阅读说明：本技术 穿刺角度调节装置及穿刺辅助机器人 (Puncture angle adjusting device and puncture auxiliary robot ) 是由 张博 张磊 张立群 张哲明 黄强 藤江正克 于 2019-01-15 设计创作，主要内容包括：本发明涉及医疗器械技术领域,公开了一种穿刺角度调节装置及穿刺辅助机器人,穿刺角度调节装置包括基座以及设置于基座上的丝杠机构和连杆机构；丝杠机构包括丝杠和套设于丝杠上的螺母；丝杠绕丝杠的轴线可转动地设于基座上,以带动螺母沿丝杠的轴线做直线运动；连杆机构包括传动接块、推杆和回转杆,传动接块的一侧连接于螺母,传动接块的另一侧转动连接于推杆的一端；推杆的另一端转动连接于回转杆的第一连接端,回转杆的第二连接端转动连接于基座,回转杆的第三连接端用于连接穿刺针具组件。该穿刺角度调节装置通过设置丝杠机构和连杆机构,能够实现穿刺角度的连续调整,并具有角度调整精度高、寿命长、结构紧凑体积小的优点。(The invention relates to the technical field of medical instruments and discloses a puncture angle adjusting device and a puncture auxiliary robot, wherein the puncture angle adjusting device comprises a base, a screw rod mechanism and a connecting rod mechanism, wherein the screw rod mechanism and the connecting rod mechanism are arranged on the base; the screw mechanism comprises a screw and a nut sleeved on the screw; the screw rod is rotatably arranged on the base around the axis of the screw rod so as to drive the nut to do linear motion along the axis of the screw rod; the connecting rod mechanism comprises a transmission connecting block, a push rod and a rotary rod, one side of the transmission connecting block is connected to the nut, and the other side of the transmission connecting block is rotatably connected to one end of the push rod; the other end of the push rod is rotatably connected with the first connecting end of the rotary rod, the second connecting end of the rotary rod is rotatably connected with the base, and the third connecting end of the rotary rod is used for connecting the puncture needle assembly. The puncture angle adjusting device can realize continuous adjustment of the puncture angle by arranging the screw rod mechanism and the connecting rod mechanism, and has the advantages of high angle adjustment precision, long service life, compact structure and small volume.)

1. A puncture angle adjusting device is characterized by comprising a base, a screw rod mechanism and a connecting rod mechanism, wherein the screw rod mechanism and the connecting rod mechanism are arranged on the base; the screw rod mechanism comprises a screw rod and a nut sleeved on the screw rod; the screw rod is rotatably arranged on the base around the axis of the screw rod so as to drive the nut to do linear motion along the axis of the screw rod;

the connecting rod mechanism comprises a transmission connecting block, a push rod and a rotary rod, one side of the transmission connecting block is connected to the nut, and the other side of the transmission connecting block is rotatably connected to one end of the push rod; the other end of the push rod is rotatably connected with the first connecting end of the rotary rod, the second connecting end of the rotary rod is rotatably connected with the base, and the third connecting end of the rotary rod is used for connecting the puncture needle assembly.

2. The lancing angle adjustment device of claim 1, further comprising a guide mechanism, the guide mechanism comprising a first slide mounted on the base and a first slider slidably coupled to the first slide; the length direction of the first slide rail is parallel to the axial direction of the lead screw, and the first slide block is connected to the transmission connecting block.

3. The puncture angle adjusting device according to claim 2, wherein the transmission block comprises a first block and a second block which are connected in sequence in a radial direction of the lead screw; the first connecting block is sleeved on the lead screw and connected to the nut; one end of the second connecting block is rotatably connected to the push rod, and the other end of the second connecting block is fixedly connected to the first sliding block.

4. The lancing angle adjustment device of claim 1, further comprising a first stop mechanism, the first stop mechanism comprising a first position sensor and a first stop; the first position sensor is arranged on the base, and the first limiting block is arranged at the second connecting end of the rotary rod; the first position sensor is used for detecting the position of the first limiting block so as to limit the first limiting angle of the rotary rod.

5. The lancing angle adjustment device of claim 1, further comprising a second stop mechanism, the second stop mechanism comprising a second position sensor and a second stop; the second position sensor is arranged on the base, and the second limiting block is arranged at one end, far away from the push rod, of the transmission connecting block; the second position sensor is used for detecting the position of the second limiting block so as to limit the second limiting angle of the rotary rod.

6. The puncture angle adjusting device according to claim 1, further comprising a connecting seat and a translation assembly disposed on the connecting seat, wherein the translation assembly comprises a second slide rail fixedly connected to the connecting seat, a second slide block slidably connected to the second slide rail, and a connecting plate; one side of the connecting plate is connected to the second sliding block, and the other side of the connecting plate is connected to the base.

7. The puncture angle adjusting device according to claim 6, wherein the connecting base is provided with a limiting through hole, and the connecting plate is provided with a limiting projection; the limiting lug is slidably arranged in the limiting through hole.

8. The lancing angle adjustment device of claim 1, further comprising a drive mechanism including a motor, an output of the motor being connected to the lead screw.

9. The puncture angle adjusting device according to any one of claims 1 to 8, wherein the pivoting lever is an L-shaped lever, the first connecting end and the second connecting end are both provided on the short side of the L-shaped lever, and the third connecting end is provided on the long side of the L-shaped lever.

10. A puncture assisting robot comprising the puncture angle adjusting apparatus according to any one of claims 1 to 9.

Technical Field

The invention relates to the technical field of medical instruments, in particular to a puncture angle adjusting device and a puncture auxiliary robot.

Background

The blood vessel puncture under the ultrasonic guidance is widely applied to diagnosis and auxiliary operations such as injection of medicines, blood or nutrient solution, monitoring of hemodynamics, monitoring of venous pressure and the like which need to be carried out for a long time. Because the puncture operation has higher requirement on the operation skill level of medical personnel, the puncture success rate mainly depends on the medical level of doctors, the initial puncture success rate is lower, and the puncture angle of the puncture bracket used in the puncture operation is generally set to be a fixed angle, so that the large-range continuous adjustment cannot be realized. The existing vein puncture system with the infrared guiding and ultrasonic positioning function comprises an ultrasonic positioning unit, a base and a supporting rod arranged on the base, wherein the ultrasonic positioning unit comprises a high-frequency ultrasonic probe and a puncture needle connecting frame, the high-frequency ultrasonic probe is arranged on the supporting rod through an ultrasonic device connecting rod, and the puncture needle connecting frame is fixed on the front side or the side face of the high-frequency ultrasonic probe. The invention transmits and receives ultrasonic waves through the high-frequency ultrasonic probe, receives ultrasonic image signals of the blood vessel, and then processes and displays the ultrasonic image signals, thereby facilitating medical personnel to puncture the blood vessel. However, the angle adjustment of the puncture needle connecting frame needs the medical staff to manually adjust the angle, so that the angle adjustment precision is low, the efficiency is low, and the stability is poor. .

In order to improve the puncture accuracy and reduce the risk of puncture complications, a puncture assisting robot is beginning to become a research hotspot. The puncture auxiliary robot mainly realizes the arbitrary adjustment of puncture angle through motor, pneumatic or hydraulic drive, and the structure that the motor adjusted the puncture angle generally adopts worm gear transmission or rack and pinion transmission more, however worm gear transmission structure's inefficiency, rack and pinion transmission structure then has the space size great, the return error is big, puncture angle adjustment accuracy is low to the easy wearing and tearing scheduling problem of transmission flank of tooth.

Disclosure of Invention

Technical problem to be solved

The invention aims to provide a puncture angle adjusting device with high transmission efficiency and a compact structure, and aims to solve the problems of low transmission efficiency, large error and large size of the conventional puncture angle adjusting device.

Another object of the present invention is to provide a puncture assisting robot using the above puncture angle adjusting apparatus, which can improve the adjustability and the adjustment accuracy of the puncture angle.

(II) technical scheme

In order to solve the technical problem, the invention provides a puncture angle adjusting device, which comprises a base, a screw rod mechanism and a connecting rod mechanism, wherein the screw rod mechanism and the connecting rod mechanism are arranged on the base; the screw rod mechanism comprises a screw rod and a nut sleeved on the screw rod; the screw rod is rotatably arranged on the base around the axis of the screw rod so as to drive the nut to do linear motion along the axis of the screw rod; the connecting rod mechanism comprises a transmission connecting block, a push rod and a rotary rod, one side of the transmission connecting block is connected to the nut, and the other side of the transmission connecting block is rotatably connected to one end of the push rod; the other end of the push rod is rotatably connected with the first connecting end of the rotary rod, the second connecting end of the rotary rod is rotatably connected with the base, and the third connecting end of the rotary rod is used for connecting the puncture needle assembly.

The device comprises a base, a first sliding rail and a guide mechanism, wherein the guide mechanism comprises a first sliding rail arranged on the base and a first sliding block connected to the first sliding rail in a sliding manner; the length direction of the first slide rail is parallel to the axial direction of the lead screw, and the first slide block is connected to the transmission connecting block.

The transmission connecting block comprises a first connecting block and a second connecting block which are sequentially connected along the radial direction of the lead screw; the first connecting block is sleeved on the lead screw and connected to the nut; one end of the second connecting block is rotatably connected to the push rod, and the other end of the second connecting block is fixedly connected to the first sliding block.

The device comprises a first positioning device, a second positioning device and a control device, wherein the first positioning device comprises a first position sensor and a first positioning block; the first position sensor is arranged on the base, and the first limiting block is arranged at the second connecting end of the rotary rod; the first position sensor is used for detecting the position of the first limiting block so as to limit the first limiting angle of the rotary rod.

The device also comprises a second limiting mechanism, wherein the second limiting mechanism comprises a second position sensor and a second limiting block; the second position sensor is arranged on the base, and the second limiting block is arranged at one end, far away from the push rod, of the transmission connecting block; the second position sensor is used for detecting the position of the second limiting block so as to limit the second limiting angle of the rotary rod.

The device comprises a connecting seat and a translation assembly arranged on the connecting seat, wherein the translation assembly comprises a second slide rail fixedly connected to the connecting seat, a second slide block connected to the second slide rail in a sliding manner and a connecting plate; one side of the connecting plate is connected to the second sliding block, and the other side of the connecting plate is connected to the base.

The connecting seat is provided with a limiting through hole, and the connecting plate is provided with a limiting lug; the limiting lug is slidably arranged in the limiting through hole.

The screw rod mechanism further comprises a driving mechanism, the driving mechanism comprises a motor, and the output end of the motor is connected to the screw rod.

The rotary rod is an L-shaped rod, the first connecting end and the second connecting end are arranged on the short side of the L-shaped rod, and the third connecting end is arranged on the long side of the L-shaped rod.

The invention also provides a puncture auxiliary robot which comprises the puncture angle adjusting device.

(III) advantageous effects

Compared with the prior art, the invention has the following advantages:

the invention provides a puncture angle adjusting device which comprises a screw rod mechanism and a connecting rod mechanism, wherein the screw rod mechanism and the connecting rod mechanism are arranged on a base; the connecting rod mechanism comprises a transmission connecting block, a push rod and a rotary rod which are sequentially connected in a rotating mode, the rotary rod is further connected to the base and can rotate around the base, and the transmission connecting block is further connected to the nut and can move linearly along with the nut. When the nut moves linearly, the driving connecting block is driven to move linearly together, the push rod is pushed or pulled, and the rotating rod is driven to rotate around the base, so that the puncture needle assembly connected with the rotating rod rotates around the base, and the puncture angle is continuously adjusted in a large range. The puncture angle adjusting device can realize continuous adjustment of the puncture angle by arranging the screw rod mechanism and the connecting rod mechanism, and has the advantages of high angle adjustment precision, long service life, compact structure and small volume. Meanwhile, the device is quick to install, convenient to use, stable to operate, convenient to upgrade and transform the existing puncture auxiliary robot, low in cost and wide in application range.

The puncture auxiliary robot utilizing the puncture angle adjusting device provided by the invention is simple and convenient to operate, easy to master, capable of reducing puncture difficulty and improving puncture precision.

Drawings

FIG. 1 is a front view of a puncture angle adjusting apparatus in an embodiment of the present invention;

FIG. 2 is a rear view of a puncture angle adjusting apparatus in an embodiment of the present invention;

FIG. 3 is a schematic structural view of a screw mechanism and a driving mechanism in an embodiment of the present invention;

FIG. 4 is a schematic structural diagram of a drive interface in an embodiment of the invention;

FIG. 5 is an enlarged view of a portion of a second position sensor and a second stopper according to an embodiment of the present invention;

FIG. 6 is a schematic structural diagram of a connecting socket according to an embodiment of the present invention;

FIG. 7 is a schematic structural view of a turn bar in an embodiment of the present invention;

description of reference numerals:

1: a base; 11: a base plate; 12: a third rotating shaft mounting arm;

13: fixing a baffle plate; 14: a connecting plate positioning groove; 2: a lead screw mechanism;

21: a lead screw; 22: a nut; 23: a first lead screw support;

24: a second lead screw support; 3: a link mechanism; 31: a transmission connecting block;

311: a first joint block; 312: a second block; 32: a push rod;

33: a turning lever; 331: a short side; 332: a long side;

34: a first rotating shaft; 35: a second rotating shaft; 36: a third rotating shaft;

4: a guide mechanism; 41: a first slide rail; 42: a first slider;

5: a first limit mechanism; 51: a first position sensor; 52: a first stopper;

6: a second limiting mechanism; 61: a second position sensor; 62: a second limiting block;

7: a connecting seat; 71: connecting the seat plate; 72: a connecting plate;

73: a second slide rail; 74: a second slider; 75: a limiting through hole;

76: adjusting the through hole; 8: a drive mechanism; 81: a motor;

82: a belt drive assembly; 821: a first timing pulley; 822: a second timing pulley;

823: a synchronous belt; 83: a motor support.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be described below with reference to the accompanying drawings and specific embodiments. It is to be understood that the embodiments described are only a few embodiments of the invention, and 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 invention.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "first", "second", "third", and the like are used for the purpose of clearly indicating the numbering of the product parts and do not represent any substantial difference. The directions of the upper part, the lower part, the front part, the rear part, the left part and the right part are all based on the directions shown in the attached drawings. The front end, the back end and the top part all aim at the conventional cognition of the product structure. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

It is to be understood that, unless otherwise expressly stated or limited, the term "coupled" is used in a generic sense as defined herein, e.g., fixedly attached or removably attached or integrally attached; may be directly connected or indirectly connected through an intermediate. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Fig. 1 is a front view of a puncture angle adjusting device in an embodiment of the present invention, fig. 2 is a rear view of the puncture angle adjusting device in the embodiment of the present invention, fig. 3 is a schematic structural diagram of a screw mechanism and a driving mechanism in the embodiment of the present invention, and as shown in fig. 1 to 3, the puncture angle adjusting device in the embodiment of the present invention includes a base 1, and a screw mechanism 2 and a link mechanism 3 which are disposed on the base 1. The screw mechanism 2 includes a screw 21 and a nut 22 sleeved on the screw 21, the screw 21 is rotatably disposed on the base 1 around the axis of the screw 21 to drive the nut 22 to move linearly along the axis of the screw 21. The internal thread of the nut 22 is matched with the external thread of the screw 21, and the nut 22 moves linearly with the rotation of the screw 21, so that the screw mechanism 2 can convert the rotary motion of the screw 21 into the linear motion of the nut 22.

Specifically, as shown in fig. 3, the screw mechanism 2 further includes a first screw support 23 and a second screw support 24 fixedly connected to the lower side of the base plate 11, the front end of the screw 21 is rotatably connected to the through hole of the first screw support 23 through a bearing, and the rear end of the screw 21 is also rotatably connected to the through hole of the second screw support 24 through a bearing. Thus, the screw 21 can rotate freely relative to the two screw mounts without a back-and-forth displacement.

More specifically, the screw mechanism 2 may be a ball screw mechanism, a closed-loop raceway is provided between the screw 21 and the nut 22, and steel balls are filled between the raceways, so that sliding friction of the screw pair is changed into rolling friction, and the screw mechanism has a small friction force, high transmission efficiency, and high precision. Further, the screw mechanism 2 may employ a slide screw or a roller screw.

As shown in fig. 1 and 2, the link mechanism 3 includes a drive shoe 31, a push rod 32, and a turn rod 33. The right side of the transmission connecting block 31 is fixedly connected to the nut 22 through a screw, the left side of the transmission connecting block 31 is rotatably connected to the front end of the push rod 32, the rear end of the push rod 32 is rotatably connected to the first connecting end of the rotary rod 33, the second connecting end of the rotary rod 33 is rotatably connected to the base 1, and the third connecting end of the rotary rod 33 is used for connecting a puncture needle assembly (not shown in the figure). Specifically, the second connecting end of the rotating lever 33 is located at the front end of the rotating lever 33, the third connecting end of the rotating lever 33 is located at the rear end of the rotating lever 33, and the first connecting end of the rotating lever 33 is located at the middle of the rotating lever 33.

In the present embodiment, the direction of the screw 21 toward the first screw support 23 is taken as the front, the direction of the screw 21 toward the second screw support 24 is taken as the rear, the side of the transmission block 31 connected to the nut 22 is taken as the right, and the side of the transmission block 31 connected to the push rod is taken as the left, with reference to the perspective of fig. 3.

When the nut 22 moves forward along the screw rod 21, the push rod 32 is pulled, and the rotary rod 33 is driven to rotate clockwise, so that the puncture needle assembly rotates clockwise, and the puncture angle changes; when the nut 22 moves backward along the screw shaft 21, the push rod 32 is pushed, and the turn rod 33 is driven to rotate counterclockwise, so that the lancet assembly is rotated counterclockwise and the puncture angle is changed. The puncture angle in this embodiment is the angle between the puncture needle assembly and the plane of the base 1, and since the patient lies down during the conventional operation, the plane of the base 1 can be considered to be parallel to the skin of the patient, so the puncture angle is equal to the actual angle between the puncture needle and the skin.

The puncture angle adjusting device provided by the embodiment comprises a screw rod mechanism and a connecting rod mechanism which are arranged on a base, wherein the screw rod mechanism comprises a rotatable screw rod and a nut which is sleeved on the screw rod, and the nut can do linear motion along the axis of the screw rod along with the rotation of the screw rod; the connecting rod mechanism comprises a transmission connecting block, a push rod and a rotary rod which are sequentially connected in a rotating mode, the rotary rod is further connected to the base and can rotate around the base, and the transmission connecting block is further connected to the nut and can move linearly along with the nut. When the nut moves linearly, the driving connecting block is driven to move linearly together, the push rod is pushed or pulled, and the rotating rod is driven to rotate around the base, so that the puncture needle assembly connected with the rotating rod rotates around the base, and the puncture angle is continuously adjusted in a large range. The puncture angle adjusting device can realize continuous adjustment of the puncture angle by arranging the screw rod mechanism and the connecting rod mechanism, and has the advantages of high angle adjustment precision, long service life, compact structure and small volume. Meanwhile, the device is quick to install, convenient to use, stable to operate, convenient to upgrade and transform the existing puncture auxiliary robot, low in cost and wide in application range.

Further, as shown in fig. 2, the transmission block 31 is rotatably connected to the push rod 32 through a first rotation shaft 34, the push rod 32 is rotatably connected to the rotation rod 33 through a second rotation shaft 35, and the rotation rod 33 is rotatably connected to the base 1 through a third rotation shaft 36. The push rod 32 is a downward-concave arc-shaped rod, two opposite first installation arms are arranged at the front end of the push rod 32, the transmission connecting block 31 is embedded between the two first installation arms, and the first rotary shaft 34 penetrates through the installation holes of the first installation arms and the transmission connecting block 31. Similarly, the rear end of the push rod 32 is provided with two opposite second mounting arms, the middle part of the rotary rod 33 is embedded between the two second mounting arms, and the second rotary shaft 35 is inserted into the mounting holes of the second mounting arms and the rotary rod 33.

The rear end of base plate 11 also is equipped with two relative third pivot axle installation arms 12, the front end of gyration pole 33 is inlayed and is located between two third pivot axle installation arms 12, third pivot 36 wears to locate in the mounting hole of third pivot axle installation arm 12 and gyration pole 33, and the outside of the third pivot axle installation arm 12 on right side is equipped with the fixed stop 13 of rigid coupling in base plate 11, compress tightly third pivot 36 between two third pivot axle installation arms 12 through fixed stop 13, avoid gyration pole 33 to rock about on third pivot 36, influence the driven stability of link mechanism 3.

Further, as shown in fig. 2, the puncture angle adjusting device further includes a guiding mechanism 4, and the guiding mechanism 4 includes a first slide rail 41 mounted on the base 1 and a first slide block 42 slidably connected to the first slide rail 41. The length direction of the first slide rail 41 is parallel to the axial direction of the screw 21, and the first slide block 42 is connected to the transmission connecting block 31. The reverse bending moment generated by the push rod to the transmission connecting block and the nut can be offset by arranging the guide mechanism, the linear motion track of the transmission connecting block is further limited, and the motion stability is ensured. Specifically, two first sliding blocks 42 are arranged on the first sliding rail 41, and the double-sliding-block structure can increase the span, improve the bearing capacity and the bending resistance of the transmission connecting block, and further improve the rigidity of the whole structure.

Further, as shown in fig. 4, the transmission block 31 includes a first block 311 and a second block 312 which are connected in series in the radial direction of the screw 21. The first connecting block 311 is a cuboid with a through hole at the center, and the first connecting block 311 is sleeved on the screw rod 21 and is fixedly connected to the nut 22 through a screw. The second connecting block 312 is an integrally formed assembly, and includes a long plate at the front end and a first rotating shaft mounting seat at the rear end, and the first rotating shaft 34 penetrates through a center hole of the first rotating shaft mounting seat. The length direction of the long plate is parallel to the axis of the screw 21, and arc transition is adopted between the long plate and the first rotating shaft mounting seat. The rear end of the second joint block 312 is rotatably connected to the push rod 32, and the front end of the second joint block 312 is fixedly connected to the first slide block 42 through a screw.

Specifically, the first joint block 311 and the second joint block 312 may be integrally connected, bonded or welded. When the push rod 32 is used, the nut 22 moves back and forth on the screw 21 to drive the first connecting block 311 to move back and forth, and the second connecting block 312 also moves back and forth along with the first connecting block, so that the push rod 32 is pushed or pulled. Meanwhile, the top of the second connecting block 312 is slidably connected to the first slide rail 41 through the first slide block 42, when the push rod 32 is pressed in the process of adjusting the puncture angle, the second connecting block 312 can transmit the pressure to the first slide block 42, the pressure is dispersed by the sliding fit of the first slide block 42 and the first slide rail 41, the stress of the nut 22 and the lead screw 21 is reduced, and the pressure resistance of the device is improved. Through setting up first piecing blocks and the second piecing blocks of parallel connection, make the push rod and lead screw stagger certain distance and arrange, both can guarantee that the axis of push rod is parallel with the axis of lead screw, can disperse the backpressure of push rod to guiding mechanism again, increase device's compressive capacity.

Further, as shown in FIG. 7, the rotary lever 33 is an L-shaped lever, the short side 331 of the L-shaped lever is pivotally connected to the base 1, the long side 332 of the L-shaped lever is used for connecting the lancet assembly, and the mounting holes for the second rotary shaft 35 and the third rotary shaft 36 are formed on the short side 331.

Further, as shown in fig. 1 to 3, the puncture angle adjusting device further includes a first limiting mechanism 5, and the first limiting mechanism 5 includes a first position sensor 51 and a first limiting block 52. The first position sensor 51 is mounted on the base 1, and the first stopper 52 is mounted on the second connection end of the turning lever 33, i.e., the front end of the turning lever 33. The first position sensor 51 is used to detect the position of the first stopper 52 to limit the first stopper angle of the swiveling lever 33. When the puncture angle of the puncture needle assembly is smaller than the first limit angle, the first position sensor 51 does not send a trigger signal; when the puncture angle of the puncture needle assembly is equal to the first limit angle, the first position sensor 51 sends a trigger signal to stop the rotation of the lead screw 21. Thus, the first limit angle is the maximum limit angle of the lancet assembly.

Specifically, the first position sensor 51 is a contact position sensor in a pie shape, meanwhile, a mounting piece of the first position sensor 51 is arranged on the base plate 11, the first position sensor 51 is embedded into the mounting piece to realize the mounting between the first position sensor 51 and the base 1, the first limit block 52 can be a folded block in an L shape, the long side of the folded block in an L shape is fixedly connected to the front end of the rotary rod 33, the short side of the folded block in an L shape faces upwards, the short side of the folded block in an L shape is close to the first position sensor 51 along with the rotation of the rotary rod 33, when the two contact, the first position sensor 51 is triggered to stop the running point of the screw rod mechanism 2, and further stop the rotation of the rotary rod 33.

Further, as shown in fig. 2 and 5, the puncture angle adjusting device further includes a second limiting mechanism 6, and the second limiting mechanism 6 includes a second position sensor 61 and a second limiting block 62. The second position sensor 61 is installed on the base 1, and the second limiting block 62 is installed at one end of the transmission connecting block 31 far away from the push rod 32. The second position sensor 61 is used to detect the position of the second stopper 62 to limit the second stopper angle of the swiveling lever 33. When the puncture angle of the puncture needle assembly is larger than the second limit angle, the second position sensor 61 does not send a trigger signal; when the puncture angle of the puncture needle assembly is equal to the second limit angle, the second position sensor 61 sends a trigger signal to stop the rotation of the screw 21. Thus, the second limiting angle is the minimum limiting angle of the lancet assembly.

Specifically, as shown in fig. 5, the second position sensor 61 is a contact position sensor in a circular cake shape, and a mounting member of the second position sensor 61 is connected to the first screw support 23 through an intermediate connection plate, and the mounting between the second position sensor 61 and the base 1 is realized by embedding the second position sensor 61 in the mounting member. The second limiting block 62 is a rectangular block and is fixedly connected to the front end of the long plate of the second connecting block 312 through a screw. Along with the movement of the transmission joint 31, the second stop block 62 approaches the second position sensor 61. When the two contact, the second position sensor 61 is triggered to stop the operation of the screw mechanism 2, and thus stop the movement of the transmission joint 31. In addition, the second position sensor can also adopt a non-contact position sensor, and the trigger point position of the second limiting block is set according to the actual use requirement, so that the second limiting angle is adjusted. Further, as shown in fig. 3 and 6, the puncturing angle adjusting device further includes a connecting seat 7 and a translation assembly disposed on the connecting seat 7, wherein the translation assembly includes a second slide rail 73 fixedly connected to the connecting seat 7, a second slide block 74 slidably connected to the second slide rail 73, and a connecting plate 72. The upper surface of the connecting plate 72 is fixed to the second slider 74 by screws, and the lower surface of the connecting plate 72 is attached to the connecting plate positioning groove 14 of the base 1.

Specifically, the connecting seat 7 includes two connecting seat plates 71 perpendicular to each other, and two adjusting through holes 76 are opened on the horizontal connecting seat plate 71 for optimizing the structural center of gravity and achieving the purpose of reducing the weight of the structural member. Two sliding blocks 74 are arranged on the second sliding rail 73, so that the supporting force for the lower structure is improved.

Furthermore, a limiting through hole 75 is formed in the connecting base 7, and a limiting bump is arranged on the connecting plate 72 and slidably arranged in the limiting through hole 75. Specifically, as shown in fig. 6, the limit projection passes through the limit through hole 75, and the limit projection is used for connecting with an external translation driving component.

When the puncture needle assembly is used, the external translation driving assembly drives the limiting lug to move back and forth in the limiting through hole 75, so that the second sliding block 74 is driven to slide back and forth along the second sliding rail 73, and then the whole screw rod mechanism 2 and the connecting rod mechanism 3 are driven to translate back and forth through the base 1, so that the puncture needle assembly can horizontally move.

Furthermore, the connecting seat 7 can also be connected with an external vertical movement driving component and a left-right translation driving component, so that the puncture needle tool component can move in the vertical direction and the horizontal left-right direction.

Further, as shown in fig. 1 to 3, the puncture angle adjusting device further includes a driving mechanism 8, the driving mechanism 8 includes a motor 81, and an output end of the motor 81 is connected to the lead screw 2 through a belt transmission assembly 82. Specifically, the belt driving assembly 82 includes a first timing pulley 821 connected to the lead screw 21, a second timing pulley 822 connected to an output end of the motor 81, and a timing belt 823 connecting the first timing pulley 821 and the second timing pulley 822. The motor 81 is fixedly connected to the first screw support 23 via a motor support 83. The rotation of the motor can be transferred to the screw rod by arranging the belt transmission assembly.

The following describes a method of using the puncture angle adjusting device in detail:

in the initial state, the short side 331 of the L-shaped rotary rod 33 is kept horizontal with the base 1, and the lancet assembly mounted on the long side 332 of the rotary rod 33 is perpendicular to the base 1, so that the angle between the lancet assembly and the base 1 is a first limit angle, i.e., 90 degrees, at this time, the first limit block 52 contacts the first position sensor 51, the lead screw 21 stops, and the lancet assembly in this state is used as the reference origin, which is beneficial to the correction of the subsequent puncture angle.

During the operating condition, start actuating mechanism 8, motor 81 passes through hold-in range 823 and drives lead screw 21 and rotate, and nut 22 converts the rotation of lead screw 21 into linear motion, drives transmission piecing 31 through nut 22 and moves from second lead screw support 24 towards first lead screw support 23, and then drives push rod 32, gyration pole 33 and puncture needle utensil subassembly and rotate. When the puncture angle is appropriate, for example, 45 degrees, the motor 81 is stopped to prepare for the puncture operation.

After the operation is completed, the driving mechanism 8 is restarted to restore the initial state of the lancet assembly.

The invention also provides a puncture auxiliary robot which comprises the puncture angle adjusting device in the embodiment. Specifically, the puncture assisting robot further comprises a puncture needle assembly connected to the rotary rod 33, an ultrasonic probe module mounted on the connecting seat 7, and a translational driving assembly in three directions from the outside, wherein a probe on the ultrasonic probe module faces the puncture needle assembly.

According to the embodiment, the puncture angle adjusting device comprises the screw rod mechanism and the connecting rod mechanism which are arranged on the base, wherein the screw rod mechanism comprises the rotatable screw rod and the nut sleeved on the screw rod, and the nut can do linear motion along the axis of the screw rod along with the rotation of the screw rod; the connecting rod mechanism comprises a transmission connecting block, a push rod and a rotary rod which are sequentially connected in a rotating mode, the rotary rod is further connected to the base and can rotate around the base, and the transmission connecting block is further connected to the nut and can move linearly along with the nut. When the nut moves linearly, the driving connecting block is driven to move linearly together, the push rod is pushed or pulled, and the rotating rod is driven to rotate around the base, so that the puncture needle assembly connected with the rotating rod rotates around the base, and the puncture angle is continuously adjusted in a large range. The puncture angle adjusting device can realize continuous adjustment of the puncture angle by arranging the screw rod mechanism and the connecting rod mechanism, and has the advantages of high angle adjustment precision, long service life, compact structure and small volume. Meanwhile, the device is quick to install, convenient to use, stable to operate, convenient to upgrade and transform the existing puncture auxiliary robot, low in cost and wide in application range.

The puncture auxiliary robot utilizing the puncture angle adjusting device provided by the invention is simple and convenient to operate, easy to master, capable of reducing puncture difficulty and improving puncture precision.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.