CN105363113A - Needle feeding mechanism for sleeve-type flexible needle - Google Patents
Needle feeding mechanism for sleeve-type flexible needle Download PDFInfo
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- CN105363113A CN105363113A CN201510899245.7A CN201510899245A CN105363113A CN 105363113 A CN105363113 A CN 105363113A CN 201510899245 A CN201510899245 A CN 201510899245A CN 105363113 A CN105363113 A CN 105363113A
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- slide rail
- driving device
- sleeve
- motor
- needle
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
- A61M25/0113—Mechanical advancing means, e.g. catheter dispensers
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M2205/00—General characteristics of the apparatus
- A61M2205/10—General characteristics of the apparatus with powered movement mechanisms
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- Engineering & Computer Science (AREA)
- Anesthesiology (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Hematology (AREA)
- Animal Behavior & Ethology (AREA)
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- Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)
Abstract
The invention discloses a needle feeding mechanism for a sleeve-type flexible needle and belongs to the field of medical instruments. Needle pricking angle can be controlled, obstacles can be bypassed effectively, accurate targeted puncture is realized, and positioning accuracy in the process of needle insertion is improved. The needle feeding mechanism comprises a first driving device, a second driving device, a third driving device, a fourth driving device, a needle pricking device and a supporting device, and the first driving device and the second driving device which are mounted above a baseplate are in transmission through a belt to respectively drive a sleeve spiral sliding rail and a sleeve crossed sliding rail of the needle pricking device to enable a sleeve sliding seat on the sliding rails to rotate so as to realize feeding and autorotation feeding of a flexible sleeve; the third driving device and the fourth driving device which are mounted above the baseplate are in transmission through a belt to respectively drive a needle spiral sliding rail and a needle crossed sliding rail of the needle pricking device to enable a needle sliding seat on the sliding rails to rotate so as to realize feeding and autorotation feeding of the flexible needle; through matching of the flexible needle and a flexible sleeve, torsional friction between the needle and tissue is reduced, and accuracy of inclined tip rotating angle is improved.
Description
Technical field
The present invention relates to a kind of needling mechanism of bushing type flexible needle, belong to medical instruments field.
Background technology
Current clinical extensive employing rigidity gets involved pin puncture, due to structural complexity and the manual uncertainty of tissue, conventional rigid pin is difficult to realize accurate positioning control, more cannot walk around as the obstacles such as skeleton or the sensitive organization such as nerve, blood vessel, realize the targeting puncture at human depth position.For the above-mentioned drawback of rigid needle, existing scholar proposes to adopt " oblique sharp flexible needle " to replace traditional rigid needle.Flexible needle is generally made up of hyperelastic Nitinol, and the side force utilizing the flexibility of pin and pinpoint inclined plane and function of organization to be subject to makes needle shaft produce flexural deformation, thus corrects a deviation and cut-through, realizes the puncture of accurate targeting.But the oblique sharp flexible needle of tradition, when the oblique sharp direction of rotary needle axial adjustment, owing to there is torsional friction between needle shaft and tissue, is difficult to realize the accurate control of oblique sharp corner thus has a strong impact on the precision of targeting location, causing puncturing operation failed.
Summary of the invention
For above problem, the present invention proposes a kind of acupuncture treatment driving device automatically controlled by machine, sleeve pipe and syringe needle use flexible material respectively, design inserting needle driving mechanism in addition, and cut-through thing punctures effectively, realize the puncture of accurate targeting, improve the positioning precision of acupuncture treatment process, reduce the misery of patient, improve the life quality of patient, promote the development of minimally invasive medical technology, bring huge Social benefit and economic benefit.Basic technical scheme is:
The needling mechanism of bushing type flexible needle of the present invention, its composition comprises the first driving device, the second driving device, the 3rd driving device, four-drive device, lancet device, bracing or strutting arrangement, it is characterized in that: the first described driving device is installed on above the base plate of bracing or strutting arrangement, the first driven pulley in first driving device is arranged on the front end mouth interface of lancet device, drive front end mouth interface to rotate by the first driven pulley, front end mouth interface is installed on the front end mouth interface supporting seat in bracing or strutting arrangement.The second described driving device is installed on above the base plate of bracing or strutting arrangement, the second driven pulley in second driving device is arranged on the sleeve crossed slide rail of lancet device, drive sleeve crossed slide rail to rotate by the second driven pulley, sleeve crossed slide rail is installed on the sleeve crossed slide rail supporting seat in bracing or strutting arrangement.The 3rd described driving device is installed on above the base plate of bracing or strutting arrangement, the 3rd driven pulley in 3rd driving device is arranged on the middle end interface of lancet device, in being driven by the 3rd driven pulley, end interface rotates, and middle end interface is installed on middle end interface supporting seat.Described four-drive device is installed on above the base plate of bracing or strutting arrangement, the 4th driven pulley in four-drive device is arranged on the pin cross slide rail of lancet device, drive pin cross slide rail to rotate by the 4th driven pulley, pin cross slide rail is installed on pin cross slide rail supporting seat.
Further, the first described driving device, be made up of the first motor, the first motor supporting base, the first shaft coupling, the first driving pulley, the first driven pulley, the first belt, first motor is fixed on the first described motor supporting base, and be connected with the first described driving pulley by the first described shaft coupling, rotated by described the first driven pulley described in the first belt drive again; The second described driving device, be made up of the second motor, the second motor supporting base, the second shaft coupling, the second driving pulley, the second driven pulley, the second belt, second motor is fixed on the second described motor supporting base, and be connected with the second described driving pulley by the second described shaft coupling, rotated by described the second driven pulley described in the second belt drive again; The 3rd described driving device, be made up of the 3rd motor, the 3rd motor supporting base, the 3rd shaft coupling, the 3rd driving pulley, the 3rd driven pulley, the 3rd belt, 3rd motor is fixed on the 3rd described motor supporting base, and be connected with the 3rd described driving pulley by the 3rd described shaft coupling, rotated by described the 3rd driven pulley described in the 3rd belt drive again; Described four-drive device, be made up of the 4th motor, the 4th motor supporting base, the 4th shaft coupling, four-wheel drive belt wheel, the 4th driven pulley, the 4th belt, 4th motor is fixed on the 4th described motor supporting base, and be connected with described four-wheel drive belt wheel by the 4th described shaft coupling, rotated by described the 4th driven pulley described in the 4th belt drive again;
Further, described lancet device, by flexible needle, flexible sleeve, pin sliding seat, cannula slide seat, pin cross slide rail, sleeve crossed slide rail, pin spiral slide rail, telescoping screw slide rail, middle end interface, thrust bearing, holding screw, front end mouth interface composition, it is characterized in that: described front end mouth interface internal and described telescoping screw slide rail end are connected, described mouth interface outside, front end is connected by snak link with described sleeve crossed slide rail, described cannula slide seat moves on described telescoping screw slide rail and described sleeve crossed slide rail, and by being connected the flexible sleeve rotation feeding described in driving or feeding with described flexible sleeve end, described middle end interface one end and the described nested fastening of sleeve crossed slide rail, the described middle end interface other end and described pin cross slide rail are nested together by thrust bearing interference fit, described middle-end interface internal and described pin spiral slide rail end are connected by holding screw, described pin sliding seat moves on described pin spiral slide rail and described pin cross slide rail, and by being connected the flexible needle feeding described in driving and rotation feeding with described flexible needle,
Further, described bracing or strutting arrangement, be made up of base plate, front end mouth interface supporting seat, sleeve crossed slide rail supporting seat, middle end interface supporting seat, pin cross slide rail supporting seat, it is characterized in that: described front end mouth interface supporting seat, sleeve crossed slide rail supporting seat, middle end interface supporting seat, pin cross slide rail supporting seat are installed in above described base plate.
The invention has the beneficial effects as follows:
1. the present invention makees syringe needle by using dilval, except having shape memory function, also has the advantages such as wear-resistant, anticorrosive, high damping and super-elasticity, alleviates the misery of patient additionally by flexible material;
2. lancet device of the present invention adopts the different track of driven by motor thus drives soft pin and sleeve pipe can carry out rotation feeding and straight-line feed respectively, conveniently adjust into pin angle, can effective cut-through thing, can more accurately arrive focus place, puncture efficiently and effectively.
3. lancet device of the present invention can control pin and sleeve pipe punctures simultaneously simultaneously, comprises the puncture of camber line, straight line and helix.Pin stretches out a certain length, and then sleeve pipe and nook closing member puncture simultaneously, by controlling the length that pin stretches out, can obtain circular arc or the helix of different curvature radius; And sleeve pipe coordinates with nook closing member, the Path form intercoupled, improves puncture degree of flexibility greatly.
4. the existence of middle sleeve of the present invention, makes pin and tissue separate, eliminates the torsional friction of pin and tissue, avoids flexible needle generation overbending, effectively improves the control accuracy to oblique sharp corner, avoids and damage patient in acupuncture treatment process;
Accompanying drawing explanation
Accompanying drawing 1, population structure schematic diagram of the present invention;
Accompanying drawing 2, lancet device schematic diagram of the present invention and sectional view;
B-B sectional structure enlarged drawing in accompanying drawing 3, Fig. 2;
Interrupt interface magnified partial view in accompanying drawing 4, Fig. 2.
In figure: 1. base plate, 2. front end mouth interface, 3. front end mouth interface supporting seat, 4. end interface in, 4-1. thrust bearing, 4-2. holding screw, 5. end interface supporting seat in, 6. sleeve crossed slide rail, 7. sleeve crossed slide rail supporting seat, 8. telescoping screw slide rail, 9. flexible sleeve, 10. cannula slide seat, 11. pin cross slide rails, 12. pin cross slide rail supporting seats, 13. pin spiral slide rails, 14. pin sliding seats, 15. flexible needles, 16. first driving devices, 16-1. the first motor, 16-2. the first motor supporting base, 16-3. the first shaft coupling, 16-4. the first driving pulley, 16-5. the first driven pulley, 16-6. the first belt, 17. second driving devices, 17-1. the second motor, 17-2. the second motor supporting base, 17-3. the second shaft coupling, 17-4. the second driving pulley, 17-5. the second driven pulley, 17-6. the second belt, 18. the 3rd driving devices, 18-1. the 3rd motor, 18-2. the 3rd motor supporting base, 18-3. the 3rd shaft coupling, 18-4. the 3rd driving pulley, 18-5. the 3rd driven pulley, 18-6. the 3rd belt, 19. four-drive devices, 19-1. the 4th motor, 19-2. the 4th motor supporting base, 19-3. the 4th shaft coupling, 19-4. four-wheel drive belt wheel, 19-5. the 4th driven pulley, 19-6. the 4th belt.
Detailed description of the invention
Concrete structure of the present invention and embodiment is further illustrated below in conjunction with accompanying drawing.
The needling mechanism of a kind of bushing type flexible needle of the present invention, comprise the first driving device 16, second driving device 17, the 3rd driving device 18, four-drive device 19, lancet device, bracing or strutting arrangement, it is characterized in that: the first described driving device 16 is installed on above the base plate 1 of bracing or strutting arrangement, the first driven pulley 16-5 in first driving device 16 is arranged on the front end mouth interface 2 of lancet device, drive front end mouth interface 2 to rotate by the first driven pulley 16-5, front end mouth interface 2 is installed on the front end mouth interface supporting seat 3 in bracing or strutting arrangement.The second described driving device 17 is installed on above the base plate 1 of bracing or strutting arrangement, the second driven pulley 17-5 in second driving device 17 is arranged on the sleeve crossed slide rail 6 of lancet device, drive sleeve crossed slide rail 6 to rotate by the second driven pulley 17-5, sleeve crossed slide rail 6 is installed on the sleeve crossed slide rail supporting seat 7 in bracing or strutting arrangement.The 3rd described driving device 18 is installed on above the base plate 1 of bracing or strutting arrangement, the 3rd driven pulley 18-5 in 3rd driving device 18 is arranged on the middle end interface 4 of lancet device, in being driven by the 3rd driven pulley 18-5, end interface 4 rotates, and middle end interface 4 is installed on middle end interface supporting seat 5.Described four-drive device 19 is installed on above the base plate 1 of bracing or strutting arrangement, the 4th driven pulley 19-5 in four-drive device 19 is arranged on the pin cross slide rail 11 of lancet device, drive pin cross slide rail 11 to rotate by the 4th driven pulley 19-5, pin cross slide rail 11 is installed on pin cross slide rail supporting seat 12.
First driving device 16 is made up of the first motor 16-1, the first motor supporting base 16-2, the first shaft coupling 16-3, the first driving pulley 16-4, the first driven pulley 16-5, the first belt 16-6, first motor 16-1 is fixed on the first described motor supporting base 16-2, and be connected with the first described driving pulley 16-4 by the first described shaft coupling 16-3, the first driven pulley 16-5 described in being driven by the first described belt 16-6 is again rotated; The second described driving device 17, be made up of the second motor 17-1, the second motor supporting base 17-2, the second shaft coupling 17-3, the second driving pulley 17-4, the second driven pulley 17-5, the second belt 17-6, second motor 17-1 is fixed on the second described motor supporting base 17-2, and be connected with the second described driving pulley 17-4 by the second described shaft coupling 17-3, the second driven pulley 17-5 described in being driven by the second described belt 17-6 is again rotated; The 3rd described driving device 18, be made up of the 3rd motor 18-1, the 3rd motor supporting base 18-2, the 3rd shaft coupling 18-3, the 3rd driving pulley 18-4, the 3rd driven pulley 18-5, the 3rd belt 18-6,3rd motor 18-1 is fixed on the 3rd described motor supporting base 18-2, and be connected with the 3rd described driving pulley 18-4 by the 3rd described shaft coupling 18-3, the 3rd driven pulley 18-5 described in being driven by the 3rd described belt 18-6 is again rotated; Described four-drive device 19, be made up of the 4th motor 19-1, the 4th motor supporting base 19-2, the 4th shaft coupling 19-3, four-wheel drive belt wheel 19-4, the 4th driven pulley 19-5, the 4th belt 19-6,4th motor 19-1 is fixed on the 4th described motor supporting base 19-2, and be connected with described four-wheel drive belt wheel 19-4 by the 4th described shaft coupling 19-3, the 4th driven pulley 19-5 described in being driven by the 4th described belt 19-6 is again rotated;
Lancet device is by flexible needle 15, flexible sleeve 9, pin sliding seat 14, cannula slide seat 10, pin cross slide rail 11, sleeve crossed slide rail 6, pin spiral slide rail 13, telescoping screw slide rail 8, middle end interface 4, thrust bearing 4-1, holding screw 4-2, front end mouth interface 2 forms, telescoping screw slide rail 8 end that described front end mouth interface 2 is inner and described is connected, described mouth interface 2 outside, front end is connected by snak link with described sleeve crossed slide rail 6, described cannula slide seat 10 moves on described telescoping screw slide rail 8 and described sleeve crossed slide rail 6, and by being connected the flexible sleeve 9 rotation feeding described in driving or feeding with described flexible sleeve 9 end, described middle end interface 4 one end and described sleeve crossed slide rail 6 fasten, described middle end interface 4 other end and described pin cross slide rail 11 are nested together by thrust bearing 4-1 interference fit, described middle end interface 4 inside is connected by holding screw 4-2 with described pin spiral slide rail 13 end, described pin sliding seat 14 moves on described pin spiral slide rail 13 and described pin cross slide rail 11, and by being connected flexible needle 15 feeding described in driving and rotation feeding with described flexible needle 15,
Embodiment 1, participates in accompanying drawing 1, accompanying drawing 2.
The first motor 16-1 in first driving device 16 rotates, other driving devices are standby locked, the telescoping screw slide rail 8 of lancet device is driven to rotate by the first belt 16-6, cannula slide seat 10 is rotated on telescoping screw slide rail 8, because other driving devices are standby locked, cannula slide seat 10 is inner at sleeve crossed slide rail 6 again, cannula slide seat 10 can only be moved in sleeve crossed slide rail 6, and the mobile of cannula slide seat 10 drives flexible sleeve 9 fixed thereon to realize straight-line feed; The second motor 17-1 in second driving device 17 rotates, other driving devices are standby locked, the sleeve crossed slide rail 6 of lancet device is driven to rotate by the second belt 17-6, because other driving devices are standby locked, cannula slide seat 10 is inner at telescoping screw slide rail 8 again, the rotation of sleeve crossed slide rail 6 will make cannula slide seat 10 rotate on telescoping screw slide rail 8, thus drive the flexible sleeve 9 being fixed on cannula slide seat 10 to realize rotation feeding; First driving device 16 and the second driving device 17 work simultaneously, can realize the different angles feeding of flexible sleeve, reach auxiliary puncture object.
Embodiment 2, participates in accompanying drawing 1, accompanying drawing 2.
The 3rd motor 18-1 in 3rd driving device 18 rotates, other driving devices are standby locked, the pin spiral slide rail 13 of lancet device is driven to rotate by the 3rd belt 18-6, pin sliding seat 14 is rotated on pin spiral slide rail 14, because other driving devices are standby locked, pin sliding seat 14 is inner at pin cross slide rail 11 again, and pin sliding seat 14 can only be moved in pin cross slide rail 11, and the mobile of pin sliding seat 14 drives flexible needle 15 fixed thereon to realize straight-line feed; The 4th motor 19-1 in four-drive device 19 rotates, other driving devices are standby locked, the pin cross slide rail 11 of lancet device is driven to rotate by the 4th belt 19-6, because other driving devices are standby locked, pin sliding seat 14 is inner at pin spiral slide rail 13 again, the rotation of pin cross slide rail 11 will make pin sliding seat 14 rotate on pin spiral slide rail 13, thus drive the flexible needle 15 being fixed on pin sliding seat 14 to realize rotation feeding; 3rd driving device 18 and four-drive device 19 work simultaneously, can realize the different angles feeding of flexible needle 15, thus effective cut-through thing punctures, and realize the puncture of accurate targeting.
Embodiment 3, participates in accompanying drawing 1, accompanying drawing 2.
The action simultaneously of first driving device 16, second driving device 17, the 3rd driving device 18, four-drive device 19, punctures while realizing pin and sleeve pipe by the amount of spin controlling motor, comprises the puncture of camber line, straight line and helix.Flexible needle stretches out a certain length, and then flexible sleeve 9 and flexible needle 15 puncture simultaneously, by controlling the length that flexible needle 15 stretches out, can obtain circular arc or the helix of different curvature radius; And flexible sleeve 9 coordinates with flexible needle 15, the Path form intercoupled, improves puncture degree of flexibility greatly.The existence of flexible sleeve 9, makes flexible needle 15 and tissue separate, and eliminates flexible needle 15 and the torsional friction of tissue, avoids flexible needle 15 that overbending occurs, effectively improve the control accuracy to oblique sharp corner, avoid and damage patient in acupuncture treatment process;
In the present invention, the kind of drive of the first driving device 16, second driving device 17, the 3rd driving device 18, four-drive device 19 also can be gear drive or Chain conveyer.
Claims (4)
1. the needling mechanism of a bushing type flexible needle, its composition comprises the first driving device (16), second driving device (17), 3rd driving device (18), four-drive device (19), lancet device, bracing or strutting arrangement, it is characterized in that: described the first driving device (16) is installed on base plate (1) top of bracing or strutting arrangement, the first driven pulley (16-5) in first driving device (16) is arranged on front end mouth interface (2) of lancet device, front end mouth interface (2) is driven to rotate by the first driven pulley (16-5), front end mouth interface (2) is installed on front end mouth interface supporting seat (3) in bracing or strutting arrangement, described the second driving device (17) is installed on base plate (1) top of bracing or strutting arrangement, the second driven pulley (17-5) in second driving device (17) is arranged on the sleeve crossed slide rail (6) of lancet device, drive sleeve crossed slide rail (6) to rotate by the second driven pulley (17-5), sleeve crossed slide rail (6) is installed on the sleeve crossed slide rail supporting seat (7) in bracing or strutting arrangement, the 3rd described driving device (18) is installed on base plate (1) top of bracing or strutting arrangement, the 3rd driven pulley (18-5) in 3rd driving device (18) is arranged on the middle end interface (4) of lancet device, in being driven by the 3rd driven pulley (18-5), end interface (4) rotates, and middle end interface (4) is installed on middle end interface supporting seat (5), described four-drive device (19) is installed on base plate (1) top of bracing or strutting arrangement, the 4th driven pulley (19-5) in four-drive device (19) is arranged on the pin cross slide rail (11) of lancet device, drive pin cross slide rail (11) to rotate by the 4th driven pulley (19-5), pin cross slide rail (11) is installed on pin cross slide rail supporting seat (12).
2. the needling mechanism of a kind of bushing type flexible needle according to claim 1, it is characterized in that: described the first driving device (16), by the first motor (16-1), first motor supporting base (16-2), first shaft coupling (16-3), first driving pulley (16-4), first driven pulley (16-5), first belt (16-6) forms, first motor (16-1) is fixed on described the first motor supporting base (16-2), and be connected with described the first driving pulley (16-4) by described the first shaft coupling (16-3), the first driven pulley (16-5) described in being driven by described the first belt (16-6) is again rotated, described the second driving device (17), be made up of the second motor (17-1), the second motor supporting base (17-2), the second shaft coupling (17-3), the second driving pulley (17-4), the second driven pulley (17-5), the second belt (17-6), second motor (17-1) is fixed on described the second motor supporting base (17-2), and be connected with described the second driving pulley (17-4) by described the second shaft coupling (17-3), the second driven pulley (17-5) described in being driven by described the second belt (17-6) is again rotated, the 3rd described driving device (18), be made up of the 3rd motor (18-1), the 3rd motor supporting base (18-2), the 3rd shaft coupling (18-3), the 3rd driving pulley (18-4), the 3rd driven pulley (18-5), the 3rd belt (18-6), 3rd motor (18-1) is fixed on the 3rd described motor supporting base (18-2), and be connected with the 3rd described driving pulley (18-4) by the 3rd described shaft coupling (18-3), the 3rd driven pulley (18-5) described in being driven by the 3rd described belt (18-6) is again rotated, described four-drive device (19), be made up of the 4th motor (19-1), the 4th motor supporting base (19-2), the 4th shaft coupling (19-3), four-wheel drive belt wheel (19-4), the 4th driven pulley (19-5), the 4th belt (19-6), 4th motor (19-1) is fixed on the 4th described motor supporting base (19-2), and be connected with described four-wheel drive belt wheel (19-4) by the 4th described shaft coupling (19-3), the 4th driven pulley (19-5) described in being driven by the 4th described belt (19-6) is again rotated.
3. the needling mechanism of a kind of bushing type flexible needle according to claim 1, it is characterized in that: described lancet device, by flexible needle (15), flexible sleeve (9), pin sliding seat (14), cannula slide seat (10), pin cross slide rail (11), sleeve crossed slide rail (6), pin spiral slide rail (13), telescoping screw slide rail (8), middle end interface (4), thrust bearing (4-1), holding screw (4-2), front end mouth interface (2) forms, described inside, front end mouth interface (2) is connected with described telescoping screw slide rail (8) end, described outside, front end mouth interface (2) is connected by snak link with described sleeve crossed slide rail (6), described cannula slide seat (10) above moves at described telescoping screw slide rail (8) and described sleeve crossed slide rail (6), and by being connected (9) the rotation feeding of the flexible sleeve described in driving or feeding with described flexible sleeve (9) end, described middle end interface (4) one end and described sleeve crossed slide rail (6) fasten, described middle end interface (4) other end and described pin cross slide rail (11) are nested together by thrust bearing (4-1) interference fit, described middle end interface (4) inside is connected by holding screw (4-2) with described pin spiral slide rail (13) end, described pin sliding seat (14) above moves at described pin spiral slide rail (13) and described pin cross slide rail (11), and by being connected (15) feeding of the flexible needle described in driving and rotation feeding with described flexible needle (15).
4. the needling mechanism of a kind of bushing type flexible needle according to claim 1, it is characterized in that: described bracing or strutting arrangement, be made up of base plate (1), front end mouth interface supporting seat (3), sleeve crossed slide rail supporting seat (7), middle end interface supporting seat (5), pin cross slide rail supporting seat (12), described front end mouth interface supporting seat, described sleeve crossed slide rail supporting seat, described middle end interface supporting seat, described pin cross slide rail supporting seat are installed in above described base plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510899245.7A CN105363113A (en) | 2015-12-09 | 2015-12-09 | Needle feeding mechanism for sleeve-type flexible needle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510899245.7A CN105363113A (en) | 2015-12-09 | 2015-12-09 | Needle feeding mechanism for sleeve-type flexible needle |
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| CN105363113A true CN105363113A (en) | 2016-03-02 |
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| CN201510899245.7A Pending CN105363113A (en) | 2015-12-09 | 2015-12-09 | Needle feeding mechanism for sleeve-type flexible needle |
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| CN109223050A (en) * | 2018-08-23 | 2019-01-18 | 郑州大学第附属医院 | A kind of division of endocrinology's clinic casual inspection device |
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| CN106420018A (en) * | 2016-11-29 | 2017-02-22 | 哈尔滨理工大学 | Flexible trocar concurrent puncture mechanism based on gear transmission |
| CN106420018B (en) * | 2016-11-29 | 2023-08-11 | 哈尔滨理工大学 | Gear transmission-based sleeve flexible needle synchronous puncture mechanism |
| CN109223050A (en) * | 2018-08-23 | 2019-01-18 | 郑州大学第附属医院 | A kind of division of endocrinology's clinic casual inspection device |
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Application publication date: 20160302 |