CN113425390B - Magnetic drive type flexible needle puncture mechanism - Google Patents
Magnetic drive type flexible needle puncture mechanism Download PDFInfo
- Publication number
- CN113425390B CN113425390B CN202110731900.3A CN202110731900A CN113425390B CN 113425390 B CN113425390 B CN 113425390B CN 202110731900 A CN202110731900 A CN 202110731900A CN 113425390 B CN113425390 B CN 113425390B
- Authority
- CN
- China
- Prior art keywords
- needle
- magnetic
- flexible needle
- flexible
- supporting seat
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
- A61B17/3417—Details of tips or shafts, e.g. grooves, expandable, bendable; Multiple coaxial sliding cannulas, e.g. for dilating
Abstract
The invention discloses a puncture mechanism of a magnetic driving type flexible needle, which belongs to the field of medical instruments and consists of a needle tube supporting seat, a feed bar, a magnetic connector, a bearing, a motor mounting rack, a motor, a base, a feed bar, a flexible needle supporting tube, a magnetic guider, a lead screw, a bearing and a flexible needle; the invention relates to a magnetic driving type flexible needle puncturing mechanism, which is a flexible needle structure with simple control and flexible mechanism. Compared with the traditional flexible needle, the flexible needle is indirectly driven outside the flexible needle supporting tube through the magnetic action, so that the effective length of the flexible needle is improved, the negative influence caused by the warping phenomenon of the needle body of the flexible needle in the puncturing process is reduced, the noise of the mechanism during operation is reduced, and the overall structure is optimized; the magnetic driving type flexible needle puncture mechanism is a flexible needle structure with simple control and flexible mechanism.
Description
Technical Field
The invention relates to a puncture mechanism of a magnetic drive type flexible needle, belonging to the technical field of medical equipment.
Background
In recent years, with the prevalence of minimally invasive interventional procedures, the surgical tools involved in the procedures are also under continuous development. The minimally invasive interventional therapy technology is a medical means for introducing some precise instruments such as a special operation needle or a catheter and the like into the affected part of a patient for diagnosis and treatment by utilizing various medical imaging devices to obtain medical images on the premise of not opening the affected part of the patient. Initially, a rigid needle is used for puncturing to obtain diseased cells or to deliver medicine to a diseased part, and the rigid needle keeps a linear motion track when puncturing in body tissues of a patient. Since the rigid needle moving linearly does not have the ability to avoid obstacles (bones, organs, blood vessels, and nerves) in the human body, certain damage may be caused to tissues and organs of the human body when in use. Later, researchers have proposed a flexible needle with a slanted tip that, due to its elasticity, moves in a curved manner under the pressure of the body tissue after penetrating the body. Meanwhile, the curvature of the motion trail of the flexible needle can be effectively changed by changing the angle of the inclined tip of the flexible needle or the material property of the inclined tip of the flexible needle, so that the flexible needle can better bypass obstacles and reach the target range.
In view of the above background and in combination with the problems encountered in the prior art, a magnetically driven flexible needle puncture mechanism is designed for needle puncture surgery. The needle inserting device mainly comprises a needle tube supporting seat, a polished rod, a magnetic connector, a bearing, a needle inserting motor mounting frame, a wireless needle inserting motor, a rotating motor mounting frame, a rotating motor, a base, a flexible needle supporting tube, a magnetic guider, a lead screw and a flexible needle. The flexible needle is guided by the magnetic guider to rotate and feed, so that the problem of warping of the flexible needle easily generated in the puncturing process is effectively solved.
Disclosure of Invention
The invention adopts magnetic force to drive the flexible needle, and the flexible needle is indirectly driven outside the flexible needle supporting tube to rotate and feed.
The technical scheme of the invention is as follows:
a magnetic driving type flexible needle puncture mechanism comprises a needle tube supporting seat I, a light bar I, a magnetic connector, a bearing I, a needle tube supporting seat II, a needle inserting motor mounting frame, a wireless needle inserting motor, a rotating motor mounting frame, a rotating motor, a base, a light bar II, a flexible needle supporting tube, a magnetic guider, a lead screw, a bearing II and a flexible needle.
Preferably, the method comprises the following steps: the needle tube supporting seat I and the needle tube supporting seat II are fixed on the base, the wireless needle feeding motor is installed on a needle feeding motor installation frame, the rotating motor is installed on a rotating motor installation frame, an output shaft of the rotating motor is fixedly connected with the needle feeding motor installation frame, an output shaft of the wireless needle feeding motor is connected with a lead screw, the lead screw penetrates through the needle tube supporting seat I and the needle tube supporting seat II, a light bar I and a light bar II are installed on the needle tube supporting seat I and the needle tube supporting seat II, the magnetic guider is installed on the magnetic connector, the magnetic connector penetrates through the light bar I and the light bar II and is installed on the lead screw, the flexible needle is in clearance fit with the flexible needle supporting tube, the flexible needle supporting tube is fixed on the needle tube supporting seat I and the needle tube supporting seat II, and the axis of the output shaft of the rotating motor and the central axis of the flexible needle supporting tube are on the same straight line;
the output shaft of the rotating motor rotates to drive the wireless needle inserting motor to rotate, so that the lead screw and the magnetic guider arranged on the magnetic connector rotate around the flexible needle supporting tube, and the magnetic element at the tail part of the flexible needle rotates along with the magnetic guider under the action of magnetic force, thereby realizing the rotating action of the flexible needle; the output shaft of the wireless needle inserting motor rotates to drive the lead screw to rotate, so that the magnetic connector and the magnetic guider which are arranged on the lead screw axially move on the lead screw, and the magnetic element at the tail part of the flexible needle moves along with the magnetic guider under the action of magnetic force, so that the feeding and returning actions of the flexible needle are realized.
Preferably, the flexible needle tail part is provided with a square magnetic element, and one end of the magnetic element is acted by the magnetic force of the magnetic guider.
Preferably, the inner diameter of the circular rings at the two ends of the magnetic connector is the same as the diameter of the first optical lever and the diameter of the second optical lever, the middle circular ring is provided with threads to be matched with the threads of the lead screw, and the straight shank of the magnetic connector is provided with a threaded interface to be matched with a threaded socket of the magnetic guider.
The beneficial effects of the invention are:
1. the flexible needle is indirectly driven outside the flexible needle supporting tube through the magnetic action, so that the effective length of the flexible needle is improved, and the negative influence caused by the warping phenomenon of the needle body of the flexible needle in the puncture process is reduced;
2. the flexible needle is driven by the magnetic force, so that the energy consumption is saved, the noise in the operation process is reduced, and the noise influence on a patient in the operation process is reduced.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention
FIG. 2 is a schematic view of a flexible needle according to the present invention
FIG. 3 is a schematic view of the magnetic connector and the magnetic guide of the present invention
The parts shown in the drawings are numbered as follows: 1. the needle tube supporting device comprises a needle tube supporting seat I, a needle bar I, a needle tube supporting seat II, a needle inserting motor mounting frame 2, a needle inserting motor I, a needle inserting motor 3, a magnetic connector 4, a bearing I, a bearing II, a needle inserting motor mounting frame 5, a wireless needle inserting motor 8, a rotating motor mounting frame 9, a rotating motor 10, a base 11, a needle bar II, a flexible needle supporting tube 13, a magnetic guider 14, a lead screw 15, a bearing II, a flexible needle 16-1 and a magnetic element.
Detailed Description
In order that the objects, aspects and advantages of the present invention will become more apparent, the invention will be described with reference to specific configurations thereof as illustrated in the accompanying drawings. It is to be understood that this description is made only by way of example and not as a limitation on the scope of the 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.
As shown in the attached drawings, the specific implementation mode of the invention adopts the following technical scheme: the needle tube type automatic needle inserting machine is composed of a needle tube supporting seat I1, a polished rod I2, a magnetic connector 3, a bearing I4, a needle tube supporting seat II 5, a needle inserting motor mounting frame 6, a wireless needle inserting motor 7, a rotating motor mounting frame 8, a rotating motor 9, a base 10, a polished rod II 11, a flexible needle supporting tube 12, a magnetic guider 13, a screw rod 14, a bearing II 15 and a flexible needle 16; the needle tube supporting seat I1 and the needle tube supporting seat II 5 are fixed on the base 10; the wireless needle inserting motor 7 is installed on the needle inserting motor installation frame 6, the rotating motor 9 is installed on the rotating motor installation frame 8, an output shaft of the rotating motor 9 is fixedly connected with the needle inserting motor installation frame 6, an output shaft of the wireless needle inserting motor 7 is connected with the lead screw 14, the lead screw 14 penetrates through the needle tube supporting seat I1 and the needle tube supporting seat II 5, the light bar I2 and the light bar II 11 are installed on the needle tube supporting seat I1 and the needle tube supporting seat II 5, the magnetic guider 13 is installed on the magnetic connector 3, the magnetic connector 3 penetrates through the light bar I2 and the light bar II 11 and is installed on the lead screw 14, the flexible needle 16 is in clearance fit with the flexible needle supporting tube 12, the flexible needle supporting tube 12 is fixed on the needle tube supporting seat I1 and the needle tube supporting seat II 5, and the axis of the output shaft of the rotating motor 9 and the center of the flexible needle supporting tube 12 are on the same straight line.
When the output shaft of the rotating motor 9 rotates, the wireless needle inserting motor 7, the needle inserting motor mounting frame 6, the first feed rod 2, the feed rod 11, the lead screw 14 and the magnetic guider 13 arranged on the magnetic connector 3 are driven to rotate around the flexible needle supporting tube 12;
due to the magnetic force action of the magnetic guider 13 and the magnetic element 16-1 at the tail part of the flexible needle 16, the magnetic element 16-1 at the tail part of the flexible needle 16 rotates along with the magnetic guider 13, so that the rotating action of the flexible needle 16, namely the rotating motion of the flexible needle 16 indirectly driven without contact, is realized.
An output shaft of the wireless needle inserting motor 7 rotates to drive the lead screw 14 to rotate, so that the magnetic connector 3 and the magnetic guider 13 which are installed on the lead screw 14 realize axial movement on the lead screw 14, and due to the action of magnetic force, the magnetic element 16-1 at the tail part of the flexible needle 16 moves along with the magnetic guider 13, so that feeding and withdrawing actions of the flexible needle 16 are realized, namely, the linear movement of the flexible needle 16 is indirectly driven without contact.
The tail of the flexible needle 16 is provided with a square magnetic element 16-1, and one end of the magnetic element 16-1 is under the action of magnetic attraction of the magnetic guider 13.
The inner diameter of the circular rings at the two ends of the magnetic connector 3 is the same as the diameters of the first polished rod 2 and the second polished rod 11, the middle circular ring is provided with threads to be matched with the threads of the lead screw 14, and the straight shank at one side of the magnetic connector 3 is provided with a threaded interface to be matched with the threaded socket threads of the magnetic guider 13.
The foregoing shows and describes the general principles and features of the present invention, together with the 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 (1)
1. A magnetic drive type flexible needle puncture mechanism comprises a needle tube supporting seat I (1), a polished rod I (2), a magnetic connector (3), a bearing I (4), a needle tube supporting seat II (5), a needle insertion motor mounting frame (6), a wireless needle insertion motor (7), a rotating motor mounting frame (8), a rotating motor (9), a base (10), a polished rod II (11), a flexible needle supporting tube (12), a magnetic guider (13), a lead screw (14), a bearing II (15) and a flexible needle (16); the needle tube supporting seat is characterized in that a needle tube supporting seat I (1) and a needle tube supporting seat II (5) are fixed on a base (10), a wireless needle insertion motor (7) is installed on a needle insertion motor installation frame (6), a rotating motor (9) is installed on a rotating motor installation frame (8), an output shaft of the rotating motor (9) is fixedly connected with the needle insertion motor installation frame (6), an output shaft of the wireless needle insertion motor (7) is connected with a lead screw (14), the lead screw (14) penetrates through the needle tube supporting seat I (1) and the needle tube supporting seat II (5), a feed bar I (2) and a feed bar II (11) are installed on the needle tube supporting seat I (1) and the needle tube supporting seat II (5), a magnetic guider (13) is installed on the magnetic connector (3), the magnetic connector (3) penetrates through the feed bar I (2) and the feed bar II (11) and is installed on the lead screw (14), a flexible needle (16) is in clearance fit with a flexible needle tube supporting tube (12), and the flexible needle tube supporting tube (12) is fixed on the same axial line of the needle tube supporting seat I (1) and the needle tube supporting seat II (5);
an output shaft of the rotating motor (9) rotates to drive the wireless needle inserting motor (7) to rotate, so that a lead screw (14) and a magnetic guider (13) arranged on the magnetic connector (3) rotate around the flexible needle supporting tube (12), a square magnetic element (16-1) is arranged at the tail of the flexible needle (16), and due to the action of magnetic force, the magnetic element (16-1) at the tail of the flexible needle (16) rotates along with the magnetic guider (13), so that the rotating action of the flexible needle (16) is realized; the wireless needle inserting motor (7) rotates, an output shaft of the wireless needle inserting motor drives a lead screw (14) to rotate, so that a magnetic connector (3) and a magnetic guider (13) which are arranged on the lead screw (14) realize axial movement on the lead screw (14), and a magnetic element (16-1) at the tail part of a flexible needle (16) moves along with the magnetic guider (13) under the action of magnetic force, so that feeding and withdrawing actions of the flexible needle (16) are realized;
one end of the magnetic element (16-1) is acted by the magnetic force of the magnetic guider (13); the inner diameters of circular rings at two ends of the magnetic connector (3) are the same as the diameters of the first feed rod (2) and the second feed rod (11), a circular ring in the middle of the magnetic connector (3) is provided with a thread and is matched with the thread of the lead screw (14), and a straight handle of the magnetic connector (3) is provided with a threaded interface and is matched with a threaded socket of the magnetic guider (13).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110731900.3A CN113425390B (en) | 2021-06-30 | 2021-06-30 | Magnetic drive type flexible needle puncture mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110731900.3A CN113425390B (en) | 2021-06-30 | 2021-06-30 | Magnetic drive type flexible needle puncture mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113425390A CN113425390A (en) | 2021-09-24 |
| CN113425390B true CN113425390B (en) | 2022-10-11 |
Family
ID=77758018
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110731900.3A Active CN113425390B (en) | 2021-06-30 | 2021-06-30 | Magnetic drive type flexible needle puncture mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113425390B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114668463A (en) * | 2022-03-29 | 2022-06-28 | 哈尔滨理工大学 | Flexible needle puncture mechanism capable of automatically replacing needle |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20130096589A1 (en) * | 2011-10-17 | 2013-04-18 | Maegan K. Spencer | Atherectomy catheters and non-contact actuation mechanism for catheters |
| CN109009444A (en) * | 2018-08-23 | 2018-12-18 | 广州医科大学附属第医院 | A kind of electromagnetic type force feedback puncturing operation auxiliary device and robot puncturing system |
| CN213217474U (en) * | 2020-06-02 | 2021-05-18 | 扬州大学 | Flexible needle elastic clamping and fixing device of telescopic steel sleeve type for targeted asynchronous puncture |
-
2021
- 2021-06-30 CN CN202110731900.3A patent/CN113425390B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20130096589A1 (en) * | 2011-10-17 | 2013-04-18 | Maegan K. Spencer | Atherectomy catheters and non-contact actuation mechanism for catheters |
| CN109009444A (en) * | 2018-08-23 | 2018-12-18 | 广州医科大学附属第医院 | A kind of electromagnetic type force feedback puncturing operation auxiliary device and robot puncturing system |
| CN213217474U (en) * | 2020-06-02 | 2021-05-18 | 扬州大学 | Flexible needle elastic clamping and fixing device of telescopic steel sleeve type for targeted asynchronous puncture |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113425390A (en) | 2021-09-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113208735B (en) | Flexible needle puncturing mechanism for tail end of mechanical arm | |
| CN112370125B (en) | Winding type flexible needle puncture mechanism | |
| CN103252011A (en) | Material removal device and method of use | |
| CN113081075B (en) | Magnetic control capsule with active biopsy and drug delivery functions | |
| CN113425390B (en) | Magnetic drive type flexible needle puncture mechanism | |
| CN107625543A (en) | The flexible intervention needle system of magnetic resonance compatible hand-portable | |
| CN111671474A (en) | Ultrasonic guided breast biopsy device | |
| CN215608617U (en) | Vessel intervention catheter | |
| CN112022226A (en) | Tumor puncture extraction device | |
| CN110279439B (en) | Biopsy needle and puncture device for mechanical arm puncture | |
| CN203341819U (en) | Magnetic B-ultrasonic probe puncture device | |
| CN113317823B (en) | Suction cutting type multipoint sampling needle with active deformation function | |
| CN203815418U (en) | Medical endoscope device with ultramicro motor | |
| CN112426224B (en) | Millimeter-scale ultra-freedom-degree accurate intelligent minimally invasive equipment and system | |
| CN112401941B (en) | In-vivo guiding control device | |
| CN208388811U (en) | Micro-adjusting mechanism for coronary stent implantation | |
| CN113080810B (en) | Shell device for assisting magnetic drive capsule endoscope robot to actively move | |
| CN111150436A (en) | Screw propulsion type medical robot | |
| CN215651309U (en) | Magnetic suction traction device for minimally invasive surgery | |
| CN113116463B (en) | Prostate gland removal apparatus | |
| CN217090816U (en) | Snare device with injection needle for endoscope | |
| CN115429428B (en) | Seven-degree-of-freedom transperineal prostate operation navigation system and application method thereof | |
| CN220175193U (en) | Medical cutting instrument | |
| CN217661057U (en) | Aseptic box of control catheter | |
| CN213884573U (en) | Traditional chinese medical science tumour is with interveneeing treatment device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: A magnetic driven flexible needle puncture mechanism Effective date of registration: 20230517 Granted publication date: 20221011 Pledgee: Foshan Rural Commercial Bank Co.,Ltd. Lanshi Branch Pledgor: FOSHAN BAIKANG ROBOT TECHNOLOGY Co.,Ltd. Registration number: Y2023980040929 |