CN111789665A

CN111789665A - Millimeter-level path-variable precise minimally invasive needle inserting system

Info

Publication number: CN111789665A
Application number: CN202010806573.9A
Authority: CN
Inventors: 孙椰望; 张之敬; 罗晓华; 曹安林
Original assignee: Chongqing Innovation Center of Beijing University of Technology
Current assignee: Chongqing Innovation Center of Beijing University of Technology
Priority date: 2020-08-12
Filing date: 2020-08-12
Publication date: 2020-10-20

Abstract

The invention discloses a millimeter-grade variable-path precise minimally invasive needle inserting system, which at least comprises: the flexible needle is fixed on the side wall of the bottom side of the main box body; be equipped with first step motor and second step motor on the curb plate of main tank body both sides respectively, the axis of rotation of first step motor and second step motor meets with two reels that set up in the main tank body respectively, two reels with be equipped with a drive line between the most advanced eccentric orfice of flexible needle respectively, and the tie point of two drive lines and the most advanced eccentric orfice of flexible needle sets up relatively. The path-variable accurate minimally invasive needle inserting system disclosed by the invention solves the problems of difficult path variation of minimally invasive needle inserting and low accurate minimally invasive success rate.

Description

Millimeter-level path-variable precise minimally invasive needle inserting system

Technical Field

The invention belongs to the technical field of intelligent medical equipment, and mainly relates to application of flexible equipment in intelligent medical treatment.

Background

In the process of minimally invasive surgery treatment on a patient, due to the symptoms of compression, injury, adhesion and the like of the fine nerves, minimally invasive of fine lesions is extremely difficult, and the surgery is difficult to be carried out by using the existing 5mm instrument with the ISO minimally invasive standard. The minimally invasive surgery for the peripheral nervous system is more complicated in type and difficult, the destructive injury to the human body is very serious by using the traditional rigid minimally invasive instrument, and the pain of a patient and the working difficulty of medical staff are greatly increased.

In order to reduce the operation risk, relieve the pain of the patient and reduce the working strength of medical staff, a millimeter-level variable-path precise minimally invasive needle inserting system which can increase the precision of minimally invasive operations and reduce the complexity of the operations so as to greatly increase the disease treatment rate in the minimally invasive process is urgently needed.

Disclosure of Invention

The invention aims to solve the serious problems that the path of minimally invasive needle insertion is difficult to change and the success rate of accurate minimally invasive is low.

The purpose of the invention is realized by the following technical scheme:

the accurate wicresoft of millimeter level becomes route advances needle system, it includes at least to advance needle system to wicresoft: the flexible needle is fixed on the side wall of the bottom side of the main box body; be equipped with first step motor and second step motor on the curb plate of main tank body both sides respectively, the axis of rotation of first step motor and second step motor meets with two reels that set up in the main tank body respectively, two reels with be equipped with a drive line between the most advanced eccentric orfice of flexible needle respectively, and the tie point of two drive lines and the most advanced eccentric orfice of flexible needle sets up relatively.

According to a preferred embodiment, two guide wheels are further arranged in the main box body, the guide wheels are arranged between the reel and the flexible needle, and the transmission line penetrates into the flexible needle through the guide wheels.

According to a preferred embodiment, the drive line is not in contact with the end wall of the flexible needle.

According to a preferred embodiment, the winding groove of the guide wheel is tangential to the axis of the hole body of the flexible needle tip.

According to a preferred embodiment, said guide wheels are fixed to said main box by means of studs of equal length, respectively.

According to a preferred embodiment, the minimally invasive needle insertion system further comprises: the base of the main box body is fixed on the stepping motor guide rail sliding table; and the stepping motor guide rail sliding table is arranged on the L-shaped bracket.

According to a preferred embodiment, the base of the main box body is connected with the stepping motor guide rail sliding table through screws.

According to a preferred embodiment, the minimally invasive needle inserting system further comprises a flange plate, and the L-shaped bracket is fixed on the flange plate.

The main scheme and the further selection schemes can be freely combined to form a plurality of schemes which are all adopted and claimed by the invention; in the invention, the selection (each non-conflict selection) and other selections can be freely combined. The skilled person in the art can understand that there are many combinations, which are all the technical solutions to be protected by the present invention, according to the prior art and the common general knowledge after understanding the scheme of the present invention, and the technical solutions are not exhaustive herein.

The invention has the beneficial effects that: through the structural design of the variable-path precise minimally invasive needle inserting system, the common technical research and development problem of precise minimally invasive equipment with a minimally invasive path superior to a 3mm curved path, which is urgently needed by people, can be well solved. The demonstration and the application of the method can solve the key problems of convenient removal of a tiny focus about 3mm, biopsy of the tiny focus, cancer metastasis treatment, small lymph nodes, front tip lymph nodes and the like, and save a plurality of cancer patients.

Drawings

FIG. 1 is a schematic structural view of a variable path precision minimally invasive needle insertion system according to the present invention;

the device comprises a flange plate 1, a 2-L-shaped support, a stepping motor guide rail sliding table 3, a main box body 4, a side plate 5, a first stepping motor 6, a second stepping motor 7, a reel 8, a guide wheel 9, a transmission line 10, a flexible pin 11 and an equal-length stud bolt 12.

Detailed Description

The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict.

It should be noted that, in order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention are clearly and completely described below, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments.

Thus, the following detailed description of the embodiments of the present invention is not intended to limit the scope of the invention as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations and positional relationships that are conventionally used in the products of the present invention, and are used merely for convenience in describing the present invention and for simplicity in description, but do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and therefore, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.

Furthermore, the terms "horizontal", "vertical", "overhang" and the like do not imply that the components are required to be absolutely horizontal or overhang, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.

In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In addition, it should be noted that, in the present invention, if the specific structures, connection relationships, position relationships, power source relationships, and the like are not written in particular, the structures, connection relationships, position relationships, power source relationships, and the like related to the present invention can be known by those skilled in the art without creative work on the basis of the prior art.

Referring to fig. 1, the invention discloses a millimeter-scale variable path precise minimally invasive needle inserting system,

preferably, the minimally invasive needle insertion system comprises at least: the device comprises a flange plate 1, an L-shaped support 2, a stepping motor guide rail sliding table 3, a main box body 4 and a flexible needle 11.

Preferably, the L-shaped bracket 2 is fixed on the flange plate 1. The stepping motor guide rail sliding table 3 is arranged on the L-shaped bracket 2.

Preferably, the base of the main box 4 is fixed on the stepping motor guide rail sliding table 3. Further, the base of the main box body 4 is connected with the stepping motor guide rail sliding table 3 through screws.

Preferably, the flexible needle 11 is fixed on the side wall of the bottom side of the main casing 4. The micro-wound needle inserting is driven by the stepping motor guide rail sliding table 3, specifically, the stepping motor guide rail sliding table 3 drives the main box body 4, so that the main box body 4 drives the micro-wound needle system to perform linear feeding.

Preferably, a first stepping motor 6 and a second stepping motor 7 are respectively arranged on the side plates 5 at the two sides of the main box body 4. The rotating shafts of the first stepping motor 6 and the second stepping motor 7 are respectively connected to two reels 8 provided in the main body 4. And a transmission line 10 is respectively arranged between the two reels 8 and the eccentric hole at the tip end of the flexible needle 11. And the connection points of the two transmission lines 10 and the eccentric hole at the tip of the flexible needle 11 are arranged oppositely.

The two stepping motors perform bending and feeding drive of the flexible needle 11 through the two reels 8 and the drive wire 10, respectively. The method specifically comprises the following steps: by controlling the rotation direction (forward rotation or reverse rotation) and the deflection angle (i.e., the rotation angle of the rotating shaft) of the rotating shaft of the first stepping motor 6 or the second stepping motor 7, the precise retraction and release of the transmission line 10 on the reel 8 can be realized, and the tip of the flexible needle 11 is driven to bend under the action of the eccentric force, so that the path-variable motion of the flexible needle 11 is realized.

Meanwhile, the two transmission lines 10 are arranged opposite to the connection point of the eccentric hole at the tip of the flexible needle 11. A bending movement of the flexible needle 11 in two different directions can be achieved. Thereby, the flexible needle 11 is facilitated to perform a variable path movement in different directions.

Preferably, two guide wheels 9 are further arranged in the main box body 4, the guide wheels 9 are arranged between the reel 8 and the flexible needle 11, and the transmission line 10 penetrates into the flexible needle 11 through the guide wheels 9. And the winding groove of the guide wheel 9 is tangential to the axis of the hole body at the tail end of the flexible needle 11.

Further, the driving wire 10 is not connected to the end needle wall of the flexible needle 11.

That is, one end of the driving wire 10 is wound around the reel 8, and then guided by the guide wheel 9 to penetrate into the flexible needle 11, and then connected to the eccentric hole of the needle tip of the flexible needle 11. In addition, the purpose of the guide wheel 9 is to prevent the transmission line 10 from contacting with the wall of the tail end of the flexible needle 11, so that the problem that the line body is damaged due to the fact that the transmission line 10 is continuously contacted with the tail end opening of the flexible needle 11 in the using process is solved.

Preferably, the guide wheels 9 are fixed on the main box 4 by equal-length stud bolts 12 respectively. The equal-length stud bolts 12 penetrate through one surface of the main box body 4 and are fixed through the locknuts, and the mounting positions of the equal-length stud bolts can be adjusted up and down within the size range allowed by the notches. On one side of the two studs 12 of equal length, a guide wheel 9 of the drive line 10 is respectively mounted, which plays a role in guiding and tensioning the drive line 10 during retraction or release. The guide wheel 9 is fixed on the equal-length stud bolts 12 through locknuts, and fine adjustment of the guide wheel 9 in the left-right direction can be achieved by rotating the locknuts.

Therefore, through the structural design of the variable-path precise minimally invasive needle inserting system, the common technical research and development problem of precise minimally invasive equipment with a minimally invasive path superior to a 3mm curved path, which is urgently needed by people, can be well solved. The demonstration and the application of the method can solve the key problems of convenient removal of a tiny focus about 3mm, biopsy of the tiny focus, cancer metastasis treatment, small lymph nodes, front tip lymph nodes and the like, and save a plurality of cancer patients. In addition, the flexible operation mechanical arm is bent, adjusted in posture and accurately positioned, and can safely and efficiently cure patients.

The foregoing basic embodiments of the invention and their various further alternatives can be freely combined to form multiple embodiments, all of which are contemplated and claimed herein. In the scheme of the invention, each selection example can be combined with any other basic example and selection example at will. Numerous combinations will be known to those skilled in the art.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

Claims

1. The accurate wicresoft of millimeter level becomes route needle insertion system, characterized in that, the wicresoft needle insertion system includes at least: the flexible needle-free infusion device comprises a main box body (4) and a flexible needle (11), wherein the flexible needle (11) is fixed on the side wall of the bottom side of the main box body (4);

a first stepping motor (6) and a second stepping motor (7) are respectively arranged on side plates (5) at two sides of the main box body (4), rotating shafts of the first stepping motor (6) and the second stepping motor (7) are respectively connected with two reels (8) arranged in the main box body (4),

a transmission line (10) is respectively arranged between the two reels (8) and the tip eccentric hole of the flexible needle (11), and the connection points of the two transmission lines (10) and the tip eccentric hole of the flexible needle (11) are oppositely arranged.

2. The variable path precise minimally invasive needle inserting system according to claim 1, characterized in that two guide wheels (9) are further arranged in the main box body (4),

the guide wheel (9) is arranged between the reel (8) and the flexible needle (11), and the transmission line (10) penetrates into the flexible needle (11) through the guide wheel (9).

3. The variable path precision minimally invasive needle system according to claim 2, wherein the drive wire (10) does not interface with a distal needle wall of the flexible needle (11).

4. The variable path precise minimally invasive needle inserting system according to claim 2, wherein the winding groove of the guide wheel (9) is tangentially arranged with the axis of the hole body at the tail end of the flexible needle (11).

5. The variable path precision minimally invasive needle insertion system according to claim 2, wherein the guide wheels (9) are fixed on the main case (4) by equal length stud bolts (12), respectively.

6. The variable path precision minimally invasive needle system of claim 1, further comprising: an L-shaped bracket (2) and a stepping motor guide rail sliding table (3),

the base of the main box body (4) is fixed on the stepping motor guide rail sliding table (3);

and the stepping motor guide rail sliding table (3) is arranged on the L-shaped bracket (2).

7. The variable-path precise minimally invasive needle inserting system according to claim 6, wherein a base of the main box body (4) is connected with the stepping motor guide rail sliding table (3) through screws.

8. The variable path precision minimally invasive needle system according to claim 7, further comprising a flange (1),

the L-shaped support (2) is fixed on the flange plate (1).