CN109602497B - Puncture robot - Google Patents
Puncture robot Download PDFInfo
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- CN109602497B CN109602497B CN201910104670.0A CN201910104670A CN109602497B CN 109602497 B CN109602497 B CN 109602497B CN 201910104670 A CN201910104670 A CN 201910104670A CN 109602497 B CN109602497 B CN 109602497B
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- puncture needle
- puncture
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- sickbed
- medicine
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B10/00—Other methods or instruments for diagnosis, e.g. instruments for taking a cell sample, for biopsy, for vaccination diagnosis; Sex determination; Ovulation-period determination; Throat striking implements
- A61B10/02—Instruments for taking cell samples or for biopsy
- A61B10/0233—Pointed or sharp biopsy instruments
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M31/00—Devices for introducing or retaining media, e.g. remedies, in cavities of the body
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
- A61B2017/3413—Needle locating or guiding means guided by ultrasound
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
- Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Public Health (AREA)
- Animal Behavior & Ethology (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Veterinary Medicine (AREA)
- General Health & Medical Sciences (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Robotics (AREA)
- Pathology (AREA)
- Anesthesiology (AREA)
- Hematology (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a puncture robot, in the puncture operation, a fixed clamping strip is clamped in a fixed clamping block, so that the upward movement of a sealing plate is maximized, and the puncture operation is performed by using a puncture needle head which is separated from the sealing plate in a sleeved manner; after the puncture operation is finished, the sleeve sealing plate is pulled down, so that the puncture needle body is clamped in the fixed clamping block, at the moment, the puncture needle head can be completely sleeved in the middle through hole of the sleeve sealing plate, the puncture needle head is prevented from being polluted due to the fact that the puncture needle head is in an external environment for a long time, and the condition that the puncture needle is scratched by a patient or medical staff due to control or improper operation of a robot can be avoided. When the puncture is performed, the sampling passage can normally sample, and at the same time, the medicine delivery passage conveys medicine liquid to the puncture part, the medicine outlet flows out of the medicine liquid due to the pushing pressure of the medicine liquid, the elastic sheet is slightly opened due to the pressure action of the medicine liquid, so that the medicine liquid is anti-inflammatory to the puncture part, and after the medicine liquid is output, the elastic sheet can return to a position, so that the outer surface of the puncture needle head is smooth, and the pain of a patient is not increased.
Description
Technical Field
The invention relates to the technical field of medical equipment, in particular to a puncture robot.
Background
At present, the structure of the puncture equipment for performing puncture biopsy clinically is very simple, and the puncture equipment mainly cooperates with ultrasonic examination equipment, namely, a guide hole of a puncture needle is formed on the side surface of an ultrasonic probe, and the puncture needle on a biopsy gun is guided by the guide hole and performs positioning puncture under the guidance of an ultrasonic image. The whole biopsy process is completed by manual operation, the operation process is complex, at least more than two doctors are needed to cooperate, the labor intensity is high, the puncture precision is low, and the omission ratio is high.
With the progress of scientific technology, the development of medical technology and the organic fusion between the two, the puncture robot is increasingly applied in the field of puncture biopsy. However, the existing puncture robot has a complex structure, and the puncture needle is exposed to the outside air in the positioning and puncturing processes, so that on one hand, the puncture needle is easy to be polluted, the probability of infection of a puncture part is increased, and meanwhile, sampling after puncture is possibly polluted, so that the biopsy accuracy is affected; on the other hand, in case of improper operation of the robot, the puncture needle may scratch a patient or a medical staff.
Disclosure of Invention
The invention aims at overcoming the defects of the prior art, and provides a puncture robot which is simple in structure and easy to operate, and can hide the needle head of a puncture needle in a puncture needle sheathing unit in the positioning and puncturing processes, so that the puncture needle is prevented from being polluted and scratched by patients and medical staff, and meanwhile, the puncture needle can perform medicine injection while puncturing, so that infection is avoided.
The technical solution of the invention is as follows: a puncture robot cooperates with ultrasonic examination equipment and comprises a sickbed and a multi-degree-of-freedom puncture manipulator which is slidably arranged on the side part of the sickbed, wherein a puncture needle sleeve unit is fixedly arranged at the front end of the multi-degree-of-freedom puncture manipulator, and a puncture needle is fixedly inserted in the puncture needle sleeve unit; the bottom of the puncture needle is provided with a puncture needle head, the puncture needle head comprises an outer tube, an inner tube is sleeved in the outer tube, a medicine conveying passage for flowing medicine liquid is formed between the outer tube and the inner tube, and a sampling passage parallel to the medicine conveying passage is formed in the center of the inner tube; the front end of the outer tube is provided with a medicine outlet tube with the same outer diameter as the outer tube, and a plurality of groups of medicine outlet holes which are linearly arranged are arranged on the medicine outlet tube; a long strip groove is formed on the medicine outlet pipe corresponding to the medicine outlet hole, an elastic sheet is covered in the long strip groove, the rear end of the elastic sheet is fixedly connected with the outer pipe, and the front end of the elastic sheet is freely arranged; the front end of the inner tube is provided with a connector, and the connector is connected with a conical needle point in a threaded manner.
The puncture needle sleeving and sealing unit comprises a puncture needle fixing seat, wherein the puncture needle fixing seat consists of a first columnar boss and a second columnar boss which are fixedly connected in sequence from bottom to top, and a folding channel for fixedly inserting the puncture needle is formed in the puncture needle fixing seat; the puncture needle sleeving and sealing unit further comprises a first rotating plate and a second rotating plate which are connected in a rotating way through a second hinge shaft, the front end part of the first rotating plate is rotatably arranged on the side part of the front end of the multi-degree-of-freedom puncture manipulator through the first hinge shaft, and the rear end part of the second rotating plate is rotatably connected with a sealing plate through a third hinge shaft; the middle part of the envelope plate is provided with a middle through hole for the penetration and sliding of the puncture needle, and the side part of the envelope plate is provided with an envelope plate sliding spanner.
The middle part of the inner side of the second rotating plate is provided with a fixed clamping block, and the needle body of the puncture needle can be clamped and fixed in the fixed clamping block; a rectangular through hole is formed in the middle of the first rotating plate, a fixing clamping strip with the same diameter as that of the puncture needle body is arranged in the rectangular through hole, and the fixing clamping strip can be clamped and fixed in the fixing clamping block.
The puncture needle is detachably connected with the puncture needle head, and the puncture needle is provided with a first passage and a second passage which are respectively communicated with a medicine conveying passage and a sampling passage of the puncture needle head.
The lateral surface of the elastic piece is flush with the lateral surface of the outer tube.
The sickbed comprises a sickbed plate, the sickbed plate is arranged on the ground of an operating room through supporting legs fixedly arranged at four corners of the bottom, sickbed support plates are fixed at two side parts of the sickbed plate, and the movable sliding seat is slidably arranged on the sickbed support plates.
The bottom, side and top of the sickbed support plate are respectively provided with a bottom slideway, a side slideway and a top slideway.
The movable slide comprises a U-shaped slide body with an opening side, wherein the bottom, the side and the top of the inner side of the U-shaped slide body are provided with wheel roller mounting caulking grooves, and the wheel roller mounting caulking grooves on the three sides are respectively provided with a bottom wheel roller set, a side wheel roller set and a top wheel roller set.
The bottom wheel roller set, the side wheel roller set and the top wheel roller set respectively roll and slide in the bottom slide way, the side slide way and the top slide way.
The multi-degree-of-freedom puncture manipulator comprises a base, wherein the base is arranged at the top of the movable slide seat, a rotary supporting seat is arranged at the upper part of the base, a rotary seat is rotatably arranged at the upper part of the rotary supporting seat, a swing arm is rotatably arranged at the side part of the rotary seat, a pitching supporting seat is rotatably arranged at the upper end of the swing arm, and a rotary arm is rotatably connected at the front end of the pitching supporting seat; the front part of the rotating arm is formed with a sleeve sealing unit fixing seat, and the puncture needle sleeve sealing unit is fixedly arranged in the sleeve sealing unit fixing seat.
The pitching supporting seat is also provided with a sensor for sensing the mounting position of the puncture needle.
The first columnar boss is fixedly inserted into the interior of the fixing seat of the sleeve sealing unit, and the second columnar boss is fixedly pressed on the top of the fixing seat of the sleeve sealing unit; the front end part of the first rotating plate is rotatably arranged at the side part of the fixed seat of the sleeve sealing unit through a first hinge shaft.
The rotary seat is provided with a first rotary motor for driving the rotary seat to axially rotate along the rotary supporting seat and a swinging motor for driving the swinging arm to swing, and the pitching supporting seat is provided with a pitching motor for driving the pitching supporting seat to pitch and a second rotary motor for driving the rotary arm to rotate.
The invention has the beneficial effects that:
(1) In the puncturing operation, the fixed clamping strips are clamped in the fixed clamping blocks, so that the upward movement of the sheathing board is maximized, and the puncturing operation is performed by using the puncturing needle head which is separated from the sheathing board in a sleeved mode; after the puncture operation is finished, the sleeve sealing plate is pulled down, so that the puncture needle body is clamped in the fixed clamping block, at the moment, the puncture needle head can be completely sleeved in the middle through hole of the sleeve sealing plate, the puncture needle head is prevented from being polluted due to the fact that the puncture needle head is in an external environment for a long time, and the condition that the puncture needle is scratched by a patient or medical staff due to control or improper operation of a robot can be avoided.
(2) Because the puncture needle and the puncture needle head adopt unique designs, when in puncture, the sampling passage can normally sample, and at the same time, the medicine delivery passage conveys medicine liquid to the puncture part, the medicine outlet flows out of the medicine liquid due to the pushing pressure of the medicine liquid, and the elastic sheet is slightly opened due to the pressure effect of the medicine liquid, so that the medicine liquid is anti-inflammatory to the puncture part, and after the medicine liquid output is interrupted, the elastic sheet can return again, and the smoothness of the outer surface of the puncture needle head is ensured, so that the pain of a patient is not increased.
(3) According to the invention, the movable sliding seat is used for realizing the large-amplitude position movement of the multi-degree-of-freedom puncture manipulator along the longitudinal direction of the sickbed, and the precision of the operation position of the puncture needle head is ensured by operating the multi-degree-of-freedom puncture manipulator.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is a side view of the mobile carriage;
FIG. 3 is a schematic view of a multi-degree of freedom lancing manipulator;
FIG. 4 is a schematic structural view of a lancet enclosure unit;
FIG. 5 is a schematic view of an exploded construction of the lancet enclosure unit;
FIG. 6 is a cross-sectional view of the structure in the puncture needle in a sheathed state;
fig. 7 is a sectional view showing the structure of the puncture needle in an operating state.
Detailed Description
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings.
As shown in fig. 1-7, a puncture robot, which cooperates with ultrasonic inspection equipment, comprises a sickbed 1 and a multi-degree-of-freedom puncture manipulator 4 slidably arranged at the side part of the sickbed 1, wherein the front end of the multi-degree-of-freedom puncture manipulator 4 is fixedly provided with a puncture needle sleeving unit 3, and a puncture needle 5 is fixedly inserted into the puncture needle sleeving unit 3.
The puncture needle sleeving and sealing unit 3 comprises a puncture needle fixing seat 30, wherein the puncture needle fixing seat 30 consists of a first columnar boss 302 and a second columnar boss 301 which are fixedly connected in sequence from bottom to top, and a folded channel 303 for fixedly inserting the puncture needle 5 is formed in the puncture needle fixing seat 30; the puncture needle sheathing unit 3 further comprises a first rotating plate 31 and a second rotating plate 32 which are rotatably connected through a second hinge shaft 342, wherein the front end part of the first rotating plate 31 is rotatably installed at the side part of the front end of the multi-degree-of-freedom puncture manipulator 4 through the first hinge shaft 341, and the rear end part of the second rotating plate 32 is rotatably connected with a sheathing plate 33 through a third hinge shaft 343; the middle part of the envelope plate 33 is provided with a middle through hole for the penetration needle 5 to penetrate and slide, and the side part of the envelope plate 33 is provided with an envelope plate sliding spanner 330.
The middle part of the inner side of the second rotating plate 32 is provided with a fixed clamping block 321, and the needle body of the puncture needle 5 can be clamped and fixed in the fixed clamping block 321; the middle part of the first rotating plate 31 is provided with a rectangular through hole 310, a fixing clamping strip 311 with the same diameter as the needle body of the puncture needle 5 is arranged in the rectangular through hole 310, and the fixing clamping strip 311 can be clamped and fixed in the fixing clamping block 321.
The bottom of the puncture needle 5 is provided with a puncture needle head 6, the puncture needle head 6 comprises an outer tube 61, an inner tube 62 is sleeved in the outer tube 61, a medicine conveying passage 620 for flowing medicine liquid is formed between the outer tube 61 and the inner tube 62, and a sampling passage 60 parallel to the medicine conveying passage 620 is formed in the center of the inner tube 62; the front end of the outer tube 61 is provided with a medicine outlet tube 611 with the outer diameter the same as that of the outer tube 61, and the medicine outlet tube 611 is provided with a plurality of groups of medicine outlet holes 610 which are linearly arranged; a long strip groove is formed on the medicine outlet tube 611 corresponding to the medicine outlet hole 610, an elastic sheet 63 is covered in the long strip groove, the rear end of the elastic sheet 63 is fixedly connected with the outer tube 61, and the front end is freely arranged; the front end of the inner tube 62 is formed with a connector 621, and the connector 621 is screwed with a tapered needle tip 64.
The puncture needle 5 is detachably connected to the puncture needle 6, and the puncture needle 5 has a first passage (not shown) and a second passage (not shown) which communicate with the drug delivery passage 620 and the sampling passage 60 of the puncture needle 6, respectively.
The outer side surface of the elastic piece 63 is flush with the outer side surface of the outer tube 61.
The sickbed 1 comprises a sickbed plate 10, the sickbed plate 10 is arranged on the ground of an operating room through supporting legs 12 fixedly arranged at four corners of the bottom, sickbed support plates 11 are fixedly arranged at two side parts of the sickbed plate 10, and the movable sliding seat 2 is slidably arranged on the sickbed support plates 11.
The bottom, side and top of the sickbed support plate 11 are respectively provided with a bottom slideway 111, a side slideway 112 and a top slideway 113; the movable slide seat 2 comprises a U-shaped slide seat body 20 with an opening side, wherein the bottom, the side and the top of the inner side of the U-shaped slide seat body 20 are respectively provided with a wheel roller mounting caulking groove, and the wheel roller mounting caulking grooves on the three sides are respectively provided with a bottom wheel roller set 21, a side wheel roller set 22 and a top wheel roller set 23; the bottom roller set 21, the side roller set 22, and the top roller set 23 roll and slide in the bottom slide 111, the side slide 112, and the top slide 113, respectively.
The multi-degree-of-freedom puncture manipulator 4 comprises a base 40, a rotary support seat 41 is arranged on the upper portion of the base 40, a rotary seat 42 is rotatably arranged on the upper portion of the rotary support seat 41, a swing arm 43 is rotatably arranged on the side portion of the rotary seat 42, a pitching support seat 44 is rotatably arranged at the upper end of the swing arm 43, and a rotating arm 45 is rotatably connected with the front end of the pitching support seat 44; the rotary seat 42 is provided with a first rotary motor 410 for driving the rotary seat 42 to axially rotate along the rotary support seat 41 and a swinging motor 420 for driving the swinging arm 43 to swing, and the pitching support seat 44 is provided with a pitching motor 430 for driving the pitching support seat 44 to pitch and a second rotary motor 440 for driving the rotary arm 45 to rotate; the front part of the rotating arm 45 is formed with a sheathing unit fixing seat 450, and the puncture needle sheathing unit 3 is fixedly arranged in the sheathing unit fixing seat 450.
The pitching support base 44 is further provided with a sensor 46 for sensing the mounting position of the puncture needle 5.
The first columnar boss 302 is fixedly inserted into the interior of the sheathing unit fixing seat 450, and the second columnar boss 301 is fixedly pressed on the top of the sheathing unit fixing seat 450; the front end portion of the first rotating plate 31 is rotatably mounted to the side portion of the sheathing unit fixing base 450 by the first hinge shaft 341.
In the puncturing operation, the fixed clamping strips are clamped in the fixed clamping blocks, so that the upward movement of the sheathing board is maximized, and the puncturing operation is performed by using the puncturing needle head which is separated from the sheathing board in a sleeved mode; after the puncture operation is finished, the sleeve sealing plate is pulled down, so that the puncture needle body is clamped in the fixed clamping block, at the moment, the puncture needle head can be completely sleeved in the middle through hole of the sleeve sealing plate, the puncture needle head is prevented from being polluted due to the fact that the puncture needle head is in an external environment for a long time, and the condition that the puncture needle is scratched by a patient or medical staff due to control or improper operation of a robot can be avoided.
Meanwhile, as the puncture needle and the puncture needle head adopt unique designs, the sampling passage can normally sample when in puncture, and at the same time, the medicine delivery passage conveys medicine liquid to the puncture part, the medicine outlet flows out of the medicine liquid due to the pushing pressure of the medicine liquid, and the elastic sheet is slightly opened due to the pressure effect of the medicine liquid, so that the medicine liquid is anti-inflammatory to the puncture part, and after the medicine liquid output is interrupted, the elastic sheet can return to a position, thereby ensuring that the outer surface of the puncture needle head is smooth and the pain of a patient is not increased.
According to the invention, the movable sliding seat is used for realizing the large-amplitude position movement of the multi-degree-of-freedom puncture manipulator along the longitudinal direction of the sickbed, and the precision of the operation position of the puncture needle head is ensured by operating the multi-degree-of-freedom puncture manipulator.
The examples are presented to illustrate the invention and are not intended to limit the invention. Modifications to the described embodiment may occur to those skilled in the art without departing from the spirit and scope of the invention, and the scope of the invention is therefore set forth in the appended claims.
Claims (8)
1. A puncture robot, characterized in that: the ultrasonic examination device is cooperated with ultrasonic examination equipment and comprises a sickbed (1) and a multi-degree-of-freedom puncture manipulator (4) which is slidably arranged at the side part of the sickbed (1), wherein a puncture needle sleeving unit (3) is fixedly arranged at the front end of the multi-degree-of-freedom puncture manipulator (4), and a puncture needle (5) is fixedly inserted into the puncture needle sleeving unit (3); the bottom of the puncture needle (5) is provided with a puncture needle head (6), the puncture needle head (6) comprises an outer tube (61), an inner tube (62) is sleeved in the outer tube (61), a medicine conveying passage (620) for flowing medicine liquid is formed between the outer tube (61) and the inner tube (62), and a sampling passage (60) parallel to the medicine conveying passage (620) is formed in the center of the inner tube (62); the front end of the outer tube (61) is provided with a medicine outlet tube (611) with the same outer diameter as the outer tube (61), and a plurality of groups of medicine outlet holes (610) which are linearly arranged are arranged on the medicine outlet tube (611); a long groove is formed on the medicine outlet pipe (611) corresponding to the medicine outlet hole (610), an elastic sheet (63) is covered in the long groove, the rear end of the elastic sheet (63) is fixedly connected with the outer pipe (61), and the front end is freely arranged; a connector (621) is formed at the front end of the inner tube (62), and a conical needle point (64) is connected to the connector (621) in a threaded manner;
wherein:
the puncture needle sleeving and sealing unit (3) comprises a puncture needle fixing seat (30), wherein the puncture needle fixing seat (30) consists of a first columnar boss (302) and a second columnar boss (301) which are fixedly connected in sequence from bottom to top, and a folding channel (303) for fixedly inserting a puncture needle (5) is formed in the puncture needle fixing seat (30); the puncture needle sleeving and sealing unit (3) further comprises a first rotating plate (31) and a second rotating plate (32) which are rotationally connected through a second hinge shaft (342), the front end part of the first rotating plate (31) is rotationally arranged at the side part of the front end of the multi-degree-of-freedom puncture manipulator (4) through the first hinge shaft (341), and the rear end part of the second rotating plate (32) is rotationally connected with a sleeve plate (33) through a third hinge shaft (343); a middle through hole for inserting and sliding the puncture needle (5) is formed in the middle of the envelope plate (33), and an envelope plate sliding spanner (330) is formed at the side part of the envelope plate (33);
the middle part of the inner side of the second rotating plate (32) is provided with a fixed clamping block (321), and the needle body of the puncture needle (5) can be clamped and fixed in the fixed clamping block (321); a rectangular through hole (310) is formed in the middle of the first rotating plate (31), a fixed clamping strip (311) with the same diameter as the needle body of the puncture needle (5) is arranged in the rectangular through hole (310), and the fixed clamping strip (311) can be clamped and fixed in a fixed clamping block (321);
after the puncture operation is finished, the sheathing board is pulled down, so that the puncture needle body is clamped in the fixed clamping block, and at the moment, the puncture needle head can be completely sheathed in the middle through hole of the sheathing board.
2. The lancing robot of claim 1, wherein: the puncture needle (5) is detachably connected with the puncture needle head (6), and the puncture needle (5) is provided with a first passage and a second passage which are respectively communicated with a medicine conveying passage (620) and a sampling passage (60) of the puncture needle head (6).
3. The lancing robot of claim 1, wherein: the outer side surface of the elastic sheet (63) is flush with the outer side surface of the outer tube (61).
4. The lancing robot of claim 1, wherein: the sickbed (1) comprises a sickbed plate (10), the sickbed plate (10) is arranged on the ground of an operating room through supporting legs (12) fixedly arranged at four corners of the bottom, sickbed support plates (11) are fixed at two side parts of the sickbed plate (10), and the movable sliding seat (2) is slidably arranged on the sickbed support plates (11).
5. The lancing robot of claim 4, wherein: the bottom, the side and the top of the sickbed support plate (11) are respectively provided with a bottom slideway (111), a side slideway (112) and a top slideway (113).
6. The lancing robot of claim 5, wherein: the movable slide seat (2) comprises a U-shaped slide seat body (20) with an opening side, the bottom, the side and the top of the inner side of the U-shaped slide seat body (20) are provided with wheel roller mounting caulking grooves, and the wheel roller mounting caulking grooves on the three sides are respectively provided with a bottom wheel roller set (21), a side wheel roller set (22) and a top wheel roller set (23).
7. The lancing robot of claim 6, wherein: the bottom wheel roller set (21), the side wheel roller set (22) and the top wheel roller set (23) roll and slide in the bottom slideway (111), the side slideway (112) and the top slideway (113) respectively.
8. The lancing robot of claim 1, wherein: the multi-degree-of-freedom puncture manipulator (4) comprises a base (40) with a fixed seat arranged at the top of a movable sliding seat (2), a rotary supporting seat (41) is arranged at the upper part of the base (40), a rotary seat (42) is rotatably arranged at the upper part of the rotary supporting seat (41), a swing arm (43) is rotatably arranged at the side part of the rotary seat (42), a pitching supporting seat (44) is rotatably arranged at the upper end of the swing arm (43), and a rotating arm (45) is rotatably connected at the front end of the pitching supporting seat (44); the front part of the rotating arm (45) is formed with a sleeve sealing unit fixing seat (450), and the puncture needle sleeve sealing unit (3) is fixedly arranged in the sleeve sealing unit fixing seat (450).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910104670.0A CN109602497B (en) | 2019-02-01 | 2019-02-01 | Puncture robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910104670.0A CN109602497B (en) | 2019-02-01 | 2019-02-01 | Puncture robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109602497A CN109602497A (en) | 2019-04-12 |
| CN109602497B true CN109602497B (en) | 2023-07-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910104670.0A Active CN109602497B (en) | 2019-02-01 | 2019-02-01 | Puncture robot |
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| CN (1) | CN109602497B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112842484B (en) * | 2021-01-07 | 2022-06-07 | 西安国际医学中心有限公司 | Safety auxiliary tool for puncture equipment |
| CN113729878B (en) * | 2021-08-18 | 2022-04-08 | 真健康（北京）医疗科技有限公司 | Guide device and puncture assembly of quick release type puncture needle |
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| US9610131B2 (en) * | 2008-11-05 | 2017-04-04 | The Johns Hopkins University | Rotating needle driver and apparatuses and methods related thereto |
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| CN101043859A (en) * | 2004-09-09 | 2007-09-26 | 先进生物假体表面有限公司 | Device for the delivery of bioactive agents and a method of manufacture |
| CN101374566A (en) * | 2005-08-31 | 2009-02-25 | I-弗劳公司 | Anti-microbial catheter |
| CN201596214U (en) * | 2010-03-04 | 2010-10-06 | 陈洪英 | Anesthetic injector for cervical anesthesia integrating anesthesia and dilatation |
| CN204563248U (en) * | 2015-07-01 | 2015-08-19 | 深圳市人民医院 | A kind of ureter rack tube |
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