CN113080952A

CN113080952A - Puncture needle clamping device and surgical robot

Info

Publication number: CN113080952A
Application number: CN202110531356.8A
Authority: CN
Inventors: 张兆东; 秦海明; 陈波; 曹洁; 徐炜新; 杨洁; 陈露; 肖弘; 宋云霄
Original assignee: Lb Ke Ce Shanghai Intelligent Medical Technology Co ltd
Current assignee: Lb Ke Ce Shanghai Intelligent Medical Technology Co ltd
Priority date: 2021-05-14
Filing date: 2021-05-14
Publication date: 2021-07-09

Abstract

The invention relates to the field of automatic blood sampling equipment, in particular to a puncture needle clamping device and a surgical robot. The puncture needle clamping device comprises a fixed clamping jaw, a movable clamping jaw and a locking piece; the movable clamping jaw is in rotating fit with the fixed clamping jaw, the fixed clamping jaw is provided with a first clamping end, the movable clamping jaw is provided with a second clamping end, and the first clamping end is matched with the second clamping end and used for clamping the puncture needle; the retaining member is installed on fixed clamping jaw, and the retaining member can locking activity clamping jaw. The surgical robot comprises the puncture needle clamping device. The puncture needle clamping device and the surgical robot provided by the invention have the advantages of better convenience and higher blood sampling efficiency.

Description

Puncture needle clamping device and surgical robot

Technical Field

The invention relates to the field of automatic blood sampling equipment, in particular to a puncture needle clamping device and a surgical robot.

Background

The traditional blood sampling process is completed by manual operation of medical personnel, and the requirement on the medical personnel is high.

At present, some mechanisms for automatically sampling blood by using surgical robots exist, most of the surgical robots firstly use an upper pressure plate and a lower pressure plate in a clamping device to clamp a universal puncture needle, and then drive the clamping device with the puncture needle to move, so that the puncture needle punctures the skin of a patient to sample blood, and the requirements on medical staff can be reduced. However, the conventional clamping device of the surgical robot needs to disassemble the upper and lower pressing plates when the puncture needle is replaced, which is very inconvenient and has low blood sampling efficiency.

In summary, it is an urgent technical problem to be solved by those skilled in the art to overcome the above-mentioned defects of the clamping device of the existing surgical robot.

Disclosure of Invention

The invention aims to provide a puncture needle clamping device and a surgical robot, and aims to solve the technical problem that a puncture needle is inconvenient to detach in the clamping device of the surgical robot in the prior art.

The invention provides a puncture needle clamping device which comprises a fixed clamping jaw, a movable clamping jaw and a locking piece.

The movable clamping jaw is in rotating fit with the fixed clamping jaw, the fixed clamping jaw is provided with a first clamping end, the movable clamping jaw is provided with a second clamping end, and the first clamping end is matched with the second clamping end and used for clamping a puncture needle; the retaining member is installed on the fixed clamping jaw, and the retaining member can lock the movable clamping jaw.

Preferably, as an embodiment, the puncture needle holding device has a positioning part for limiting the puncture needle to move along the length direction of the needle body, and the positioning part is used for blocking the puncture needle from the direction pointing away from the needle point.

Preferably, as an implementation mode, the positioning part comprises a first positioning groove formed on the fixed clamping jaw, the flank of the puncture needle can be placed into the first positioning groove, and the direction of the needle point of the puncture needle is consistent with the direction of the notch of the first positioning groove.

Preferably, as an embodiment, the first positioning groove is a U-shaped groove, and the side wings of the puncture needle can penetrate through both ends of the first positioning groove to be opened.

Preferably, as an implementation mode, the positioning part comprises a second positioning groove which is formed on the fixed clamping jaw, and the needle body part of the puncture needle is matched with the second positioning groove.

Preferably, as an implementation mode, the positioning part comprises a third positioning groove formed on the movable clamping jaw, and the needle body part of the puncture needle is matched with the third positioning groove.

Preferably, as an implementable mode, the retaining member includes a damping hinge and a cam, one end of the damping hinge is installed on the fixed clamping jaw, the other end of the damping hinge is coaxially fixed with the cam, a revolution surface of the cam is abutted against one end of the movable clamping jaw, which deviates from the second clamping end, and the cam and the puncture needle are both located on the same side of the movable clamping jaw.

When the movable clamping jaw clamps the puncture needle, the distance between the part of the cam, which is abutted against the movable clamping jaw, and the wheel center of the cam is smaller than the maximum radius of the cam.

Preferably, as an implementation manner, the movable clamping jaw and the fixed clamping jaw are matched through a rotating shaft, and a distance between the rotating shaft and the cam is larger than a distance between the rotating shaft and the second clamping end.

Preferably, as an embodiment, the cam is provided with a shift lever.

Correspondingly, the invention also provides a surgical robot which comprises the puncture needle clamping device.

Compared with the prior art, the puncture needle clamping device and the surgical robot provided by the invention have the beneficial effects that:

the invention provides a puncture needle clamping device which mainly comprises a fixed clamping jaw, a movable clamping jaw and a locking piece, wherein the movable clamping jaw is in rotating fit with the fixed clamping jaw, the fixed clamping jaw is provided with a first clamping end, the movable clamping jaw is provided with a second clamping end, and the locking piece is arranged on the fixed clamping jaw.

During the use, put the pjncture needle in the suitable position of the first exposed core of fixed clamping jaw (so that first exposed core and second exposed core can clip the non-puncture position of pjncture needle as the standard), then, rotate the activity clamping jaw, make the second exposed core of activity clamping jaw rotate towards the direction that is close to the first exposed core of fixed clamping jaw, until the second exposed core can clip the pjncture needle with first exposed core cooperation, at this moment, utilize retaining member locking activity clamping jaw, so that activity clamping jaw and fixed clamping jaw can keep pressing from both sides the state of pressing from both sides tight pjncture needle, need not artificial application of force locking, at this moment, the puncture position of pjncture needle can be outwards stretched out by first exposed core and second exposed core, can satisfy the demand of automatic puncture blood sampling.

After the blood sampling is completed, the locking part is loosened, the movable clamping jaw is rotated, the second clamping end of the movable clamping jaw is rotated towards the direction of the first clamping end deviating from the fixed clamping jaw, the puncture needle is loosened, then the puncture needle is disassembled, the movable clamping jaw and the fixed clamping jaw are not required to be detached from each other, the locking part is not required to be separated from the fixed clamping jaw, the convenience is improved, and the blood sampling efficiency is higher.

The surgical robot provided by the invention comprises the puncture needle clamping device, so that the surgical robot has all the advantages of the puncture needle clamping device, and is better in convenience and higher in blood sampling efficiency.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.

Fig. 1 is a schematic perspective view of a puncture needle holder holding a puncture needle according to an embodiment of the present invention;

fig. 2 is a schematic perspective view of a puncture needle holder according to an embodiment of the present invention;

fig. 3 is a schematic perspective view of a fixing jaw in the puncture needle holding device according to the embodiment of the present invention in a state of holding the puncture needle.

Icon:

100-fixed clamping jaw; 110-a first positioning groove; 120-a second positioning groove;

200-a movable jaw; 210-a third positioning groove;

300-a retaining member; 310-a damped hinge; 320-a cam; 330-a deflector rod;

400-puncture needle; 410-a needle body; 420-flank.

Detailed Description

The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present 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 "inside", "outside", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, which are only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and operate, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless otherwise specifically stated or limited, the term "mounted" is to be understood broadly, e.g., fixedly mounted, detachably mounted, or integrally 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.

The present invention will be described in further detail below with reference to specific embodiments and with reference to the attached drawings.

Referring to fig. 1 and 2, the present embodiment provides a puncture needle holding device, which mainly comprises a fixed jaw 100, a movable jaw 200 and a locker 300, wherein the movable jaw 200 is rotatably fitted to the fixed jaw 100, the fixed jaw 100 has a first holding end, the movable jaw 200 has a second holding end, and the locker 300 is mounted on the fixed jaw 100.

When the puncture needle is used, the puncture needle 400 is placed at a proper position of the first clamping end of the fixed clamping jaw 100 (so that the first clamping end and the second clamping end can clamp the non-puncture part of the puncture needle 400), then the movable clamping jaw 200 is rotated, the second clamping end of the movable clamping jaw 200 is rotated towards the direction close to the first clamping end of the fixed clamping jaw 100 until the second clamping end can be matched with the first clamping end to clamp the puncture needle 400, at the moment, the movable clamping jaw 200 is locked by the locking piece 300, so that the movable clamping jaw 200 and the fixed clamping jaw 100 can keep the state of clamping the puncture needle 400, manual force application locking is not needed, at the moment, the puncture part of the puncture needle 400 can be outwards extended by the first clamping end and the second clamping end, and the requirement of automatic puncture blood sampling can be met.

After the blood sampling is completed, the retaining member 300 is loosened, the movable clamping jaw 200 is rotated, the second clamping end of the movable clamping jaw 200 rotates towards the direction of the first clamping end departing from the fixed clamping jaw 100, the puncture needle 400 is loosened, the puncture needle 400 is disassembled, the movable clamping jaw 200 and the fixed clamping jaw 100 do not need to be detached from each other, the retaining member 300 does not need to be separated from the fixed clamping jaw 100, convenience is improved, and the blood sampling efficiency is high.

Preferably, a positioning portion may be added that not only blocks the puncture needle 400 from a direction away from the needle tip, but also restricts the puncture needle 400 from moving in the lengthwise direction of the needle body 410 thereof.

When blood sampling is needed, the puncture needle 400 is moved to enable the tail end of the puncture needle 400 to be opposite to the positioning portion, then the puncture needle 400 is moved along the length direction of the needle body 410 towards the direction departing from the direction of the needle point, the puncture needle 400 is moved into the positioning portion, at the moment, the positioning portion can limit the puncture needle 400, the puncture needle 400 can only move along the length direction of the needle body 410 and is pushed into the positioning portion until the puncture needle 400 is blocked by the positioning portion, then the movable clamping jaw 200 is rotated to enable the second clamping end of the movable clamping jaw 200 to rotate towards the first clamping end of the fixed clamping jaw 100 so as to clamp the puncture needle 400, and the movable clamping jaw 200 is locked by the locking member 300.

After the blood collection is completed, the locker 300 may be released, the movable jaw 200 may be rotated to open the movable jaw 200, and then the puncture needle 400 may be pulled outward to move the puncture needle 400 in a direction in which the needle tip points along the length direction thereof until the puncture needle 400 is separated from the fixed jaw 100, thereby completing the detachment of the puncture needle 400.

It should be noted that, when the puncture needle 400 is disassembled, the puncture needle 400 can only be pulled out along the length direction of the needle body 410 toward the direction of the needle tip under the limiting action of the positioning part, so that the needle head of the puncture needle 400 does not touch the fixed jaw 100 and the movable jaw 200 during the process of disassembling the puncture needle 400, and thus, cross infection is not easy to occur.

Referring to fig. 2 and 3, the first positioning groove 110 may be formed on the fixed jaw 100, and the first positioning groove 110 is used as a part of the positioning portion, when the puncture needle 400 is installed, the flank 420 of the puncture needle 400 is placed in the first positioning groove 110, and the direction of the needle tip of the puncture needle 400 is set to be consistent with the direction of the notch of the first positioning groove 110, so that the groove bottom of the first positioning groove 110 can block the flank 420 of the puncture needle 400 from the direction away from the direction of the needle tip, and the puncture needle 400 cannot move further inwards; in addition, the first notch 110 guides the wings 420 of the lancet 400 so that the lancet 400 can be smoothly placed in a proper position.

The first positioning groove 110 may be formed as a U-shaped groove, and the wings 420 of the puncture needle 400 may be inserted into the first positioning groove 110 by holding the ends of the wings 420 with hands by inserting the wings 420 of the puncture needle 400 into the first positioning groove 110.

The second positioning groove 120 can be formed in the fixed clamping jaw 100, the second positioning groove 120 can be used as a part of the positioning portion, when the puncture needle 400 is installed, the needle body 410 of the puncture needle 400 is directly opposite to the second positioning groove 120, then the puncture needle 400 is moved to enable the side wing 420 of the puncture needle 400 to be inserted into the first positioning groove 110, meanwhile, the needle body 410 of the puncture needle 400 enters the second positioning groove 120 to enable the needle body 410 of the puncture needle 400 to be matched with the second positioning groove 120, in this way, the second positioning groove 120 can limit the puncture needle 400 in the extension direction of the side wing 420, the puncture needle 400 can only move along the length direction of the second positioning groove 120 (namely, the length direction of the needle body 410), and the possibility that the puncture needle 400 touches the fixed clamping jaw 100 or the movable clamping jaw 200.

The third positioning groove 210 can be opened on the movable clamping jaw 200, the third positioning groove 210 is used as a part of the positioning part, when the puncture needle 400 moves to a proper position of the fixed clamping jaw 100, the movable clamping jaw 200 is closed, the third positioning groove 210 can be buckled on the needle body 410 of the puncture needle 400, the needle body 410 is matched with the third positioning groove 210, and the stability of the puncture needle 400 is further improved.

Specifically, the second positioning groove 120 and the third positioning groove 210 are both strip-shaped grooves.

In the specific structure of the locking member 300, the damping hinge 310 and the cam 320 may be disposed, one end of the damping hinge 310 is mounted on the fixed jaw 100, the other end of the damping hinge 310 is coaxially fixed with the cam 320, the rotation surface of the cam 320 is disposed to abut against the end of the movable jaw 200 away from the second clamping end, and the cam 320 and the puncture needle 400 are disposed on the same side of the movable jaw 200. When the movable clamping jaw 200 clamps the puncture needle 400, the distance between the part of the cam 320, which is abutted against the movable clamping jaw 200, and the wheel center of the cam 320 is smaller than the maximum radius of the cam 320.

When the puncture needle 400 needs to be installed, the cam 320 is rotated by using an external force, so that the cam 320 rotates by overcoming the damping force of the damping hinge 310, the movable clamping jaw 200 is not pressed and locked any more, the movable clamping jaw 200 is loosened, the cam 320 is released after the puncture needle 400 is placed at the proper position of the fixed clamping jaw 100, at this time, the damping hinge 310 can drive the cam 320 to rotate and reset, so that the rotating surface of the cam 320 can push the movable clamping jaw 200 to rotate until the movable clamping jaw 200 is closed, the movable clamping jaw 200 does not rotate any more under the blocking force of the fixed clamping jaw 100, the cam 320 can stay at the current position under the damping force of the damping hinge 310, the cam 320 at this time can abut against the movable clamping jaw 200, the distance from the part of the cam 320 abutting against the movable clamping jaw 200 to the wheel center and not be the maximum radius of the cam 320, therefore, the cam 320 can not continue to rotate beyond the position under the restoring force of, thus, the cam 320 can lock the movable jaw 200 at the current position, and the movable jaw 200 does not open by itself.

When the puncture needle 400 needs to be disassembled, the cam 320 is rotated by external force, so that the cam 320 overcomes the damping force of the damping hinge 310 to rotate, the movable clamping jaw 200 is not pressed and locked any more, the movable clamping jaw 200 is loosened, and the puncture needle 400 can be taken out smoothly.

The movable clamping jaw 200 is matched with the fixed clamping jaw 100 through the rotating shaft, and the distance between the rotating shaft and the cam 320 is set to be larger than the distance between the rotating shaft and the second clamping end, so that a stress application lever can be formed, and the clamping reliability of the movable clamping jaw 200 can be improved.

The weight of the part, close to the cam 320, of the rotating shaft, of the movable clamping jaw 200 is set to be larger than the weight of the part, close to the second clamping end, of the rotating shaft, of the movable clamping jaw 200, so that the cam 320 is rotated by external force, the cam 320 is not pressed against the movable clamping jaw 200 any more and is locked, the movable clamping jaw 200 can rotate and open automatically under the action of the self weight, manual opening is not needed, and convenience is further improved.

Preferably, referring to fig. 2, a lever 330 may be provided on the cam 320, so that the lever 330 can be held by hand to rotate the cam 320 for easier operation.

The embodiment also provides a surgical robot which comprises the puncture needle clamping device.

Therefore, the surgical robot provided by the embodiment has all the advantages of the puncture needle clamping device, and is good in convenience and high in blood sampling efficiency.

In summary, the present invention discloses a puncture needle clamping device and a surgical robot, which overcome many technical defects of the traditional clamping device of the surgical robot. The puncture needle clamping device and the surgical robot provided by the embodiment have the advantages of better convenience, higher blood sampling efficiency and difficulty in cross infection.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A puncture needle holding device is characterized by comprising a fixed clamping jaw (100), a movable clamping jaw (200) and a locking piece (300);

the movable clamping jaw (200) is in rotating fit with the fixed clamping jaw (100), the fixed clamping jaw (100) is provided with a first clamping end, the movable clamping jaw (200) is provided with a second clamping end, and the first clamping end is matched with the second clamping end and used for clamping the puncture needle (400); the locker (300) is installed on the fixed jaw (100), and the locker (300) can lock the movable jaw (200).

2. A needle holder in accordance with claim 1, wherein the needle holder has a positioning portion for limiting movement of the needle (400) along the length of the needle body (410) and for blocking the needle (400) from pointing away from the needle tip.

3. The puncture needle holding apparatus according to claim 2, wherein the positioning portion includes a first positioning groove (110) provided on the fixed jaw (100), the flank (420) of the puncture needle (400) can be placed in the first positioning groove (110), and the needle tip of the puncture needle (400) is oriented in accordance with the notch of the first positioning groove (110).

4. The needle holder of claim 3, wherein the first positioning groove (110) is a U-shaped groove, and the wings (420) of the puncture needle (400) can be opened through both ends of the first positioning groove (110).

5. The needle holding device according to claim 2, wherein the positioning portion comprises a second positioning groove (120) opened on the holding jaw (100), and the needle body (410) portion of the puncture needle (400) is engaged with the second positioning groove (120).

6. The needle holder arrangement of claim 5, wherein the positioning portion comprises a third detent groove (210) opening on the movable jaw (200), the needle body (410) portion of the puncture needle (400) engaging the third detent groove (210).

7. The puncture needle holding device according to any one of claims 1 to 6, wherein the locking member (300) comprises a damping hinge (310) and a cam (320), one end of the damping hinge (310) is mounted on the fixed jaw (100), the other end of the damping hinge (310) is coaxially fixed with the cam (320), the revolution surface of the cam (320) abuts against one end of the movable jaw (200) away from the second holding end, and the cam (320) and the puncture needle (400) are both located on the same side of the movable jaw (200);

when the movable clamping jaw (200) clamps the puncture needle (400), the distance between the part of the cam (320) which is abutted against the movable clamping jaw (200) and the wheel center of the cam (320) is smaller than the maximum radius of the cam (320).

8. The needle holding device according to claim 7, wherein the movable jaw (200) is engaged with the fixed jaw (100) via a rotating shaft, and a distance between the rotating shaft and the cam (320) is larger than a distance between the rotating shaft and the second holding end.

9. The needle holder of claim 7, wherein the cam (320) is provided with a lever (330).

10. A surgical robot comprising the puncture needle holder according to any one of claims 1 to 9.