CN114431940B - Four-degree-of-freedom puncture needle positioning and guiding device based on RCM structure - Google Patents
Four-degree-of-freedom puncture needle positioning and guiding device based on RCM structure Download PDFInfo
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- CN114431940B CN114431940B CN202210340201.0A CN202210340201A CN114431940B CN 114431940 B CN114431940 B CN 114431940B CN 202210340201 A CN202210340201 A CN 202210340201A CN 114431940 B CN114431940 B CN 114431940B
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- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
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- A—HUMAN NECESSITIES
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Abstract
The application discloses a four-degree-of-freedom puncture needle positioning and guiding device based on an RCM structure, which comprises a driving platform, a first deflection mechanism and a second deflection mechanism; the driving platform comprises a base, a translation assembly, a linear driving assembly, a driving connecting rod, a bracket and a sliding block; the translation assembly is fixed on the base and can drive the support to linearly translate; the linear driving assembly is fixedly arranged on the bracket; the first end of the driving connecting rod is hinged with the output end of the linear driving assembly through a vertical shaft, and the second end of the driving connecting rod is hinged with the sliding block through the vertical shaft; the sliding block is arranged on the bracket in a sliding manner; the first deflection mechanism is arranged on the sliding block, and the output end of the first deflection mechanism can deflect around the Y axis; the second deflection mechanism is arranged at the output end of the first deflection mechanism, the output end of the second deflection mechanism can deflect around an X axis, and the X axis and the Y axis are two horizontal and mutually vertical axes. The device adjusts the position of the puncture needle through the driving platform, and adjusts the posture of the puncture needle through the first deflection mechanism and the second deflection mechanism. The device has small volume, light weight and low cost.
Description
Technical Field
The application relates to the technical field of medical equipment, in particular to a medical auxiliary device.
Background
Many of the conventional treatments applied in modern clinical practice involve the percutaneous insertion of medical tools (e.g., needles and catheters) for biopsy, drug delivery, and other diagnostic and therapeutic procedures. The goal of the insertion procedure is to safely and accurately place the tip of a suitable medical tool at a target area, which may be a lesion, tumor, organ, or blood vessel. Examples of treatments requiring insertion of such medical tools include vaccination, blood/fluid sampling, local anesthesia, tissue biopsy, catheterization, cryoablation, electrolytic ablation, brachytherapy, neurosurgery, deep brain stimulation, and various minimally invasive procedures.
In recent years, miniaturized automatic positioning guide devices have been introduced. Some of these devices are guide devices that help select the insertion point and help align the needle with the insertion point and target, and the physician then manually inserts the needle. These devices can be mounted on the body of the patient to automatically compensate for breathing, and therefore require that the device be small enough and light enough, and that the direction of penetration of the needle be determined by the direction of guidance of the device, so that the position and attitude of the insertion needle that the device can guide has a direct effect on the effectiveness of the puncture procedure.
Disclosure of Invention
The main objective of the present application is to provide a puncture needle positioning and guiding device based on an RCM (Remote central mechanism) structure, so as to solve the problems of a puncture machine in the related art, such as a large body size, a small number of types of postures that can be punctured, a small adjustable posture angle, and insufficient motion accuracy and stability.
In order to achieve the above object, the present application provides a four-degree-of-freedom puncture needle positioning guide device based on an RCM structure, including: the device comprises a driving platform, a first deflection mechanism and a second deflection mechanism; wherein,
the driving platform comprises a base, a translation assembly, a linear driving assembly, a driving connecting rod, a bracket and a sliding block; the translation assembly is fixed on the base and can drive the support to linearly translate; the linear driving assembly is fixedly arranged on the bracket;
the first end of the driving connecting rod is hinged with the output end of the linear driving assembly through a vertical shaft, and the second end of the driving connecting rod is hinged with the sliding block through a vertical shaft; the sliding block is arranged on the bracket and can slide along the translation direction vertical to the bracket under the drive of the drive connecting rod;
a support platform is arranged at the upper end of the support, the first end of the support platform is fixedly connected with the sliding block, and the second end of the support platform is in sliding connection with the support, so that the support platform can slide along with the sliding block along the translation direction vertical to the support;
the first deflection mechanism and the second deflection mechanism are both arranged on the supporting platform; the output end of the first deflection mechanism can deflect around the Y axis; the second deflection mechanism is arranged at the output end of the first deflection mechanism, the output end of the second deflection mechanism can deflect around an X axis, and the output end of the second deflection mechanism is provided with a fixing part for fixing the puncture needle; the X-axis and the Y-axis are two axes that are horizontal and perpendicular to each other.
Further, the driving platform also comprises a first guide rail and a guide block;
the guide blocks are arranged into two groups and are positioned on two sides of the base, the first guide rails are arranged into two groups and are respectively sleeved in the corresponding guide blocks in a sliding mode, and the end portions of the first guide rails are fixedly connected with the support.
Further, the support comprises a mounting plate and a second guide rail arranged at the end part of the mounting plate;
the linear driving assembly is fixedly arranged on the mounting plate, and the end part of the first guide rail is fixedly connected with the mounting plate; the translation assembly can drive the support to linearly translate;
the second guide rail is arranged along the direction perpendicular to the moving direction of the mounting plate; the sliding block is arranged on the second guide rail in a sliding mode.
Further, the translation assembly comprises a first linear motor fixed on the base, the first linear motor is positioned below the mounting plate, and the output end of the first linear motor is in transmission connection with the mounting plate;
the linear driving assembly comprises a second linear motor fixed below the mounting plate, and the output end of the second linear motor is hinged to the first end of the driving connecting rod through a vertical shaft.
Furthermore, a supporting platform is arranged at the upper end of the bracket, the first end of the supporting platform is fixedly connected with the sliding block, and the second end of the supporting platform is slidably connected with the upper end of the bracket;
the first deflection mechanism comprises a deflection platform and a first rotating mechanism which are arranged on the supporting platform, two ends of the deflection platform are hinged with two ends of the supporting platform through a Y-direction rotating shaft, and the axis of the Y-direction rotating shaft extends along the Y axis;
the first rotating mechanism is arranged on the supporting platform and used for driving the deflection platform to rotate around the Y axis;
the second deflection mechanism is arranged on the deflection platform.
Furthermore, a first rotating mechanism comprises a first bevel gear arranged on the rotating shaft in the Y direction and a driving motor arranged on the supporting platform, and a second bevel gear meshed with the first bevel gear is arranged at the output end of the driving motor.
Further, the second deflection mechanism comprises a linear motion assembly and a parallelogram connecting rod assembly;
the fixed end of the linear motion assembly is hinged to the deflection platform, the first end of the parallelogram connecting rod assembly is hinged to the deflection platform, and the second end of the parallelogram connecting rod assembly is hinged to the fixed part;
the output end of the linear motion assembly is connected with the driving part of the parallelogram connecting rod assembly so as to push the second end of the parallelogram connecting rod assembly to deflect around the X axis.
Furthermore, the parallelogram connecting rod assembly comprises two groups of oppositely arranged connecting rod structures, and each group of connecting rod structures comprises a first vertical rod, a second vertical rod, a first cross rod and a second cross rod;
the lower ends of the first vertical rod and the second vertical rod are hinged with the deflection platform;
the head end, the middle end and the tail end of the first cross rod are respectively hinged to the upper ends of the first vertical rod, the second vertical rod and the fixing part;
the head end, the middle end and the tail end of the second cross rod are respectively hinged to the middle ends of the first vertical rod, the second vertical rod and the fixing part;
the output end of the linear motion assembly extends to a position between the two second vertical rods of the two groups of connecting rod structures and is hinged with the two second vertical rods.
Further, first montant with the second montant all has the kink, first horizontal pole the second horizontal pole with the output of linear motion subassembly all articulates in the correspondence the kink.
Further, the linear motion assembly comprises a linear motor fixed on the base, and piston rods of the linear motor extend to two groups of two connecting rod structures between the two second vertical rods and are hinged to the two second vertical rods.
In the embodiment of the application, the driving platform, the first deflection mechanism and the second deflection mechanism are arranged; the driving platform comprises a base, a translation assembly, a linear driving assembly, a driving connecting rod, a bracket and a sliding block; the translation assembly is fixed on the base and can drive the support to linearly translate; the linear driving assembly is fixedly arranged on the bracket; the first end of the driving connecting rod is hinged with the output end of the linear driving assembly through a vertical shaft, and the second end of the driving connecting rod is hinged with the sliding block through the vertical shaft; the sliding block is arranged on the bracket and can slide along the translation direction vertical to the bracket; the output end of the first deflection mechanism can deflect around the Y axis; the second deflection mechanism is arranged at the output end of the first deflection mechanism, the output end of the second deflection mechanism can deflect around an X axis, the output end of the second deflection mechanism is provided with a fixing part for fixing the puncture needle, the purpose that the translation component drives the bracket and the puncture needle on the bracket to horizontally move along the Y direction is achieved, the linear driving component, the driving connecting rod, the bracket and the sliding block jointly act to drive the puncture needle to horizontally move in the X direction is achieved, and the first deflection mechanism and the second deflection mechanism respectively drive the puncture needle to deflect around the Y axis and the X axis, so that the adjustable posture type and posture angle of the puncture robot are increased, the posture adjustment with four degrees of freedom is realized, the technical effects of improving the action accuracy and stability of the puncture robot are achieved, the problems that the puncture robot in the related technology is large in size and few in the puncture posture types, the adjustable posture angle is small, and the action precision and the stability are insufficient.
The application relates to a location guider because of its small in size can be fixed in patient's belly, back, side back, preceding chest or arm, and the device adjusts the gesture of pjncture needle through the position of drive platform adjustment pjncture needle, through first deflection mechanism and second deflection mechanism, realizes the direction location function, and supplementary doctor accomplishes the puncture operation.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, serve to provide a further understanding of the application and to enable other features, objects, and advantages of the application to be more apparent. The drawings and their description illustrate the embodiments of the invention and do not limit it. In the drawings:
FIG. 1 is a schematic structural diagram according to an embodiment of the present application;
FIG. 2 is a schematic illustration of an explosive structure according to an embodiment of the present application;
FIG. 3 is a schematic view of the translation of the puncture needle in the Y-direction according to the embodiment of the present application;
FIG. 4 is a schematic view of the translation of the needle in the X direction according to an embodiment of the subject application;
FIG. 5 is a schematic view of the translation of the puncture needle in the X direction according to the embodiment of the present application;
FIG. 6 is a schematic view of the configuration of the needle deflected in the X direction according to the embodiment of the present application;
FIG. 7 is a schematic view of the configuration of the needle deflected in the X direction according to the embodiment of the present application;
FIG. 8 is a schematic view of the deflection of the needle in the Y direction according to the embodiment of the present application;
FIG. 9 is a schematic view of the deflection of the needle in the Y direction according to the embodiment of the present application;
the device comprises a base 1, a third guide rail 2, a second deflection mechanism 3, a parallelogram connecting rod assembly 31, a second cross rod 311, a first cross rod 312, a second vertical rod 313, a first vertical rod 314, a linear motion assembly 32, a sliding block 4, a fixing part 5, a puncture needle 6, a first guide rail 7, a guide block 8, a support 9, a second guide rail 91, a mounting plate 92, a first deflection mechanism 10, a driving motor 101, a first bevel gear 102, a second bevel gear 103, a deflection platform 11, a supporting platform 12, a linear driving assembly 13, a driving connecting rod 131, a second linear motor 132 and a translation assembly 14.
Detailed Description
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances in order to facilitate the description of the embodiments of the application herein.
In this application, the terms "upper", "lower", "inside", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings. These terms are used primarily to better describe the present application and its embodiments, and are not used to limit the indicated devices, elements or components to a particular orientation or to be constructed and operated in a particular orientation.
Moreover, some of the above terms may be used to indicate other meanings besides the orientation or positional relationship, for example, the term "on" may also be used to indicate some kind of attachment or connection relationship in some cases. The specific meaning of these terms in this application will be understood by those of ordinary skill in the art as the case may be.
Furthermore, the terms "disposed," "provided," "connected," "secured," and the like are to be construed broadly. For example, "connected" may be a fixed connection, a detachable connection, or a unitary construction; can be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements or components. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as 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 in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
In order to improve the precision and efficiency of the needle puncture operation of a doctor on a patient, a puncture robot is adopted for auxiliary puncture in the related technology. The puncture position and puncture angle of the puncture needle are determined by the puncture robot through posture adjustment, so that the position and angle at which the needle can puncture are also directly limited by the posture and angle that the puncture robot can guide. And in some cases the piercing robot needs to be fixed on the patient's body, requiring that the piercing robot be relatively bulky and heavy.
Therefore, the application provides a four-degree-of-freedom puncture needle positioning guide device based on an RCM structure, so as to achieve the purposes of enabling a puncture machine to have a larger working space, a larger posture angle adjustment and more postures while the size and the weight of the puncture machine are smaller. The details are as follows:
as shown in fig. 1 and 8, the present application provides a four-degree-of-freedom puncture needle positioning guide device based on an RCM structure, which includes: the driving platform, the first deflection mechanism 10 and the second deflection mechanism 3; wherein,
the driving platform comprises a base 1, a translation assembly 14, a linear driving assembly 13, a driving connecting rod 131, a bracket 9 and a sliding block 4; the translation assembly 14 is fixed on the base 1, and the translation assembly 14 can drive the bracket 9 to linearly translate; the linear driving component 13 is fixedly arranged on the bracket 9;
the first end of the driving connecting rod 131 is hinged with the output end of the linear driving assembly 13 through a vertical shaft, and the second end is hinged with the sliding block 4 through a vertical shaft; the sliding block 4 is arranged on the bracket 9 and can be driven by the driving connecting rod 131 to slide along the translation direction vertical to the bracket 9;
a supporting platform 12 is arranged at the upper end of the bracket 9, a first end of the supporting platform 12 is fixedly connected with the sliding block 4, and a second end of the supporting platform 12 is connected with the bracket 9 in a sliding manner, so that the supporting platform 12 can slide along with the sliding block 4 along a translation direction vertical to the bracket 9;
the first deflection mechanism 10 and the second deflection mechanism 3 are both arranged on the supporting platform;
the output end of the first deflection mechanism 10 is deflectable about the Y-axis; the second deflection mechanism 3 is arranged at the output end of the first deflection mechanism 10, the output end of the second deflection mechanism 3 can deflect around the X axis, and the output end of the second deflection mechanism 3 is provided with a fixing part 5 for fixing the puncture needle 6.
In the embodiment, the four-degree-of-freedom puncture needle positioning and guiding device based on the RCM structure mainly comprises a driving platform, a first deflection mechanism 10 and a second deflection mechanism 3. The driving platform is responsible for realizing horizontal translation of the puncture needle 6 in the X direction and the Y direction, and the first deflection mechanism 10 and the second deflection mechanism 3 are responsible for realizing deflection of the puncture needle 6 around the X axis and deflection around the Y axis respectively.
For the driving platform, it mainly consists of a base 1, a translation assembly 14, a linear driving assembly 13, a driving connecting rod 131, a bracket 9 and a slider 4, wherein the base 1 is used as a mounting base for the rest of components, the translation assembly 14 is fixed on the base 1, and the bracket 9 is mounted at the output end of the translation assembly 14, so that the movement of the translation assembly 14 can drive the bracket 9 to move linearly. As shown in fig. 1 and fig. 3, in the embodiment, the output direction of the translation assembly 14 is the Y-axis direction, that is, the support 9 can be driven to perform linear translation in the Y-axis direction. And the linear driving assembly 13, the driving connecting rod 131, the bracket 9 and the sliding block 4 are all mounted on the bracket 9, so that the translation assembly 14 can drive each component on the bracket 9 and the bracket 9 to synchronously perform linear translation in the Y-axis direction.
While the translation motion in the Y-axis direction is realized, the puncture robot in this embodiment also needs to realize the translation motion in the X-axis direction. As shown in fig. 4 and 5, for the translational motion, the present application is implemented by the driving link 131 and the slider 4, both ends of the driving link 131 are respectively hinged with the output end of the linear driving assembly 13 and the slider 4 through a vertical shaft, and the slider 4 is slidable on the bracket 9 along the X-axis direction. The output end of the linear driving assembly 13 is controlled to perform linear movement to drive the driving connecting rod 131 to rotate around the Z axis and drive the sliding block 4 to translate on the bracket 9 along the X axis direction, so as to drive the first deflection mechanism 10 installed on the sliding block 4, the second deflection mechanism 3 installed on the first deflection mechanism 10 and the puncture needle 6 installed on the second deflection mechanism 3 to synchronously translate in the X axis direction.
For the deflecting movements of the puncture robot around the X-axis and the Y-axis, the present embodiment is implemented by the first deflecting mechanism 10 and the second deflecting mechanism 3, respectively, as shown in fig. 6 to 9. Wherein the first deflection mechanism 10 is mounted on the slide 4 on the carriage 9 so as to be synchronously movable with the carriage 9 and the slide 4. As shown in fig. 6 and 7, the first deflecting mechanism 10 is a moving mechanism capable of outputting a rotational motion, and an output end thereof is connected to the second deflecting mechanism 3, so as to drive the second deflecting mechanism 3 to deflect around the Y axis as a whole. The output end of the second deflection mechanism 3 is connected with the puncture needle 6, so that the first deflection mechanism 10 can drive the second deflection mechanism 3 and the puncture needle 6 to deflect around the Y axis synchronously. As shown in fig. 8 and 9, the second deflecting mechanism 3 is also a moving mechanism capable of outputting a rotational motion in a direction of rotating around the X axis, and the puncture needle 6 is mounted at the output end of the second deflecting mechanism 3 through the fixing portion 5, so that the puncture needle 6 can be deflected around the X axis alone by the second deflecting mechanism 3.
In summary, the puncture robot in the present application can perform the linear translation of the puncture needle 6 in the X-axis direction and the Y-axis direction and the rotation around the X-axis and the rotation around the Y-axis, that is, can control the puncture needle 6 to perform the posture adjustment in four degrees of freedom.
Since the linear translation of the puncture needle 6 in the Y direction in the present application needs to be realized by moving the bracket 9, in order to make the translation of the bracket 9 more stable, the driving platform further comprises a first guide rail 7 and a guide block 8;
the guide blocks 8 are arranged into two groups and are positioned on two sides of the base 1, the first guide rails 7 are arranged into two groups and are respectively sleeved in the corresponding guide blocks 8 in a sliding mode, and the end portions of the first guide rails 7 are fixedly connected with the support 9.
Specifically, it should be noted that the base 1 is kept in a stationary state during the movement of the bracket 9, so that the guide blocks 8 are fixed on two sides of the base 1, the first guide rails 7 are fixed on two sides of the bracket 9, and the first guide rails 7 are slidably connected with the guide blocks 8, so that the linear movement of the bracket 9 can realize accurate guiding under the matching of the first guide rails 7 and the guide blocks 8. The first guide rail 7 may be provided as a cylindrical structure in this embodiment.
As shown in fig. 1, since the slider 4 needs to move linearly on the bracket 9 along the X-axis direction, in order to precisely guide the movement of the slider 4 in the present embodiment, the bracket 9 includes a mounting plate 92 and a second guide rail 91 provided at an end of the mounting plate 92;
the linear driving assembly 13 is fixedly arranged on the mounting plate 92, and the end part of the first guide rail 7 is fixedly connected with the mounting plate 92; the translation assembly 14 can drive the bracket 9 to linearly translate;
the second guide rail 91 is provided in a direction perpendicular to the moving direction of the mounting plate 92; the slider 4 is slidably disposed on the second guide rail 91.
Specifically, it should be noted that the mounting plate 92 is provided in a plate-like structure having a groove structure at an end of the mounting plate 92, and the second rail 91 is mounted in the groove structure, thereby achieving mounting of the second rail 91 while reducing the size of the mounting plate 92. The slide block 4 is sleeved on the second guide rail 91 and is connected with the second guide rail 91 in a sliding mode, and the second guide rail 91 can also be of a cylindrical structure. To facilitate the connection of the first rail 7 on the mounting plate 92, in the present embodiment, connecting blocks are provided at both ends of the mounting plate 92, and the connecting blocks are fixedly connected with the ends of the first rail 7. The connecting block is provided with a through hole structure, and the end part of the first guide rail 7 is arranged in the through hole of the connecting block in a penetrating way and is fixed. The connecting block and the mounting plate 92 can be fixedly connected through bolts.
In order to reduce the weight of the mounting plate 92 and thus the weight of the entire device, the present embodiment is provided with a plurality of lightening holes in both the mounting plate 92 and the base 1.
In order to make the structure of the puncture robot simpler, the translation assembly 14 in this embodiment includes a first linear motor fixed on the base 1, the first linear motor is located below the mounting plate 92, an output end of the first linear motor is in transmission connection with the mounting plate 92, and a fixed end of the first linear motor is fixed on the base 1;
similarly, in the embodiment, the linear driving assembly 13 includes a second linear motor 132 fixed below the mounting plate 92, an output end of the second linear motor 132 is hinged to the first end of the driving link 131 through a vertical shaft, and a fixed end of the second linear motor 132 is fixed on the lower surface of the mounting plate 92.
Since the first deflecting mechanism 10 and the second deflecting mechanism 3 are both disposed above the bracket 9, in order to facilitate the installation of the first deflecting mechanism 10, as shown in fig. 1, a supporting platform 12 is disposed at the upper end of the bracket 9 in the present embodiment, a first end of the supporting platform 12 is fixedly connected to the sliding block 4, and a second end is slidably connected to the upper end of the bracket 9. For the convenience of the sliding of the supporting platform 12 driven by the sliding block 4 above the bracket 9, the third guide rails 2 are arranged at the two ends of the bracket 9, the upper end of the sliding block 4 is connected with one of the third guide rails 2 in a sliding manner, the lower end of the sliding block 4 is connected with the second guide rail 91 in a sliding manner, the supporting platform 12 and the sliding block 4 are arranged in an integrated manner, and one end of the supporting platform, far away from the sliding block 4, is connected with the other third guide rail 2 in a sliding manner.
The first deflection mechanism 10 comprises a deflection platform 11 and a first rotating mechanism which are arranged on a supporting platform 12, wherein two ends of the deflection platform 11 are hinged with two ends of the supporting platform 12 through a Y-direction rotating shaft, so that the deflection platform 11 can rotate around the axis of the Y-direction rotating shaft under the driving of external force, namely deflect around a Y axis, and then the second deflection mechanism 3 on the deflection platform 11 is driven to deflect around the Y axis. The first rotating mechanism is arranged on the supporting platform 12 and is used for driving the deflection platform 11 to rotate around the Y axis, and here, the first rotating mechanism can be realized by adopting various rotating motion structures, and in this embodiment, a motion structure with a small size and relatively accurate motion is mainly selected.
The structure of the first rotating mechanism is specifically described in this embodiment:
to make the deflecting motion of the puncture needle 6 in the Y direction more accurate and stable and to reduce the space occupied by the whole device in the transverse direction. As shown in fig. 1 and fig. 2, the first rotating mechanism in this embodiment includes a first bevel gear 102 disposed on the rotating shaft in the Y direction and a driving motor 101 disposed on the supporting platform 12, and an output end of the driving motor 101 is provided with a second bevel gear 103 engaged with the first bevel gear 102.
Specifically, it should be noted that the first bevel gear 102 is installed on a rotating shaft in the Y direction away from the slider 4, and the rotation of the first bevel gear 102 can drive the deflection platform 11 to rotate synchronously. In order to install the driving motor 101 on the supporting platform 12, a motor mounting rack is installed at one end of the supporting platform 12 far away from the sliding block 4, the driving motor 101 is fixed on the motor mounting rack, the output end of the driving motor 101 is arranged towards the direction, a second bevel gear 103 is installed at the output end, the second bevel gear 103 is meshed with the first bevel gear 102, the driving motor 101 drives the second bevel gear 103 to rotate, so that the first bevel gear 102 is driven to rotate, and then the deflection platform 11 is driven to rotate.
In order to further improve the stability and precision of the movement of the puncture needle 6, as shown in fig. 1 and 2, the second deflecting mechanism 3 in this embodiment includes a linear motion assembly 32 and a parallelogram linkage assembly 31;
the fixed end of the linear motion assembly 32 is hinged on the deflection platform 11, the first end of the parallelogram connecting rod assembly 31 is hinged on the deflection platform 11, and the second end is hinged with the fixed part 5;
the output end of the linear motion assembly 32 is connected to the driving portion of the parallelogram linkage assembly 31 to urge the second end of the parallelogram linkage assembly 31 to deflect about the X-axis.
In this embodiment, the linear motion assembly 32 is a linear module capable of outputting Y-direction motion, and is mounted on the deflection platform 11 for pushing the end of the parallelogram link assembly 31 to move. The two ends of the parallelogram link assembly 31 are respectively hinged on the deflection platform 11 and the fixing part 5, and the links forming the parallelogram link assembly 31 are also connected in a hinged manner, so that the links of the parallelogram link assembly 31 can be linked. In this embodiment, the linear motion assembly 32 is used to push one of the parallelogram link assemblies 31 to rotate around the X-axis, so that the other links act synchronously, and thus the fixing portion 5 at the end portion performs the corresponding X-axis deflection action, so that the puncture needle 6 can deflect around the X-axis.
The structure of the parallelogram link assembly is explained in detail in this embodiment:
as shown in fig. 1 and 2, the parallelogram link assembly 31 includes two sets of oppositely disposed link structures, each set of link structures including a first vertical rod 314, a second vertical rod 313, a first cross rod 312, and a second cross rod 311;
the lower ends of the first vertical rod 314 and the second vertical rod 313 are hinged with the deflection platform 11;
the head end, the middle end and the tail end of the first cross rod 312 are respectively hinged at the upper ends of the first vertical rod 314, the second vertical rod 313 and the fixing part 5;
the head end, the middle end and the tail end of the second cross rod 311 are respectively hinged at the middle ends of the first vertical rod 314, the second vertical rod 313 and the fixing part 5;
the output end of the linear motion assembly 32 extends between the two second vertical rods 313 of the two sets of link structures and is hinged with the two second vertical rods 313.
Specifically, it should be noted that a set of link structures can form a parallelogram structure, and in this embodiment, in order to stabilize the movement of the puncture needle 6, two sets of link structures are used together. The two groups of connecting rod structures are arranged at two sides of the fixing part 5, namely at two sides of the puncture needle 6. The two sets of link structures are arranged oppositely along the X-axis direction, and the embodiment takes a set of link structures as an example for specific description:
as shown in fig. 1 and 2, each set of link structures is composed of four links, namely a first vertical rod 314, a second vertical rod 313, a first cross rod 312 and a second cross rod 311. The first vertical bar 314 and the second vertical bar 313 are sequentially arranged along the Y-axis direction, and the first cross bar 312 and the second cross bar 311 are sequentially arranged along the Z-axis direction. The first vertical rod 314 and the second vertical rod 313 are hinged on the side of the deflection platform 11 through the rotating shaft in the X direction, the first cross rod 312 and the second cross rod 311 are hinged on the corresponding first vertical rod 314 and the second vertical rod 313 through the rotating shaft in the X direction, and the fixing part 5 is also hinged at the tail ends of the first cross rod 312 and the second cross rod 311 through the rotating shaft in the X direction. The output end of the linear motion member 32 is hinged to one of the vertical rods, and to secure a working space, the output end thereof is hinged to the second vertical rod 313.
The fixed end of the linear motion assembly 32 is hinged to the end of the deflection platform 11 remote from the slider 4. When the output end of the linear motion component 32 extends out, the second vertical rod 313 is directly pushed to rotate clockwise, and because the second vertical rod 313, the first vertical rod 314, the first cross rod 312 and the second cross rod 311 jointly form a parallelogram component, the clockwise rotation of the second vertical rod 313 can drive the first vertical rod 314 to rotate clockwise synchronously, and the first cross rod 312 and the second cross rod 311 move downwards synchronously, the distance between the end parts of the first vertical rod and the second vertical rod gradually changes, so that the fixing part 5 rotates clockwise around the X axis, and then the puncture needle 6 fixed on the fixing part 5 is driven to deflect clockwise around the X axis.
Similarly, when the output end of the linear motion assembly 32 retracts, the second vertical rod 313 is directly pulled to rotate counterclockwise, so that the first transverse rod 312 and the second transverse rod 311 move upward synchronously, the distance between the ends of the first transverse rod and the second transverse rod gradually changes, the fixing portion 5 rotates counterclockwise around the X axis, and then the puncture needle 6 fixed on the fixing portion 5 is driven to deflect counterclockwise around the X axis.
In this embodiment, the parallelogram link assembly 31 is adopted to adjust the deflection posture of the puncture needle 6 in the X-axis direction, so that the puncture needle has simple movement, the difficulty in solving the inverse solution of the movement is reduced, and the movement stability and accuracy of the puncture needle 6 can be improved.
In order to make the parallelogram linkage assembly 31 have a larger movement space, in the embodiment, the first vertical rod 314 and the second vertical rod 313 have bent portions, and the output ends of the first cross rod 312, the second cross rod 311 and the linear movement assembly 32 are hinged at the corresponding bent portions.
Further, the linear motion assembly 32 comprises a linear motor fixed on the base 1, and a piston rod of the linear motor extends between the two second vertical rods 313 of the two sets of link structures and is hinged with the two second vertical rods 313.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (5)
1. A four-degree-of-freedom puncture needle positioning and guiding device based on an RCM structure is characterized by comprising: the device comprises a driving platform, a first deflection mechanism and a second deflection mechanism; the driving platform comprises a base, a translation assembly, a linear driving assembly, a driving connecting rod, a support, a sliding block, a first guide rail and a guide block; the bracket comprises a mounting plate and a second guide rail arranged at the end part of the mounting plate;
the guide blocks are arranged into two groups and positioned at two sides of the base, the first guide rails are arranged into two groups and are respectively sleeved in the corresponding guide blocks in a sliding manner, and the end parts of the first guide rails are fixedly connected with the mounting plate;
the translation assembly comprises a first linear motor fixed on the base, and the output end of the first linear motor is in transmission connection with the mounting plate so as to drive the mounting plate to linearly translate;
the second guide rail is arranged along the moving direction vertical to the mounting plate, and the sliding block is arranged on the second guide rail in a sliding manner; the linear driving assembly comprises a second linear motor fixed on the mounting plate, the output end of the second linear motor is hinged with the first end of the driving connecting rod through a vertical shaft, and the second end of the driving connecting rod is hinged with the sliding block through a vertical shaft so as to drive the sliding block to slide on the second guide rail;
a supporting platform is arranged at the upper end of the mounting plate, the first end of the supporting platform is fixedly connected with the sliding block, and the second end of the supporting platform is in sliding connection with the mounting plate, so that the supporting platform can slide along the sliding direction perpendicular to the mounting plate along with the sliding block;
the first deflection mechanism comprises a deflection platform and a first rotating mechanism which are arranged on the supporting platform, two ends of the deflection platform are hinged with two ends of the supporting platform through a Y-direction rotating shaft, and the axis of the Y-direction rotating shaft extends along the Y axis; the first rotating mechanism is arranged on the supporting platform and used for driving the deflection platform to rotate around the Y axis;
the second deflection mechanism can deflect around the X axis, and the output end of the second deflection mechanism is provided with a fixing part for fixing the puncture needle; the X axis and the Y axis are two horizontal and mutually vertical axes;
the second deflection mechanism comprises a linear motion assembly and a parallelogram connecting rod assembly; the fixed end of the linear motion assembly is hinged on the deflection platform, the first end of the parallelogram connecting rod assembly is hinged on the deflection platform, and the second end of the parallelogram connecting rod assembly is hinged with the fixed part; the output end of the linear motion assembly is connected with the driving part of the parallelogram connecting rod assembly so as to push the second end of the parallelogram connecting rod assembly to deflect around the X axis.
2. The RCM structure-based four-degree-of-freedom puncture needle positioning and guiding device according to claim 1, wherein the first rotating mechanism comprises a first bevel gear arranged on the Y-direction rotating shaft and a driving motor arranged on the supporting platform, and an output end of the driving motor is provided with a second bevel gear meshed with the first bevel gear.
3. The RCM structure-based four-degree-of-freedom puncture needle positioning guide of claim 2, wherein the parallelogram linkage assembly comprises two sets of oppositely disposed linkage structures, each set of linkage structures comprising a first vertical rod, a second vertical rod, a first cross rod, and a second cross rod;
the lower ends of the first vertical rod and the second vertical rod are hinged with the deflection platform;
the head end, the middle end and the tail end of the first cross rod are respectively hinged to the upper ends of the first vertical rod, the second vertical rod and the fixing part;
the head end, the middle end and the tail end of the second cross rod are respectively hinged to the middle ends of the first vertical rod, the second vertical rod and the fixing part;
the output end of the linear motion assembly extends to a position between two second vertical rods of the two groups of connecting rod structures and is hinged with the two second vertical rods.
4. The RCM structure-based four-degree-of-freedom puncture needle positioning guide device according to claim 3, wherein the first vertical rod and the second vertical rod are provided with bending portions, and the output ends of the first cross rod, the second cross rod and the linear motion assembly are hinged at the corresponding bending portions.
5. The RCM structure-based four-degree-of-freedom puncture needle positioning guide device according to claim 4, wherein the linear motion assembly comprises a linear motor fixed on the base, and a piston rod of the linear motor extends between and is hinged to two second vertical rods of the two sets of connecting rod structures.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210340201.0A CN114431940B (en) | 2022-04-02 | 2022-04-02 | Four-degree-of-freedom puncture needle positioning and guiding device based on RCM structure |
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| CN202210340201.0A CN114431940B (en) | 2022-04-02 | 2022-04-02 | Four-degree-of-freedom puncture needle positioning and guiding device based on RCM structure |
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| CN115317094B (en) * | 2022-07-29 | 2024-06-25 | 武汉大学 | RCM puncture device and puncture teaching method |
| CN117323015B (en) * | 2023-10-30 | 2024-06-21 | 赛诺威盛医疗科技(扬州)有限公司 | Miniaturized multi-degree-of-freedom robot |
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| US7175635B2 (en) * | 2000-03-30 | 2007-02-13 | Siemens Aktiengesellschaft | Medical device with a drive unit for a needle |
| CN103417303B (en) * | 2013-08-16 | 2016-01-20 | 天津大学 | Based on the nuclear magnetism compatibility surgical robot of silk transmission |
| CN106388939B (en) * | 2016-10-17 | 2023-03-31 | 中国矿业大学 | Magnetic resonance compatible pneumatic puncture surgical robot |
| JP2021191382A (en) * | 2020-06-05 | 2021-12-16 | 国立大学法人 岡山大学 | Puncture needle grip device and puncture robot comprising puncture needle grip device |
| CN113081276B (en) * | 2021-03-29 | 2022-07-15 | 上海健康医学院 | Four-bar linkage venipuncture needle advancing and retreating execution device with needle picking action |
| CN113180830B (en) * | 2021-04-15 | 2022-09-06 | 北京理工大学 | Rope-driven parallel reconfigurable surgical navigation positioning robot |
| CN113288577B (en) * | 2021-05-24 | 2022-06-24 | 北京航空航天大学 | Eyeground puncture injection robot system |
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