CN110279439A - A kind of biopsy needle and sting device punctured for mechanical arm - Google Patents
A kind of biopsy needle and sting device punctured for mechanical arm Download PDFInfo
- Publication number
- CN110279439A CN110279439A CN201910596222.7A CN201910596222A CN110279439A CN 110279439 A CN110279439 A CN 110279439A CN 201910596222 A CN201910596222 A CN 201910596222A CN 110279439 A CN110279439 A CN 110279439A
- Authority
- CN
- China
- Prior art keywords
- needle
- mechanical arm
- main needle
- outer tube
- fixed
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B10/00—Other methods or instruments for diagnosis, e.g. instruments for taking a cell sample, for biopsy, for vaccination diagnosis; Sex determination; Ovulation-period determination; Throat striking implements
- A61B10/02—Instruments for taking cell samples or for biopsy
- A61B10/0233—Pointed or sharp biopsy instruments
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
- A61B2017/3405—Needle locating or guiding means using mechanical guide means
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Medical Informatics (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Pathology (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Surgical Instruments (AREA)
- Infusion, Injection, And Reservoir Apparatuses (AREA)
Abstract
The present invention relates to a kind of biopsy needles and sting device punctured for mechanical arm, including main needle and can pass through main needle inner space secondary needle, the main needle is arranged in outer tube, main needle is slidably connected with the connector being fixed in outer tube, main needle can be along the axis direction free movement of outer tube, the outer tube is connect with universal part, universal part can drive outer tube to make universal rotational, the universal part is fixed with fixing piece, the fixing piece with human body for being fixedly connected, sting device of the invention is easy to operate, and precision is high, reduces the pain of patient.
Description
Technical field
The present invention relates to technical field of medical equipment, and in particular to a kind of biopsy needle and puncture dress for mechanical arm puncture
It sets.
Background technique
With the progress of medical technology, operation medically constantly develops towards minimally invasive direction, especially tumor disease, needs
Puncture sampling tissue is carried out to be diagnosed.Making histopathologic examination is usually to take work with biopsy needle to tumor tissues in body cavity
Inspection, conventional method are to determine point of puncture and paracentesis depth and angle by CT scan first, and then doctor by virtue of experience holds and lives
Inspection needle is punctured, inventors have found that adopting this method, accuracy is poor, and operating process is longer, and patient is required to puncture
Position must not change in the process, and patient feels fatigue, often occur puncturing error, need localised puncture repeatedly sometimes, cause tumour
Local Implantation matastasis is so that there is complication.
With the method for control technology, in terms of mechanical arm technology is increasingly used in medical treatment, mechanical arm has behaviour
Facilitate, the high feature of accuracy, but inventors have found that current biopsy needle can not also cause to live with mechanical arm connected applications
The operation of inspection needle also needs manual operation to carry out.
Summary of the invention
The purpose of the present invention is to overcome above-mentioned the deficiencies in the prior art, provide a kind of biopsy needle punctured for mechanical arm
Device, damage caused by can be effectively reduced because of the misoperation in doctors experience deficiency and surgical procedure, is greatly reduced disease
The pain of people improves success rate of operation.
To achieve the above object, the present invention adopts the following technical solutions:
It is a kind of for mechanical arm puncture biopsy needle, including main needle and can pass through main needle inner space secondary needle, it is described
Main needle is arranged in outer tube, and main needle is slidably connected with the connector being fixed in outer tube, and main needle is used to connect with driving mechanism,
Can be under the action of the driving mechanism along the axis direction free movement of outer tube, the outer tube is connect with universal part, universal part energy
Enough driving outer tube makees universal rotational, and the universal part is fixed with fixing piece, and the fixing piece with human body for being fixedly connected.
Further, the outer tube is made of transparent material.
Further, the connector includes the first connecting plate and the second connecting plate for being fixed on outer tube inner peripheral surface, institute
It states the first connecting plate and the second connecting plate is provided with the notch to match with main needle, main needle can pass through two notches, and two lack
Mouth is for being oriented to the movement of main needle.
Further, first connecting plate and the second connecting plate are made of flexible material.
Further, the universal part uses self-aligning roller bearing, and inner round portion and the outer tube of self-aligning roller bearing are fixed
Connection, outer perimeter section are fixedly connected with fixing piece.
Further, the fixing piece uses fixed disk, and fixed disk edge end face is fixed with double faced adhesive tape, and being used for will
Fixed disk and human body, which are pasted, to be fixed.
A kind of sting device, including the biopsy needle punctured for mechanical arm, the main needle end part and outer cylinder one end
It is threadedly coupled, the main needle is connect with the end that outer cylinder is threadedly coupled with the driving mechanism that outer barrel is arranged in, the driving
Mechanism is able to drive main needle rotation, and then drives main needle along outer cylinder axial-movement, and the pair needle is placed in inside main needle, and is extend out to
Outside outer cylinder, the outer cylinder is connect with mechanical arm, and mechanical arm can drive the movement of outer cylinder.
Further, the driving mechanism includes the fixed driving motor with outer barrel, the driving motor output shaft
It is fixedly connected with first gear, first gear is meshed with the second gear, and the second gear passes through connecting rod and main needle end face
It is fixedly connected, the connecting rod is rotatablely connected with the connecting plate for being fixed on outer barrel.
Further, the connecting rod is hollow stem, has the cavity for allowing secondary needle to pass through.
Further, the end that the secondary needle is extend out to outside outer cylinder is fixed with promotion handle, and the promotion handle is convenient
Operator pushes secondary needle.
Beneficial effects of the present invention:
1. mechanical arm can be combined with biopsy needle, make biopsy needle using operating robotic arm by sting device of the invention
It is pierced into tissue, wound caused by can be effectively reduced because of doctor's operational capacity deficiency reduces patient's pain.
2. sting device of the invention can arbitrarily adjust puncture angle by the setting of mechanical arm and universal part, thus
Biopsy precision is improved, operating procedure is few, and sampling is convenient.
3. sting device of the invention, main needle is promoted using being threadedly coupled, can stablize at a slow speed to be pushed into destination organization attached
Closely, it is accurately positioned, secondary needle can rapidly enter tissue and be sampled using promoting by hand.
Detailed description of the invention
The accompanying drawings constituting a part of this application is used to provide further understanding of the present application, and the application's shows
Meaning property embodiment and its explanation do not constitute the restriction to the application for explaining the application.
Fig. 1 is 1 biopsy needle overall structure diagram of the embodiment of the present invention；
Fig. 2 is the main needle construction schematic diagram of the embodiment of the present invention 1；
Fig. 3 is the secondary needle construction schematic diagram of the embodiment of the present invention 1；
Fig. 4 is 1 outer tube of the embodiment of the present invention and connector assembling schematic diagram；
Fig. 5 is 1 self-aligning roller bearing structural schematic diagram of the embodiment of the present invention；
Fig. 6 is 2 overall structure diagram of the embodiment of the present invention；
Wherein, 1. main needle, 2. secondary needles, 3. outer tubes, 4. first connecting plates, 5. second connecting plates, 6. notches, 7. aligning rollers
Bearing, 8. fixed disks, 9. outer cylinders, 10. are threadedly coupled cylinder, and 11. driving motors, 12. first gears, 13. second gears, 14. connect
Extension bar, 15. connecting plates, 16. push handle.
Specific embodiment
It is noted that following detailed description is all illustrative, it is intended to provide further instruction to the application.Unless another
It indicates, all technical and scientific terms used herein has usual with the application person of an ordinary skill in the technical field
The identical meanings of understanding.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singular
Also it is intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, component and/or their combination.
In order to facilitate narration, if there is "upper", "lower", " left side " " right side " printed words in the present invention, only expression and attached drawing itself
Upper and lower, left and right direction it is consistent, not to structure rise restriction effect, it is only for convenient for description the present invention and simplification retouch
It states, rather than the equipment of indication or suggestion meaning or element must have a particular orientation, and be constructed and operated in a specific orientation,
Therefore it is not considered as limiting the invention.
As background technique is introduced, existing biopsy needle can not be in conjunction with mechanical arm, and puncture process accuracy is poor, has
When need localised puncture repeatedly, in view of the above-mentioned problems, present applicant proposes a kind of biopsy needles punctured for mechanical arm.
In a kind of exemplary embodiment embodiment 1 of the application, as shown in Figs. 1-5, a kind of work punctured for mechanical arm
Needle is examined, including main needle 1 and syringe needle can be provided with across the secondary needle 2 of main needle inner space, the main needle and secondary needle end part, institute
It is identical as the main needle of existing biopsy needle and secondary needle needle head structure to state syringe needle, herein without describing in detail.
The main needle passes through the inner space of outer tube 3, and is slidably connected with the connector for being fixed on outer tube, main needle with
Outer coaxial tube setting, and main needle can do free movement along the axis direction of outer tube.
The connector includes the first connecting plate 4 and the second connecting plate 5 for being fixed on outer tube inner peripheral surface, and described first connects
Fishplate bar and the second connecting plate setting jagged 6, the main needle can pass through the notch of the first connecting plate and the second connecting plate, main needle
Periphery and notch inside face contact, the direction of motion of main needle can be oriented to, make main needle along outer tube axis direction
Movement.
First connecting plate and the second connecting plate are made of flexible material, it is preferred that are made of rubber material, energy
Main needle enough is accommodated using the elastic force of rubber, prevents the shaking of main needle during the motion, guiding accuracy is high.
The outer tube is made of transparent material, and operator is facilitated to observe movement of the main needle in outer tube.
The outer peripheral surface of the outer tube is connect with universal part, and the universal part uses self-aligning roller bearing 7, self-aligning roller bearing
Inner round portion be fixedly connected with outer tube, outer perimeter section is fixed with fixing piece, and outer tube can be by self-aligning roller bearing to any
Direction rotation, and then main needle is realized along the rotation of any direction.
For the fixing piece for universal part, outer tube and main needle to be fixedly connected with human body, the fixing piece uses fixed disk
8, the edge end face of the fixed disk is fixed with double faced adhesive tape, and the double faced adhesive tape is used to attach fixed disk and human body and fix.
Embodiment 2:
Present embodiment discloses a kind of sting devices, as shown in fig. 6, being punctured using described in embodiment 1 for mechanical arm
Biopsy needle, the sting device further include with main coaxial needle setting outer cylinder 9, the outer cylinder end be equipped be threadedly coupled cylinder
10, the threaded connection cylinder is threadedly coupled with the helicitic texture that main needle end part is arranged, and main needle end part and outer barrel is arranged in
Driving mechanism connection, driving mechanism can drive the rotation of main needle, and then main needle is driven to move along the axis direction of outer cylinder, described
Secondary needle passes through main needle inner space, and extend out to by the through-hole that outer cylinder end is arranged the outside of outer cylinder, secondary needle and through-hole
Inner hole face contact, through-hole can be oriented to the movement of secondary needle, and operator can push the advance of secondary needle manually, described outer
Cylinder is connect with mechanical arm, and the mechanical arm uses the mechanical arm of existing medical use, and mechanical arm can drive outer cylinder and its inside
Main needle, secondary needle moves along multiple freedom degrees.
The driving mechanism includes the driving motor 11 for being fixed on outer barrel, the output shaft of the driving motor and first
Gear 12 is fixedly connected, and the first gear is meshed with second gear 13, and the second gear is fixed in connecting rod 14, institute
It states connecting rod and main needle, outer cylinder is coaxially disposed, the connection boom end is fixedly connected with the end face of main needle, and second gear being capable of band
Dynamic connecting rod rotation, and then connecting rod is able to drive the rotation of main needle, the connecting rod and two companies for being fixed on outer barrel
Fishplate bar 15 is rotatablely connected, and for connecting plate for being supported to connecting rod, the connecting rod uses hollow stem, and secondary needle can pass through it
Internal cavity passes through.
The end that the pair needle is extend out to outside outer cylinder, which is fixed with, pushes handle 16, and operator is facilitated to push secondary needle.
The sting device of the present embodiment, main needle are promoted using being threadedly coupled, can stablize at a slow speed to be pushed into destination organization attached
Closely, it is accurately positioned, secondary needle can rapidly enter tissue and be sampled using promoting by hand.
The working method of sting device described in the present embodiment 2 are as follows:
Self-aligning roller bearing is fixed on human body surface, mechanical arm and self-aligning roller bearing collective effect by fixed disk,
The puncture angle of main needle and secondary needle is adjusted, driving motor work moves, directly while driving main needle to rotate along its axis direction
To moving at destination organization periphery, it is not pierced into tissue, operator pushes secondary needle manually, so that secondary needle diameter is pierced into tissue and carries out
Sampling, if sampled successfully, main needle and secondary needle exit jointly under the action of operator and driving motor, if secondary needle does not take
Destination organization is obtained, then main needle can be pierced into tissue and be sampled, and main needle and secondary needle exit jointly after the completion of sampling, avoid and repeatedly wear
Pierce the pain caused by patient.
The sting device of the present embodiment can combine mechanical arm with biopsy needle, will using robotic arm manipulation biopsy needle
Biopsy is needled into tissue, and wound caused by can be effectively reduced because of doctor's operational capacity deficiency reduces patient's pain, and energy
Any adjustment puncture angle, to improve biopsy precision, operating procedure is few, and sampling is convenient.
Above-mentioned, although the foregoing specific embodiments of the present invention is described with reference to the accompanying drawings, not protects model to the present invention
The limitation enclosed, those skilled in the art should understand that, based on the technical solutions of the present invention, those skilled in the art are not
Need to make the creative labor the various modifications or changes that can be made still within protection scope of the present invention.
Claims (10)
1. a kind of biopsy needle punctured for mechanical arm, which is characterized in that including main needle and main needle inner space can be passed through
Secondary needle, the main needle are arranged in outer tube, and main needle is slidably connected with the connector being fixed in outer tube, and main needle is used for and driving
Mechanism connection, can be under the action of the driving mechanism along the axis direction free movement of outer tube, and the outer tube is connect with universal part,
Universal part can drive outer tube to make universal rotational, and the universal part is fixed with fixing piece, and the fixing piece with human body for fixing
Connection.
2. a kind of biopsy needle punctured for mechanical arm as described in claim 1, which is characterized in that the outer tube is using transparent
Material is made.
3. a kind of biopsy needle punctured for mechanical arm as described in claim 1, which is characterized in that the connector includes solid
It is scheduled on the first connecting plate and the second connecting plate of outer tube inner peripheral surface, first connecting plate and the second connecting plate are provided with and master
The notch that needle matches, main needle can pass through two notches, and two notches are for being oriented to the movement of main needle.
4. a kind of biopsy needle punctured for mechanical arm as claimed in claim 3, which is characterized in that first connecting plate and
Second connecting plate is made of flexible material.
5. a kind of biopsy needle punctured for mechanical arm as described in claim 1, which is characterized in that the universal part is using tune
The inner round portion of heart roller bearing, self-aligning roller bearing is fixedly connected with outer tube, and outer perimeter section is fixedly connected with fixing piece.
6. a kind of biopsy needle punctured for mechanical arm as described in claim 1, which is characterized in that the fixing piece is using solid
Price fixing, fixed disk edge end face are fixed with double faced adhesive tape, fix for pasting fixed disk and human body.
7. a kind of sting device, which is characterized in that using the biopsy described in any one of claims 1-6 punctured for mechanical arm
Needle, the main needle end part are connect with outer cylinder threaded one end, and the end that the main needle is threadedly coupled with outer cylinder and setting are in outer cylinder
The driving mechanism in portion connects, and the driving mechanism is able to drive main needle rotation, and then drives main needle along outer cylinder axial-movement, described
Secondary needle is placed in inside main needle, and is extend out to outside outer cylinder, and the outer cylinder is connect with mechanical arm, and mechanical arm can drive the fortune of outer cylinder
It is dynamic.
8. a kind of sting device as claimed in claim 7, which is characterized in that the driving mechanism includes fixed and outer barrel
Driving motor, the driving motor output shaft is fixedly connected with first gear, and first gear is meshed with the second gear, described
Second gear is fixedly connected by connecting rod with main needle end face, and the connecting rod connects with the connecting plate rotation for being fixed on outer barrel
It connects.
9. a kind of sting device as claimed in claim 7, which is characterized in that the connecting rod is hollow stem, and having allows pair
The cavity that needle passes through.
10. a kind of sting device as claimed in claim 7, which is characterized in that the pair needle extend out to the end outside outer cylinder
It is fixed with promotion handle, the promotion handle facilitates operator to push secondary needle.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910424942 | 2019-05-21 | ||
| CN2019104249425 | 2019-05-21 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110279439A true CN110279439A (en) | 2019-09-27 |
| CN110279439B CN110279439B (en) | 2020-12-25 |
Family
ID=68021772
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910596222.7A Active CN110279439B (en) | 2019-05-21 | 2019-07-03 | Biopsy needle and puncture device for mechanical arm puncture |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110279439B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111956268A (en) * | 2020-08-11 | 2020-11-20 | 王新铮 | Full-automatic biopsy puncture device for mammary gland |
| CN114403940A (en) * | 2022-01-21 | 2022-04-29 | 朗开智航国际医疗科技(北京)有限公司 | Lung biopsy positioning puncture device based on electromagnetic navigation |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102228389A (en) * | 2011-07-01 | 2011-11-02 | 李海燕 | Universal abdominal paracentesis device |
| CN204744343U (en) * | 2015-06-25 | 2015-11-11 | 卢山 | Percutaneous centrum aspiration biopsy needle |
| CN105228532A (en) * | 2013-03-20 | 2016-01-06 | 巴德血管外围设备公司 | Biopsy device |
| CN105852939A (en) * | 2016-06-03 | 2016-08-17 | 王洪奎 | Automatic real-time positioning and puncturing robot arm for CT |
| CN106456264A (en) * | 2014-04-29 | 2017-02-22 | 柯惠Lp公司 | Surgical instruments, instrument drive units, and surgical assemblies thereof |
| US20170086932A1 (en) * | 2015-09-25 | 2017-03-30 | Ethicon Endo-Surgery, Llc | Methods for hybrid robotic laparoscopic surgery |
-
2019
- 2019-07-03 CN CN201910596222.7A patent/CN110279439B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102228389A (en) * | 2011-07-01 | 2011-11-02 | 李海燕 | Universal abdominal paracentesis device |
| CN105228532A (en) * | 2013-03-20 | 2016-01-06 | 巴德血管外围设备公司 | Biopsy device |
| CN106456264A (en) * | 2014-04-29 | 2017-02-22 | 柯惠Lp公司 | Surgical instruments, instrument drive units, and surgical assemblies thereof |
| CN204744343U (en) * | 2015-06-25 | 2015-11-11 | 卢山 | Percutaneous centrum aspiration biopsy needle |
| US20170086932A1 (en) * | 2015-09-25 | 2017-03-30 | Ethicon Endo-Surgery, Llc | Methods for hybrid robotic laparoscopic surgery |
| CN105852939A (en) * | 2016-06-03 | 2016-08-17 | 王洪奎 | Automatic real-time positioning and puncturing robot arm for CT |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111956268A (en) * | 2020-08-11 | 2020-11-20 | 王新铮 | Full-automatic biopsy puncture device for mammary gland |
| CN114403940A (en) * | 2022-01-21 | 2022-04-29 | 朗开智航国际医疗科技(北京)有限公司 | Lung biopsy positioning puncture device based on electromagnetic navigation |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110279439B (en) | 2020-12-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11779316B2 (en) | Biopsy device | |
| CN107411821B (en) | Five degree of freedom flexibility Needle-driven Robot | |
| CN105193478B (en) | The sting device with distal movement center based on silk transmission | |
| CN109009444A (en) | A kind of electromagnetic type force feedback puncturing operation auxiliary device and robot puncturing system | |
| CN110279439A (en) | A kind of biopsy needle and sting device punctured for mechanical arm | |
| CN107320183B (en) | Surgical instrument for minimally invasive surgery robot and minimally invasive surgery robot | |
| CN110141354A (en) | A kind of Kirschner wire guider and its application method based on pediatric Orthopaedics operative treatment | |
| CN112274225B (en) | Medical treatment surgical robot's terminal puncture mechanism and puncture surgical robot | |
| CN113598898A (en) | Electric release type puncture needle clamping device | |
| CN105496483B (en) | The drive device and surgical operating instrument of surgical operating instrument | |
| WO2023231804A1 (en) | Bending mechanism and surgical robotic arm using same | |
| CN113317823B (en) | Suction cutting type multipoint sampling needle with active deformation function | |
| CN206792428U (en) | A kind of drawing-in type circumgyration incision biopsy needle | |
| US10265063B1 (en) | Deep cavity suture device | |
| CN107981899A (en) | A kind of minimally invasive stitching devices | |
| CN208693389U (en) | A kind of bone surgery pricker | |
| CN208958200U (en) | A kind of minimally invasive stitching devices | |
| CN115969430B (en) | Biopsy sample sampling device for oncology clinicians | |
| CN220899298U (en) | Long straight intervention consumable clamping driving device and intervention operation robot | |
| CN212261409U (en) | Suction type biopsy needle with cutting process convenient to adjust | |
| CN209629776U (en) | Tumor intervention therapeutic device | |
| CN217090816U (en) | Snare device with injection needle for endoscope | |
| CN117122364B (en) | Endoscopic minimally invasive surgery stitching machine | |
| CN213758293U (en) | High-density carbon fiber movable bed board for image examination | |
| CN115886947B (en) | Visual control system for assisting percutaneous puncture |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |