CN112168309B - Flexible needle puncture mechanism based on double mechanical claws - Google Patents
Flexible needle puncture mechanism based on double mechanical claws Download PDFInfo
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- CN112168309B CN112168309B CN202011244354.2A CN202011244354A CN112168309B CN 112168309 B CN112168309 B CN 112168309B CN 202011244354 A CN202011244354 A CN 202011244354A CN 112168309 B CN112168309 B CN 112168309B
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- flexible needle
- motor
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B10/00—Other methods or instruments for diagnosis, e.g. instruments for taking a cell sample, for biopsy, for vaccination diagnosis; Sex determination; Ovulation-period determination; Throat striking implements
- A61B10/02—Instruments for taking cell samples or for biopsy
- A61B10/0233—Pointed or sharp biopsy instruments
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3478—Endoscopic needles, e.g. for infusion
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/71—Manipulators operated by drive cable mechanisms
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
Abstract
The invention introduces a flexible needle puncturing mechanism based on double mechanical claws, which omits a needle shaft supporting mechanism in the puncturing process of a flexible needle and can effectively prevent the needle shaft from deforming in the puncturing process of the flexible needle; the device comprises a front mechanical claw, a rear mechanical claw, a fixed plate, a bidirectional threaded rod, a slideway, a base and a flexible needle steering mechanism; the front manipulator and the rear manipulator control the opening and closing of the claws through a front executing motor and a rear executing motor, the front manipulator and the rear manipulator are controlled to move back and forth along the slide way through a feeding motor, and when the front manipulator clamps the needle and does feeding movement, the rear manipulator opens and moves backwards; then, the motor is controlled to rotate reversely, so that when the rear mechanical hand clamps the needle to perform feeding motion, the front mechanical hand opens and moves backwards, and the flexible needle is punctured into a human body by the repeated motion; the steering mechanism drives the automatic clamping mechanism to rotate through the motor and the gear, and the rotation of the flexible needle is realized.
Description
Technical Field
The invention relates to the field of medical instruments, in particular to a robot-assisted flexible needle puncture mechanism capable of omitting support.
Background
In the field of minimally invasive interventional therapy, the needle puncture technology is probably the oldest and most common surgical technology and is widely applied to operations such as biopsy pathological examination, local delivery of radiopharmaceuticals for treating cancers and the like; minimally invasive medical treatment will become a necessary trend for future surgical clinical medical development; the oblique tip flexible needle has enough flexibility relative to tissues, the needle shaft is bent by utilizing the lateral acting force of the oblique tip and the tissues during needle insertion, an arc track can be punctured, and the flexible bending of the needle is utilized to avoid important organs such as nerves, blood vessels and the like and obstacles such as bones and the like, so that the target point position which cannot be reached by the traditional steel needle is flexibly and accurately reached. However, when puncturing is performed by using a flexible needle, the needle body is easily bent due to the flexibility of the flexible needle in vitro, and the puncturing precision of the needle is further affected.
Disclosure of Invention
The invention aims to solve the problem that the needle shaft is warped in the puncture process to influence the precision of the needle in puncture; the invention discloses a robot-assisted puncture mechanism, which ensures that a flexible needle is not warped in the puncture process when the mechanism is used for puncturing the flexible needle.
A flexible needle puncture mechanism based on double mechanical claws comprises a flexible needle feeding mechanism and a flexible needle steering mechanism, wherein the flexible needle feeding mechanism needs to realize the clamping function of the mechanical claws on a flexible needle and the front and back feeding function of the mechanical claws.
The flexible needle feeding mechanism consists of a base, a front mechanical claw, a rear mechanical claw, a bidirectional threaded rod, a fixing plate and a feeding motor; the front mechanical paw and the rear mechanical paw are different in size, the structure and the working principle are the same, the front mechanical paw is taken as an example, the working principle of the front mechanical paw is that a front threaded rod is driven to rotate through a front execution motor, a front lead screw nut is in threaded fit with the front threaded rod, and when the front threaded rod rotates, the front lead screw nut moves back and forth along a slide way on a paw base; the front screw nut is connected with two front finger connecting rods through a movable shaft, the connecting rods are connected with a front finger rod piece through a movable shaft, a shaft hole in the middle of the finger rod piece is matched with a fixed shaft on a paw base, the front screw nut moves backwards through the rotation of a front execution motor to pull the finger connecting rods to move, the front finger connecting rods pull the finger rod pieces backwards due to the backward pulling of the front screw nut and simultaneously pull the finger rod pieces to move, and the finger rod pieces clamp the flexible needle through shafts fixed on the paw in the front finger rod pieces; through preceding actuating motor reversal, under screw-thread fit's effect, preceding screw nut moves forward, and then promotes preceding finger connecting rod and move forward, and preceding finger connecting rod promotes the hand claw forward simultaneously, makes the finger member open, loosens flexible needle body, has realized the grip function to flexible needle through opening and shutting of finger member.
The feeding function of the mechanical gripper is realized by a base, a slideway, a fixed plate, a feeding motor and a bidirectional threaded rod; the feeding motor is fixed at one end of the fixed plate to drive the bidirectional threaded rod to rotate, and threaded holes in the front mechanical paw and the rear mechanical paw are respectively matched with forward threads and reverse threads on the bidirectional threaded rod; when the motor rotates, the screw rod drives the two mechanical manipulators to perform forward and backward feeding motion along the slide way, and the threads of the threaded screw rod are bidirectional threads, so that when the motor rotates, the two mechanical claws respectively move forward and backward in opposite directions; after the manipulator moves to a specified position, the motor rotates reversely to enable the two manipulators to move relatively and to be matched with the front and rear paws; the motor is controlled, so that the front mechanical claw clamps the flexible needle and moves forwards, the rear mechanical claw loosens the flexible needle and moves backwards, after the flexible needle is fed for a certain distance, the motor rotates reversely, the front mechanical claw loosens the flexible needle and moves backwards, the rear mechanical claw clamps the flexible needle and moves forwards, the two actions are circularly alternated, and the puncture feeding function of the flexible needle is completed.
The essence of the flexible needle steering mechanism is to realize the self-transmission of the flexible needle shaft, so that the flexible needle with the inclined tip can realize steering when in puncture; the flexible needle steering mechanism part comprises a motor, a gear shaft, a flat key and an automatic clamping mechanism; fixedly mounting a steering motor on a fixed shell of a steering mechanism, connecting a gear shaft with the steering motor, matching a gear with the gear shaft through a flat key, meshing gear teeth on the periphery of the steering mechanism with the gear, wherein the number and the specification of the gear teeth are the same as those of the gear; along with the rotation of motor drives the gear rotation, through gear engagement, drives automatic clamping mechanism and realizes that the drive ratio is 1: 1, in a rotating motion.
The invention has the beneficial effects that: 1. the flexible needle is clamped by the two mechanical claws to alternately feed the needle, the mechanism is stable and has good controllability, and the phenomenon that the needle body is warped in the flexible needle puncture process to influence the puncture precision is avoided. 2. The invention designs an automatic robot-assisted flexible needle feeding mechanism, which adopts a scheme that two mechanical hands are matched with each other to feed alternately in a front-back manner, so that the structure is more compact, the control is more convenient, materials are saved, and the weight of a puncture mechanism is reduced. 3. The invention omits a supporting mechanism of the flexible needle by mutual clamping of the two mechanical hands.
Drawings
FIG. 1 is a schematic structural view of a flexible needle feed mechanism based on the cooperation of front and rear manipulators
FIG. 2 is an exploded view of the internal structure of the front mechanical gripper
FIG. 3 is a side view of the front gripper
FIG. 4 is an exploded view of the internal structure of the steering mechanism
Figure 5 front finger piece detail view
FIG. 6 is a drawing of a two-way threaded rod
FIG. 7 detail view of the front lead screw nut
Description of the reference numerals: 1. a flexible needle, 2, a front mechanical claw, 2-1, a front claw top cover, 2-2, a front finger connecting rod, 2-3, a front finger rod piece, 2-3-1, a front finger rod piece tail end shaft hole, 2-4 front screw rod nuts, 2-5, a front threaded rod, 2-6, a front execution motor, 2-7 claw bases, 2-7-1 claw base fixing shafts, 3, a rear mechanical claw, 4, a fixing plate, 5, a feeding motor, 6, a two-way threaded rod, 6-1, a two-way threaded rod front end, 6-2, a two-way threaded rod rear end, 7, a slideway, 8, a base, 9, a flexible needle steering mechanism, 9-1, an automatic gear shaft clamping mechanism, 9-2, a gear, 9-3, 9-4, a flat key, 9-5 and a steering motor, 9-6 parts of a fixed shell, 9-6-1 parts of an upper shaft hole of the fixed shell, and 9-6-2 parts of a lower shaft hole of the fixed shell.
Detailed Description
In order that the objects, aspects and advantages of the invention will become more apparent, the invention will be described by way of example only, and in connection with the accompanying drawings. It is to be understood that such description is merely illustrative and not intended to limit the scope of the present invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.
The first embodiment is as follows: referring to fig. 1, the flexible needle puncturing mechanism based on mutual matching of two mechanical claws comprises a flexible needle 1, a front mechanical claw 2, a rear mechanical claw 3, a fixing plate 4, a feeding motor 5, a bidirectional threaded rod 6, a slide 7, a base 8 and a steering mechanism 9; the automatic feeding device comprises a fixed plate 4, a slide way 7 and a steering mechanism 9, wherein the fixed plate 4, the slide way 7 and the steering mechanism 9 are fixed on a base 8, a feeding motor 5 is fixedly arranged on the fixed plate 4 through screws, a bidirectional threaded rod 6 is connected with the feeding motor 5, threaded holes are formed in front and rear manipulators, a front mechanical claw 2 is arranged at the front end 6-1 of the threaded rod through thread matching, a rear mechanical claw 3 is arranged at the rear end 6-2 of the manipulator, and meanwhile, the lower part of the mechanical claw is arranged on the slide way 7; firstly, the automatic clamping mechanism 9-1 is in a loosening state, the feeding motor 5 drives the bidirectional threaded rod 6 to rotate, so that the front mechanical gripper 2 and the rear mechanical gripper 3 can perform front and rear feeding motion along a slide rail, the front mechanical gripper 2 and the rear mechanical gripper 3 can clamp and loosen a needle, and the manipulator completes the puncture of the flexible needle by mutually matching the clamping motion and the feeding motion; when the puncture reaches a certain position, the flexible needle needs to be turned, and at the moment, the front mechanical paw and the rear mechanical paw are in an open state. And inside the automatic clamping mechanism 9-1, a motor drives a gear to drive a screwed nut on the automatic clamping mechanism to rotate, and the screwed nut enables the automatic clamping mechanism to clamp the flexible needle. The automatic clamping mechanism 9-1 is controlled to rotate through the steering motor 9-2 and gear transmission, and at the moment, the automatic clamping mechanism 9-1 clamps the flexible needle 1 and drives the flexible needle 1 to rotate along the needle shaft.
Referring to FIG. 2, the working principle of the front mechanical paw 2 is shown, and the front mechanical paw comprises a front paw top cover 2-1, a front finger rod 2-3, two front finger connecting rods 2-2, a front screw nut 2-4, a front threaded screw 2-5, a front actuating motor 2-6 and a front paw base 2-7; the shaft hole 2-3-2 in the middle of the front finger rod piece 2-3 is matched with the fixed shaft 2-7-1 on the paw base, the tail end 2-3-1 of the front finger rod piece is connected with the front finger connecting rod 2-2 through a movable shaft, the two front finger connecting rods 2-2 are all connected with the front lead screw nut 2-4 through the movable shaft, and the front lead screw nut 2-4 is matched with the front threaded rod 2-5 through threads; the front threaded lead screw 2-5 is driven to rotate by the front execution motor 2-6, so that the front lead screw nut 2-4 moves forwards along a slide way on the paw base 2-7 to push the finger connecting rod 2-2, and the finger connecting rod 2-2 pushes the finger rod piece 2-3 to clamp the flexible needle 1 under the action of a shaft fixed on the paw in the middle of the finger rod piece; the front execution motor 2-6 rotates reversely, the front screw nut 2-4 moves backwards, the finger connecting rod 2-2 is pulled to move backwards, and the finger connecting rod 2-2 pulls the finger rod piece 2-3, so that the finger rod piece 2-3 loosens the flexible needle 1, and the clamping and loosening functions of the flexible needle are realized.
Referring to fig. 3, the working principle of the flexible needle steering mechanism is shown. The automatic clamping device comprises an automatic clamping mechanism 9-1, a gear 9-2, a gear shaft 9-3, a flat key 9-4, a fixed shell 9-6 and a steering motor 9-5. The essence of the flexible needle steering mechanism is to realize the self-transmission of the flexible needle shaft, so that the flexible needle with the inclined tip can realize the steering during the puncture. The steering motor 9-5 is fixedly arranged on a fixed shell 9-6 of the steering mechanism. The gear shaft 9-3 is connected with a steering motor 9-5, a gear 9-2 is matched with a flat key 9-4 and installed on the gear shaft 9-3, gear teeth on the periphery of the automatic clamping mechanism are meshed with the gear 9-2, and the number and the specification of the gear 9-2 are the same as those of the gear teeth on the automatic clamping mechanism 9-1; the steering motor 9-5 drives the gear 9-2 to rotate, and the automatic clamping mechanism 9-1 is driven by gear transmission to realize the transmission ratio of 1: 1, in a rotating motion.
The second embodiment is as follows: when the flexible needle puncture reaches the target point, the flexible needle needs to be drawn out of the human body. The control of the mechanism is now the reverse of that at the time of lancing. First, the automatic clamping mechanism 9-1 is in a state of releasing the flexible needle 1. After the front mechanical claw 2 clamps the flexible needle, a feed motor 5 is controlled to enable the front mechanical claw 2 to move backwards, and meanwhile, the rear mechanical claw 3 is opened and moves forwards; when the flexible needle 1 moves to a specified position, the feeding motor 5 is controlled to rotate reversely, so that the front mechanical claw 2 is opened and performs feeding movement forwards, and meanwhile, the rear mechanical claw 3 clamps the flexible needle 1 and moves backwards. And the mechanical arm moves alternately until the flexible needle is taken out.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (2)
1. A flexible needle puncture mechanism based on double mechanical claws is characterized by comprising a flexible needle feeding mechanism and a flexible needle steering mechanism (9); the flexible needle feeding mechanism consists of a front mechanical claw (2), a rear mechanical claw (3), a fixed plate (4), a feeding motor (5), a bidirectional threaded rod (6), a slide way (7) and a base (8); the fixed plate (4) and the slideway (7) are fixedly arranged on the base (8), the feeding motor (5) is arranged on the fixed plate (4), the bidirectional threaded rod (6) penetrates through the fixed plate (4) to be connected with the feeding motor (5), the front mechanical gripper (2) and the rear mechanical gripper (3) are arranged on the bidirectional threaded rod (6), and meanwhile, the front mechanical gripper (2) and the rear mechanical gripper (3) are arranged on the slideway (7); the feeding motor (5) drives the bidirectional threaded rod (6) to rotate, so that the front mechanical gripper (2) and the rear mechanical gripper (3) perform front-rear feeding motion along the sliding rail; after the front mechanical claw (2) clamps the flexible needle, the bidirectional threaded rod (6) rotates to drive the front mechanical claw (2) to feed forwards and drive the rear mechanical claw (3) to feed backwards; after the flexible needle is moved to a designated position, the front mechanical gripper (2) loosens the flexible needle, the rear mechanical gripper (3) clamps the flexible needle, the bidirectional threaded rod (6) rotates reversely to drive the front mechanical gripper (2) to feed backwards, and the rear mechanical gripper (3) feeds forwards, so that the flexible needle puncture function is realized; the flexible needle feeding mechanism is characterized in that the internal structures of a front mechanical claw (2) and a rear mechanical claw (3) in the flexible needle feeding mechanism are the same, and the front mechanical claw (2) is taken as an example: comprises a front paw top cover (2-1), two front finger rod pieces (2-3), two front finger connecting rods (2-2), a front screw nut (2-4), a front threaded rod (2-5) and a front execution motor (2-6); a front paw rod piece (2-3) is arranged on a fixed shaft of the front paw base, a tail end hole (2-3-1) of the front paw rod piece is connected with a front finger connecting rod (2-2), the front finger connecting rod (2-2) is connected with a front screw nut (2-4), and the front screw nut (2-4) is connected with a front threaded rod (2-5); the front actuating motor (2-6) drives the threaded rod to rotate, the front lead screw nut (2-4) pulls the front finger connecting rod (2-2) to move, and then the front finger rod piece (2-3) is driven to complete the action of clamping or loosening the flexible needle.
2. The flexible needle puncture mechanism according to claim 1, wherein, for the flexible needle steering mechanism (9), the flexible needle steering mechanism (9) is composed of an automatic clamping mechanism (9-1), a gear (9-2), a gear shaft (9-3), a flat key (9-4), a steering motor (9-5) and a fixed shell (9-6); the flexible needle steering mechanism (9) is arranged on the base (8), wherein a fixed shell (9-6) is fixedly arranged on the base (8), the automatic clamping mechanism (9-1) is arranged at the position of an upper shaft hole (9-6-1) of the fixed shell, a gear (9-2) and a flat key (9-4) are arranged on a gear shaft (9-3) in a matching way, the gear shaft (9-3) and a lower shaft hole (9-6-2) are arranged in the fixed shell (9-6) in a matching way, a steering motor (9-5) is arranged on the fixed shell (9-6) through a screw, the gear (9-2) is meshed with gear teeth on the automatic clamping mechanism (9-1), and the steering motor (9-5) drives the automatic clamping mechanism (9-1) to rotate through the gear (9-2), thereby driving the flexible needle (1) to rotate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202011244354.2A CN112168309B (en) | 2020-11-10 | 2020-11-10 | Flexible needle puncture mechanism based on double mechanical claws |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011244354.2A CN112168309B (en) | 2020-11-10 | 2020-11-10 | Flexible needle puncture mechanism based on double mechanical claws |
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| CN112168309A CN112168309A (en) | 2021-01-05 |
| CN112168309B true CN112168309B (en) | 2022-05-27 |
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| CN202011244354.2A Active CN112168309B (en) | 2020-11-10 | 2020-11-10 | Flexible needle puncture mechanism based on double mechanical claws |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113679457B (en) * | 2021-09-17 | 2023-12-05 | 哈尔滨理工大学 | Flexible needle puncture clamping device with planetary structure |
| CN113893015B (en) * | 2021-10-21 | 2023-06-02 | 扬州大学 | Flexible needle reciprocating clamping puncture mechanism based on electronic cam and application method |
| CN114711920A (en) * | 2022-04-28 | 2022-07-08 | 哈尔滨理工大学 | Flexible needle clamping mechanism |
| CN115122060B (en) * | 2022-06-23 | 2023-11-14 | 歌尔科技有限公司 | Steel needle feeding module, steel needle puncturing equipment and steel needle feeding process |
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| CN105212997A (en) * | 2015-11-11 | 2016-01-06 | 哈尔滨理工大学 | The piercing mechanism of sleeve pipe flexible needle and piercing method |
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| WO2012095845A1 (en) * | 2011-01-14 | 2012-07-19 | Technion Research & Development Foundation Ltd. | Robot for minimally invasive neurosurgery |
| CN102499737B (en) * | 2011-11-01 | 2014-06-18 | 东莞麦可龙医疗科技有限公司 | Manufacturing method of visual puncture outfit for disposable laparoscope and puncture outfit implementing same |
| JP2015047376A (en) * | 2013-09-03 | 2015-03-16 | 渡邊 剛 | Tube apparatus with puncture function |
| US11096751B2 (en) * | 2015-10-13 | 2021-08-24 | National University Corporation, Okayama University | Puncture robot |
| CN205359582U (en) * | 2016-01-05 | 2016-07-06 | 哈尔滨理工大学 | All -round flexible needle puncture robot |
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| CN106420018B (en) * | 2016-11-29 | 2023-08-11 | 哈尔滨理工大学 | Gear transmission-based sleeve flexible needle synchronous puncture mechanism |
| DE102017104854B4 (en) * | 2017-03-08 | 2019-05-29 | Heraeus Medical Gmbh | Two-part storage and mixing device for producing a bone cement and method for this |
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| CN110111880B (en) * | 2019-04-22 | 2021-09-28 | 北京航空航天大学 | Artificial potential field path planning method and device based on obstacle grading of flexible needle |
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