CN118614993A - Ultrasound-assisted parallel vascular puncture robot - Google Patents

Abstract

The present invention discloses an ultrasound-assisted parallel vascular puncture robot, which belongs to the technical field of puncture assisting devices. The puncture robot comprises an ultrasound probe clamping mechanism (1), a parallel mechanism with three degrees of freedom adjustment (2), an automatically executed needle insertion mechanism (3) and a puncture needle quick release mechanism (4) with a force sensor; wherein: the ultrasound probe clamping mechanism (1) is used to clamp the ultrasound probe and can be quickly disassembled; the parallel mechanism with three degrees of freedom adjustment (2) is used to realize the movement of the puncture needle in three degrees of freedom; the automatically executed needle insertion mechanism (3) is used to realize the needle insertion movement; the puncture needle quick release mechanism (4) with a force sensor is used to clamp the puncture needle and fix the force sensor. The parallel vascular puncture robot of the present invention solves the problems of difficulty in adjusting the puncture angle and inflexible control during existing punctures.

Description

Ultrasound-assisted parallel vascular puncture robot

Technical Field

The present invention relates to the technical field of puncture assisting devices, and in particular to an ultrasound-assisted parallel vascular puncture robot.

Background Art

Vascular vessels connect arteries and veins, and are mainly used to transport nutrients to large solid organs and attach to them. Vascular puncture intervention surgery is a minimally invasive treatment method that uses professional guide wires or catheters to reach the diseased area through vascular intervention to achieve the purpose of examination or treatment.

Traditional vascular puncture technology has no visual guidance and mainly relies on surface landmarks to locate blood vessels. It has many limitations: (1) It is based on the assumption that there is no anatomical variation, while normal variation exists in a few cases; (2) It is impossible to determine whether there is a lesion in the blood vessel; (3) It is impossible to determine the specific position of the puncture needle and guide wire; (4) There is damage to adjacent tissue structures; (5) The surface landmarks of some patients cannot be observed or touched.

When ultrasound is used to guide vascular puncture, it has the following advantages: (1) Ultrasound equipment is small in size, easy to move, inexpensive, has no radiation risk, and provides real-time images; (2) Ultrasound guidance can more accurately assess the location and filling level of blood vessels and observe the insertion of guidewires/tubes in real time; (3) It reduces the number of operations and the chance of repeated operations leading to complications; and (4) It reduces the incidence of complications.

In ultrasound-guided clinical puncture operations, the operator holds the ultrasound probe in one hand to scan the target vessel and inserts the puncture needle with the other hand. It is difficult to coordinate both hands to accurately insert the puncture needle into the target vessel. This requires the operator to have high operational skills and experience, a long learning cycle, and a low one-time puncture success rate, which can easily cause complications to patients.

In addition, in clinical puncture operations, the needle is required to be at a certain angle to the skin, such as 20°, 35°, etc., and there are certain requirements for the position of the needle, such as requiring the needle bevel to be upward, which varies depending on the puncture site, etc. However, the current technology makes it difficult to adjust the needle puncture angle, and there are problems such as inflexible control and difficulty in precise control.

Summary of the invention

In order to solve the above-mentioned deficiencies in the prior art, the purpose of the present invention is to provide an ultrasound-assisted parallel vascular puncture robot, which solves the problems of difficulty in adjusting the puncture angle and inflexible control during the prior art puncture.

To achieve the above purpose, the technical solution adopted by the present invention is as follows:

An ultrasound-assisted parallel vascular puncture robot comprises an ultrasound probe clamping mechanism, a parallel mechanism with three degrees of freedom adjustment, an automatically executed needle insertion mechanism and a puncture needle quick release mechanism with a force sensor; wherein: the ultrasound probe clamping mechanism is used to clamp the ultrasound probe and can be quickly disassembled; the parallel mechanism with three degrees of freedom adjustment is used to realize the movement of the puncture needle with three degrees of freedom; the automatically executed needle insertion mechanism is used to realize the needle insertion movement; the puncture needle quick release mechanism with a force sensor is used to clamp the puncture needle and fix the force sensor; the specific structures of each part are as follows:

The ultrasonic probe clamping mechanism comprises an ultrasonic clamping cover, a rotating shaft I and an ultrasonic clamping shell. The ultrasonic clamping shell is fixedly connected to the ultrasonic clamping cover via the rotating shaft I, and can clamp and quickly release the ultrasonic probe through a rotating opening and closing motion.

Furthermore, the ultrasonic clamping cover and the ultrasonic clamping shell are respectively provided with a corresponding clamping groove I and a clamping hook I, and the clamping and locking of the ultrasonic probe can be realized and disassembled through the cooperation of the clamping groove I and the clamping hook I.

The parallel mechanism for adjusting three degrees of freedom includes a central support of the screw, a parallel base, a guide rail, a slider, a screw support, a bearing, a screw, a motor I, a motor support, a pulley I, a belt I, a parallel arm, a slider adapter block, a parallel arm adapter block and a needle adapter block; the central support of the screw is fixedly connected to the parallel base, and the guide rail, the screw support and the motor support are installed on the parallel base, the motor I is installed on the motor support, the screw is installed on the screw support through a bearing, and the motor I drives the screw through the pulley I and the belt I; the screw drives the slider to slide on the guide rail, the slider is connected to the parallel arm through the slider adapter block, and the parallel arm is connected to the needle adapter block through the parallel arm adapter block, finally realizing movement with three degrees of freedom.

Furthermore, in the parallel mechanism with three degrees of freedom adjustment, the lead screw includes lead screw I and lead screw II, and the length of lead screw I is greater than that of lead screw II, so that the puncture needle can achieve rotational movement within a larger angle range.

The automatically executed needle insertion mechanism includes a needle insertion base, a motor II, a pulley II, a belt II, a support, a needle insertion slider, a needle insertion guide rail and a needle insertion screw, wherein: the support and the needle insertion guide rail are installed on the needle insertion base; the motor II and the needle insertion screw are both installed on the support, and the motor II drives the needle insertion screw through the pulley II and the belt II; the rotation of the needle insertion screw drives the needle insertion slider to slide on the needle insertion guide rail to realize the needle insertion movement.

Furthermore, the automatically executed needle insertion mechanism also includes a puncture needle guide frame, and the puncture needle guide frame and the needle insertion base are an integrated structure to achieve stable needle insertion.

The puncture needle quick-release mechanism with a force sensor includes a force sensor, a puncture needle clamping base, a rotating shaft II, a puncture needle clamping cover and a puncture needle, wherein: the puncture needle clamping base is fixedly connected to the force sensor, and the puncture needle clamping cover is connected to the puncture needle clamping base through the rotating shaft II, and the puncture needle can be quickly released by a rotating opening and closing movement.

Furthermore, the puncture needle clamping cover and the puncture needle clamping base are respectively provided with a corresponding clamping slot II and a clamping hook II, and the puncture needle is locked and disassembled through the clamping slot II and the clamping hook II.

Compared with the prior art, the ultrasound-assisted parallel vascular puncture robot provided by the present invention has the following beneficial effects:

1. The ultrasound-assisted parallel vascular puncture robot of the present invention is mainly used for puncturing target vessels, wherein the parallel mechanism can realize three-degree-of-freedom puncture angle adjustment, making the control of the puncture needle more flexible.

2. In the puncture robot of the present invention, the length of the vertical lead screw I of the parallel mechanism is greater than the other two lead screws II, which can realize the rotational movement of the puncture needle in a larger angle range.

3. In the puncture robot of the present invention, the force sensor can record the puncture force in real time to facilitate timely adjustment of the puncture force.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is a front view of the puncture robot of the present invention.

Figure 2 is an exploded view of the quick-release mechanism for clamping ultrasound.

FIG. 3 is an exploded diagram of a parallel mechanism with three degrees of freedom adjustment.

FIG. 4 is a schematic diagram of the structure of the automatically executed needle insertion mechanism.

FIG. 5 is an exploded view of the quick-release mechanism of the puncture needle with a force sensor.

In the figure: 1-ultrasonic probe clamping mechanism; 101-ultrasonic clamping cover; 102-rotating axis Ⅰ; 103-ultrasonic clamping shell; 104-ultrasonic probe; 105-slot Ⅰ; 106-hook Ⅰ; 2-parallel mechanism with three-degree-of-freedom adjustment; 201-center support; 202-parallel base; 203-guide rail; 204-slider; 205-screw support; 206-bearing; 2071-screw Ⅰ; 2072-screw Ⅱ; 208-motor Ⅰ; 209-motor support; 2010-pulley Ⅰ; 2011-belt Ⅰ; 2012-parallel arm; 2013 slider Adapter block; 2014-parallel arm adapter block; 2015-needle insertion adapter block; 3-automatic needle insertion mechanism; 301-needle insertion base; 302-motor II; 303-pulley II; 304-belt II; 305-support; 306-needle insertion slider; 307-needle insertion guide rail; 308-needle insertion screw rod; 309-puncture needle guide frame; 4-puncture needle quick release mechanism with force sensor; 401-force sensor; 402-puncture needle clamping base; 403-rotating axis II, 404-puncture needle clamping cover; 405-puncture needle; 406-slot II; 407-hook II.

DETAILED DESCRIPTION

In order to further understand the present invention, the present invention is described below in conjunction with examples, but the examples are only for further elaboration of the features and advantages of the present invention, rather than for limiting the claims of the present invention.

The present invention provides an ultrasound-assisted parallel vascular puncture robot, the overall structure of which is shown in Figure 1. The puncture robot comprises an ultrasound probe clamping mechanism 1, a parallel mechanism 2 with three degrees of freedom adjustment, an automatically executed needle insertion mechanism 3, and a puncture needle quick-release mechanism 4 with a force sensor, wherein: the ultrasound probe clamping mechanism 1 is used to clamp the ultrasound probe and can be quickly disassembled, the parallel mechanism 2 with three degrees of freedom adjustment is fixed to the ultrasound clamping shell 103 of the ultrasound probe clamping mechanism 1 through its parallel base 202;

The parallel mechanism 2 with three degrees of freedom adjustment is connected to the needle insertion base 301 of the needle insertion mechanism 3 through the needle insertion adapter block 2015. The needle insertion slider 306 of the needle insertion mechanism is fixedly connected to the puncture needle clamping base 402 of the puncture needle quick release mechanism 4. The puncture needle quick release mechanism 4 is used to connect the sensor and clamp the puncture needle.

The three-degree-of-freedom adjustable parallel mechanism 2 drives the needle insertion mechanism 3, the puncture needle quick-release mechanism 4 and the puncture needle connected together to perform three-degree-of-freedom movement relative to the ultrasonic probe clamping mechanism 1.

The specific structures of the various parts of the ultrasound-assisted parallel vascular puncture robot of the present invention are as follows:

As shown in FIG. 2 , the ultrasonic probe clamping mechanism 1 comprises an ultrasonic clamping cover 101, a rotating shaft I 102, an ultrasonic clamping shell 103 and an ultrasonic probe 104; an axial hole is provided on the opposite side of the ultrasonic clamping shell 103 and the ultrasonic clamping cover 101, and the rotating shaft I 102 can be inserted into the axial hole, that is, the ultrasonic clamping shell 103 is rotatably connected to the ultrasonic clamping cover 101 through the rotating shaft I 102, and the ultrasonic probe 104 can be clamped and quickly released by rotating opening and closing movements; the other side of the ultrasonic clamping shell 103 and the ultrasonic clamping cover 101 is provided with a corresponding card slot I 105 and a card hook I 106, and the card slot I 105 and the card hook I 106 cooperate to realize the card connection, locking and removal of the ultrasonic probe 104.

As shown in FIG3 , the parallel mechanism 2 with three degrees of freedom adjustment includes a screw center support 201, a parallel base 202, a guide rail 203, a slider 204, a screw support 205, a bearing 206, a screw, a motor I 208, a motor support 209, a pulley I 2010, a belt I 2011, a parallel arm 2012, a slider adapter block 2013, a parallel arm adapter block 2014, and a needle insertion adapter block 2015; specifically:

The central support 201 of the lead screw is fixedly connected to the center position of the parallel base 202; the parallel base 202 is equipped with a guide rail 203, a lead screw support 205 and a motor support 209; the parallel base 202 is provided with grooves of corresponding structures for installing the guide rail 203, the lead screw support 205 and the motor support 209; there are three guide rails 203, which are evenly distributed in a radial shape with the central support 201 of the lead screw as the center; the motor I 208 is installed on the motor support 209, the lead screw is installed on the lead screw support 205 through the bearing 206, and the slider 204 can slide along the guide rail 203; the motor I 2 08 The lead screw is driven by pulley Ⅰ2010 and belt Ⅰ2011; the lead screw drives slider 204 to slide on guide rail 203, slider 204 is connected to the outer end of parallel arm 2012 through slider adapter block 2013, and the inner end of parallel arm 2012 is connected to needle adapter block 2015 through parallel arm adapter block 2014, finally realizing the movement of three degrees of freedom (one movement and two rotations) of needle adapter block 2015; wherein the lead screw includes one lead screw Ⅰ2071 and two lead screws Ⅱ2072, the length of lead screw Ⅰ2071 is greater than that of lead screw Ⅱ2072, and rotational movement in a larger angle range can be realized.

Preferably, the bottom of the slider 204 is provided with a through groove matching the guide rail 203 so that it can slide along the guide rail 203; the upper part of the slider 204 is provided with a columnar head, and the slider 204 is connected to the through hole in the center of the slider adapter block 2013 through the columnar head; the slider adapter block 2013 is hinged to the outer end of the parallel arm 2012; the upper part of the parallel arm adapter block 2014 has a through hole connected to the needle adapter block, and the parallel arm adapter block 2014 is hinged to the inner end of the parallel wall. When the slider moves synchronously inward or outward on the guide rail, the plane where the needle adapter block 2015 is located moves in the direction of the vertical line of the plane where the parallel base is located (the puncture needle is parallel to the plane where the needle adapter block 2015 is located); when the three sliders move asynchronously on the guide rail, the needle adapter block 2015 rotates relative to the plane where the parallel base is located.

As shown in Fig. 4, the automatic needle insertion mechanism 3 comprises a needle insertion base 301, a motor II 302, a pulley II 303, a belt II 304, a support 305, a needle insertion slider 306, a needle insertion guide rail 307 and a needle insertion screw 308. The rear side of the needle insertion base 301 of the needle insertion mechanism 3 (the side where the motor II 302 is placed) is fixedly connected to the needle insertion adapter block 2015 of the parallel mechanism.

A support 305 is installed at one end of the needle insertion base 301, a needle insertion guide rail 307 is installed axially of the needle insertion base 301, and a puncture needle guide frame 309 is installed at the other end of the needle insertion base 301; the motor II 302 is installed on the support 305, one end of the needle insertion screw rod 308 is installed on the support 305, and the other end of the needle insertion screw rod 308 is installed on the puncture needle guide frame 309, and the needle insertion screw rod 308 is arranged parallel to the needle insertion guide rail 307; the motor II 302 drives the needle insertion screw rod 308 through the pulley II 303 and the belt II 304; the rotation of the needle insertion screw rod 308 drives the needle insertion slider 306 to slide on the needle insertion guide rail 307 to realize the needle insertion movement; the puncture needle guide frame 309 is integrated with the needle insertion base 301, thereby realizing stable needle insertion.

As shown in FIG. 5 , the puncture needle quick-release mechanism 4 with a force sensor includes a force sensor 401 , a puncture needle clamping base 402 , a rotating shaft II 403 , a puncture needle clamping cover 404 and a puncture needle 405 .

The puncture needle clamping base 402 is fixedly connected to the force sensor 401, and the puncture needle clamping cover 404 is connected to the puncture needle clamping base 402 through the rotating shaft II 403 and can realize the rotational opening and closing movement, thereby realizing the clamping and quick release of the puncture needle 405 through the rotational opening and closing movement; the puncture needle clamping cover 404 and the puncture needle clamping base 402 are connected by a buckle to achieve locking and disassembly. Preferably, matching card slots II 406 and hooks II 407 are set at the corresponding positions of the puncture needle clamping cover 404 and the puncture needle clamping base 402 to achieve locking and disassembly.

Claims (8)

1. An ultrasound-assisted parallel vascular puncture robot, characterized in that: the puncture robot comprises an ultrasound probe clamping mechanism (1), a parallel mechanism with three degrees of freedom adjustment (2), an automatically executed needle insertion mechanism (3) and a puncture needle quick-release mechanism with a force sensor (4); wherein: Ultrasonic probe clamping mechanism (1): used for clamping the ultrasonic probe and capable of rapid disassembly; A parallel mechanism (2) with three degrees of freedom adjustment: used to realize the movement of a puncture needle with three degrees of freedom; the parallel mechanism (2) comprises a screw center support (201), a parallel base (202), a guide rail (203), a slider (204), a screw support (205), a bearing (206), a screw, a motor I (208), a motor support (209), a pulley I (2010), a belt I (2011), a parallel arm (2012), a slider adapter block (2013), a parallel arm adapter block (2014) and a needle insertion adapter block (2015); the screw center support (201) is fixedly connected to the parallel base (202), and the parallel base (202) is provided with a plurality of guide rails. A guide rail (203), a lead screw support (205) and a motor support (209) are installed, a motor I (208) is installed on the motor support (209), a lead screw is installed on the lead screw support (205) through a bearing (206), and the motor I (208) drives the lead screw (207) through a pulley I (2010) and a belt I (2011); the lead screw drives the slider (204) to slide on the guide rail (203), the slider (204) is connected to the parallel arm (2012) through the slider adapter block (2013), and the parallel arm (2012) is connected to the needle adapter block (2015) through the parallel arm adapter block (2014), and finally realizes the movement of three degrees of freedom; Automatic needle insertion mechanism (3): used to realize needle insertion movement; The puncture needle quick release mechanism (4) with a force sensor is used for clamping the puncture needle and fixing the force sensor. 2. The ultrasound-assisted parallel vascular puncture robot according to claim 1 is characterized in that: the ultrasound probe clamping mechanism includes an ultrasound clamping cover (101), a rotating shaft I (102) and an ultrasound clamping shell (103), and the ultrasound clamping shell (103) is fixedly connected to the ultrasound clamping cover (101) through the rotating shaft I (102), and can clamp and quickly release the ultrasound probe (104) through a rotating opening and closing movement. 3. The ultrasound-assisted parallel vascular puncture robot according to claim 2 is characterized in that: the ultrasonic clamping cover (101) and the ultrasonic clamping shell (103) are respectively provided with corresponding card slots I (105) and card hooks I (106), and the card slots I (105) and card hooks I (106) are used to realize the clamping, locking and disassembly of the ultrasonic probe. 4. The ultrasound-assisted parallel vascular puncture robot according to claim 1 is characterized in that: in the three-degree-of-freedom adjustable parallel mechanism (2), the screw includes screw I (2071) and screw II (2072), and the length of screw I (2071) is greater than that of screw II (2072), so that the puncture needle can achieve a larger angle range of rotational movement. 5. The ultrasound-assisted parallel vascular puncture robot according to claim 1 is characterized in that: the automatically executed needle insertion mechanism (3) includes a needle insertion base (301), a motor II (302), a pulley II (303), a belt II (304), a support (305), a needle insertion slider (306), a needle insertion guide (307) and a needle insertion screw (308), wherein: the support (305) and the needle insertion guide (307) are installed on the needle insertion base (301); the motor II (302) and the needle insertion screw (308) are both installed on the support (305), and the motor II (302) drives the needle insertion screw (308) through the pulley II (303) and the belt II (304); the needle insertion screw (308) rotates to drive the needle insertion slider (306) to slide on the needle insertion guide (307) to realize the needle insertion movement. 6. The ultrasound-assisted parallel vascular puncture robot according to claim 5 is characterized in that: the automatically executed needle insertion mechanism (3) also includes a puncture needle guide frame (309), and the puncture needle guide frame (309) and the needle insertion base (301) are an integrated structure to achieve stable needle insertion. 7. The ultrasound-assisted parallel vascular puncture robot according to claim 1 is characterized in that: the puncture needle quick-release mechanism (4) with a force sensor comprises a force sensor (401), a puncture needle clamping base (402), a rotating shaft II (403), a puncture needle clamping cover (404) and a puncture needle (405), wherein: the puncture needle clamping base (402) is fixedly connected to the force sensor (401), and the puncture needle clamping cover (404) is connected to the puncture needle clamping base (402) through the rotating shaft II (403), and the puncture needle (405) can be clamped and quickly released by a rotating opening and closing movement. 8. The ultrasound-assisted parallel vascular puncture robot according to claim 7 is characterized in that: the puncture needle clamping cover (404) and the puncture needle clamping base (402) are respectively provided with corresponding card slots II (406) and hooks II (407), and the puncture needle is locked and disassembled through the card slots II (406) and hooks II (407).