endoscope is arranged in the rotary piece, the rotary piece can be rotatably arranged in the endoscope supporting frame, the rotary piece can be locked through the locking mechanism, so that the rotary piece can hover at any angle to realize the adjustment of the pose, and the rotary piece is an adjusting handle or a rotary sleeve.

When the clamping piece is a rotary sleeve, the rotary sleeve is arranged in the endoscope supporting frame through the bearing, a jacking block is arranged between the endoscope supporting frame and the rotary sleeve, and the jacking block can be tightly propped against the rotary sleeve by applying an acting force to the jacking block through the locking mechanism so as to lock the rotary sleeve, or the locking mechanism directly props against the rotary sleeve to lock the rotary sleeve; the locking mechanism is a locking screw or a locking structure.

The middle part of the clamping piece is provided with an open slot 11120410, the light guide port of the endoscope extends out of the open slot of the clamping piece, the buckle locking component is arranged above the clamping piece, and the buckle locking component is positioned between the light guide port 11120411 and the observation port 11120412 of the endoscope; the buckle locking assembly comprises two groups of buckles which are connected in a hinged mode and a locking piece which can lock or unlock the two groups of buckles, the locking piece is loosened, the endoscope can be installed in the clamping piece, and then the locking piece is locked, so that the endoscope can be clamped on the clamping piece.

In this embodiment, the clamping member is a swivel sleeve (such as the first swivel sleeve 11120403 in this embodiment); the first transmission mechanism is a cam mechanism.

The serpentine locking arm is removably mounted to a base that remains relatively stationary with respect to the living being.

The base is a bottom plate for supporting and pressing organisms, a plurality of fixing holes are arranged on the bottom plate in an array mode, the snake-shaped locking arms are directly arranged on the fixing holes of the bottom plate or are arranged on the fixing holes of the bottom plate through a first extension rod perpendicular to the bottom plate, the fixing holes are connected with the snake-shaped locking arms or the first extension rod in a threaded connection, a buckle connection or a lock catch connection mode, rapid installation and detachment of the snake-shaped locking arms or the first extension rod can be achieved, and the bottom plate is made of a carbon fiber plate or a plastic plate, so that CT artifacts are reduced;

or the base is an operation bed fixing device connected and fixed with an operation bed, the operation bed fixing device comprises a thread structure, a clamp assembly or a locking rod assembly, the serpentine locking arm is directly arranged on the operation bed fixing device or the serpentine locking arm is arranged on the operation bed fixing device through a second extending rod which is vertically arranged;

Or the base is a template which is matched with the shape of the organism, and the template is one or a combination of a 3D printing template and a flexible deformable template;

or the base is a craniocerebral auxiliary positioning bracket, at least one position capable of installing a snake-shaped locking arm is arranged on the craniocerebral auxiliary positioning bracket, and the snake-shaped locking arm is connected with a functional module.

Two groups of snake-shaped locking arms are arranged on two sides of the organism, wherein one group of snake-shaped locking arms are arranged on the armpit or the chest side or the waist side of the organism, and the other group of snake-shaped locking arms are arranged on the head side of the organism or the armpit or the chest side or the waist side of the other side of the organism; or two sets of serpentine locking arms are disposed on the same side of the organism.

As shown in fig. 1 to 5, the lower end of the flexible universal self-locking rod 111201 is locked and fastened to the carbon fiber mounting plate 111202, the upper end of the flexible universal self-locking rod 111201 is connected to the endoscope holding mechanism 111204, and the second endoscope 111203 is held by the endoscope holding mechanism 111204.

As shown in fig. 2 to 4, the base sleeve 11120103 is connected to the fixing base plate 11120101, the fixing base plate 11120101 is fixed to the carbon fiber mounting plate 111202 by first screwing the screw 11120102, the curved rod 11120111 is mounted to the base sleeve 11120103, and one end of the curved rod 11120111 is connected to the output shaft of the first motor 11120104. The first motor is fixed on the base sleeve 11120103, the curved rod 11120111 is installed in the pull sleeve 11120110 in a penetrating mode, one end of the first pull rope 11120109 is connected to the pull sleeve 11120110, the other end of the first pull rope is connected to the first screw 11120112, the adjusting nut 11120106 is installed on the first screw 11120112, the first locking nut 11120107 is installed on the first screw 11120112, and the first connecting block 11120108 is connected to the first screw 11120112. The first self-locking button 111201113 is mounted to the first connecting block 11120108.

As shown in fig. 5, V-clip a11120402 is connected to first swivel housing 11120403, V-clip B11120408 is connected to first swivel housing 11120403 by shoulder screw 11120409, and second bearing

11120406 are fixed to the first swivel housing 11120403, and the connecting ring 11120407 is fixedly sleeved on the second bearing 11120406, and the connecting ring 11120407 is connected to the first connecting block 11120108. The first top block 11120405 is mounted between the first rotating sleeve 11120403 and the connecting ring 11120407, the second hand-screw 11120404 is rotatably disposed on the connecting ring 11120407, and the first locking handle 11120401 is rotatably connected to the V-clip B11120408.

In operation, the first locking handle 11120401 is unscrewed, the first locking handle 11120401 is disconnected from the V-clip B11120408, the V-clip B11120408 is rotated 180 °, and at this time the second endoscope 111203 is mounted into the endoscope clamping mechanism 111204, and the V-clip B11120408 is rotated back to the initial position. By tightening the first locking handle 11120401, the first locking handle 11120401 can be screwed to the V-clip B11120408, and the second endoscope 111203 can be clamped in the endoscope clamping mechanism 111204. At this time, the operator presses the first self-locking button 11120113, and after the first motor 11120104 drives the curved rod 11120111 to rotate 180 ° clockwise, the curved rod 11120111 releases the first pull rope 11120109 upwards, so that the locking state of the flexible universal self-locking rod 111201 is released, and the second endoscope 111203 can be made to adjust the position and the posture at will within the range of the swing arm of the flexible universal self-locking rod 111201. When the second endoscope 111203 is adjusted in place, the first self-locking button 11120113 is pressed again, the first motor 11120104 drives the curved rod 11120111 to rotate 180 degrees anticlockwise, the curved rod 11120111 tightens the first pull rope 11120109 downwards, the flexible universal self-locking rod 111201 is restored to the locking state, the second endoscope 111203 is held to rotate around the central line of the second endoscope to adjust the displayed image, and the second hand-screwing screw 11120404 is screwed to tightly press the first top block 1120405 to fix the first swivel 11120403. The second endoscope 111203 may be completely positioned and fixed.

Example 2

The same parts of the structure of this embodiment as those of embodiment 1 are not described in detail, and the differences are that: the first transmission mechanism adopts a screw nut structure.

As shown in fig. 6 to 8, the second motor 1120134 is connected to the tailstock 11120122, the trapezoidal screw 11120132 is connected to the output shaft of the second motor 11120134 through a coupling 11120135, the flange 11120133 is connected to the guide tube 11120123, the ball bearing 11120136 is mounted on the flange 11120133, the trapezoidal screw 11120132 is further mounted in the flange 11120133, the irregular trapezoidal nut 11120131 is rotatably mounted on the trapezoidal screw 11120132, the irregular trapezoidal nut 11120131 is slidably mounted in the guide tube 11120123 along the axial direction of the trapezoidal screw 11120132, the fixing buckle 11120130 is fixed to the end of the cable 11120129 and connected to the irregular trapezoidal nut 11120131, the head end of the cable 11120129 is connected to the first connecting block 11120128, the tail joint sleeve 11120124 is mounted in the guide tube 11120123, and the middle joint sleeve

11120125 to the tail sleeve 11120124 and the head sleeve 11120126 to the middle sleeve

11120125, the first connecting block 11120128 is secured to the head sleeve 11120126. The second self-locking button 11120127 is mounted to the first connecting block 11120128. A third hand screw 11120121 secures the tailstock 11120122 to the platform.

When in use, the locking or releasing of the flexible universal arm 111201 is controlled by the second self-locking button 11120127, the second self-locking button 11120127 is pressed, the second motor 1120134 drives the trapezoidal screw 11120132 to rotate, the trapezoidal screw 11120132 drives the special-shaped trapezoidal nut 11120131 to move upwards after rotating, the inhaul cable 11120129 is released, and at the moment, the angle and the position of the flexible universal arm 111201 can be adjusted at will within the swinging range. When the angle and the position are adjusted in place, the second self-locking button 11120127 is released, the second motor 1120134 drives the trapezoidal screw 11120132 to rotate reversely, so that the special-shaped trapezoidal nut 11120131 is driven to move downwards, the fixing buckle 11120130 tightens the stay cable 11120129, and the friction force of the contact surfaces of the tail section sleeve 11120124, the middle section sleeve 11120125 and the head section sleeve 11120126, which are mutually attached, is increased sharply due to the tightening force of the stay cable 11120129. The flexible gimbal arm 111201 is locked from position adjustment.

When the flexible universal arm 111201 is used, the half locking state can be realized through button control, namely, the half locking state of friction force among the joint sleeves of the flexible universal arm 111201 is realized, and at the moment, the angle and the position of the flexible universal arm 111201 can still be adjusted, but a certain resistance force needs to be overcome. The second motor 11120134 is provided with one or a combination of a position sensor, a current sensor and a torque sensor, the rotation angle of the second motor 11120134 is measured by the position sensor, or the running current of the second motor 11120134 is measured by the current sensor, or the output torque of the second motor 11120134 is measured by the torque sensor, so that the tension degree of the guy cable 11120129 is accurately controlled, and the flexible universal arm 111201 is accurately in a semi-locking state.

The purpose of the semi-gripping state is that if there are only two states, the flexible gimbal arm 111201 will change its position when switching from the released state to the locked state because of the pulling of the pull cable 11120129, and if the position deviates beyond the expectations, the user must readjust the position, which is very cumbersome. If the flexible universal arm 111201 is in the semi-clamping state, the joint sleeves of the flexible universal arm 111201 are basically tensioned, so that the locking is performed again, and the large pose deviation cannot occur, so that the pose adjustment efficiency and success rate can be improved.

The driving assembly for driving the inhaul cable to move in the embodiment can also adopt a hydraulic mechanism, wherein the hydraulic mechanism comprises an oil cylinder, and a telescopic rod of the oil cylinder is connected with the inhaul cable 11120129.

When the telescopic arm is in operation, the second self-locking button 11120127 is pressed, the telescopic rod of the oil cylinder is pushed out of the oil cylinder for a certain distance, the guy cable 11120129 which is connected with the telescopic rod of the oil cylinder and is tensioned at the moment can be loosened, and the flexible universal arm 111201 can randomly adjust the angle and the position in the swinging range. After the angle and the position are adjusted in place, the telescopic rod of the oil cylinder can retract into the oil cylinder after the second self-locking button 11120127 is pressed again. At this time, the friction force of the contact surfaces of the tail joint sleeve 11120124, the middle joint sleeve 11120125 and the head joint sleeve 11120126, which are mutually attached, is increased dramatically. The flexible gimbal arm 111201 is locked from position adjustment. Pressing the second self-locking button 11120127 again releases the lock on the flexible gimbal arm 111201. A tension sensor can be arranged at the bottom of the oil cylinder or a pressure sensor can be arranged in the hydraulic pipeline, and when the tension sensor detects a certain tension or the pressure sensor detects a certain pressure, the telescopic rod of the oil cylinder stops to retract, so that the inhaul cable 11120129 is tensioned.

Example 3

The same parts of the structure of this embodiment as those of embodiments 1 to 2 are not described in detail, except that:

the functional module is a puncture guiding module (such as puncture guiding module 73104 in the present embodiment).

The puncture guiding module is used for guiding at least one puncture needle to puncture along a preset puncture path; the puncture guiding module is provided with a puncture guiding part matched with the outer diameter of the puncture needle, and the puncture guiding part is in clearance fit with the puncture needle to realize guiding function; the tail end of the serpentine locking arm is arranged on one side of the puncture guiding module when the serpentine locking arm is provided with one group; when the snake-shaped locking arms are provided with two groups, the tail ends of the two groups of snake-shaped locking arms are respectively matched and installed on two sides or the same side of the same puncture guiding module.

The tail end of the snake-shaped locking arm is provided with a bracket, and when the bracket is a puncture guiding module, the bracket is provided with a puncture guiding part for guiding single needle puncture; or the support extends to one side and is provided with an extension arm, and the end part of the extension arm is a puncture guiding module.

The puncture guiding part adopts a second guiding hole or a second guiding groove which is in clearance fit with the puncture needle to realize guiding function.

The snakelike locking arm comprises a flexible universal arm capable of adjusting the pose of the functional module and a locking mechanism capable of locking or releasing the flexible universal arm, wherein the locking mechanism adopts a stay cord locking mode, and a driving element of the locking mechanism can tighten or loosen a stay cord through a first transmission mechanism; the flexible universal arm comprises a plurality of groups of hollow universal joints which are hinged with each other through spherical matching surfaces from head to tail in sequence, one end of a pull rope penetrates through all the hollow universal joints and is connected to the head end of the snake-shaped locking arm, the other end of the pull rope is connected with the first transmission mechanism, and the first transmission mechanism is one or a combination of a winding wheel structure, a screw nut structure, a cam structure, a hydraulic mechanism and a pneumatic mechanism.

The specific structure of the serpentine locking arm of this embodiment is shown in embodiment 2 and will not be described in detail herein.

The functional module and/or the snake-shaped locking arm are/is provided with a space positioning element which can assist in positioning, and the space positioning element is one or a combination of an optical positioning bracket, a gyroscope or a magnetic navigation sensor; the optical positioning bracket is provided with a multi-point optical positioning marker, and the optical positioning bracket, a gyroscope or a magnetic navigation sensor acquires the current attitude angle of the functional module in real time; the space positioning element is rigidly connected to the functional module and/or the serpentine locking arm; or the space positioning element is detachably connected to the functional module and/or the snake-shaped locking arm through a quick connecting part, and the quick connecting part adopts a threaded connection mode or a claw connection mode.

As shown in fig. 9, the drawing includes: third motor 73101, first adjustment arm 73102, first display 73103, first puncture guiding module 73104, first puncture needle 73105, control button 73106.

The bottom of the first adjusting arm 73102 is provided with a third motor 73101, the front end of the first adjusting arm 73102 is connected with a first puncture guiding module 73104, and the first puncture guiding module 73104 can guide the first puncture needle 73105. The first adjustment arm 73102 employs a serpentine locking arm that is locked or adjustable by a third motor 73101 to control the first adjustment arm 73102. The first puncture guiding module 73104 is provided with a gyroscope (not shown).

When puncture operation is performed through the first adjusting arm 73102, the position of the first adjusting arm 73102 can be adjusted at will, the gyroscope can acquire the attitude angle of the first puncture guiding module 73104 in real time, the gyroscope transmits the attitude angle in a wired or wireless connection mode, the first display screen 73103 connected with the front end of the first adjusting arm 73102 can display the spatial position of the first puncture guiding module 73104 in real time, and when the first puncture guiding module swings to a proper working position, the control button 73106 is pressed to enable the third motor 73101 to work and lock the first adjusting arm 73102 to perform operation.

The first adjusting arm 73102 can be used for replacing functional modules according to different working environments and requirements.

As shown in fig. 10 to 11, the first puncture guiding module 73104 is provided with the first extension rod 73107, and the first extension rod 73107 of different specifications can be replaced according to the working requirements.

As shown in fig. 12, a first positioning bracket 73108 is provided at the front end of the first extension rod 73107, and the spatial pose of the first positioning bracket 73108 is determined by optical positioning, so that the spatial pose of the first puncture guiding module 73104 is determined and the puncture is performed.

The first positioning support 73108 can also be replaced by a gyroscope sensor, the spatial pose of the first puncture guiding module is acquired through the gyroscope sensor, then the spatial pose is displayed through a first display screen, the first display screen can be internally arranged or externally arranged, and the gyroscope sensor is connected with the display screen in a wired or wireless connection mode.

As shown in fig. 13, the front end of the first adjusting arm 73102 can also replace the multi-channel puncture template 73109 to simultaneously guide the puncture of a plurality of puncture needles, the multi-channel puncture template 73109 is provided with a first extension rod 73107, the front end of the first extension rod 73107 is provided with a first positioning bracket 73108, and the space position of the first positioning bracket 73108 is determined by optical positioning, so that the space position of the multi-channel puncture template 73109 is determined, and multi-needle puncture is performed. Wherein the multi-channel piercing template 73109 may also be replaced by a 3D printing template.

Example 4

The same parts of the structure of this embodiment as those of embodiments 1 to 3 are not described in detail, except that:

in this embodiment, the puncture guiding module is a puncture guiding template capable of guiding the plurality of puncture needles to puncture along a preset puncture path; the puncture guiding template is an array template (such as the chest puncture template 140215301 of the present embodiment).

The array template is provided with a plurality of guide parts which are used for guiding the movement of the puncture needles; the guide part is one or a plurality of combinations of a through hole, a through groove, a chute, a guide rod and a guide block; the guide parts are distributed on the guide templates, and the guide directions of the guide parts are parallel to each other and are perpendicular to the guide templates; the width or the diameter interval of the guide part is matched with the outer diameter of the puncture needle, the guide part is in clearance fit with the puncture needle, and the outer diameter of the puncture needle is 0.8-1.8mm.

The snakelike locking arm is connected with array template rigid connection or through quick connect portion, and when connecting through quick connect portion, quick connect portion is equipped with at least a set of, and quick connect portion's connected mode adopts threaded connection or jack catch to connect.

The quick connecting part comprises a first engagement plate 140215304 and a second engagement plate 140215305 which can be quickly positioned and locked at a plurality of angles, a central through hole is formed in the first engagement plate, a threaded connecting hole is formed in the second engagement plate, a locking bolt penetrates through the central through hole in the first engagement plate and is in locking connection with the threaded connecting hole, the first engagement plate and the second engagement plate can rotate around the axis of the central through hole and are locked and fixed, and the axis direction of the central through hole is perpendicular to the plane where the array template is located, so that the adjustment of the double-snake-shaped locking arm in space and the arrangement of an operation environment are facilitated; or the axis of the central through hole is at an angle to the axis of the end universal joint of the serpentine lock arm, preferably 30-90 °.

The first engaging plate is provided with a positioning groove or a positioning protrusion, the second engaging plate is provided with a positioning protrusion or a positioning groove which is matched with the positioning groove or the positioning protrusion on the first engaging plate in a positioning way, the positioning protrusion or the positioning protrusion can improve locking moment, and the positioning protrusion or the positioning protrusion is one or a combination of arc teeth, saw teeth and pins/holes.

When connecting through quick connecting portion, install disinfection cage between snakelike locking arm and array template, disinfection cage can wrap up the isolation with snakelike locking arm.

14-17, one end of the serpentine lock arm is secured to the bottom plate and the other end of the serpentine lock arm is secured to the second engagement plate 140215305. The first engagement plate 140215304 is centered on the through hole and has a grooved circle. The second engagement plate 140215305 is threaded at its center and has a raised cylinder. The hand screw a140215306 is threaded through the central opening of the first engagement plate 140215304 and engages the central threads of the second engagement plate 140215305, and the raised cylinder at the center of the second engagement plate 140215305 is snap-fit into the recessed circle at the center of the first engagement plate 140215304. The second gyroscope 30261102 is fixed on the gyroscope fixing plate 140215302, the second gyroscope 30261102 can facilitate the user to adjust the posture angle of the chest puncture template 140215301, one end of the gyroscope fixing plate 140215302 is fixed with the first engaging plate 140215304, the other end is fixed with the chest puncture template 140215301, one end of the template fixing plate 140215303 is fixed with the first engaging plate 140215304, and the other end is fixed with the chest puncture template 140215301. The first engagement plate 140215304 and the second engagement plate 140215305 are provided with arc tooth shapes, so that no clearance can be ensured, and the two groups of snake-shaped locking arms can be adjusted at multiple angles in the circumferential direction, thereby being convenient for forming a supporting structure. The second puncture needle 11 is implanted into the patient through the hole in the chest puncture template 140215301, and the hole in the chest puncture template 140215301 can guide the puncture direction of the second puncture needle, thereby ensuring the implantation accuracy. The chest puncture template 140215301 is provided with horizontal and vertical numerical and letter marks, so that the quick hole finding is convenient.

Example 5

The same parts of the structure of this embodiment as those of embodiments 1 to 4 are not described in detail, except that:

in this embodiment, the puncture guiding module is a puncture guiding template capable of guiding the plurality of puncture needles to puncture along a preset puncture path; the puncture guiding template is an array template (a craniocerebral puncture template 7012204 in the embodiment)

The quick connecting part comprises a first engaging plate (such as a right angle adjusting block 7012207 of the embodiment) and a second engaging plate (such as a right template fixing block 7012205 of the embodiment), wherein the first engaging plate is provided with a central through hole, the second engaging plate is provided with a threaded connecting hole, and a locking bolt (such as an adjusting screw 7012215 of the embodiment) penetrates through the central through hole on the first engaging plate to be in locking connection with the threaded connecting hole, so that the first engaging plate and the second engaging plate can rotate around the axis of the central through hole and are locked and fixed; the axis direction of the central through hole is parallel to the plane of the functional module, and the axis of the central through hole forms an angle with the axis of the tail end universal joint of the snake-shaped locking arm, and the angle is preferably 30-90 degrees.

The first engaging plate is provided with a positioning groove or a positioning protrusion, the second engaging plate is provided with a positioning protrusion or a positioning groove which is matched with the positioning groove or the positioning protrusion on the first engaging plate in a positioning way, the positioning protrusion or the positioning protrusion can improve locking moment, and the positioning protrusion or the positioning protrusion is one or a combination of arc teeth, saw teeth and pins/holes.

As shown in fig. 18 to 25, the craniocerebral puncture templates 7012204 are provided with mounting holes symmetrically; the hand-screwed screw C7012210 is fixedly provided with a left template fixing block 7012208 at the left side of a mounting hole of the craniocerebral puncture template 7012204, a threaded hole is formed in one side, far away from the craniocerebral puncture template 7012204, of the left template fixing block 7012208, and a locking hole is formed in a position, communicated with the outside, of the threaded hole; a right template fixed block 7012205 is fixed on the right side, a threaded hole is formed in one side, far away from the craniocerebral puncture template 7012204, of the right template fixed block 7012205, and locking teeth 7012209 are arranged on the periphery of the threaded hole; a left angle adjusting block 7012203 is arranged on one side of the left template fixed block 7012208 far away from the craniocerebral puncture template 7012204, and a right angle adjusting block 7012207 is arranged on one side of the right template fixed block 7012205 far away from the craniocerebral puncture template 7012204; the right angle adjusting block 7012207 is provided with locking teeth 7012209 at one side close to the right template fixing block 7012205, and can be used for locking and preventing rotation after angle adjustment; the upper ends of the left template fixing block 7012208 and the right angle adjusting block 7012207 are provided with counter bores which are communicated with each other from front to back, a rubber cushion 7012213 is arranged in the counter bore at one side close to the craniocerebral puncture template 7012204, a spring cushion 7012214 is arranged in the counter bore at one side far away from the craniocerebral puncture template 7012204, and an adjusting screw 7012215 is arranged at the outer side far away from the craniocerebral puncture template 7012204; the left adjusting screw 7012215 is fixed with the left template fixing block 7012208 through a spring pad 7012214 and a rubber pad 7012213 in a counter bore at the upper end of the left angle adjusting block 7012203; the right adjusting screw 7012215 is fixed with the right template fixing block 7012205 through a spring pad 7012214 and a rubber pad 7012213 in a counter bore at the upper end of the right angle adjusting block 7012207; the screw connection of the left adjusting screw 7012215 and the right template fixing block 7012205 is locked with a locking nail 7012216, and the angles between the left angle adjusting block 7012203 and the right angle adjusting block 7012207 and the craniocerebral puncture template 7012204 can be adjusted; the lower ends of the left template fixed block 7012208 and the right angle adjusting block 7012207 are provided with threaded fixed holes; the other end of the double-serpentine locking arm 7012202 is fixed with a threaded fixing hole at the lower ends of the left angle adjusting block 7012203 and the right angle adjusting block 7012207, the axial direction of the threaded fixing hole forms a certain included angle with the angle adjusting axes between the left angle adjusting block 7012203 and the right angle adjusting block 7012207 and the craniocerebral puncture template 7012204, and the angle is preferably 30-90 degrees, so that the adjustment of various postures of the craniocerebral puncture template 7012204 can be conveniently completed under the cooperation of the left angle adjusting block 7012203 and the right angle adjusting block 7012207.

Locking teeth 7012209 are arranged on one side of the right angle adjusting block 7012207, which is close to the right template fixing block 7012205, and one side of the right template fixing block 7012205, which is far away from the craniocerebral puncture template 7012204 (or the locking teeth 7012209 are replaced by rubber gaskets), rubber gaskets 7012213 and elastic gaskets 7012214 are arranged on the fixed connection parts of the left angle adjusting block 7012203, the left template fixing block 7012208, the right angle adjusting block 7012207 and the right template fixing block 7012205 (or the rubber gaskets 7012213 are replaced by the locking teeth), and the craniocerebral puncture template 7012204 can be locked and fixed on the left template fixing block 7012208 of the right template fixing block 7012205 through the locking teeth 7012209, the rubber gaskets 7012213 and the elastic gaskets 7012214 to prevent rotation; the angle between the craniocerebral puncture template 7012204 and the right and left angle adjustment blocks 7012207 and 7012203 can be adjusted by manually tightening the adjustment screw 7012215; fifth puncture needle 7012211 is implanted into the patient through the puncture needle guide hole on craniocerebral puncture template 7012204, so that the implantation accuracy can be ensured; the craniocerebral puncture template 7012204 is provided with horizontal and vertical numerical and alphabetical marks, which can be convenient for quickly finding out the needed puncture needle guide hole.

Example 6

The same parts of the structure of this embodiment as those of embodiments 1 to 5 are not described in detail, except that:

In this embodiment, the functional module is an endoscope supporting frame.

The tail end of the snake-shaped locking arm is rigidly connected with the first endoscope supporting frame or connected through a quick connecting part, when the quick connecting part is connected, the quick connecting part is provided with at least one group, and the connecting mode of the quick connecting part adopts threaded connection or claw connection.

The quick connecting part comprises a first engaging plate and a second engaging plate which can be quickly positioned and locked at a plurality of angles, the first engaging plate (such as the second adjusting block 70215305 of the embodiment) is provided with a central through hole, the second engaging plate (such as the first adjusting block 70215307 of the embodiment) is provided with a threaded connecting hole, a locking bolt (such as the bolt A70215306 of the embodiment) passes through the central through hole on the first engaging plate and is in locking connection with the threaded connecting hole, the first engaging plate and the second engaging plate can rotate around the axis of the central through hole and are locked and fixed, and the axis direction of the central through hole is parallel to the axial direction of a lens rod of the endoscope, so that the adjustment of a double-snake-shaped locking arm in space and the arrangement of an operation environment are facilitated; or the axial direction of the central through hole is perpendicular to the axial direction of a lens rod of the endoscope; the axis of the central through hole is at an angle to the axis of the end universal joint of the serpentine locking arm, preferably 30-90 °. The axial direction of the center through hole is parallel to the axial direction of the lens shaft of the endoscope in this embodiment.

The first engaging plate is provided with a positioning groove or a positioning protrusion, the second engaging plate is provided with a positioning protrusion or a positioning groove which is matched with the positioning groove or the positioning protrusion on the first engaging plate in a positioning way, the positioning protrusion or the positioning protrusion can improve locking moment, and the positioning protrusion or the positioning protrusion is one or a combination of arc teeth, saw teeth and pins/holes. When connecting through quick connecting portion, install disinfection cage between snakelike locking arm and first endoscope support frame, disinfection cage can wrap up the isolation with snakelike locking arm.

The structures of the first endoscope supporting frame and the endoscope in this embodiment are the same as those in embodiment 1, and will not be described here again.

26-28, a fixing and adjusting hole which is bilaterally symmetrical is arranged on the craniocerebral endoscope limiting bracket, and one end of the craniocerebral endoscope limiting bracket is fixed with the craniocerebral endoscope bracket; one end of the snake-shaped locking arm 70215303 is fixed with a fixed adjusting hole on the cranium endoscope limit bracket; a second adjusting block 70215305, a first adjusting block 70215307 and a first endoscope supporting frame 70215308 are arranged in the cranium endoscope limiting bracket; the upper end surface of one end of the second adjusting block 70215305 is provided with teeth, the lower end surface of one end of the first adjusting block 70215307 is also provided with teeth, and the other end of the first adjusting block 70215307 is fixed with the other end of the snake-shaped locking arm 70215303; the connection part of the second adjusting block 70215305 and the first adjusting block 70215307 is provided with a bolt A70215306, the second adjusting block 70215305 and the first adjusting block 70215307 are connected and meshed through the bolt A70215306, no clearance can be ensured between teeth, the teeth can be adjusted at multiple angles in the circumferential direction, and then the teeth are locked through the bolt A70215306, so that the two groups of snake-shaped locking arms 70215303 form a stable supporting structure; the first endoscope supporting frame 70215308 is provided with fixed mounting holes in bilateral symmetry, and the other end of the second adjusting block 70215305 is fixed with the fixed mounting holes on the first endoscope supporting frame 70215308; the other end of the second adjusting block 70215305 is provided with an isolation protective film at the fixed position of the fixed mounting hole on the first endoscope supporting frame 70215308.

While the fundamental and principal features of the invention and advantages of the invention have been shown and described, it will be apparent to those skilled in the art that the invention is not limited to the details of the foregoing exemplary embodiments, but may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is provided for clarity only, and that the disclosure is not limited to the embodiments described in detail below, and that the embodiments described in the examples may be combined as appropriate to form other embodiments that will be apparent to those skilled in the art.

Claims (10)

1. Function module locating support subassembly based on two snakelike locking arms, its characterized in that: the flexible locking mechanism comprises a plurality of groups of hollow universal joints which are hinged with each other in sequence end to end through spherical matching surfaces, the locking mechanism adopts a stay rope locking mode, and a driving element of the locking mechanism can tighten or loosen a stay rope through a first transmission mechanism; one end of the pull rope penetrates through all the hollow universal joints to be connected to the head end of the snake-shaped locking arm, and the other end of the pull rope is connected with the first transmission mechanism.

2. The dual serpentine lock arm based functional module positioning bracket assembly of claim 1, wherein: the first transmission mechanism is one or a combination of a winding wheel structure, a screw nut structure, a cam structure, a hydraulic mechanism and a pneumatic mechanism.

3. The dual serpentine lock arm based functional module positioning bracket assembly of claim 2, wherein:

When the first transmission mechanism is of a cam structure, a driving element of the locking mechanism is a first motor, the tail end of the serpentine locking arm is connected with a base sleeve, the first motor is arranged on the base sleeve, the first transmission mechanism comprises a pull sleeve and a curved rod, the curved rod is rotationally arranged on the base sleeve, the first motor drives the curved rod to rotate, a cam deviating from the central axis is arranged on the curved rod, the pull sleeve is connected with a pull rope, the curved rod penetrates through the pull sleeve, the cam is in abutting fit with the pull sleeve, and the curved rod drives the cam to do eccentric motion so that the pull sleeve can tighten or loosen the pull rope;

when first drive mechanism is screw nut structure, locking mechanism's driving element is the second motor, serpentine lock arm's tail end connection has the tailstock, the second motor is installed on the tailstock, first drive mechanism includes lead screw and nut, the lead screw rotates and sets up on the tailstock, the second motor drives the lead screw and rotates, the nut slides along the axial direction of lead screw and sets up on the tailstock, the nut is connected with the stay cord, the nut is established soon on the lead screw, the lead screw rotates and drives the axial displacement of nut along the lead screw, so that the nut can tighten or loosen the stay cord.

4. The dual serpentine lock arm based functional module positioning bracket assembly of claim 1, wherein: the tail ends of the two groups of snake-shaped locking arms are respectively matched and arranged on two sides or the same side of the same functional module; the functional module is one or a combination of more than one of a puncture guiding module, an endoscope supporting frame, a retractor and a camera module.

5. The dual serpentine lock arm based functional module positioning bracket assembly of claim 4, wherein: the puncture guiding module is used for guiding at least one puncture needle to puncture along a preset puncture path; the puncture guiding module is provided with a puncture guiding part matched with the outer diameter of the puncture needle, and the puncture guiding part is in clearance fit with the puncture needle to realize guiding function;

the endoscope supporting frame can clamp the endoscope, and the snakelike locking arm can rapidly lock and release each degree of freedom so as to fix or adjust the space pose of the endoscope; the endoscope comprises a laparoscope, a thoracoscope and a hysteroscope; the tail end of the snake-shaped locking arm is matched and arranged on the endoscope supporting frame;

the traction device is provided with a traction hook for traction of organism tissues;

the camera module is connected to the tail end of the snake-shaped locking arm through the connecting base, or at least one adjusting supporting arm extends out of the connecting base, the camera module is installed on the adjusting supporting arm, and the adjusting supporting arm can carry out one or more combinations of bending shaping, rotary adjusting or moving adjusting.

6. The dual serpentine lock arm based functional module positioning bracket assembly of claim 1, wherein: the snakelike locking arm is connected with functional module rigid connection or through quick connect portion, and when connecting through quick connect portion, quick connect portion is equipped with at least a set of, and quick connect portion's connected mode adopts threaded connection or jack catch to connect.

7. The dual serpentine lock arm based functional module positioning bracket assembly of claim 6, wherein: the quick connecting part comprises a first engaging plate and a second engaging plate which can be quickly positioned and locked at a plurality of angles, a central through hole is formed in the first engaging plate, a threaded connecting hole is formed in the second engaging plate, a locking bolt penetrates through the central through hole in the first engaging plate and is in locking connection with the threaded connecting hole, the first engaging plate and the second engaging plate can rotate around the axis of the central through hole and are locked and fixed, and the axis direction of the central through hole is perpendicular to the plane where the functional module is located, so that the serpentine locking arm can be conveniently adjusted in space and the arrangement of the surgical environment is facilitated; or the axial direction of the central through hole is parallel to the plane of the functional module; the axis of the central through hole forms a certain angle with the axis of the tail end universal joint of the snake-shaped locking arm, and the angle is 30-90 degrees.

8. The dual serpentine lock arm based functional module positioning bracket assembly of claim 1, wherein: the snake-shaped locking arm is detachably mounted on the base, the base and the organism are kept relatively static, and a plurality of mounting positions are arranged on the base.

9. The dual serpentine lock arm based functional module positioning bracket assembly of claim 8, wherein: the base is a bottom plate for supporting and pressing organisms, a plurality of fixing holes are arranged on the bottom plate in an array mode, the snake-shaped locking arms are directly arranged on the fixing holes of the bottom plate or are arranged on the fixing holes of the bottom plate through a first extension rod perpendicular to the bottom plate, the fixing holes are connected with the snake-shaped locking arms or the first extension rod in a threaded connection, a buckle connection or a lock catch connection mode, rapid installation and detachment of the snake-shaped locking arms or the first extension rod can be achieved, and the bottom plate is made of a carbon fiber plate or a plastic plate, so that CT artifacts are reduced;

or the base is an operation bed fixing device connected and fixed with an operation bed, the operation bed fixing device comprises a thread structure, a clamp assembly or a locking rod assembly, the serpentine locking arm is directly arranged on the operation bed fixing device or the serpentine locking arm is arranged on the operation bed fixing device through a second extending rod which is vertically arranged;

or the base is a template which is matched with the shape of the organism, and the template is one or a combination of a 3D printing template and a flexible deformable template;

Or the base is a craniocerebral auxiliary positioning bracket, at least one position capable of installing a snake-shaped locking arm is arranged on the craniocerebral auxiliary positioning bracket, and the snake-shaped locking arm is connected with a functional module.

10. The dual serpentine lock arm based functional module positioning bracket assembly of claim 1, wherein: two groups of snake-shaped locking arms are arranged on two sides of the organism, wherein one group of snake-shaped locking arms are arranged on the armpit or the chest side or the waist side of the organism, and the other group of snake-shaped locking arms are arranged on the head side of the organism or the armpit or the chest side or the waist side of the other side of the organism;

or two groups of snake-shaped locking arms are arranged on the same side of the organism and are connected through a connecting piece, and the connecting piece is a connecting rod or a spring or an elastic belt.