CN113855221B - A surgical robot that is used for terminal needle holder of ablation needle and carries out ablation - Google Patents
A surgical robot that is used for terminal needle holder of ablation needle and carries out ablation Download PDFInfo
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- CN113855221B CN113855221B CN202111445302.6A CN202111445302A CN113855221B CN 113855221 B CN113855221 B CN 113855221B CN 202111445302 A CN202111445302 A CN 202111445302A CN 113855221 B CN113855221 B CN 113855221B
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- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
- A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
- A61B18/1206—Generators therefor
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
- A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
- A61B18/14—Probes or electrodes therefor
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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
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/50—Supports for surgical instruments, e.g. articulated arms
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/50—Supports for surgical instruments, e.g. articulated arms
- A61B90/57—Accessory clamps
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B2018/00571—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body for achieving a particular surgical effect
- A61B2018/00577—Ablation
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
- A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
- A61B18/14—Probes or electrodes therefor
- A61B2018/1405—Electrodes having a specific shape
- A61B2018/1425—Needle
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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
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
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Abstract
The invention relates to the technical field of puncture medical appliances, and discloses a tail end needle holding clamp for an ablation needle and a surgical robot for executing ablation, wherein the tail end needle holding clamp comprises a puncture base, one side of the puncture base is used for being connected with a mechanical arm of the surgical robot for executing the ablation, an ablation needle limiting groove for the penetration of the ablation needle is formed in the outer peripheral surface of the other opposite side of the puncture base, and the ablation needle limiting groove is provided with a lateral notch suitable for the extraction of the ablation needle; the clamping piece is attached to the outer peripheral face of the puncture base, the ablation needle limiting groove is formed in the puncture base, one end of the clamping piece is a fixed end hinged to the puncture base, the other end of the clamping piece is a free end, and the clamping piece is provided with a clamping position and a release position, wherein the clamping position is used for rotating the fixed end to cover the ablation needle limiting groove, the reverse rotation of the clamping piece is separated from the outer peripheral face of the puncture base, and the lateral notch is opened. The invention solves the technical problem that the clamp cannot be safely and quickly recovered after the puncture of the ablation needle is finished because the existing tail end needle holding clamp is influenced by various factors such as body positions, an ablation needle limiting device and the like.
Description
Technical Field
The invention relates to the technical field of puncture medical appliances, in particular to a tail end needle holding clamp for an ablation needle and a surgical robot for performing ablation.
Background
Adopt the supplementary puncture in-process of robot clinically, terminal needle holder can receive a position, melts needle stop device and so on multiple factor influence, leads to melting the needle and can not safe quick recovery in the recovery of accomplishing puncture back anchor clamps, consequently needs design a section can realize melting the terminal needle holder of quick release and terminal convenient recovery of needle.
Disclosure of Invention
The invention mainly aims to provide a tail end needle holding clamp for an ablation needle and a surgical robot for performing ablation operation, and aims to solve the technical problem that in the related art, the clamp cannot be safely and quickly recovered after puncture of the ablation needle is completed due to the fact that the existing tail end needle holding clamp is influenced by multiple factors such as body positions and an ablation needle limiting device.
To achieve the above object, in a first aspect, the present invention provides a tip needle-holding jig for an ablation needle.
The puncture base is used for connecting a mechanical arm of the surgical robot for executing the ablation operation, an ablation needle limiting groove for an ablation needle to penetrate is formed in the outer peripheral surface of the other opposite side, and the ablation needle limiting groove is provided with a lateral notch suitable for the ablation needle to be taken out;
the holder, the laminating the puncture base has the outer peripheral face setting of melting needle spacing groove, the one end of holder be with puncture base articulated stiff end, the other end are the free end, the holder has the edge the stiff end rotates the cladding and lives the clamping position and the counter rotation that melt the needle spacing groove break away from the outer peripheral face of puncture base just lets open the release position of side direction notch.
According to the tail end needle holding clamp provided by the invention, the puncture base and the clamping piece which is attached to the puncture base and is provided with the outer peripheral surface of the ablation needle limiting groove are arranged, so that the clamping piece is provided with a clamping position which is used for coating the ablation needle limiting groove in a rotating way along the fixed end hinged with the puncture base and a releasing position which is reversely rotated to be separated from the outer peripheral surface of the puncture base and is used for leaving the lateral notch, the ablation needle can be conveniently taken out from the lateral notch of the ablation needle limiting groove, the inconvenience caused by the fact that the ablation needle is easy to be mistakenly touched in a closed state when the sleeved ablation needle is detached is avoided, and the technical problem that the clamp cannot be safely and quickly recovered after the puncture is completed due to the fact that the existing tail end needle holding clamp is influenced by multiple factors such as body position, an ablation needle limiting device and the like is solved.
Preferably, the terminal needle-holding fixture comprises a clamping structure which is arranged close to the hinged shaft of the clamping piece and the puncture base and used for limiting the free end around the maximum rotating release position of the fixed end.
Preferably, the joint structure is including setting up spring thimble on the stiff end is in with the setting spacing groove on the puncture base, spring thimble precompresses ground and sets up in the mounting groove of stiff end, the joint end of spring thimble is followed the bottom opening of mounting groove stretches out to support on the puncture base the free end winds the stiff end rotates extremely go into card when the maximum release position in the spacing groove.
Preferably, the puncture base includes: one side of the sleeve fixing seat is used for being connected with a mechanical arm of the surgical robot for performing the ablation, the other opposite side of the sleeve fixing seat is provided with a notch, a groove is formed in the sleeve fixing seat, and the fixed end of the clamping piece is hinged with the sleeve fixing seat;
the puncture sleeve is arranged in the groove, one side of the puncture sleeve, which is back to the mechanical arm, is exposed out of the notch, and the outer peripheral surface of the side is provided with the ablation needle limiting groove in a forming mode;
the holder is attached to the outer peripheral surface of the side of the puncture sleeve.
Preferably, the tail end needle holding clamp further comprises a connecting rod, one end of the connecting rod is detachably connected with one side of the sleeve fixing seat, and the other end of the connecting rod is used for being connected with a mechanical arm of a surgical robot for performing ablation.
Preferably, a second positioning structure is arranged on the axial end face of the puncture sleeve contacted with the sleeve fixing seat; the second positioning structure comprises a guide post which is arranged at the top of the sleeve fixing seat and extends downwards and a guide hole which is formed at the corresponding position of the top of the puncture sleeve, the puncture sleeve slides in along the side wall of the groove and is sleeved on the guide post of the sleeve fixing seat.
Preferably, the tail end needle holding clamp further comprises a first positioning structure, wherein the first positioning structure comprises a guide groove or a guide strip formed on the outer peripheral surface of one side of the puncture sleeve, which is back to the ablation needle limiting groove, and a guide strip or a guide groove formed at a position corresponding to the groove wall of the groove.
Preferably, the distal needle-holding jig further comprises a locking structure for positionally fixing the free end when the holder is rotated to the holding position.
Preferably, the locking structure comprises a bolt and a screw hole formed on the outer peripheral surface of the puncture sleeve, and the bolt is tightly matched with the screw hole to lock the free end on the puncture sleeve.
Preferably, the locking structure is a fastener, the fastener includes a second spring disposed on the sleeve fixing seat and a latch disposed on the sleeve fixing seat and used for fastening the free end, one end of the second spring abuts against the mounting groove of the sleeve fixing seat, the other end of the second spring abuts against a sidewall of the latch, and the latch has an unlocking position where the latch is pressed and rotated to a side far away from the free end along an abutting point of the second spring to release the free end, and a fastening position where the latch is rotated in a reverse direction to fasten the free end to enable the clamping member to be in the clamping position.
Preferably, a pressing plate is arranged on one side of the lock catch, which is far away from the free end.
In a second aspect, the present invention also provides a surgical robot for performing an ablation procedure.
The surgical robot for performing the ablation operation comprises a mechanical arm and any one of the tail end needle holding clamps, wherein the mechanical arm is connected with one side of a puncture base of the tail end needle holding clamp.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, are included to provide a further understanding of the invention and to enable other features, objects and advantages of the invention to be more fully apparent. The drawings and their description illustrate the invention by way of example and are not intended to limit the invention. In the drawings:
FIG. 1 is a schematic structural view of an end needle-holding clamp according to an embodiment of the present invention;
FIG. 2 is an exploded view of FIG. 1;
FIG. 3 is a schematic bottom perspective view of FIG. 1;
FIG. 4 is a schematic top plan view of the structure of FIG. 1;
FIG. 5 is a schematic view of the structure of FIG. 1 during use;
FIG. 6 is a schematic structural view of an end needle-holding clamp according to an embodiment of the present invention;
FIG. 7 is an exploded view of FIG. 6;
FIG. 8 is a bottom perspective view of FIG. 6;
FIG. 9 is a top plan view of the clip of FIG. 6 in a connected state;
FIG. 10 is a top plan view of the clamp of FIG. 6 in a disengaged condition;
fig. 11 is a schematic view of the structure of fig. 6 during use.
Reference numerals
1. A puncture base; 101. an ablation needle limiting groove; 1011. a limiting hole; 102. puncturing the sleeve; 103. a sleeve fixing seat; 104. a first positioning structure; 105. a second positioning structure; 2. a clamping member; 201. a fixed end; 202. a free end; 3. a clamping structure; 301. a spring thimble; 3011. a limiting thimble; 3012. a first spring; 3013. carrying out top thread; 302. a limiting groove; 4. a connecting rod; 5. a screw hole; 6. a fastener; 601. locking; 602. a second spring; 603. a second pin shaft; 7. an ablation needle; 8. a first pin shaft; 9. and (4) bolts.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged under appropriate circumstances in order to facilitate the description of the embodiments of the invention herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In the present invention, the terms "upper", "lower", "bottom", "inner", "outer", "middle", "axial", "circumferential" and "radial" etc. indicate an orientation or positional relationship based on the orientation or positional relationship shown in the drawings. These terms are used primarily to better describe the invention and its embodiments and are not intended to limit the indicated devices, elements or components to a particular orientation or to be constructed and operated in a particular orientation.
Moreover, some of the above terms may be used to indicate other meanings besides the orientation or positional relationship, for example, the term "on" may also be used to indicate some kind of attachment or connection relationship in some cases. The specific meanings of these terms in the present invention can be understood by those skilled in the art as appropriate.
In addition, the term "plurality" shall mean two as well as more than two.
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
As shown in fig. 1 to 11, the present invention provides a distal end needle holding jig, which includes a puncture base 1 and a holder 2, wherein one side of the puncture base 1 is used for connecting a mechanical arm of a surgical robot for performing an ablation procedure, an ablation needle limiting groove 101 for an ablation needle to penetrate is formed on an outer circumferential surface of the opposite side, and the ablation needle limiting groove 101 has a lateral notch suitable for an ablation needle to be taken out. The clamping piece 2 is attached to the puncture base 1, one end of the clamping piece 2 is a fixed end 201 hinged to the puncture base 1, the other end of the clamping piece 2 is a free end 202, and the clamping piece 2 is provided with a clamping position which rotates along the fixed end 201 to cover the ablation needle limiting groove 101 and a release position which reversely rotates to separate from the outer peripheral surface of the puncture base 1 and lets the lateral notch open.
According to the tail end needle holding clamp provided by the invention, the puncture base and the clamping piece which is attached to the puncture base and is provided with the outer peripheral surface of the ablation needle limiting groove are arranged, so that the clamping piece is provided with a clamping position which is used for coating the ablation needle limiting groove in a rotating way along the fixed end hinged with the puncture base and a releasing position which is reversely rotated to be separated from the outer peripheral surface of the puncture base and is used for leaving the lateral notch, the ablation needle can be conveniently taken out from the lateral notch of the ablation needle limiting groove, the inconvenience caused by the fact that the ablation needle is easy to be mistakenly touched in a closed state when the sleeved ablation needle is detached is avoided, and the technical problem that the clamp cannot be safely and quickly recovered after the puncture is completed due to the fact that the existing tail end needle holding clamp is influenced by multiple factors such as body position, an ablation needle limiting device and the like is solved.
In an alternative embodiment of the present invention, the holding member 2 of the end needle-holding fixture is connected to the puncture base 1 by a first pin 8, and the holding member 2 rotates around the puncture base 1 along the first pin 8.
In an alternative embodiment of the present invention, the distal needle-holding clamp comprises a snap-fit structure 3 disposed adjacent to the hinge axis of the holding member 2 and the puncture base 1 for limiting the maximum release position of the rotation of the free end 202 about the fixed end 201, so as to prevent the holding member 2 from swinging back and forth during the extraction of the ablation needle, thereby affecting the removal of the ablation needle. In a further alternative embodiment of the present invention, the latch structure 3 comprises a pogo pin 301 disposed on the fixed end 201 and a limit groove 302 disposed on the puncture base 1, the pogo pin 301 is pre-compressed and disposed in the mounting groove of the fixed end 201, the latch end of the pogo pin 301 protrudes from the bottom opening of the mounting groove to abut against the puncture base 1, and is latched in the limit groove 302 when the free end 202 rotates around the fixed end 201 to the maximum release position. Specifically, when the clamping member 2 is in the clamping position, the free end 202 of the clamping member 2 is fixed on the puncture base 1, the pogo pin 301 abuts against the side wall of the limiting groove 302, and at this time, the first spring 3012 in the pogo pin 301 is in a compressed state. When the free end 202 is converted from the clamping position to the releasing position, the free end 202 is separated from the puncture base 1, the clamping piece 2 rotates along the hinge position of the fixed end 201 under the action of the elastic force of the first spring 3012 of the spring thimble 301, at the moment, the elastic force of the first spring 3012 is released, the limiting thimble 3011 of the spring thimble 301 slides to the bottom wall along the side wall of the limiting groove 302 under the action of the first spring 3012 and the jackscrew 3013 to complete clamping, and meanwhile, the free end 202 rotates to the releasing position.
In an alternative embodiment of the present invention, the puncture base 1 includes a sleeve fixing seat 103 and a puncture sleeve 102, one side of the sleeve fixing seat 103 is used for connecting to a mechanical arm of a surgical robot for performing an ablation, the opposite side is provided with a notch, a groove is formed inside the sleeve fixing seat 103, and a fixed end 201 of the clamping member 2 is hinged with the sleeve fixing seat 103. The puncture sleeve 102 is arranged in a groove of the sleeve fixing seat 103, one side of the puncture sleeve 102, which is back to the mechanical arm, is exposed from the notch, an ablation needle limiting groove 101 is formed on the outer peripheral surface of the side, and the clamping piece 2 is attached to the outer peripheral surface of the side of the puncture sleeve 102. After the ablation needle finishes puncturing, an operator rotates the clamping piece 2 from the clamping position to the releasing position by one hand, and simultaneously, the other hand catches the puncture sleeve 102 falling from the sleeve fixing seat 103 due to self weight, or the puncture sleeve 102 directly falls off from the sleeve fixing seat 103 to the body surface of a patient due to self weight, and due to the fact that the clamping piece is opened and the sleeve fixing seat with the ablation needle almost simultaneously falls, the ablation needle is quickly released through the arrangement. In addition, the mechanical arm is not obstructed on the exit path of the surgical robot mechanical arm for executing the ablation operation after the clamping piece rotates to the release position, so that the mechanical arm can drive the tail end needle holding clamp of the embodiment to rapidly return, the tail end needle holding clamp is rapidly and conveniently recovered, and an operator can take the ablation needle off the puncture sleeve according to actual needs.
The setting of puncture sleeve 102 setting in the recess of sleeve fixing base 103 is so that when melting needle 7 and demolish the in-process, demolish puncture sleeve 102 together with melting needle 7 to can improve the efficiency of demolising of melting needle among the piercing depth, the relative position when setting up the recess simultaneously can be to the installation of puncture sleeve 102 and sleeve fixing base 103 carries on spacingly, thereby can improve the accuracy nature of assembling and form overall structure's stability after the installation.
In a further alternative embodiment of the present invention, the distal end needle-holding jig comprises a link 4, one end of the link 4 is detachably connected to one side of the sleeve holder 103, and the other end is used for connecting a mechanical arm of a surgical robot for performing an ablation procedure. In a further alternative embodiment of the present invention, the puncture base 1 of the terminal needle-holding fixture is fixed in the slot of the connecting rod 4 through the plug connector, and further preferably, screw holes 5 for bolt fixing are provided on outer side walls of the plug connector and the slot along the axial direction thereof, and the screw holes 5 of the plug connector and the slot are aligned and fixed through bolts 9, so as to fix the positions of the connecting rod 4 and the terminal needle-holding fixture. In order to improve the accuracy of the operation of the puncture device, in an alternative embodiment of the invention, the axis of the projection of the connecting rod 4 on the vertical plane of the ablation needle coincides with the radial central axis of the puncture base 1 of the distal needle-holding clamp.
In an alternative embodiment of the present invention, a second positioning structure 105 is disposed on an axial end surface of the puncture sleeve 102 contacting the sleeve holder 103, the second positioning structure 105 includes a guide pillar disposed on the top of the sleeve holder 103 and extending downward and a guide hole formed at a corresponding position on the top of the puncture sleeve 102, the puncture sleeve 102 slides in along a sidewall of the groove and is sleeved on the guide pillar of the sleeve holder 103, so as to facilitate alignment and installation of the puncture sleeve 102 and the sleeve holder 103.
In a further alternative embodiment of the present invention, the distal end needle-holding fixture further includes a first positioning structure 104, and the first positioning structure 104 includes a guiding groove or a guiding bar formed on the outer peripheral surface of the side of the puncture sleeve 102 facing away from the ablation needle limiting groove 101, and a guiding bar or a guiding groove formed at a corresponding position of the groove wall of the groove, so as to further limit the relative position of the puncture sleeve 102 and the sleeve holder 103, thereby ensuring that the relative position of the ablation needle limiting groove 101 and the holder 2 on the puncture sleeve 102 is fixed after the puncture sleeve 102 is mounted on the sleeve holder 103.
In an alternative embodiment of the invention, the tip needle-holding clamp further comprises a locking structure for positionally fixing the free end 202 when the clamping member 2 is rotated to the clamping position. In one embodiment of the present invention, the locking structure comprises a bolt 9 and a threaded hole 5 formed on the outer peripheral surface of the puncture sleeve 102, and the bolt 9 is screwed into the threaded hole 5 to lock the free end 202 to the puncture sleeve 102. In another embodiment of the present invention, the locking structure comprises a bolt 9 and a screw hole 5 formed on the outer peripheral surface of the sleeve holder 103, and the bolt 9 is tightly engaged with the screw hole 5 to lock the free end of the sleeve holder 103, so as to fix the position of the puncture sleeve 102 disposed in the groove of the sleeve holder 103 relative to the holder 2. In other embodiments of the present invention, the locking structure is a fastener 6, the fastener 6 includes a second spring 602 disposed on the sleeve holder 103 and a latch 601 disposed on the sleeve holder 103 for latching the free end 202, one end of the second spring 602 abuts against the mounting slot of the sleeve holder 103, and the other end abuts against a sidewall of the latch 601, the latch 601 has an unlocking position where it is pressed and rotated along an abutting point of the second spring 602 to a side away from the free end 202 to release the free end 202, and a latching position where it is rotated in a reverse direction to latch the free end 202 to hold the clip 2 in the clipping position. In the preferred embodiment, the fastener 6 includes a second pin 603, and the latch 601 rotates around the second pin 603, so that the latch 601 and the free end 202 are switched between the unlocking position and the fastening position under the action of the second spring 602. In a further alternative embodiment of the present invention, a pressing plate is disposed on a side of the latch 601 away from the free end 202, and a handle for pushing or pulling the clamping member 2 to rotate around the fixed end 201 is disposed on the clamping member 2. In other embodiments of the present invention, fastener 6 may be disposed on the outer peripheral wall of piercing sleeve 102.
The invention provides a surgical robot for performing ablation, which comprises a mechanical arm and any one of the tail end needle holding clamps, wherein the mechanical arm is connected with one side of a puncture base of the tail end needle holding clamp.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (11)
1. A distal holding clamp for an ablation needle, for connecting a robotic arm of a surgical robot performing an ablation procedure, the distal holding clamp comprising
The puncture base (1) comprises a sleeve fixing seat (103) and a puncture sleeve (102); one side of the sleeve fixing seat (103) is used for connecting a mechanical arm of the surgical robot for executing the ablation, the other opposite side is provided with a notch, and a groove is formed in the sleeve fixing seat (103); the puncture sleeve (102) is arranged in the groove, one side of the puncture sleeve (102), which is back to the mechanical arm, is exposed from the notch, an ablation needle limiting groove (101) for an ablation needle to penetrate is formed in the outer peripheral surface of the side of the puncture sleeve (102), and the ablation needle limiting groove (101) is provided with a lateral notch suitable for the ablation needle to be taken out;
holder (2), the laminating puncture sleeve (102) the outer peripheral face sets up, the one end of holder (2) be with sleeve fixing base (103) articulated stiff end (201), the other end are free end (202), holder (2) have the edge stiff end (201) rotate the cladding and live the clamping position and the counter-rotation of ablating needle spacing groove (101) break away from the outer peripheral face of puncture base (1) just lets out the release position of side direction notch.
2. The needle holder according to claim 1, characterized in that it comprises a snap-in structure (3) arranged close to the hinging axis of the holder (2) with the puncture base (1) for limiting the maximum release position of the rotation of the free end (202) around the fixed end (201).
3. The distal end needle-holding jig for an ablation needle according to claim 2, characterized in that the clamping structure (3) comprises a spring thimble (301) disposed on the fixed end (201) and a limit groove (302) disposed on the puncture base (1), the spring thimble (301) is disposed in a mounting groove of the fixed end (201) with pre-compression, a clamping end of the spring thimble (301) protrudes from a bottom opening of the mounting groove to abut on the puncture base (1), and is clamped into the limit groove (302) when the free end (202) rotates around the fixed end (201) to the maximum release position.
4. The distal end needle-holding jig for the ablation needle according to claim 1, further comprising a connecting rod (4), wherein one end of the connecting rod (4) is detachably connected with the one side of the sleeve holder (103), and the other end is used for connecting a mechanical arm of the surgical robot for performing the ablation.
5. The distal end needle-holding jig for the ablation needle as claimed in claim 1, wherein a second positioning structure (105) is provided on an axial end surface of the puncture sleeve (102) contacting the sleeve holder (103); the second positioning structure (105) comprises a guide column which is arranged at the top of the sleeve fixing seat (103) and extends downwards and a guide hole which is formed at the corresponding position of the top of the puncture sleeve (102), and the puncture sleeve (102) slides in along the side wall of the groove and is sleeved on the guide column of the sleeve fixing seat (103).
6. The distal end needle-holding jig for the ablation needle as claimed in claim 1, further comprising a first positioning structure (104), wherein the first positioning structure (104) comprises a guide groove or a guide bar formed on the outer circumferential surface of the side of the puncture sleeve (102) facing away from the ablation needle limiting groove (101), and a guide bar or a guide groove formed at a position corresponding to the groove wall of the groove.
7. The distal needle-holding clamp for an ablation needle according to claim 1, further comprising a locking structure that positionally fixes the free end (202) when the clamp (2) is rotated to the clamping position.
8. The needle holding clip for the distal end of an ablation needle according to claim 7, wherein the locking structure comprises a bolt (9) and a threaded hole (5) formed on the outer peripheral surface of the puncture sleeve (102), and the bolt (9) is tightly engaged with the threaded hole (5) to lock the free end (202) on the puncture sleeve (102).
9. The distal end needle-holding jig for the ablation needle according to claim 7, wherein the locking structure is a fastening member (6), the fastening member (6) comprises a second spring (602) disposed on the sleeve holder (103) and a latch (601) disposed on the sleeve holder (103) for fastening the free end (202), one end of the second spring (602) abuts against the mounting groove of the sleeve holder (103), the other end abuts against a sidewall of the latch (601), the latch (601) has an unlocking position where the latch is pressed and rotated along the abutting point of the second spring (602) to a side away from the free end (202) to release the free end (202), and a fastening position where the latch is rotated reversely to fasten the free end (202) to make the holding member (2) in the holding position.
10. The distal end needle-holding jig for an ablation needle as claimed in claim 9, wherein a side of the latch (601) away from the free end (202) is provided with a pressing plate.
11. A surgical robot for performing ablation, characterized in that the surgical robot comprises a mechanical arm and the distal end needle-holding jig for an ablation needle of any one of claims 1 to 10, the mechanical arm being connected to one side of a puncture base of the distal end needle-holding jig.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| CN114191054B (en) * | 2022-02-16 | 2022-05-13 | 真健康（北京）医疗科技有限公司 | Puncture needle clamp and puncture robot |
| CN114191053B (en) * | 2022-02-16 | 2023-01-13 | 真健康（北京）医疗科技有限公司 | Puncture sleeve clamp and puncture robot |
| CN114469326B (en) * | 2022-03-31 | 2022-07-01 | 真健康（北京）医疗科技有限公司 | Energy ablation needle clamping device, surgical robot and energy ablation system |
| CN117481766B (en) * | 2024-01-02 | 2024-05-10 | 北京精准医械科技有限公司 | Quick assembly disassembly clamping structure of ablation needle and piercing depth thereof |
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| CN202655784U (en) * | 2011-12-27 | 2013-01-09 | 东莞新能德科技有限公司 | Quick welding needle chuck |
| DE102018115435A1 (en) * | 2018-06-27 | 2020-01-02 | avateramedical GmBH | Trokarhalterung |
| CN110236681B (en) * | 2019-07-18 | 2024-05-31 | 上海钛米机器人科技有限公司 | Puncture robot and needle insertion system for mechanical arm of puncture robot |
| CN110811782B (en) * | 2019-11-25 | 2020-11-27 | 亿盛欣科技(北京)有限公司 | Needle holder for puncture of CT (computed tomography) fluoroscopy robot |
| CN212140543U (en) * | 2020-01-15 | 2020-12-15 | 吕海 | Puncture utensil clamping device |
| CN213465246U (en) * | 2020-06-30 | 2021-06-18 | 北京术锐技术有限公司 | Puncture outfit locking device and surgical robot |
| CN112336426A (en) * | 2020-11-05 | 2021-02-09 | 北京理工大学 | Quick release type puncture needle guiding device |
| CN113288354B (en) * | 2021-05-14 | 2023-09-22 | 磅客策(上海)智能医疗科技有限公司 | Magnetic needle holder and surgical robot |
| CN113598897B (en) * | 2021-07-14 | 2024-02-23 | 北京理工大学 | Electric control puncture needle clamping device |
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Inventor after: Zhang Haoren Inventor after: An Xueliang Inventor after: Liu Bin Inventor after: Chen Xiaogang Inventor before: Chen Xiaogang Inventor before: Zhang Haoren Inventor before: An Xueliang Inventor before: Liu Bin |
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Effective date of registration: 20230112 Address after: Room 105-75274, No. 6, Baohua Road, Hengqin New District, Zhuhai City, Guangdong Province, 519000 (centralized office area) Patentee after: True Health (Zhuhai) Medical Technology Co.,Ltd. Address before: 100192 Room 308, floor 3, building 2, Tiandi Linfeng, No. 1, yongtaizhuang North Road, Haidian District, Beijing Patentee before: ZHENJIANKANG (BEIJING) MEDICAL TECHNOLOGY Co.,Ltd. |