CN115530934A - Flexible puncture needle puncture surgical instrument based on wire transmission - Google Patents
Flexible puncture needle puncture surgical instrument based on wire transmission Download PDFInfo
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- CN115530934A CN115530934A CN202210973290.2A CN202210973290A CN115530934A CN 115530934 A CN115530934 A CN 115530934A CN 202210973290 A CN202210973290 A CN 202210973290A CN 115530934 A CN115530934 A CN 115530934A
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 11
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 63
- 239000010959 steel Substances 0.000 claims abstract description 63
- 230000007246 mechanism Effects 0.000 claims abstract description 46
- 230000033001 locomotion Effects 0.000 claims abstract description 38
- 238000005192 partition Methods 0.000 description 18
- 238000003780 insertion Methods 0.000 description 6
- 230000037431 insertion Effects 0.000 description 6
- 230000007547 defect Effects 0.000 description 4
- 230000004044 response Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 238000005096 rolling process Methods 0.000 description 3
- 238000007789 sealing Methods 0.000 description 3
- 210000001519 tissue Anatomy 0.000 description 3
- 238000004804 winding Methods 0.000 description 3
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000004204 blood vessel Anatomy 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 239000013013 elastic material Substances 0.000 description 1
- 230000017525 heat dissipation Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 229910001000 nickel titanium Inorganic materials 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
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- 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
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- 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
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- 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
- A61B2017/3409—Needle locating or guiding means using mechanical guide means including needle or instrument drives
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Abstract
The invention relates to a flexible puncture needle puncture surgical instrument based on wire transmission, which comprises a shell, wherein an output wheel set and a near-end guide wheel set are arranged at the near end of the shell, a far-end guide wheel set is arranged at the far end of the shell, the shell is connected with a flexible puncture needle mechanism in a sliding manner, the flexible puncture needle mechanism is fixed with one end of a linear motion steel wire, the other end of the linear motion steel wire is connected with the other end of the flexible puncture needle mechanism after bypassing the near-end guide wheel set, a first output wheel of the output wheel set and the far-end guide wheel set to form a closed loop line, and the first output wheel is connected with a first driving piece.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a flexible puncture needle puncture surgical instrument based on wire transmission.
Background
The statements herein merely provide background information related to the present disclosure and may not necessarily constitute prior art.
Compared with a rigid puncture needle, the flexible puncture needle is mainly made of super-elastic materials such as nickel-titanium alloy and the like, after the flexible puncture needle is punctured into a tissue, the cutting force of the inclined needle point on the tissue is reacted on the needle point, a needle body presents a curve-shaped track under the guidance of the needle point, the control of the curve track of the flexible needle can be realized by independently controlling the direction of the needle point and the depth of the needle insertion, the inclined flexible needle can reasonably avoid obstacles such as blood vessels, bones, sensitive organs or tissues and the like in a puncture path through the curve track, the control of the flexible puncture needle in the hand of a surgeon is difficult, particularly the control of the direction of the needle point, the feeding motion of the conventional flexible puncture needle is controlled through a ball screw, and the rotation of the flexible puncture needle is controlled through a motor connected with the flexible puncture needle in series, and the inventor finds that the control mode has the following defects: in the operation, in order to deal with the emergency, some moving joints of the surgical instrument need to have good manual intervention reverse driving capability, namely, the movement of the manual intervention joints deals with the emergency, the reverse driving of the screw rod pushes the nut to move, so that the screw rod rotates, and the screw rod is easy to self-lock, generally needs great force, and is not easy to operate by hands. The serially connected rotating-pin motors are heavy in motor mass, so that the inertia of joints is large, and the dynamic response capability in the control process is poor.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides a flexible puncture needle puncture surgical instrument based on wire transmission, which has good dynamic response capability and is convenient to operate.
In order to achieve the purpose, the invention adopts the following technical scheme
The embodiment of the invention provides a flexible puncture needle puncture surgical instrument based on wire transmission, which comprises a shell, wherein an output wheel set and a near-end guide wheel set are arranged at the near end of the shell, a far-end guide wheel set is arranged at the far end of the shell, the shell is connected with a flexible puncture needle mechanism in a sliding manner, the flexible puncture needle mechanism is fixed with one end of a linear motion steel wire, the other end of the linear motion steel wire bypasses the near-end guide wheel set, a first output wheel of the output wheel set and the far-end guide wheel set and then is connected with the other end of the flexible puncture needle mechanism to form a closed loop wire, and the first output wheel is connected with a first driving piece.
Optionally, the first output wheel is fixedly connected with the connecting shaft, the connecting shaft is rotatably connected with the outer shell of the output wheel set, a slave clutch disc is arranged at the end of the connecting shaft, and the output shaft of the first driving piece is connected with a master clutch disc matched with the slave clutch disc.
Optionally, the distal end of the housing is provided with a guide component, the flexible puncture needle of the flexible puncture needle mechanism penetrates through the guide component, and the guide component is used for guiding the linear motion of the flexible puncture needle mechanism.
Optionally, the flexible puncture needle mechanism comprises a support assembly, the support assembly is in sliding connection with the shell, the support assembly is fixed with the end portion of the linear motion steel wire, the support assembly is rotatably connected with a puncture needle wire wheel, the puncture needle wire wheel is connected with the end portion of the flexible puncture needle, and the puncture needle wire wheel is connected with the rotation driving mechanism.
Optionally, the support assembly comprises a sliding block, the sliding block is connected with the shell in a sliding mode through a guide rail, a pulling plate is arranged on the sliding block, the pulling rod is fixed to the end portion of the linear motion steel wire, a support plate is arranged on the pulling plate, and the support plate is connected with the puncture wire wheel in a rotating mode.
Optionally, the puncture needle wheel is fixedly connected with the central shaft, the central shaft is rotatably connected with the supporting assembly, the clamping piece is arranged at the end part of the far end of the central shaft, the nut is in threaded connection with the periphery of the far end of the central shaft, the puncture needle is kneaded to penetrate through the clamping piece, and the nut tightly clamps the flexible puncture needle with the clamping piece.
Optionally, the rotation driving mechanism includes a second output wheel and a rotation driving steel wire, the rotation driving steel wire is wound between the first decoupling wheel of the second output wheel, the first proximal guide wheel set, the first decoupling wheel of the first decoupling wheel set, the guide wheel on the support assembly, the puncture needle wheel set, and the first decoupling wheel of the second decoupling wheel set to form a closed loop line, the first decoupling wheel set and the second decoupling wheel set are both connected with the housing in a sliding manner through the decoupling wheel support, and the second output wheel is connected with the second driving element.
Optionally, the decoupling mechanism further comprises a first decoupling steel wire and a second decoupling steel wire, one end of the first decoupling steel wire is fixed to the supporting assembly, the other end of the first decoupling steel wire is connected with the first fixing element fixed to the shell after sequentially bypassing the second decoupling wheel of the far-end guide wheel set and the first decoupling wheel set, one end of the second decoupling steel wire is fixed to the supporting assembly, and the other end of the second decoupling steel wire is connected with the second fixing element fixed to the shell after sequentially bypassing the second decoupling wheel of the far-end guide wheel set and the second decoupling wheel set.
Optionally, the second output wheel is fixedly connected with the connecting shaft, the connecting shaft is rotatably connected with the outer shell of the output wheel set, a slave clutch disc is arranged at the end of the connecting shaft, and the output shaft of the second driving piece is connected with a master clutch disc matched with the slave clutch disc.
Optionally, the first driving part and the second driving part both adopt motors, the motors are connected with the MCU through the motor drivers, the motor drivers and the MCU are located inside the shell, and a power supply for supplying power to the motors is further arranged in the shell.
The invention has the beneficial effects that:
1. according to the puncture surgical instrument, two end parts of the linear motion steel wire are respectively fixed with two end parts of the flexible puncture needle mechanism and are wound among the output wheel set, the near-end guide wheel set and the far-end guide wheel set to form a closed loop line, the first output wheel is connected with the first driving piece, the first output wheel can drive the flexible puncture needle mechanism to do linear motion through the linear motion steel wire in a driving mode, manual reverse driving only needs to drag the flexible puncture needle mechanism to do linear motion, compared with traditional lead screw driving, the phenomenon of lead screw self-locking does not exist, large force does not need to be used, and operation is convenient.
2. According to the puncture surgical instrument, the flexible puncture needle is connected with the second output wheel through the puncture needle wire wheel, the rotation driving steel wire and the corresponding guide wheel, the second output wheel drives the flexible puncture needle to rotate, a mode that a needle rotating motor is connected in series is not adopted, so that the defect that the inertia of a flexible puncture needle mechanism is overlarge due to the fact that the driving motors are connected in series is overcome, and the puncture surgical instrument has good dynamic response performance.
3. According to the puncture surgical instrument, the puncture needle wire wheel is connected with the second output wheel through the rotary driving steel wire and the corresponding guide wheel, the connection with the puncture needle is not adopted between motors, the motors are not required to be connected with the puncture needle in series, the size of the whole surgical instrument is reduced, and the puncture surgical instrument is more suitable for being installed at the tail end of a mechanical arm to complete operation.
4. The puncture surgical instrument is provided with the first decoupling wheel assembly and the second decoupling wheel assembly, and is provided with the first decoupling steel wire and the second decoupling steel wire, mechanical decoupling is carried out by utilizing the principle of a movable pulley, so that the linear motion and the rotation of the flexible puncture needle are independently controlled, and the reliability is good.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, are included to provide a further understanding of the application, and the description of the exemplary embodiments of the application are intended to be illustrative of the application and are not intended to limit the application.
FIG. 1 is a schematic view of the overall structure of embodiment 1 of the present invention;
FIG. 2 is a schematic view of the structure of a driving mechanism according to embodiment 1 of the present invention;
FIG. 3 is a schematic structural view of a transmission mechanism according to embodiment 1 of the present invention;
FIG. 4 is a schematic structural diagram of an output wheel set according to embodiment 1 of the present invention;
FIG. 5 is a schematic diagram showing the engagement of a master clutch disc and a slave clutch disc in embodiment 1 of the present invention;
FIG. 6 is a schematic view of a separator and a second shell portion in accordance with example 1 of the present invention;
FIG. 7 is a schematic view of a flexible puncture needle mechanism according to embodiment 1 of the present invention;
FIG. 8 is a schematic view of the winding of a straight-selected sports wire according to example 1 of the present invention;
FIG. 9 is a schematic view of the wire winding of the rotary driving wire in embodiment 1 of the present invention;
FIG. 10 is a schematic winding of a first decoupling wire and a second decoupling wire according to example 1 of the present invention;
wherein, 1, a first shell part, 2, a clapboard, 3, a second shell part, 4, T-shaped guide rail, 5, guide rail groove, 6, a shell cover, 7, a sealing cover, 8, an output wheel set shell, 9, a first output wheel, 10, a second output wheel, 11, a first driving piece, 12, a second driving piece, 13, a motor driver, 14, MCU,15, a storage battery, 16, a connecting shaft, 17, a rolling ball bearing, 18, a hollow tube structure, 19, a slave clutch disc, 20, a bearing seat, 21, a clamping groove, 22, a clamping block, 23, a guide key, 24, a guide groove, 25, a spring, 26, a groove, 27, an elastic coupling, 28, a main clutch disc, 29, an insertion block, 30, a pulling plate, 31, a puncture wire wheel, 32, a linear motion steel wire, 33, a first guide wheel, 34, a second guide wheel, 35, a third guide wheel, 36, a fourth guide wheel, 37, a central shaft, 38, a bearing, 39, a supporting plate, 40, a clamping piece, 41, a flexible puncture needle, 42, a nut, 43, a rotary driving steel wire, 44, a seventh guide wheel, 45, an eighth guide wheel, 46, a ninth guide wheel, 47, a first decoupling wheel assembly, 48, a tenth guide wheel, 49, an eleventh guide wheel, 50, a twelfth guide wheel, 51, a thirteenth guide wheel, 52, a second decoupling wheel assembly, 53, a fourteenth guide wheel, 54, a fifteenth guide wheel, 55, a sixteenth guide wheel, 56, a second guide rail, 57, a first decoupling steel wire, 58, a second decoupling steel wire, 59, a seventeenth guide wheel, 60, a first fixing piece, 61, an eighteenth guide wheel, 62, a second fixing piece, 63, a guide part, 64 and a first guide rail.
Detailed Description
In this embodiment, the end of the surgical instrument close to the user is defined as the proximal end, and the end far away from the user is defined as the distal end.
Example 1
The embodiment provides a flexible puncture needle puncture surgical instrument based on wire transmission, which comprises a shell, wherein components such as an output wheel set, a driving mechanism, a near-end guide wheel set, a far-end guide wheel set, a decoupling wheel assembly and a flexible puncture needle mechanism are arranged in the shell, and the near-end guide wheel set, the far-end guide wheel set and the decoupling wheel assembly form a transmission mechanism.
In this embodiment, the case includes a first case portion 1, a partition board 2 and a second case portion 3, the first case portion 1 is located above the partition board 2 and is fixedly connected with the partition board 2 through a buckle and a snap hole, the lower surface of the partition board 2 is provided with two T-shaped guide rails 4, the top of the second case portion 3 is provided with a guide rail groove 5 matched with the T-shaped guide rails 4, the T-shaped guide rails 4 are inserted into the guide rail groove 5, connection between the second case portion 3 and the partition board 2 is achieved, the bottom of the second case portion 3 is sealed through a case cover 6, and the case cover 6 is fixedly connected with the second case portion through a plurality of bolts.
The first shell part 1 is also provided with an opening, the opening is detachably connected with a sealing cover 7 through a buckle, the sealing cover 7 is opened, and a user can conveniently operate the flexible puncture needle mechanism inside the first shell part manually.
In this embodiment, the output wheel set is fixed inside the second casing portion 3 and located at the proximal end inside the second casing portion 3, the driving mechanism is connected to the output wheel set, the driving mechanism is located inside the second casing portion 3, and correspondingly, the housing cover 6 of the second casing portion 3 is provided with a plurality of heat dissipation holes.
The near-end output wheel set is arranged at the near end of the partition plate 2, the flexible puncture needle mechanism and the decoupling wheel set are arranged in the middle of the partition plate 2, the far-end guide wheel set is arranged at the far end of the partition plate 2, and the components are arranged in a space enclosed by the first shell part 1 and the partition plate 2.
The output wheel set comprises an output wheel set shell 8, and the output wheel set shell 8 is fixed on the bottom surface of the near end of the partition plate 2 through bolts.
The output wheel set housing 8 is rotatably connected with a first output wheel 9 and a second output wheel 10, the first output wheel 9 and the second output wheel 10 being located outside the proximal end of the second housing part 3.
The axis parallel arrangement of first output wheel 9 and second output wheel 10, it is corresponding, actuating mechanism includes first driving piece 11 and second driving piece 12, and first driving piece 11 is connected with first output wheel 9, can drive first output wheel 9 and rotate, and second driving piece 12 is connected with second output wheel 10, can drive second output wheel 10 and rotate.
In this embodiment, the first driving part 11 and the second driving part 12 both use motors, preferably, the motors use dc servo motors, the dc servo motors are connected to the MCU14 through the motor drivers 13, and the MCU14 controls the dc servo motors through the motor drivers 13.
In this embodiment, the motor driver 13 and the MCU14 are both disposed inside the second casing 3, a power source is disposed inside the second casing 3, the power source is a storage battery 15, and the storage battery 15 is used to supply power to two dc servo motors.
The connection mode of the first output wheel 9 and the first driving element 11 is completely the same as the connection mode of the second output wheel 10 and the second driving element 12,
as shown in fig. 4-6, a connecting shaft 16 is fixed at the center of the first output wheel 9 through a clamping groove 21 and a clamping block 22, the connecting shaft 16 extends into the output wheel set housing 8 and is rotatably connected with the output wheel set housing 8 through a bearing seat 20 with a rolling ball bearing 17, an annular boss is arranged on the connecting shaft 16, and the rolling ball bearing 17 is limited by the annular boss and the boss arranged on the bearing seat 20.
The end part of the connecting shaft 16 extending into the output wheel set shell 8 is provided with a hollow pipe structure 18, and is connected with the clutch disc 19 through the hollow pipe structure 18, in the embodiment, a disc shaft is arranged on the disc surface on one side of the clutch disc 19 and is inserted into an inner cavity of the hollow pipe structure, the disc shaft is provided with a guide key 23, the guide key 23 is inserted into a guide groove 24 formed on the end surface of the hollow pipe structure, and the torque can be transmitted from the clutch disc 19 to the connecting shaft 16 and the first output wheel 9 through the guide key 23 and the guide groove 24.
A spring 25 is arranged between the disc shaft and the end face of the connecting shaft, and the spring 25 compresses to apply elastic force to the disc shaft, so that the annular boss on the periphery of the clutch disc 19 is tightly pressed on the boss side face of the output wheel set shell 8.
The other side disc surface of the slave clutch disc 19 is provided with a groove 26.
The output shaft of the first driving member 11 is connected with a main clutch disc 28 through an elastic coupling 27, an insert block 29 matched with the groove is arranged on the disc surface of the main clutch disc 28, and the insert block 29 can be inserted into the groove 26, so that the torque of the first driving member 11 is transmitted to the slave clutch disc 19 through the main clutch disc 28.
In the present embodiment, when the second casing portion 3 and the partition 2 are assembled by the T-shaped rail 4 and the rail groove 5, the insertion block 29 can be simultaneously inserted into the groove 26, and the engagement of the master clutch disc 28 and the slave clutch disc 19 is achieved.
The second output wheel 10 is connected to the second drive member 12 in the same manner, and will not be described again here.
The first driving piece 11 is used for driving the flexible puncture needle mechanism to move along the linear direction, the flexible puncture needle mechanism comprises a supporting assembly, the supporting assembly is rotatably connected with a puncture needle wire wheel, and the puncture needle wire wheel is connected with the end part of the flexible puncture needle.
Specifically, as shown in fig. 7, the support assembly includes a first slider slidably connected to a first guide rail 64 disposed on the upper surface of the partition, the first slider being slidably disposed along the first guide rail 64, the first guide rail 64 being disposed along the feeding and retracting directions of the flexible puncture needle.
The upper surface of the first sliding block is fixed with a pulling plate 30 through a bolt, connecting holes are formed in two ends of the pulling plate 30, an L-shaped supporting plate is fixed on the upper surface of the pulling plate 30, and the vertical part of the supporting plate is rotatably connected with a puncture needle wheel 31.
The first driving member 11 drives the flexible puncture needle mechanism to move linearly along the first guide rail 64 via the first output wheel 9 and the linear movement wire 32.
Specifically, as shown in fig. 8, one end of the linear motion steel wire 32 is connected to one side of the pulling plate 30 through a connecting hole, the other end of the linear motion steel wire 32 sequentially bypasses the first guide wheel 33, the second guide wheel 34, and the third guide wheel 35 of the near-end guide wheel set, and after passing through the third guide wheel 35, the linear motion steel wire moves vertically, bypasses the first output wheel 9, and then is converted into a horizontal direction through the fourth guide wheel 36 of the near-end guide wheel set, and then after bypassing the fifth guide wheel 37 and the sixth guide wheel 38 of the far-end guide wheel set, the linear motion steel wire is connected to the other side of the pulling plate 30 through the connecting hole. Because the third guide wheel 35 and the fourth guide wheel 36 play a role in changing the trend of the linear motion steel wire, the axes of the third guide wheel 35 and the fourth guide wheel 36 are horizontally arranged, the axes of the first guide wheel, the second guide wheel, the third guide wheel, the fifth guide wheel and the sixth guide wheel are vertically arranged, all the guide wheels are rotationally connected with the partition board 2 through wheel shafts, and the linear motion steel wire 32 forms a closed loop line.
The first driving part 11 drives the first output wheel 9 to rotate, and under the action of the linear motion steel wire 32, the supporting component can slide along the first guide rail 64, so that the flexible puncture needle mechanism can make linear motion, and the feeding and the retraction of the flexible puncture needle can be realized.
In the embodiment, the feeding and the returning of the flexible puncture needle are manually intervened by only pushing the flexible puncture needle mechanism, and the matching of the linear motion steel wire and the guide wheel is adopted, so that compared with the traditional ball screw driven reverse drive which needs to push the nut, the self-locking phenomenon of the screw does not exist, the large force is not needed, and the operation is more convenient and faster.
In this embodiment, the puncture needle wheel 31 is connected with the central shaft 37 by a key connection, and the central shaft 37 is rotatably connected with the vertical part of the supporting plate 39 by a bearing 38.
The end part of the central shaft 37 is provided with a hollow tube structure, a clamping element 40 is arranged in the hollow tube structure, the tail end of the flexible puncture needle 41 penetrates through the clamping element 40 and then extends into the central shaft 37, the periphery of the hollow tube structure is in threaded connection with a nut 42, the nut 42 is in contact with the clamping element 40 through an inclined plane, the nut 42 is rotated and moves along the axis direction of the central shaft 37, under the action of the inclined plane, the nut 42 presses the clamping element 40 tightly, the flexible puncture needle 41 is clamped through the clamping element 40, and connection of the flexible puncture needle 41 and the puncture pipeline wheel 31 is achieved.
The clamping member 40 is provided with a through hole through which the flexible puncture needle 41 passes and is made of a flexible material, so that the flexible puncture needle can be clamped under the action of the nut 42.
The puncture needle wheel 31 is connected with a rotation driving mechanism, and the rotation driving mechanism can drive the puncture needle wheel to rotate around the axis of the puncture needle wheel, so that the flexible puncture needle is driven to rotate around the axis of the puncture needle wheel.
As shown in fig. 9, the rotational driving mechanism includes a rotational driving wire 43 and a second output wheel 10, the rotational driving wire 43 is wound on the second output wheel 10, the rotational driving wire 43 is led out by the second output wheel 10, then turns around a seventh guide wheel 44 of a proximal guide wheel set to turn vertically, and then turns around an eighth guide wheel 45, a ninth guide wheel 46, a first decoupling wheel of a first decoupling wheel assembly 47, a tenth guide wheel 48 of the proximal guide wheel set, an eleventh guide wheel 49 on a pulling plate, a puncture needle wheel 31, a twelfth guide wheel 50 on the pulling plate, a thirteenth guide wheel 51 of the proximal guide wheel set, a first decoupling wheel of a second decoupling wheel assembly 52, a fourteenth guide wheel 53 of the proximal guide wheel set, a fifteenth guide wheel 54 and a sixteenth guide wheel 55 to turn vertically, and then turns around the second output routing wheel 10, so that the rotational driving wire 43 forms a closed line.
The second driving member 12 drives the second output wheel 10 to rotate, and then the puncture wire wheel 31 can be driven to rotate by rotating the driving steel wire 43, and then the flexible puncture needle 41 can be driven to rotate.
Wherein the axes of the seventh guide wheel 44 and the sixteenth guide wheel 55 are arranged horizontally and the axes of the remaining guide wheels are arranged vertically.
The first decoupling wheel assembly 47 and the second decoupling wheel assembly 52 are respectively arranged on two sides of the flexible puncture needle mechanism, have the same structure, and comprise decoupling wheel bases which are in sliding connection with second guide rails 56, wherein the second guide rails are fixed on the upper surfaces of the partition plates and are arranged in parallel with the first guide rails 64.
The decoupling wheel base is provided with a wheel shaft through a support, and the wheel shaft is rotationally connected with a first decoupling wheel and a second decoupling wheel.
To enable independent control of the rotational and linear motion of the flexible needle, the needle surgical device further includes a first decoupling wire 57 and a second decoupling wire 58, as shown in fig. 10.
One end of the first decoupling steel wire 57 is connected with the far end of the pulling plate 30, and the other end of the first decoupling steel wire is connected with a first fixing piece 60 fixed on the upper surface of the partition board 2 after sequentially bypassing the seventeenth guide wheel 59 of the far-end guide wheel set and the second decoupling wheel of the first decoupling assembly 47, wherein the first fixing piece adopts a fixing column.
One end of the second decoupling steel wire 58 is connected with the far end of the pulling plate 30, the other end of the second decoupling steel wire sequentially bypasses the eighteenth guide wheel 61 of the far-end guide wheel set and the second decoupling wheel of the second decoupling assembly 52 and then is connected with a second fixing piece 62 fixed on the upper surface of the partition plate 2, and the second fixing piece is a fixing column.
Through the first decoupling steel wire 57 and the second decoupling steel wire 58, the independent control of the linear motion and the rotation of the flexible puncture needle can be realized, and the reliability of the whole puncture surgical instrument is improved. When the flexible puncture needle 41 is driven by the first driving member 11 to linearly traverse along the needle insertion distance L, the puncture needle wheel 31 linearly moves along with the flexible puncture needle 41 by the distance L, the rotary driving wire 43 wound on the puncture needle wheel 31 tends to be tensioned, meanwhile, the length of the wire rope between the eleventh guide wheel 49 and the tenth guide wheel 48 increases by L, the length of the wire rope between the twelfth guide wheel 50 and the thirteenth guide wheel 51 also increases by L, the first decoupling wheel assembly 47 and the second decoupling wheel assembly 52 move in the opposite direction of the needle insertion direction under the pulling of the tension on the rotary driving wire 43, the lengths of the wire ropes between the first decoupling wheel assembly 47 and the ninth guide wheel 46 and the tenth guide wheel 48 are all reduced by L/2, and the lengths of the wire ropes between the second decoupling wheel assembly 52 and the fourteenth guide wheel 53 and the tenth guide wheel 51 are all reduced by L/2, so that the movement decoupling of the rotary driving wire 43 when the flexible puncture needle 41 linearly moves is realized.
The motion decoupling relation of the flexible puncture needle 41 during needle insertion is suitable for the reverse motion of the flexible puncture needle 41, but because the steel wire rope can only bear pulling force, the rotating driving steel wire 43 cannot directly pull the first decoupling wheel assembly 47 and the second decoupling wheel assembly 52 to move, when the retraction distance of the flexible puncture needle 41 is L, the lengths of the steel wire ropes from the pulling plate 30 to the seventeenth guide wheel 59 and to the eighteenth guide wheel 61 are increased by L, the pulling plate 30 pulls the first decoupling steel wire 57 and the second decoupling steel wire 58, the lengths of the steel wire ropes from the first decoupling wheel assembly 47 to the seventeenth guide wheel 59 and to the first fixing member 60 are reduced by L/2, the lengths of the steel wire ropes from the second decoupling wheel assembly 52 to the eighteenth guide wheel 61 and to the second fixing member 62 are also reduced by L/2, and the tensions of the first decoupling steel wire 57 and the second decoupling steel wire 58 pull the first decoupling wheel assembly 47 and the second decoupling wheel assembly 52 back.
In this embodiment, the distal end of the partition is further provided with a guide part 63, through which the flexible puncture needle 41 passes, for guiding the movement of the flexible puncture needle to prevent the flexible puncture needle from bending and deforming.
The guide part adopts a guide sleeve, the flexible puncture needle penetrates through the guide sleeve, and the guide sleeve is fixed on the upper surface of the far end of the partition plate through a sleeve frame.
In the embodiment, because the two direct current servo motors are arranged below the flexible puncture needle mechanism and are not required to be connected with the flexible puncture needle in series, the whole puncture surgical instrument occupies a smaller volume, is suitable for being installed at the tail end of a mechanical arm, avoids the defect of overlarge inertia of the flexible puncture needle mechanism caused by the series connection of the driving motors, and has good dynamic response performance.
The working method of the puncture surgical instrument comprises the following steps:
the first driving part rotates forwards to drive the first output wheel to rotate forwards, the flexible puncture needle can be driven to advance through the pull plate by the linear motion steel wire, the first driving part rotates backwards to drive the first output wheel to rotate reversely, and the flexible puncture needle can be driven to retreat through the pull plate by the linear motion steel wire.
When the puncture needle needs to rotate, the second driving part rotates to drive the second output wheel to rotate, and the flexible puncture needle is driven to rotate by rotating the driving steel wire and the puncture needle wire wheel.
Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the scope of the invention, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive changes in the technical solutions of the present invention.
Claims (10)
1. The utility model provides a flexible pjncture needle puncture surgical instruments based on silk transmission, a serial communication port, which comprises an outer shell, the shell near-end is equipped with output wheelset and near-end direction wheelset, the distal end is equipped with distal end direction wheelset, shell and flexible pjncture needle mechanism sliding connection, flexible pjncture needle mechanism is fixed with the one end of rectilinear motion steel wire, the near-end direction wheelset is walked around to the other end of rectilinear motion steel wire, be connected with the other end of flexible pjncture needle mechanism behind first output wheel and the distal end direction wheelset of output wheelset, form closed loop line, first output wheel is connected with first driving piece.
2. The flexible puncture needle puncture surgical device based on the wire drive according to claim 1, wherein the first output wheel is fixedly connected with a connecting shaft, the connecting shaft is rotatably connected with the housing of the output wheel set, a slave clutch disc is arranged at an end of the connecting shaft, and a master clutch disc matched with the slave clutch disc is connected with an output shaft of the first driving member.
3. The wire-drive-based flexible puncture needle puncture surgical device according to claim 1, wherein the distal end of the housing is provided with a guide member through which the flexible puncture needle of the flexible puncture needle mechanism passes, the guide member being used to guide the linear movement of the flexible puncture needle mechanism.
4. The flexible puncture needle puncture surgical instrument based on the wire transmission according to claim 1, wherein the flexible puncture needle mechanism includes a support component which is slidably connected with the housing, the support component is fixed with the end of the linear motion steel wire, the support component is rotatably connected with a puncture needle wheel, the puncture needle wheel is connected with the end of the flexible puncture needle, and the puncture needle wheel is connected with the rotation driving mechanism.
5. The flexible needle-puncture surgical device based on the wire drive according to claim 4, wherein the support assembly includes a slider, the slider is slidably connected to the housing through a guide rail, a pull plate is disposed on the slider, the pull plate is fixed to an end of the linear motion steel wire, a support plate is disposed on the pull plate, and the support plate is rotatably connected to the needle-puncture wire wheel.
6. The flexible puncture needle puncture surgical device based on the wire drive according to claim 4, wherein the puncture needle wheel is fixedly connected with the central shaft, the central shaft is rotatably connected with the support assembly, the distal end of the central shaft is provided with a clamping member, and the outer periphery of the distal end of the central shaft is in threaded connection with a nut, the puncture needle is kneaded to penetrate through the clamping member, and the nut clamps the clamping member to the flexible puncture needle.
7. The flexible puncture needle puncture surgical instrument based on the wire drive as claimed in claim 4, wherein the rotary drive mechanism comprises a second output wheel and a rotary drive steel wire, the rotary drive steel wire is wound around the second output wheel, the proximal guide wheel set, the first decoupling wheel of the first decoupling wheel set, the guide wheel on the support assembly, the puncture needle wheel set, and the first decoupling wheel of the second decoupling wheel set to form a closed loop line, the first decoupling wheel set and the second decoupling wheel set are both connected with the housing through the decoupling wheel support in a sliding manner, and the second output wheel is connected with the second drive piece.
8. The flexible puncture needle puncture surgical instrument based on the wire drive as claimed in claim 7, further comprising a first decoupling steel wire and a second decoupling steel wire, wherein one end of the first decoupling steel wire is fixed to the support component, the other end of the first decoupling steel wire sequentially bypasses the second decoupling wheel of the distal guide wheel set and the first decoupling wheel set and then is connected to the first fixing member fixed to the housing, one end of the second decoupling steel wire is fixed to the support component, and the other end of the second decoupling steel wire sequentially bypasses the second decoupling wheel of the distal guide wheel set and the second decoupling wheel set and then is connected to the second fixing member fixed to the housing.
9. The flexible puncture needle puncture surgical device based on the wire drive as claimed in claim 7, wherein the second output wheel is fixedly connected with the connecting shaft, the connecting shaft is rotatably connected with the housing of the output wheel set, a slave clutch disc is provided at an end of the connecting shaft, and a master clutch disc engaged with the slave clutch disc is connected to the output shaft of the second driving member.
10. The wire-drive-based flexible puncture needle puncture surgical device according to claim 7, wherein the first driving member and the second driving member are both motors, the motors are connected with the MCU through motor drivers, the motor drivers and the MCU are both located inside the housing, and a power supply for supplying power to the motors is further provided inside the housing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210973290.2A CN115530934A (en) | 2022-08-15 | 2022-08-15 | Flexible puncture needle puncture surgical instrument based on wire transmission |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210973290.2A CN115530934A (en) | 2022-08-15 | 2022-08-15 | Flexible puncture needle puncture surgical instrument based on wire transmission |
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| Publication Number | Publication Date |
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| CN115530934A true CN115530934A (en) | 2022-12-30 |
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| CN202210973290.2A Pending CN115530934A (en) | 2022-08-15 | 2022-08-15 | Flexible puncture needle puncture surgical instrument based on wire transmission |
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| CN114533223A (en) * | 2022-03-07 | 2022-05-27 | 沈阳建筑大学 | Be applied to flexible needle puncture intervention equipment of brain surgery |
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