CN216417288U

CN216417288U - Flexible needle puncture device

Info

Publication number: CN216417288U
Application number: CN202122136545.3U
Authority: CN
Inventors: 林军
Original assignee: Individual
Current assignee: Individual
Priority date: 2021-06-14
Filing date: 2021-09-06
Publication date: 2022-05-03
Anticipated expiration: 2031-09-06
Also published as: CN114259282A

Abstract

The utility model discloses a flexible needle piercing depth, include: a flexible needle assembly comprising a flexible guide tube, a flexible hollow needle and a flexible push rod; a flexible needle puncture mechanism comprising a first drive mechanism and a second drive mechanism; and a flexible needle bending mechanism including a third driving mechanism and a bending guide rod having a guide groove. The flexible needle puncture device provided by the utility model can not only drive the flexible needle to realize the insertion and retraction functions, but also control the bending track and the needle insertion direction of the flexible needle, so that the flexible needle puncture device of the utility model can realize the puncture operation in a narrow space (such as MRI or CT obturator space), and the imaging scanning and the flexible needle insertion can be synchronously carried out, and the patient does not need to be repeatedly moved into or out of the obturator cavity of the MRI or CT during the operation, thereby reducing the operation time and improving the operation precision; the utility model discloses can reduce the frictional resistance between flexible hollow needle and the flexible guiding tube when inserting.

Description

Flexible needle puncture device

Technical Field

The utility model relates to the field of medical robots, in particular to flexible needle piercing depth.

Background

Needle insertion is one of the most commonly used methods in minimally invasive interventional procedures. In order to improve the accuracy and automation of the intervention, a robot-assisted surgery system has been extensively researched and developed, and a needle insertion mechanism, which is one of essential core components in the robot-assisted surgery system, has received a high degree of attention, particularly, there is a wide demand for the needle insertion mechanism suitable for a narrow space of a closed-bore Magnetic Resonance Imaging (MRI) system or a Computed Tomography (CT) system.

MRI is a well established medical diagnostic tool. MRI not only has excellent soft tissue contrast and spatial resolution in any direction, but also does not expose the patient to ionizing radiation. From the MRI image diagnosis, the physician may locate the surgical target, perform surgical needle path planning and determine the needle insertion point, and insert the needle through the skin into the target anatomy, such as the joint space or nerve roots, to inject contrast or pain medication, etc. The physician may also manipulate the control needle to reach different internal organs, such as the prostate, breast, liver and brain, to perform needle biopsies, or to perform minimally invasive radio frequency or cryoablation treatment of cancerous sites. Since horizontal closed bore MRI scanners with a bore diameter of 60cm are still used to a large extent today, it is extremely difficult to perform surgical procedures in such narrow spaces. On the other hand, most puncture needles commonly used at present are rigid needles, so that operations on certain parts or organs (such as the abdomen or the liver) are difficult to perform in the MRI obturator cavity, because the rigid puncture needles may touch the inner wall of the MRI obturator cavity. Therefore, during surgery, the patient needs to be repeatedly moved into and out of the MRI scanner obturator foramen to perform MRI scan imaging or needle insertion, respectively. For example, the document "Needle-Guiding Robot for Laser Ablation of Liver Tumors MRI guide" by Enrico Franco et al, IEEE/ASME TRANSACTIONS MECHANONICS, VOL.21, NO.2, 4.2016 discloses a robotic system for MRI-guided Liver tumor Ablation surgery. For operation, a doctor has to enter the MRI scanning room after MRI scanning, remove a patient from the MRI closed hole and manually insert an ablation needle to perform an ablation operation according to the MRI imaging result; and (3) after the ablation operation is finished, moving the patient into the MRI closed hole after the ablation needle is withdrawn, scanning again to judge whether the ablation operation meets the operation requirement, and if not, repeating the operation steps until the operation target is realized. This results in: 1) patients need to move in and out of the MRI obturator foramen for many times, so that the operation needs to take longer time; 2) since the operation and MRI imaging cannot be performed in real time, the puncture path, position and direction accuracy of the needle cannot be ensured.

To overcome the deficiencies of conventional rigid needles, several solutions have been created. For example, american companies AngioDynamics, inc. have specifically designed products for interventional radiology: StarBurst Xli enhanced semi-flexible radiofrequency ablation (RFA) device. It is a multifunctional radiofrequency ablation device, the ablation needle is composed of two parts, a rigid section and a flexible section, so it is called semi-flexible, and the flexible section can be bent up to 90 degrees in all directions, but the semi-flexible ablation device is not compatible with MRI. As another example, Samuel Byeong Jun Park et al, "A magnetic resonance image-defined breast interaction robot system": overview and design constraints "which was published in Int J CARS (2017)12: 1319-1331, DOI 10.1007/s11548-017-1528-2 by Samuel Byeong Park et al, 2017, proposed a flexible needle intervention robot for treating breast cancer satisfying MRI spatial constraints. However, this robot also has the following drawbacks: 1) the flexible needle can only be inserted along a guide tube which is prefabricated and curved (i.e. the robot itself does not have the function of bending the needle), so that both the direction of insertion of the needle and the radius of curvature of the curve are predetermined and not adjustable; 2) when the flexible needle is inserted into a guide tube which is manufactured in advance and is bent and shaped, the needle head is easily blocked due to the contact with the inner wall of the guide tube, and the insertion movement cannot be finished; 3) when the flexible needle is inserted, the outer wall of the needle is contacted with the inner wall of the guide tube, so that large frictional resistance is generated.

For another example, a synchronous puncturing mechanism for a flexible cannula needle based on gear transmission disclosed in CN206499516U and a robotic system for puncturing medical treatment by a flexible cannula needle disclosed in CN107280767A can both achieve puncturing and retracting of the flexible needle, but still cannot achieve effective control of the bending track and posture of the flexible needle.

Therefore, it would be desirable to develop a mechanism that not only drives the flexible needle for insertion and retraction, but also operates and controls the bending state of the flexible needle, the direction of needle tip insertion.

SUMMERY OF THE UTILITY MODEL

The utility model aims to solve the technical problem that lie in to above-mentioned prior art in not enough, provide a flexible needle piercing depth, not only can drive flexible needle and realize inserting and withdrawal function, can control the crooked orbit of flexible needle, syringe needle inserting direction according to operation position and workspace's actual conditions during the operation moreover.

In order to achieve the above object, the utility model adopts the following technical scheme: a flexible needle puncturing device, comprising:

the flexible needle assembly comprises a flexible guide tube with a hollow interior, a flexible hollow needle slidably inserted in the flexible guide tube and a flexible push rod slidably inserted in the flexible hollow needle;

the flexible needle puncture mechanism comprises a first driving mechanism for driving the flexible hollow needle and the flexible push rod to integrally reciprocate in the flexible guide tube and a second driving mechanism for driving the flexible push rod to reciprocate in the flexible hollow needle;

and the flexible needle bending mechanism comprises a third driving mechanism and a bending guide rod with a guide groove, the guide groove is provided with a guide shape track for guiding the flexible guide tube to bend, the guide shape track is provided with a curve track section, the third driving mechanism is used for applying acting force to the flexible guide tube, so that the flexible guide tube is attached to the guide groove to bend according to the guide shape track, and the flexible hollow needle and the flexible push rod in the flexible guide tube are bent according to the guide shape track.

Preferably, the first driving mechanism comprises a first bottom plate, a first front side plate connected to the first bottom plate, a first slider arranged on the first bottom plate and capable of reciprocating along the X direction, and a first power device for driving the first slider to reciprocate along the X direction;

the second driving mechanism comprises a second bottom plate connected to the first sliding block, a second sliding block capable of moving in the X direction in a reciprocating mode and arranged on the second bottom plate, and a second power device used for driving the second sliding block to move in the X direction in a reciprocating mode.

Preferably, the rear end of the flexible guide tube is fixedly connected to the first front side plate, the rear end of the flexible hollow needle is fixedly connected to the first slider, and the front end of the flexible hollow needle is inserted into the flexible guide tube;

the rear end of the flexible push rod is fixedly connected to the second sliding block, and the front end of the flexible push rod is inserted into the flexible hollow needle.

Preferably, the curved guide bar is connected to the first front side plate; the guide groove is formed on the outer surface of the bending guide rod;

the guide shape trajectory of the guide groove further includes a straight trajectory section tangentially connected to a front end of the curved trajectory section.

Preferably, the curved track section is a circular arc track section, a parabolic track section or an elliptic arc track section;

the cross section of the guide groove is in an arc shape, a U shape or a rectangular shape.

Preferably, the third driving mechanism includes a third bottom plate, a third slider disposed on the third bottom plate and capable of reciprocating along the X direction, a third driving force device for driving the third slider to reciprocate along the X direction, a straightener fixedly sleeved at the front end of the flexible guide tube, and a connecting rod having one end rotatably connected to the straightener and the other end rotatably connected to the third slider.

Preferably, the third driving mechanism further comprises at least one guide tube holder fixedly sleeved between the front end and the rear end of the flexible guide tube, and a spring connected between the guide tube holder and the third slider.

Preferably, the straightener comprises a linear sleeve fixedly connected to the front end of the flexible guide tube, a connecting part fixedly connected to the linear sleeve, and a connecting shaft arranged on the connecting part and used for being rotatably connected with the connecting rod;

the guide tube holder comprises a holding sleeve fixedly sleeved on the flexible guide tube and a mounting rod fixedly connected to the holding sleeve and connected with the spring.

Preferably, the cross-sectional profile shapes of the bottom surfaces of the linear sleeve and the clamping sleeve for contact with the guide groove are matched with the cross-sectional profile shape of the guide groove.

Preferably, the flexible needle puncturing device further comprises a support, the support comprises a mounting bottom plate and a mounting side plate, the third driving mechanism of the flexible needle bending mechanism is arranged on the bottom plate, and the first driving mechanism of the flexible needle puncturing mechanism is arranged on the mounting side plate in a height-adjustable manner.

The utility model has the advantages that:

1) the utility model provides a flexible needle puncture device not only can drive flexible needle and realize inserting and retracting function, but also can control the crooked orbit, the gesture and the syringe needle insertion direction of flexible needle, make the utility model discloses a flexible needle puncture device can realize the puncture operation in narrow space (such as MRI or CT obturator space), makes imaging scanning and flexible needle insert and can go on synchronously, and does not need to move into the obturator cavity of MRI or CT with the disease repeatedly during the operation, thereby can reduce the operation time, improve the operation precision;

2) the utility model discloses in, flexible hollow needle inserts and makes the syringe needle of flexible hollow needle stretch out the front end of flexible guide tube when flexible guide tube is linear state at first, later make flexible needle subassembly whole crooked again, then according to the focus region, insert flexible hollow needle to target position, this process is because flexible hollow needle can smoothly go on when inserting flexible guide tube, can not produce great resistance so that influence the inserting of syringe needle because of syringe needle and flexible guide tube inner wall contact, can reduce the frictional resistance between flexible hollow needle and the flexible guide tube.

Drawings

FIG. 1 is a schematic structural view of a flexible needle puncturing device according to the present invention;

FIG. 2 is an exploded view of the flexible needle puncturing device of the present invention;

FIG. 3 is a schematic structural view of the flexible needle puncturing mechanism of the present invention;

FIG. 4 is an exploded view of the flexible needle puncturing mechanism of the present invention;

fig. 5 is a schematic structural view of the bracket of the present invention;

fig. 6 is a cross-sectional view of a flexible needle assembly of the present invention;

fig. 7 is a perspective view and a side view of a curved guide bar of the present invention;

FIG. 8 is a schematic structural view of a portion of the components of the flexible needle bending mechanism of the present invention;

FIG. 9 is an exploded view of a portion of the components of the flexible needle bending mechanism of the present invention;

FIG. 10 is a schematic view showing the structure of the straightener of the present invention, the clamp of the guide tube, and the flexible guide tube;

FIG. 11 is an exploded view of the straightener of the present invention in cooperation with a guide tube holder and a flexible guide tube;

fig. 12 is a schematic structural view of the flexible needle bending mechanism of the present invention;

fig. 13(a) -13(C) are schematic structural views of the flexible needle puncture device according to the present invention in three different postures;

fig. 14 is a schematic view of the working flow of the flexible needle puncturing device of the present invention.

Description of reference numerals:

1-a flexible needle assembly; 11-a flexible guide tube; 12-a flexible hollow needle; 13-a flexible push rod;

2-flexible needle puncture mechanism; 21 — a first drive mechanism; 22 — a second drive mechanism; 211 — a first base plate; 212 — a first front side panel; 213 — first slider; 214-a first power plant; 215 — a first rear side panel; 221-a second backplane; 222 — a second slider; 223 — a second power plant; 224 — a second rear side panel; 2121-first opening; 2131-second opening; 2141 — a first electric machine; 2142-a first lead screw; 2143 — a first lead screw nut; 2144 — a first guide rod; 2231 — a second electric machine; 2232-second lead screw; 2233 — a second feed screw nut; 2234 — second guide bar;

3-a flexible needle bending mechanism; 31 — a third drive mechanism; 32-bending the guide rod; 321 — a guide groove; 311-third base plate; 312 — a third slider; 313 — a third driving force device; 314-a straightener; 315-connecting rod; 316-guide tube holder; 317, a spring; 318-third front panel; 319 — third rear side panel; 3131 — a third motor; 3132 — a third screw; 3133 — a third spindle nut; 3134 — a third guide bar; 3141-linear bushing; 3142-a connecting portion; 3143 a connecting shaft; 3161-a clamping sleeve; 3162-mounting bars; 3211-curved track section; 3212-straight track section;

4, a bracket; 41-mounting a bottom plate; 42, mounting a side plate; 421-mounting groove.

Detailed Description

The present invention is further described in detail below with reference to examples so that those skilled in the art can implement the invention with reference to the description.

It will be understood that terms such as "having," "including," and "comprising," as used herein, do not preclude the presence or addition of one or more other elements or groups thereof.

Referring to fig. 1 to 2, the present embodiment provides a flexible needle puncturing device including:

a flexible needle assembly 1 including a flexible guide tube 11 having a hollow interior, a flexible hollow needle 12 slidably inserted in the flexible guide tube 11, and a flexible push rod 13 slidably inserted in the flexible hollow needle 12;

the flexible needle puncture mechanism 2 comprises a first driving mechanism 21 for driving the flexible hollow needle 12 and the flexible push rod 13 to integrally reciprocate in the flexible guide tube 11 and a second driving mechanism 22 for driving the flexible push rod 13 to reciprocate in the flexible hollow needle 12;

and a flexible needle bending mechanism 3 including a third driving mechanism 31 and a bending guide rod 32 having a guide groove 321, the guide groove 321 having a guide shape trajectory for guiding the flexible guide tube 11 to bend, and the guide shape trajectory having a curved trajectory section 3211, the third driving mechanism 31 for applying a force to the flexible guide tube 11 so that the flexible guide tube 11 is fitted to the guide groove 321 to bend according to the guide shape trajectory, thereby bending the flexible hollow needle 12 inside the flexible guide tube 11 according to the guide shape trajectory.

The utility model discloses a flexible needle piercing depth not only can drive flexible needle and realize inserting and withdrawal function, can control the crooked orbit, the gesture and the syringe needle insertion direction of flexible needle moreover. Specifically, the utility model discloses in, can drive flexible hollow needle 12 and flexible push rod 13 overall motion through first actuating mechanism 21, so that the syringe needle of flexible hollow needle 12 stretches out the front end of flexible guiding tube 11, then through the crooked orbit of flexible needle bending mechanism 3 to flexible hollow needle 12, the needle insertion angle is controlled, further cooperate first actuating mechanism 21 to accomplish the puncture needle insertion action, rethread second actuating mechanism 22 drives flexible push rod 13 and removes the completion injection action alone in flexible hollow needle 12, for example, implant mark seed or medicine capsule or be used for ablating operation's electrode etc.. Finally controlling the flexible needle assembly 1 to retract and reset.

The utility model discloses in, first actuating mechanism 21 and second actuating mechanism 22 are used for providing reciprocating motion drive power, and the control of flexible hollow needle 12 curvilinear motion orbit can be realized to the guide effect of flexible hollow needle 12 moving orbit of flexible needle bending mechanism 3 of deuterogamying.

The utility model discloses in, the adjustment of the crooked curvature radius of flexible hollow needle 12 can be realized through the laminating degree of the curved track section 3211 of control flexible guide tube 11 and guide recess 321 for the crooked orbit of flexible hollow needle 12, the needle inserting angle are nimble controllable.

The utility model discloses in, flexible needle subassembly 1 wholly is the rectilinear shape when not receiving the exogenic action, complex with it, flexible hollow needle 12 inserts and makes the syringe needle of flexible hollow needle 12 stretch out the front end of flexible guide tube 11 when flexible guide tube 11 is the linear state, later makes flexible needle subassembly 1 whole crooked again, so flexible hollow needle 12 can smoothly go on when inserting flexible guide tube 11 in, can not produce great resistance so that influence the inserting of syringe needle because of syringe needle and the contact of flexible guide tube 11 inner wall.

The present invention is further described in detail by the following embodiments based on the general concept of the present invention.

Example 1

Referring to fig. 3 to 4, in the present embodiment, the first driving mechanism 21 includes a first bottom plate 211, a first front side plate 212 connected to the first bottom plate 211, a first slider 213 disposed on the first bottom plate 211 to be reciprocally movable in the X direction, and a first power unit 214 for driving the first slider 213 to be reciprocally movable in the X direction; the second driving mechanism 22 includes a second base plate 221 connected to the first slider 213, a second slider 222 provided on the second base plate 221 to be reciprocally movable in the X direction, and a second power unit 223 for driving the second slider 222 to be reciprocally movable in the X direction.

The first driving mechanism 21 is used for driving the flexible hollow needle 12, the flexible push rod 13 and the second driving mechanism 22 to move integrally along the X-axis direction, so that the needle head of the flexible hollow needle 12 extends out of the front end of the flexible guide tube 11, and the flexible hollow needle 12 is driven to reach a target position after being bent; the second driving mechanism 22 is used for driving the flexible push rod 13 to move in the flexible hollow needle 12 individually to complete the injection action, such as the implantation of a marker seed or a drug capsule or an electrode for ablation operation, etc.

For convenience of description, the following embodiments take the lead screw motor driving mechanism as an example for detailed description, and the first power device 214 and the second power device 223 can adopt conventional power mechanisms capable of providing linear driving force, such as the lead screw motor driving mechanism, the belt pulley driving mechanism, the electric push rod mechanism, and the air cylinder mechanism. Further, in order to ensure the linear motion of the first and

second sliders

213 and 222, in a preferred embodiment, a linear guide mechanism, such as a guide rod or a linear guide rail, is further provided.

In this embodiment, the first bottom plate 211 is connected to a first front plate 212 and a first rear plate 215, the first power device 214 includes a first motor 2141, a first lead screw 2142 drivingly connected to the first motor 2141, and a first lead screw nut 2143 threadedly engaged with the first lead screw 2142, the first slider 213 is fixed to the first lead screw nut 2143, two ends of the first lead screw 2142 are respectively connected to the first front plate 212 and the first rear plate 215, the first front plate 212 and the first rear plate 215 are connected to two first guide rods 2144, the first guide rods 2144 are engaged with the first slider 213, and the two guide rods can slide relatively to realize linear guide and limit rotation of the first slider 213. The first motor 2141 drives the first lead screw 2142 to rotate, so that the first slide block 213 is driven by the first lead screw nut 2143 to perform a reciprocating linear motion on the first guide rod 2144. Similarly, a second rear side plate 224 is arranged on the second bottom plate 221, the second power device 223 includes a second motor 2231, a second lead screw 2232 drivingly connected to the second motor 2231, and a second lead screw nut 2233 threadedly engaged with the second lead screw 2232, two ends of the second lead screw 2232 are respectively connected to the second rear side plate 224 and the first slider 213, the second slider 222 is fixed to the second lead screw nut 2233, and the second rear side plate 224 and the first slider 213 are connected to two second guide rods 2234. The second power means 223 is identical in principle to the first power means 214 and will not be described in detail here.

Referring to fig. 1 and 5, in the present embodiment, the flexible needle puncturing device further includes a bracket 4, the bracket 4 includes a mounting bottom plate 41 and a mounting side plate 42, the third driving mechanism 31 of the flexible needle bending mechanism is disposed on the bottom plate, and the first driving mechanism (21) of the flexible needle puncturing mechanism is height-adjustably disposed on the mounting side plate 42. In a further preferred embodiment, the mounting side plate 42 is provided with a mounting groove 421 along the vertical direction, the first bottom plate 211 of the first driving mechanism 21 is disposed on the mounting side plate 42 by the cooperation of the screw and the mounting groove 421, and the mounting position of the flexible needle puncturing mechanism 2 along the Z direction can be adjusted by adjusting the fixing position of the screw on the mounting groove 421, so as to adjust the overall mounting height of the flexible needle puncturing mechanism 2 according to the size of the operation site and the operation space.

With continued reference to fig. 2-3, in the present embodiment, the rear end of the flexible guide tube 11 is fixedly connected to the first front side plate 212, the rear end of the flexible hollow needle 12 is fixedly connected to the first slider 213, and the front end of the flexible hollow needle 12 is inserted into the flexible guide tube 11; the rear end of the flexible push rod 13 is fixedly connected to the second slider 222, and the front end of the flexible push rod 13 is inserted into the flexible hollow needle 12. The first front side plate 212 is provided with a first opening 2121, the end of the flexible guide tube 11 is fixedly inserted into the first opening 2121, the second slider 222 is provided with a second opening 2131, and the end of the flexible hollow needle 12 is fixedly inserted into the second opening 2131.

Referring to fig. 6, the flexible push rod 13, the flexible hollow needle 12 and the flexible guide tube 11 are coaxially arranged, and have diameters that are sequentially increased, and inner walls are smooth surfaces, so that the two can smoothly slide each other. In some embodiments, when the flexible push rod 13 is used for injecting liquid, a piston may be further disposed at the end of the flexible push rod to ensure the smooth performance of the liquid injection function. In some embodiments, the flexible push rod 13, the flexible hollow needle 12, and the flexible guide tube 11 can be made of nitinol, polyethylene, polypropylene, silica gel, or other bendable metal or plastic material. In the preferred embodiment, nitinol, a conventional nitinol alloy, is used in the medical device industry because of its shape memory, superelasticity, and biocompatibility characteristics.

In this embodiment, the guide groove 321 on the bending guide rod 32 is used for guiding and limiting the track, so that the flexible guide tube 11, the flexible hollow needle 12 and the flexible push rod 13 can be ensured to be bent according to a predetermined track, and the requirements of the spatial position and the orientation of the surgical site or the surgical organ during the clinical needle insertion operation can be met.

With continued reference to fig. 1-2, wherein the curved guide bar 32 is attached to the first front side panel 212, the curved guide bar 32 is positioned such that: the flexible needle assembly can be bent to fit the guide groove 321. As shown in fig. 1 or 2, in one embodiment, a guide groove 321 opens on the outer surface of the bending guide rod 32 directly below the flexible guide tube 11.

Referring to fig. 7, in one embodiment, the guide shape trajectory of the guide groove 321 further includes a straight trajectory segment 3212 tangentially connected to a front end of the curved trajectory segment 3211. Namely, the guiding groove 321 includes a curved track segment 3211 and a straight track segment 3212, the curved track segment 3211 is used for guiding to realize the curve of the curved track, and the straight track segment 3212 is used for keeping the needle head of the flexible hollow needle 12 at the front end as a straight line, so as to perform a smooth and accurate puncturing operation. The curved track segment 3211 may be an arc track segment, a parabolic track segment, an elliptical arc track segment, or the like. The curvature radius of the curved track segment 3211 limits the actual minimum bending radius of the flexible guide tube 11, the flexible hollow needle 12 and the flexible push rod 13, so the minimum bending curvature radius allowed by the material and structure of the flexible guide tube 11, the flexible hollow needle 12 and the flexible push rod 13 must be smaller than the curvature radius of the curved track segment 3211. In a preferred embodiment, curved path segment 3211 is an 1/4 arc having a radius R, and linear path segment 3212 is a straight segment of length L that is tangentially connected to the end of the 1/4 arc. In other embodiments, the curved track segment 3211 may be a different portion of an arc, such as the 1/8 arc, or may be another type of curve.

In a preferred embodiment, the cross-sectional shape of the guide groove 321 is a circular arc shape or a U shape or a rectangular shape. In the present embodiment, the cross section of the guide groove 321 is a semicircular arc curve having a radius r.

Referring to fig. 8 to 9 and fig. 12, in the present embodiment, the third driving mechanism 31 includes a third base plate 311, a third slider 312 reciprocally disposed on the third base plate 311 in the X direction, a third power device 313 for driving the third slider 312 to reciprocally move in the X direction, a straightener 314 fixedly sleeved on the front end of the flexible guide tube 11, and a link 315 rotatably connected to the straightener 314 at one end and the third slider 312 at the other end. In this embodiment, two connecting rods 315 are symmetrically disposed to ensure stability.

The third power device 313 may be a conventional power device capable of providing a linear driving force, such as a screw motor driving mechanism, a belt pulley driving mechanism, an electric push rod mechanism, and an air cylinder mechanism. Further, in order to ensure the linear motion of the third slider 312, in a preferred embodiment, a linear guide mechanism, such as a guide rod or a linear guide rail, is further configured, and in this embodiment, the guide rod is selected for linear guide. In this embodiment, the third bottom plate 311 is provided with a third front side plate 318 and a third rear side plate 319, the third power device 313 includes a third motor 3131, a third screw 3132 drivingly connected to the third motor 3131, and a third screw nut 3133 threadedly engaged with the third screw 3132, two ends of the third screw 3132 are respectively connected to the third front side plate 318 and the third rear side plate 319, and the third slider 312 is connected to the third screw nut 3133. Two third guide rods 3134 are connected to the third front side plate 318 and the third rear side plate 319, and the third guide rods 3134 are matched to pass through the third sliding block 312, and the two sliding rods can slide relatively to each other to realize linear guide and limit the rotation of the third sliding block 312. The third power unit 313 is identical in principle to the first power unit 214 and will not be described in detail here.

Referring to fig. 10 to 12, in this embodiment, the third driving mechanism 31 further includes at least one guide tube holder 316 fixedly sleeved between the front end and the rear end of the flexible guide tube 11 and a spring 317 connected between the guide tube holder 316 and the third slider 312. At least one spring 317 is provided per guide tube holder 316, in this embodiment two springs 317 are provided.

Wherein, the straightener 314 comprises a straight sleeve 3141 fixedly connected with the front end of the flexible guide tube 11, a connecting part 3142 fixedly connected with the straight sleeve 3141 and a connecting shaft 3143 arranged on the connecting part 3142 and used for rotatably connecting with the connecting rod 315; the guide tube clamper 316 comprises a clamping sleeve 3161 fixedly sleeved on the flexible guide tube 11 and a mounting rod 3162 fixedly connected to the clamping sleeve 3161 and used for connecting with the spring 317.

In one embodiment, the end of the linear sleeve 3141 is fixed to the front end of the flexible guiding tube 11, the linear sleeve 3141 is coaxial with the flexible guiding tube 11, and the inner diameter of the linear sleeve 3141 is very close to the outer diameter of the flexible hollow needle 12, so that the flexible hollow needle 12 can smoothly pass through the linear sleeve 3141, and can form a clamping effect on the flexible hollow needle 12 through the linear sleeve 3141, and finally the flexible hollow needle 12 is kept to be linear and restored to rigidity under the restriction of the linear sleeve 3141 after penetrating out of the flexible guiding tube 11, so as to ensure that the puncture can be smoothly performed. In another embodiment, the linear sleeve 3141 is fixedly sleeved on the flexible guide tube 11, and the inner diameter of the section of flexible guide tube 11 in the linear sleeve 3141 is very close to the outer diameter of the flexible hollow needle 12, similarly, so that the section of flexible guide tube 11 can also restrict the flexible hollow needle 12 from keeping straight and restoring rigidity.

The clamping sleeve 3161 and the flexible guide tube 11 can be fixed by interference fit, welding, screw connection or the like.

Wherein, in order to ensure that the flexible guide tube 11 fits the guide groove 321 on the bending guide rod 32 in the final bent posture, the cross-sectional profile shapes of the bottom surfaces of the linear sleeve 3141 and the grip sleeve 3161 for contacting the guide groove 321 are matched with the cross-sectional profile shape of the guide groove 321. For example, in the present embodiment, they are circular arcs having a radius r.

When the third power device 313 drives the third slider 312 to move along the X direction, the third slider 312 drives the link 315 and the lower end of the spring 317 to move together along the X direction, and when moving to the side away from the bending guide rod 32, as shown in the positive direction of the X axis in fig. 12, under the constraint action of the link 315 and the spring 317, the flexible guide tube 11 and the flexible hollow needle 12 and the flexible push rod 13 inside the flexible guide tube will bend along the guide groove 321; when the flexible guide tube 11 moves reversely, the flexible hollow needle 12 and the flexible push rod 13 inside the flexible guide tube are reset to a linear state from a bending state.

Referring to fig. 13-14, in one embodiment, the flexible needle puncturing device of the present invention operates according to the following principle:

s1, the first driving mechanism 21 drives the flexible hollow needle 12 and the flexible push rod 13 to move forward in the flexible guide tube 11 together until the needle head of the flexible hollow needle 12 passes through the straightener 314, and referring to FIG. 13A, the flexible needle puncture device is shown in a state before the flexible needle assembly 1 is bent;

s2, the third driving mechanism 31 drives the third slider 312 to move towards the side away from the bending guide rod 32, and the link 315 and the spring 317 exert forces to cause the flexible guide tube 11, the flexible hollow needle 12 inside the flexible guide tube and the flexible push rod 13 to integrally bend and reach a predetermined bending angle, see fig. 13B and 13C; wherein, FIG. 13B shows the posture of the flexible needle puncture device when the guide tube holder 316 is in contact with the curved guide rod 32 and the straightener 314 is not in contact with the curved guide rod 32; FIG. 13C shows the attitude of the flexible needle puncturing device when the guide tube holder 316 and the straightener 314 are both in contact with the curved guide rod 32;

s3, the first driving mechanism 21 continues to drive the flexible hollow needle 12 and the flexible push rod 13 to move forwards in the flexible guide tube 11 together and penetrate through the skin to reach the vicinity of the target;

s4, the second driving mechanism 22 independently drives the flexible push rod 13 to move forwards to complete target intervention, such as implanting marking seeds or medicine capsules or electrodes for ablation operation;

s5, once the target intervention is finished, the second driving mechanism 22 independently drives the flexible push rod 13 to move backwards and retract into the flexible hollow needle 12;

s6, the first driving mechanism 21 drives the flexible hollow needle 12 and the flexible push rod 13 to move backwards together and retract into the flexible guide tube 11, thereby completing the whole working process of the device.

While the embodiments of the invention have been disclosed above, it is not limited to the applications listed in the description and the embodiments, which are fully applicable in all kinds of fields where the invention is suitable, and further modifications may readily be made by those skilled in the art, and the invention is therefore not limited to the specific details without departing from the general concept defined by the claims and the scope of equivalents.

Claims

1. A flexible needle puncturing device, comprising:

the flexible needle assembly (1) comprises a flexible guide tube (11) with a hollow interior, a flexible hollow needle (12) which is slidably inserted in the flexible guide tube (11), and a flexible push rod (13) which is slidably inserted in the flexible hollow needle (12);

a flexible needle puncture mechanism (2) which comprises a first driving mechanism (21) for driving the flexible hollow needle (12) and the flexible push rod (13) to integrally reciprocate in the flexible guide tube (11) and a second driving mechanism (22) for driving the flexible push rod (13) to reciprocate in the flexible hollow needle (12);

and the flexible needle bending mechanism (3) comprises a third driving mechanism (31) and a bending guide rod (32) with a guide groove (321), the guide groove (321) is provided with a guide shape track for guiding the flexible guide tube (11) to bend, the guide shape track is provided with a curve track section (3211), and the third driving mechanism (31) is used for applying acting force to the flexible guide tube (11) so that the flexible guide tube (11) is attached to the guide groove (321) to bend according to the guide shape track, and the flexible hollow needle (12) and the flexible push rod (13) in the flexible guide tube (11) are bent according to the guide shape track.

2. The flexible needle puncturing device according to claim 1, wherein the first driving mechanism (21) comprises a first base plate (211), a first front side plate (212) connected to the first base plate (211), a first slider (213) reciprocatingly movably disposed on the first base plate (211) in the X direction, and a first power unit (214) for driving the first slider (213) to reciprocate in the X direction;

the second driving mechanism (22) comprises a second bottom plate (221) connected to the first sliding block (213), a second sliding block (222) capable of moving back and forth along the X direction and arranged on the second bottom plate (221), and a second power device (223) used for driving the second sliding block (222) to move back and forth along the X direction.

3. The flexible needle puncturing device according to claim 2, wherein a rear end of the flexible guide tube (11) is fixedly attached to the first front side plate (212), a rear end of the flexible hollow needle (12) is fixedly attached to the first slider (213), and a front end of the flexible hollow needle (12) is inserted into the flexible guide tube (11);

the rear end of the flexible push rod (13) is fixedly connected to the second sliding block (222), and the front end of the flexible push rod (13) is inserted into the flexible hollow needle (12).

4. The flexible needle puncturing device of claim 3, wherein said curved guide rod (32) is attached to said first front side plate (212);

the guide groove (321) is opened on the outer surface of the curved guide rod (32), and the guide shape track of the guide groove (321) further comprises a linear track section (3212) which is tangentially connected with the front end of the curved track section (3211).

5. The flexible needle puncture device according to claim 4, wherein the curved trajectory segment (3211) is a circular arc trajectory segment or a parabolic trajectory segment or an elliptical arc trajectory segment;

the cross section of the guide groove (321) is arc-shaped, U-shaped or rectangular.

6. The flexible needle puncturing device according to any one of claims 2 to 5, wherein said third driving mechanism (31) comprises a third base plate (311), a third slider (312) reciprocally movable in the X direction and disposed on said third base plate (311), a third power unit (313) for driving said third slider (312) to reciprocally move in the X direction, a straightener (314) fixedly secured to the front end of said flexible guide tube (11), and a link (315) rotatably connected at one end to said straightener (314) and at the other end to said third slider (312).

7. The flexible needle puncturing device according to claim 6, wherein said third drive mechanism (31) further comprises at least one guide tube holder (316) fixedly fitted between the front and rear ends of said flexible guide tube (11) and a spring (317) connected between said guide tube holder (316) and a third slider (312).

8. The flexible needle puncturing device according to claim 7, wherein the straightener (314) comprises a linear sleeve (3141) fixedly connected to the front end of the flexible guide tube (11), a connecting portion (3142) fixedly connected to the linear sleeve (3141), and a connecting shaft (3143) provided on the connecting portion (3142) for rotatable connection with the link (315);

the guide tube clamper (316) comprises a clamping sleeve (3161) fixedly sleeved on the flexible guide tube (11) and an installation rod (3162) fixedly connected to the clamping sleeve (3161) and used for being connected with the spring (317).

9. The flexible needle puncturing device according to claim 8, wherein the bottom surfaces of the linear sleeve (3141) and the grip sleeve (3161) for contacting the guiding groove (321) each have a cross-sectional profile shape matching the cross-sectional profile shape of the guiding groove (321).

10. The flexible needle puncturing device according to claim 9, further comprising a bracket (4), wherein said bracket (4) comprises a mounting base plate (41) and a mounting side plate (42), wherein said third driving mechanism (31) of said flexible needle bending mechanism (3) is arranged on said base plate, and wherein said first driving mechanism (21) of said flexible needle puncturing mechanism (2) is arranged on said mounting side plate (42) in a height adjustable manner.