CN112603499B

CN112603499B - Puncture imbedding device

Info

Publication number: CN112603499B
Application number: CN202011591474.XA
Authority: CN
Inventors: 程敏; 王光鑫; 王�锋
Original assignee: Nanjing Tuodao Medical Technology Co Ltd
Current assignee: Tuodao Medical Technology Co Ltd
Priority date: 2020-12-29
Filing date: 2020-12-29
Publication date: 2022-09-27
Anticipated expiration: 2040-12-29
Also published as: CN112603499A

Abstract

The invention discloses a puncture implanting device, which is characterized in that: the method comprises the following steps: a puncture channel; a puncture needle for insertion into the puncture channel; the connecting piece is used for connecting and matching the puncture needle and the puncture channel to realize synchronous rotation and separation of the puncture needle when the puncture needle rotates forwards and backwards, and through the connection and matching between the puncture channel and the puncture needle, synchronous rotation of puncture and unidirectional rotation of needle withdrawal are realized, so that the puncture needle and the puncture channel are quickly separated, and the puncture work and the reserved channel are simple, convenient and quick.

Description

Puncture imbedding device

Technical Field

The invention relates to the field of mechanical structures, in particular to a puncture implanting device.

Background

At present, the mainstream puncture process of the spinal surgery mainly depends on the manual completion of an experienced doctor, the doctor determines the puncture position by means of repeated perspective of a C-arm machine in the process, the doctor uses an electric hand drill to drill and puncture in the puncture process, and the doctor needs to complete the puncture under the condition that the electric drill is held to ensure that the puncture direction does not deviate. In order to accurately locate the lesion, a doctor with rich clinical experience is required to complete the process; the operation environment is more complex and severe due to the difference of the spine shapes and the difference of the focus positions of different patients; the doctor needs to be exposed in the radiation environment of the C-arm machine for a long time, needs to keep a posture for a long time, and holds the electric drill by hand, so that the situations of body stiffness, fatigue and the like of the doctor can be caused, and the smooth operation of a patient is not facilitated; the radiation is received for a long time, and the working time of a doctor is reduced.

The invention of the puncture robot not only brings convenience to doctors, but also can reduce the radiation amount of the doctors, but the existing puncture robot mainly adopts a motor to drive the needle insertion, then inserts the needle into the implantation channel, and finally takes out the Kirschner wire. The method is not only complicated in steps, but also the position where the implantation channel is placed may have a certain deviation, and the operation precision is difficult to ensure.

Disclosure of Invention

The purpose of the invention is as follows: aiming at the problems, the invention provides a puncture implanting device which can assist a doctor to complete automatic puncture and needle implantation work based on a robot system; and greatly reduces the exposure time of the doctor in the X-ray and simultaneously reduces the requirement of the operation on the clinical experience of the doctor.

The technical scheme is as follows:

a puncture insertion device comprising:

a puncture channel;

a puncture needle for insertion into the puncture channel;

and the connecting piece is used for connecting and matching the puncture needle with the puncture channel to realize synchronous rotation and separation of the puncture needle and the puncture channel when the puncture needle rotates forwards and backwards.

The connecting part comprises a first connecting part arranged on the puncture channel and a second connecting part arranged on the puncture needle, and the first connecting part and the second connecting part are connected in a magnetic matching mode.

The first connecting portion are provided with at least one inclined plane block used for guiding limiting, sliding grooves corresponding to the inclined plane blocks are formed in the corresponding positions of the second connecting portions, and the first connecting portions and the second connecting portions are matched through the inclined plane blocks and the sliding grooves to achieve unidirectional relative rotation of the first connecting portions and the second connecting portions.

The highest point of the inclined plane block is higher than the second connecting part;

and at least one inclined plane block for guiding and limiting is arranged at the position, close to the side surface of the second connecting part, of the upper end surface of the first connecting part.

And an inclined plane matched with the inclined plane block is arranged at the edge of the lower end face of the second connecting part.

The number of the bevel blocks is two, and the two bevel blocks are distributed on the first connecting portion in an axisymmetric manner.

The connecting part comprises a first connecting part arranged on the puncture channel and a second connecting part arranged on the puncture needle, and the first connecting part and the second connecting part are in one-way relative rotation through threaded fit.

Has the advantages that:

1. the puncture imbedding device realizes synchronous rotation of puncture and unidirectional rotation of withdrawn needle through the connection and matching between the puncture channel and the puncture needle, thereby realizing the quick separation of the puncture needle and the puncture channel, and the puncture work and the reserved channel are simple, convenient and quick.

2. The invention can be automatically placed into the channel, and from the feeding puncture to the withdrawing puncture, doctors only need to operate and control at the computer end, and do not need to be in the operation area of patients all the time, thereby reducing the radiation of X-ray received by the doctors.

3. The invention reduces the requirement on the clinical experience of an operator through the robot-assisted operation, and can accurately and reliably complete the operation work only by operating the robot equipment.

Drawings

Fig. 1 is an assembly view of an automatic puncture system using the puncture instrument of the present invention.

Fig. 2 is an assembly view of the puncture instrument of the present invention.

Fig. 3 is a sectional view of the puncture instrument.

Fig. 4 is an exploded view of the puncture instrument.

FIG. 5 is a schematic view of the puncture channel assembly.

FIG. 6 is a block diagram of the lancet assembly.

Fig. 7 is a schematic view showing the cooperation of the puncture needle when the puncture needle is withdrawn by rotating counterclockwise.

Fig. 8 is a partial enlarged view of a portion a in fig. 7.

In the figure:

1, an automatic puncture system, 11, 12, an intelligent bone drill module, 13, a tracer and 14, wherein the puncture device is a puncture outfit;

1111 is a triangular needle, 1112 is a puncture needle handle, 1113 is a magnet, 1114 is an inclined plane; 1121 is a puncture tube, 1122 is a puncture tube handle, 1123 is a magnet, 1124 is a guide limiting block, 11241 is a one-way block, and 11242 is a bevel block.

Detailed Description

The invention is further elucidated with reference to the drawings and the embodiments.

Fig. 1 is an assembly diagram of an automatic puncture system using a puncture outfit of the present invention, and as shown in fig. 1, the automatic puncture system 1 of the present invention is installed on a joint at the end of a robot arm, and includes an intelligent bone drill module 12 and a puncture outfit 11 installed at the output end thereof, and a tracer 13 for marking the relative position of the automatic puncture system 1 and an indicator light 14 for indicating the working state thereof are installed on the intelligent bone drill module 12.

Fig. 2 is an assembly view of the puncture instrument of the present invention. As shown in FIG. 2, the puncturing device 11 of the present invention comprises a puncturing channel assembly and a puncturing needle assembly which are engaged with each other, wherein the puncturing channel assembly comprises a puncturing tube 1121 and a puncturing tube handle 1122 installed on the outside of the puncturing tube 1121. Fig. 4 is an exploded view of the puncture instrument, and as shown in fig. 4, a puncture tube handle 1122 is fitted over the tip of a puncture rod 1121, and magnets 1123 are fixedly mounted on the puncture tube handle 1122 at positions on both sides of the puncture tube 1121, respectively. The puncture needle assembly comprises a puncture needle (the invention adopts a triangular needle 1111) and a puncture needle handle 1112 which is sleeved outside the puncture needle, wherein the distance from the needle point of the puncture needle to the puncture needle handle 1112 is greater than the length of the puncture tube 1121, so that the puncture needle extends out of the puncture tube 1121 at least, the needle point of the puncture needle extends out of the puncture tube 1121, and meanwhile, the diameter of the puncture needle is smaller than the inner diameter of the puncture tube 1121. Magnets 1113 are arranged on the puncture needle handle 1112 at the positions corresponding to the magnets 1123 on the puncture tube handle 1122 on the two sides of the puncture needle; the lower end of the puncture needle handle 1112 and the upper end of the puncture tube handle 1122 are both flat surfaces, and after the puncture needle 1111 is inserted into the puncture tube 1121, the connection between the puncture needle assembly and the puncture channel assembly is achieved by the cooperation of the magnet on the puncture needle handle 1112 and the magnet on the puncture tube handle 1122 between the lower end of the puncture needle handle 1112 and the upper end of the puncture tube handle 1122, as shown in fig. 3.

Fig. 5 is a schematic structural view of a puncture channel assembly, and as shown in fig. 5, at least one guide limit block 1124 for guiding and limiting is provided at a position on the upper end surface of a puncture tube handle 1122, which is close to the side surface of a puncture needle handle 1112, and in the present invention, the guide limit block 1124 includes a one-way block 11241 fixed at the edge of the upper end surface of the puncture tube handle 1122 and a slope 11242 formed by extending the one-way block 11241.

In the present invention, at least one ramp 11242 for guiding the stop may be provided directly on the upper end of the puncture tube handle 1122 adjacent to the side of the needle handle 1112.

In the present invention, there are two guide stoppers 1124, and the two guide stoppers 1124 are axially symmetrically distributed on the upper end surface of the puncture tube handle 1122.

In the invention, at least one inclined plane block 11242 can be directly arranged on the upper end surface of the puncture tube handle 1122, a corresponding inclined plane groove is arranged at a corresponding position on the lower end surface of the puncture needle handle 1112, and the puncture needle and the inclined plane groove realize the channel insertion and needle withdrawal through the positive and negative rotation of the puncture needle and the matching of the inclined plane block and the inclined plane groove.

Fig. 6 is a structural view of the lancet assembly, and as shown in fig. 5, the handle 1112 is provided with a bevel 1114 that mates with the guide stop 1124.

In the invention, an external thread can be arranged on the puncture tube handle 1122, an internal thread with a corresponding set length matched with the external thread is arranged on the puncture needle handle 1112, and the puncture needle handle 1112 and the puncture tube handle 1122 are matched with each other through the external thread and the internal thread, so that the two can synchronously rotate after the two are screwed tightly; when the puncture needle handle 1112 rotates reversely under the driving of the puncture needle 1111, the internal thread thereof is screwed out of the external thread on the puncture tube handle 1122, thereby realizing the relative rotation and separation of the two.

The working principle of the invention is as follows:

as shown in fig. 2, for example, in this embodiment, after the puncture needle is inserted into the puncture barrel, the puncture needle is fixed by a magnetic block, and when the puncture needle rotates clockwise, the side surface of the puncture needle handle 1112 is blocked by a guide limit block 1124 mounted on the upper end surface of the puncture tube handle 1122, so that the puncture tube 1121 can be driven to rotate together; as shown in fig. 7 and 8, when the puncture needle rotates counterclockwise, the inclined surface 1114 of the lower end surface of the puncture needle handle 1112 can move under the guidance of the inclined surface block 11242 of the guide limit 1124 on the upper end surface of the puncture tube handle 1122, and at this time, the puncture needle does not drive the puncture tube 1121 to rotate, so that the puncture needle overcomes the attraction force of the magnet under the guidance of the guide limit 1124 and leaves the puncture tube 1121.

The puncture outfit is driven by the automatic puncture system to puncture into the focus spine of the patient; in the puncturing process, the puncture outfit linearly feeds and simultaneously rotates the bone drilling module 12 clockwise; when rotating clockwise, the puncture needle handle 1112 is stopped by the guide stopper 1124 on the puncture tube handle 1122, and the puncture tube 1121 is driven to rotate together without relative movement. As shown in FIG. 4, the magnet in the puncture tube handle 1122 and the magnet in the puncture needle handle 1112 are attracted to each other, so that the puncture needle assembly and the puncture channel assembly rotate together during the puncture process without axial displacement and radial rotation.

When the puncture outfit drills bones to the depth of the appointed focus position, the puncture outfit can accept the bones through the perspective confirmation of a C-arm machine, the puncture is stopped, the needle withdrawing work is prepared, and the puncture outfit is driven to retreat and rotate anticlockwise through an automatic puncture system; the bone drill module 12 drives the puncture needle to rotate anticlockwise, as shown in fig. 7; the spine has certain wrapping and damping effects on the puncture tube 1121, and in addition, the magnetic axial adsorption of the magnet is strong, and the tangential force is weak; when rotated, puncture tube handle 1122 and puncture needle handle 1112 are easily separated, puncture tube 1121 is fixed with respect to the spine when the puncture needle is rotated counterclockwise, and when inclined surface 1114 of puncture needle handle 1112 passes through inclined surface block 11242 on puncture tube handle 1122, it moves along with inclined surface block 11242 and does not drive puncture tube 1121 to rotate counterclockwise; the puncture needle assembly is gradually separated from the puncture channel assembly along with the linear retreat of the automatic puncture system, and the automatic puncture system is stopped after the puncture needle assembly completely leaves the puncture channel assembly, so that the puncture channel finishes the embedding work.

At the moment, the puncture channel assembly is reserved at the position appointed by the focus of the patient, a working channel is reserved for subsequent operation work, a doctor does not need to drive through the mechanical arm, the mechanical arm is moved away from the patient, the robot trolley is moved away from an operation area, and a space is reserved for subsequent operations.

Although the preferred embodiments of the present invention have been described in detail, the present invention is not limited to the details of the foregoing embodiments, and various equivalent changes (such as number, shape, position, etc.) may be made to the technical solution of the present invention within the technical spirit of the present invention, and these equivalent changes are all within the protection scope of the present invention.

Claims

1. A puncture insertion device, comprising: the method comprises the following steps:

a puncture channel;

a puncture needle for insertion into the puncture channel;

the connecting piece is used for connecting and matching the puncture needle and the puncture channel to realize synchronous rotation and separation of the puncture needle and the puncture needle when the puncture needle rotates forwards and backwards;

the connecting piece comprises a first connecting part arranged on the puncture channel and a second connecting part arranged on the puncture needle, and the first connecting part and the second connecting part are connected in a magnetic matching way through a first magnet arranged on the puncture channel and a second magnet fixedly arranged at a corresponding position on the puncture needle;

the first connecting part is provided with at least one inclined plane block for guiding and limiting, the corresponding position on the second connecting part is provided with a sliding groove corresponding to the inclined plane block, and the first connecting part and the second connecting part are matched with each other through the inclined plane block and the sliding groove to realize unidirectional relative rotation of the first connecting part and the second connecting part; or the like, or, alternatively,

at least one inclined plane block for guiding and limiting is arranged at the position, close to the side face of the second connecting part, of the upper end face of the first connecting part;

in the separation process, the puncture needle is rotated to separate the first magnet from the second magnet, and then the puncture needle is separated from the puncture channel in the axial direction under the action of the inclined plane block on the puncture channel.

2. The puncture insertion device according to claim 1, wherein: and a guide groove with slope matched with the inclined plane block is arranged at the edge of the lower end face of the second connecting part.

3. The puncture insertion device according to claim 1, wherein: the inclined plane piece is two, and two inclined plane pieces become axisymmetrical distribution on the first connecting portion.