CN113598897A - Electric control quick release type puncture needle clamping device - Google Patents
Electric control quick release type puncture needle clamping device Download PDFInfo
- Publication number
- CN113598897A CN113598897A CN202110798233.0A CN202110798233A CN113598897A CN 113598897 A CN113598897 A CN 113598897A CN 202110798233 A CN202110798233 A CN 202110798233A CN 113598897 A CN113598897 A CN 113598897A
- Authority
- CN
- China
- Prior art keywords
- clamping jaw
- clamping
- ratchet
- puncture needle
- locking
- 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.)
- Granted
Links
- 230000009471 action Effects 0.000 claims abstract description 17
- 238000006073 displacement reaction Methods 0.000 claims description 25
- 238000003780 insertion Methods 0.000 claims description 10
- 230000037431 insertion Effects 0.000 claims description 10
- 230000007246 mechanism Effects 0.000 claims description 10
- 239000000126 substance Substances 0.000 claims description 6
- 238000010030 laminating Methods 0.000 claims description 2
- 239000007769 metal material Substances 0.000 description 8
- 229910052755 nonmetal Inorganic materials 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 241000251468 Actinopterygii Species 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000002591 computed tomography Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 239000013013 elastic material Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000003902 lesion Effects 0.000 description 1
- 238000005381 potential energy Methods 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 238000001356 surgical procedure Methods 0.000 description 1
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
- A61B17/3403—Needle locating or guiding means
-
- 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
- A61B17/3403—Needle locating or guiding means
- A61B2017/3405—Needle locating or guiding means using mechanical guide means
Landscapes
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Medical Informatics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Pathology (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)
- Infusion, Injection, And Reservoir Apparatuses (AREA)
Abstract
The application discloses automatically controlled quick release type pjncture needle clamping device, this automatically controlled quick release type pjncture needle clamping device includes: the clamping device comprises a base, a left clamping jaw, a right clamping jaw, an elastic resetting piece and a locking assembly; the left clamping jaw and the right clamping jaw are hinged through a rotating shaft, and the rotating shaft is fixed on the base; the left clamping jaw and the right clamping jaw are provided with clamping ends for clamping and fixing the puncture needle; the elastic reset piece is used for opening and resetting the clamping ends of the left clamping jaw and the right clamping jaw when the puncture needle is released; the locking assembly comprises an electric unlocking part and a mechanical locking part, and the mechanical locking part acts on the left clamping jaw and the right clamping jaw to limit the action of the clamping end and enable the clamping end to be in a clamping state; the electric unlocking part acts on the mechanical locking part to release the clamping end to enable the clamping end to be in an open state. The application solves the problems that in the prior art, a puncture needle clamping device needs to manually release a puncture needle, the puncture needle is complex in clamping and releasing operation, the puncture needle cannot be quickly released, and the like, and inconvenience is brought to clinical use.
Description
Technical Field
The application relates to the technical field of medical equipment, in particular to an electronic control quick release type puncture needle clamping device.
Background
In the percutaneous puncture operation, a doctor needs to hold a puncture needle by hand and prick the puncture needle into a lesion position in a patient body. The robot can replace a doctor to clamp the puncture needle, and more accurate and stable puncture operation is realized. The robot clamps the puncture needle through the puncture needle clamping device. The needle holder should provide a holding force large enough to overcome the resistance of the tissue to which the needle is subjected during the puncture procedure. The holding and releasing operation of the puncture needle needs to be simple and quick for clinical application. Especially, the release operation of pjncture needle, at the puncture in-process, if the patient takes place the motion, need release pjncture needle fast, let pjncture needle along with patient's free movement, avoid causing patient's fish tail, mistake puncture.
The robot can work in a radiation environment, and can clamp a puncture needle to perform puncture operation under CT real-time scanning. This requires the puncture needle holder to be made of non-metallic material, which avoids the holder from generating artifacts on the CT image, resulting in unclear CT image. However, compared with metal materials, the characteristics of low rigidity and easy deformation of non-metal materials can cause insufficient clamping force of the puncture needle clamping device.
The existing puncture needle clamping device has the problems that the puncture needle needs to be manually released, the operation of clamping and releasing the puncture needle is complex, the puncture needle cannot be quickly released, and the like, and inconvenience is brought to clinical use.
Disclosure of Invention
The main aim at of this application provides an automatically controlled quick release type pjncture needle clamping device to there is the pjncture needle that needs manual release pjncture needle in solving prior art pjncture needle clamping device, and the pjncture needle centre gripping is complicated with the release operation, can not quick release pjncture needle scheduling problem, gives the problem that clinical use brought inconvenience.
In order to achieve the above object, the present application provides an electrically controlled quick-release type puncture needle holding device including: the clamping device comprises a base, a left clamping jaw, a right clamping jaw, an elastic resetting piece and a locking assembly; wherein the content of the first and second substances,
the left clamping jaw and the right clamping jaw are hinged through a rotating shaft, and the rotating shaft is fixed on the base; the left clamping jaw and the right clamping jaw are provided with clamping ends for clamping and fixing the puncture needle;
the elastic reset piece is used for enabling the clamping ends of the left clamping jaw and the right clamping jaw to be opened and reset when the puncture needle is released;
the locking assembly comprises an electric unlocking part and a mechanical locking part, and the mechanical locking part acts on the left clamping jaw and the right clamping jaw to limit the action of the clamping end so as to enable the clamping end to be in a clamping state; the electric unlocking part acts on the mechanical locking part to release the clamping end to enable the clamping end to be in an open state.
Furthermore, one ends of the left clamping jaw and the right clamping jaw, which are far away from the clamping end, are provided with driving ends for providing clamping force; the electric unlocking part and the mechanical locking part are both arranged at the driving end.
Further, the mechanical locking part is arranged between the left clamping jaw and the right clamping jaw and comprises a ratchet wheel, a left fixing plate and a right fixing plate; wherein the content of the first and second substances,
the ratchet wheel is rotatably arranged on the base; the left fixing plate and the right fixing plate are fixedly arranged on the left clamping jaw and the right clamping jaw respectively and can move relatively or oppositely along with the left clamping jaw and the right clamping jaw under the action of external force;
the left fixing plate and the right fixing plate are respectively provided with a first locking ratchet and a second locking ratchet, and the first locking ratchet and the second locking ratchet are respectively used for being meshed with one end, close to the rotating shaft, of the ratchet and one end, far away from the rotating shaft, of the ratchet.
Further, electronic unblock portion including set firmly in straight line displacement mechanism on the base, straight line displacement mechanism includes drive division and displacement portion, seted up on the ratchet with the jack that displacement portion corresponds, displacement portion can insert in the jack.
Further, the linear displacement mechanism is set to be an electromagnetic lock, the driving portion is an electromagnetic driving structure of the electromagnetic lock, and the displacement portion is a lock cylinder and a reset spring arranged on the lock cylinder of the electromagnetic lock in a sleeved mode.
Furthermore, an insertion hole is formed in the upper end face of the ratchet wheel, a slope communicated with the insertion hole is further arranged on the upper end face of the ratchet wheel, and the slope is arc-shaped and is concentric with the ratchet wheel;
the left fixing plate and the right fixing plate are both arc-shaped and concentrically arranged with the rotating shaft, the first locking ratchet is arc-shaped and arranged on the left fixing plate, and the second locking ratchet is arc-shaped and arranged on the right fixing plate.
Furthermore, one end of the lock cylinder close to the ratchet wheel is hemispherical.
Further, the mechanical locking part further comprises a first limiting piece and a second limiting piece which are fixedly arranged on the base;
the first limiting piece and the second limiting piece are respectively positioned at one end of the ratchet wheel close to the rotating shaft and one end of the ratchet wheel far away from the rotating shaft;
a first gap for accommodating the left fixing plate is formed between the first limiting piece and the ratchet wheel, and a second gap for accommodating the right fixing plate is formed between the second limiting piece and the ratchet wheel, so that when the clamping end is in a clamping state, the first locking ratchet and the second locking ratchet are meshed on the ratchet wheel in a pressure-equalizing and tight manner.
Further, the ratchet teeth on the ratchet wheel comprise a lower ratchet tooth used for being meshed with the first locking ratchet tooth and an upper ratchet tooth used for being meshed with the second locking ratchet tooth;
the lower end of the ratchet wheel is provided with a lower cutting groove and an upper cutting groove which respectively correspond to the lower ratchet and the upper ratchet.
Furthermore, elasticity resets and establishes to establish to the cover and establishes epaxial torsional spring rotates, the first pin card of torsional spring is established the drive end of left side clamping jaw, the second pin card of torsional spring is established the drive end of right side clamping jaw.
Furthermore, the driving end of the left clamping jaw and the driving end of the right clamping jaw are respectively provided with a boss, and the first pin and the second pin of the torsion spring are respectively clamped on the corresponding bosses.
Furthermore, a limiting column used for limiting the maximum opening angle of the left clamping jaw and the right clamping jaw is further arranged on the base.
Furthermore, the two limiting columns are arranged and respectively correspond to the left clamping jaw and the right clamping jaw.
The puncture needle device further comprises a puncture needle fixing seat used for fixing the puncture needle, the clamping end is provided with an arc-shaped clamping surface, and clamping arc surfaces which are clamped and matched with the arc-shaped clamping surface are arranged on two sides of the puncture needle fixing seat;
the base orientation the one end of pjncture needle fixing base is provided with the setting element, the setting element orientation the one end of pjncture needle fixing base set up to with the location cambered surface of pjncture needle fixing base laminating.
In the embodiment of the application, by setting: the clamping device comprises a base, a left clamping jaw, a right clamping jaw, an elastic resetting piece and a locking assembly; the left clamping jaw and the right clamping jaw are hinged through a rotating shaft, and the rotating shaft is fixed on the base; the left clamping jaw and the right clamping jaw are provided with clamping ends for clamping and fixing the puncture needle; the elastic reset piece is used for enabling the clamping ends of the left clamping jaw and the right clamping jaw to be opened and reset when the puncture needle is released; the locking assembly comprises an electric unlocking part and a mechanical locking part, and the mechanical locking part acts on the left clamping jaw and the right clamping jaw to limit the action of the clamping end so as to enable the clamping end to be in a clamping state; the electronic unlocking part acts on the mechanical locking part to release the clamping end makes it be in the state of opening, has reached the purpose that the electronic unlocking part action of control can make the mechanical locking part release pjncture needle, thereby realized can controlling electronic unlocking part at the distal end, electronic release pjncture needle guarantees the puncture precision, simplifies the technical effect of release pjncture needle operation, and then has solved pjncture needle clamping device and has had the manual release pjncture needle that needs among the correlation technique, the pjncture needle centre gripping is complicated with the release operation, can not release pjncture needle scheduling problem fast, bring inconvenient problem for clinical use.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, serve to provide a further understanding of the application and to enable other features, objects, and advantages of the application to be more apparent. The drawings and their description illustrate the embodiments of the invention and do not limit it. In the drawings:
FIG. 1 is a schematic structural diagram according to an embodiment of the present application;
FIG. 2 is a schematic structural diagram of a released state according to an embodiment of the present application;
FIG. 3 is a schematic structural diagram of a ratchet according to an embodiment of the present application;
FIG. 4 is another schematic structural view of a ratchet according to an embodiment of the present application;
FIG. 5 is another schematic structural diagram according to an embodiment of the present application;
the device comprises a base 1, a boss 2, a right clamping jaw 3, a mechanical locking part 4, a right fixing plate 5, a second locking ratchet 6, an electric unlocking part 7, a left clamping jaw 8, a first locking ratchet 9, a left fixing plate 10, a first limiting part 11, a rotating shaft 12, an elastic resetting part 13, a puncture needle fixing seat 14, a second gap 15, a positioning part 16, a limiting column 17, a second limiting part 18, a clamping end 19, a driving end 20, a jack 21, a slope 22, a ratchet 23, a positioning cambered surface 24, an arc-shaped clamping surface 25, a first gap 26, an upper cutting groove 27, a lower ratchet 28, a lower cutting groove 29, an upper cutting groove 30, a lock cylinder 31 and an electromagnetic driving structure 32.
Detailed Description
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. 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 application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used.
In this application, the terms "upper", "lower", "inside", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings. These terms are used primarily to better describe the present application and its embodiments, and are not used to limit the indicated devices, elements or components to a particular orientation or to be constructed and operated in a particular orientation.
Moreover, some of the above terms may be used to indicate other meanings besides the orientation or positional relationship, for example, the term "on" may also be used to indicate some kind of attachment or connection relationship in some cases. The specific meaning of these terms in this application will be understood by those of ordinary skill in the art as appropriate.
Furthermore, the terms "disposed," "provided," "connected," "secured," and the like are to be construed broadly. For example, "connected" may be a fixed connection, a detachable connection, or a unitary construction; can be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements or components. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
In addition, the term "plurality" shall mean two as well as more than two.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
As shown in fig. 1 to 5, an embodiment of the present application provides an electrically controlled quick-release type puncture needle holder device, including: the clamping device comprises a base 1, a left clamping jaw 8, a right clamping jaw 3, an elastic resetting piece 13 and a locking assembly; wherein the content of the first and second substances,
the left clamping jaw 8 and the right clamping jaw 3 are hinged through a rotating shaft 12, and the rotating shaft 12 is fixed on the base 1; the left clamping jaw 8 and the right clamping jaw 3 are provided with clamping ends 19 for clamping and fixing the puncture needle;
the elastic resetting piece 13 is used for opening and resetting the clamping ends 19 of the left clamping jaw 8 and the right clamping jaw 3 when the puncture needle is released;
the locking assembly comprises an electric unlocking part 7 and a mechanical locking part 4, and the mechanical locking part 4 acts on the left clamping jaw 8 and the right clamping jaw 3 to limit the action of the clamping end 19 so as to enable the clamping end to be in a clamping state; the electrical unlocking part 7 acts on the mechanical locking part 4 to release the clamping end 19 in the open state.
In this embodiment, the base 1 is used as a bearing structure in the device, and the left clamping jaw 8, the right clamping jaw 3 and the rotating shaft 12 locking assembly are all installed on the base 1. Because the left clamping jaw 8 and the right clamping jaw 3 are hinged through the rotating shaft 12, linkage can be realized between the first ends and the second ends of the left clamping jaw 8 and the right clamping jaw 3, namely, the first ends of the left clamping jaw 8 and the right clamping jaw 3 can be synchronously controlled to be opened or closed by driving the second ends of the left clamping jaw 8 and the right clamping jaw 3 to be opened or closed. Specifically, the first ends of the left clamping jaw 8 and the right clamping jaw 3 are set as the clamping ends 19, and the second ends are set as the driving ends 20. The holding end 19 is used for holding and releasing the puncture needle, and the driving end 20 is used for driving the holding end 19 to hold and release the puncture needle.
The left clamping jaw 8 and the right clamping jaw 3 are opened and reset when the puncture needle is released through the elastic resetting piece 13, so that the elastic resetting piece 13 can adopt an elastic structure such as a torsion spring or a spring. The locking assembly consists of an electric unlocking part 7 and a mechanical locking part 4, when the puncture needle needs to be clamped, the driving ends 20 of the left clamping jaw 8 and the right clamping jaw 3 can be manually pinched to enable the clamping ends 19 to be synchronously closed to realize clamping, the pinched left clamping jaw 8 and the pinched right clamping jaw 3 are locked through the mechanical locking part 4 and the electric unlocking part 7, the clamping state can still be kept after the left clamping jaw 8 and the right clamping jaw 3 are loosened, and a doctor can operate the clamping device to perform puncture surgery. Because the electric unlocking part 7 in the embodiment is an electric assembly, remote control can be realized, when the puncture needle needs to be released, the controller can control the electric unlocking part 7 to act, so that the mechanical locking part 4 is released, at the moment, the clamping ends 19 of the left clamping jaw 8 and the right clamping jaw 3 can be rapidly opened under the action of the elastic resetting piece 13, and the puncture needle is released, wherein the controller can be a control button and the like electrically connected with the electric unlocking part 7.
This embodiment has realized can controlling electronic unlocking part 7 at the distal end, and electronic release pjncture needle guarantees the puncture precision, simplifies the technical effect who releases the pjncture needle operation, and then has solved among the correlation technique pjncture needle clamping device and has had the pjncture needle that needs manual release, and the pjncture needle centre gripping is complicated with the release operation, can not release pjncture needle scheduling problem fast, gives the problem that clinical use is inconvenient.
As shown in fig. 1 to 5, one ends of the left and right jaws 8 and 3 away from the clamping end 19 are provided as a driving end 20 for providing a clamping force; both the electric unlocking portion 7 and the mechanical locking portion 4 are provided at the driving end 20.
As shown in fig. 1 to 5, the mechanical locking part 4 is arranged between the left clamping jaw 8 and the right clamping jaw 3, and comprises a ratchet wheel 23, a left fixing plate 10 and a right fixing plate 5; wherein the content of the first and second substances,
the ratchet wheel 23 is rotatably arranged on the base 1; the left fixing plate 10 and the right fixing plate 5 are fixedly arranged on the left clamping jaw 8 and the right clamping jaw 3 respectively and can move relatively or oppositely along with the left clamping jaw 8 and the right clamping jaw 3 under the action of external force;
the left fixing plate 10 and the right fixing plate 5 are respectively provided with a first locking ratchet 9 and a second locking ratchet 6, and the first locking ratchet 9 and the second locking ratchet 6 are respectively used for being meshed with one end of the ratchet wheel 23 close to the rotating shaft 12 and one end of the ratchet wheel far away from the rotating shaft 12.
Specifically, it should be noted that the ratchet wheel 23 is rotatably mounted on the base 1 through a ratchet wheel 23 shaft, and the ratchet wheel 23 shaft is parallel to the axis of the rotating shaft 12. Left fixed plate 10 is located the inboard of left clamping jaw 8, and right fixed plate 5 also is located the inboard of right clamping jaw 3, and consequently the two sets up relatively, when left clamping jaw 8 and right clamping jaw 3 relative movement realized the centre gripping or when carrying on the back of the body removal realization release, left fixed plate 10 and right fixed plate 5 also move relatively and carrying on the back of the body in step. The electric unlocking part 7 acts on the ratchet wheel 23, and when the puncture needle needs to be clamped, the electric unlocking part 7 prevents the ratchet wheel 23 from rotating. Because the ratchet wheel 23 is provided with a plurality of ratchets, when the left fixing plate 10 and the right fixing plate 5 move relatively, the first locking ratchet 9 on the left fixing plate 10 can be meshed with the ratchets on the ratchet wheel 23, so that the left fixing plate 10 can be fixed, and similarly, the right fixing plate 5 can also be fixed, and the left clamping jaw 8 and the right clamping jaw 3 can be fixed in a clamping state.
The electric unlocking part 7 comprises a linear displacement mechanism fixedly arranged on the base 1, the linear displacement mechanism comprises a driving part and a displacement part, an insertion hole 21 corresponding to the displacement part is formed in the ratchet wheel 23, and the displacement part can be inserted into the insertion hole 21.
Specifically, when the puncture needle needs to be clamped, the displacement portion of the linear displacement mechanism is inserted into the insertion hole 21 on the ratchet wheel 23, so that the ratchet wheel 23 cannot rotate around the axis of the ratchet wheel 23, and when the left fixing plate 10 and the right fixing plate 5 move relatively, the first locking ratchet 9 on the left fixing plate 10 can be engaged with the ratchet on the ratchet wheel 23, so as to fix the left fixing plate 10, and similarly, the right fixing plate 5 can also be fixed, so that the left clamping jaw 8 and the right clamping jaw 3 are fixed in a clamped state. When the puncture needle needs to be released, the driving part needs to be controlled to drive the displacement part to move and enable the displacement part to be separated from the jack 21 on the ratchet wheel 23, at this time, the rotation motion of the ratchet wheel 23 is not limited any more, the left clamping jaw 8 and the right clamping jaw 3 can move away from each other under the pushing action of the elastic resetting piece 13, and meanwhile, the ratchet wheel 23 is driven to rotate, so that the clamping end 19 is opened, and the puncture needle is released.
The linear displacement mechanism is an electromagnetic lock, the driving part is an electromagnetic driving structure 32 of the electromagnetic lock, and the displacement part is a lock cylinder 31 of the electromagnetic lock and a return spring sleeved on the lock cylinder 31. Specifically, it should be noted that the key cylinder 31 is driven by the electromagnetic driving structure 32 to disengage from the insertion hole 21 on the ratchet 23, and at this time, the key cylinder 31 compresses the return spring and obtains elastic potential energy.
The insertion hole 21 is formed in the upper end face of the ratchet wheel 23, a slope 22 communicated with the insertion hole 21 is further arranged on the upper end face of the ratchet wheel 23, and the slope 22 is arc-shaped and is concentric with the ratchet wheel 23; when the puncture needle is released, the ratchet wheel 23 rotates clockwise under the action of the first locking ratchet 9 and the second locking ratchet 6, so that one end of the slope 22, which is far away from the jack 21, rotates to the position right below the lock cylinder 31, at the moment, the electromagnetic driving structure 32 of the electromagnetic lock does not exert action on the lock cylinder 31 any more, the lower end of the lock cylinder 31 moves to the slope 22 under the pushing action of the return spring, the lock cylinder 31 forces the ratchet wheel 23 to rotate anticlockwise under the continuous pushing action of the return spring, and when the lock cylinder 31 rotates to the position where the jack 21 is opposite to the lock cylinder 31, the lock cylinder 31 pops into the jack 21 to realize locking and resetting of the ratchet wheel 23, so that the next clamping and locking are performed. In order to facilitate the lock cylinder 31 to push the ratchet wheel 23 to rotate, one end of the lock cylinder 31 close to the ratchet wheel 23 is arranged to be hemispherical, so that a part of downward action of the lock cylinder 31 on the slope 22 can be decomposed into acting force in the horizontal direction to push the ratchet wheel 23 to rotate and reset, and the reusability of the puncture needle clamping device is improved.
Left side fixed plate 10 and right fixed plate 5 all are the arc and with pivot 12 concentric settings, first locking ratchet 9 is the arc and locates on left fixed plate 10, and second locking ratchet 6 is the arc and locates on right fixed plate 5, the ratchet interlock on first locking ratchet 9 of being convenient for and second locking ratchet 6 and ratchet 23.
As shown in fig. 1 to 5, the mechanical locking portion 4 further includes a first limiting member 11 and a second limiting member 18 fixedly disposed on the base 1;
the first limiting piece 11 and the second limiting piece 18 are respectively located at one end of the ratchet wheel 23 close to the rotating shaft 12 and one end far away from the rotating shaft 12;
a first gap 26 for accommodating the left fixing plate 10 is formed between the first limiting member 11 and the ratchet wheel 23, and a second gap 15 for accommodating the right fixing plate 5 is formed between the second limiting member 18 and the ratchet wheel 23, so that the first locking ratchet 9 and the second locking ratchet 6 are pressed tightly on the ratchet wheel 23 when the clamping end 19 is in a clamping state.
Specifically, when the clamping device is applied to a real-time CT scanning environment, the puncture needle clamping device is required to be made of a non-metal material, so that artifacts generated by the clamping device on a CT image are avoided, and the CT image is not clear. However, compared with metal materials, the characteristics of low rigidity and easy deformation of non-metal materials can cause insufficient clamping force of the puncture needle clamping device. Therefore, in the present embodiment, a first limiting member 11 and a second limiting member 18 made of elastic material are added to further fix the left fixing plate 10 and the right fixing plate 5. In a specific manner, due to the existence of the first limiting member 11, when the end of the left fixing plate 10 on the left clamping jaw 8, which is provided with the first locking ratchet 9, enters the first gap 26, the first limiting member 11 deforms and applies pressure to the left fixing plate 10 towards the ratchet wheel 23, so that the first locking ratchet 9 can be pressed and engaged on the ratchet wheel 23, and similarly, the second locking ratchet 6 is pressed and engaged on the ratchet wheel 23 under the action of the pressure applied by the second limiting member 18, so that the clamping device can still have high clamping force even though a non-metal material is adopted.
As shown in fig. 1 to 5, the ratchet teeth on the ratchet wheel 23 include a lower ratchet tooth 28 for engaging with the first locking ratchet 9 and an upper ratchet tooth 30 for engaging with the second locking ratchet 6; in order to further improve the clamping force, the lower end of the ratchet wheel 23 is provided with a lower cutting groove 29 and an upper cutting groove 27 which correspond to the lower ratchet 28 and the upper ratchet 30 respectively, the ratchet wheel 23 is made of non-metal materials, so that when the lower cutting groove 29 and the upper cutting groove 27 are formed, the upper part and the lower part of the ratchet wheel 23 also have certain deformation capacity, so that when the first locking ratchet 9 and the lower ratchet 28 are meshed, and when the second locking ratchet 6 and the upper ratchet 30 are meshed, sufficient pressure is provided, and the clamping of the puncture needle is more stable. According to the embodiment, the puncture needle clamping device can be applied under CT real-time scanning, and the application scene is expanded.
As shown in fig. 1 to 5, the elastic restoring member 13 is a torsion spring sleeved on the rotating shaft 12, a first pin of the torsion spring is clamped at the driving end 20 of the left clamping jaw 8, and a second pin of the torsion spring is clamped at the driving end 20 of the right clamping jaw 3. The drive end 20 of left clamping jaw 8 and the drive end 20 of right clamping jaw 3 all are provided with boss 2, and the first pin and the second pin of torsional spring are established on corresponding boss 2 the card respectively.
As shown in fig. 1 to 5, the base 1 is further provided with two limiting posts 17 for limiting the maximum opening angle of the left clamping jaw 8 and the right clamping jaw 3, and the two limiting posts 17 are respectively corresponding to the left clamping jaw 8 and the right clamping jaw 3.
As shown in fig. 1 to 5, the puncture needle fixing device further comprises a puncture needle fixing seat 14 for fixing the puncture needle, the clamping end 19 is provided with an arc-shaped clamping surface 25, and two sides of the puncture needle fixing seat 14 are provided with clamping arc surfaces which are clamped and matched with the arc-shaped clamping surface 25; one end of the base 1 facing the puncture needle fixing seat 14 is provided with a positioning piece 16, and one end of the positioning piece 16 facing the puncture needle fixing seat 14 is provided with a positioning cambered surface 24 attached to the puncture needle fixing seat 14, so that the position precision for clamping the puncture needle is ensured.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. An electrically controlled quick release type puncture needle holding device, comprising: the clamping device comprises a base, a left clamping jaw, a right clamping jaw, an elastic resetting piece and a locking assembly; wherein the content of the first and second substances,
the left clamping jaw and the right clamping jaw are hinged through a rotating shaft, and the rotating shaft is fixed on the base; the left clamping jaw and the right clamping jaw are provided with clamping ends for clamping and fixing the puncture needle;
the elastic reset piece is used for enabling the clamping ends of the left clamping jaw and the right clamping jaw to be opened and reset when the puncture needle is released;
the locking assembly comprises an electric unlocking part and a mechanical locking part, and the mechanical locking part acts on the left clamping jaw and the right clamping jaw to limit the action of the clamping end so as to enable the clamping end to be in a clamping state; the electric unlocking part acts on the mechanical locking part to release the clamping end to enable the clamping end to be in an open state.
2. The electrically controlled quick-release puncture needle holding device according to claim 1, wherein ends of the left and right holding jaws remote from the holding end are provided as driving ends for providing holding force; the electric unlocking part and the mechanical locking part are both arranged at the driving end.
3. The electrically controlled quick release type puncture needle holding device according to claim 2, wherein the mechanical locking portion is provided between the left jaw and the right jaw, and includes a ratchet, a left fixing plate and a right fixing plate; wherein the content of the first and second substances,
the ratchet wheel is rotatably arranged on the base; the left fixing plate and the right fixing plate are fixedly arranged on the left clamping jaw and the right clamping jaw respectively and can move relatively or oppositely along with the left clamping jaw and the right clamping jaw under the action of external force;
the left fixing plate and the right fixing plate are respectively provided with a first locking ratchet and a second locking ratchet, and the first locking ratchet and the second locking ratchet are respectively used for being meshed with one end, close to the rotating shaft, of the ratchet and one end, far away from the rotating shaft, of the ratchet.
4. The electrically controlled quick release type puncture needle holder according to claim 3, wherein the electrically operated unlocking part comprises a linear displacement mechanism fixed to the base, the linear displacement mechanism comprises a driving part and a displacement part, the ratchet wheel is provided with a socket corresponding to the displacement part, and the displacement part is insertable into the socket.
5. The electrically controlled quick release type puncture needle holding device according to claim 4, wherein the linear displacement mechanism is configured as an electromagnetic lock, the driving portion is an electromagnetic driving structure of the electromagnetic lock, and the displacement portion is a lock cylinder of the electromagnetic lock and a return spring sleeved on the lock cylinder.
6. The electrically controlled quick-release type puncture needle holding device according to claim 5, wherein the insertion hole is formed in an upper end surface of the ratchet wheel, and a slope communicated with the insertion hole is further provided in the upper end surface of the ratchet wheel, the slope being arc-shaped and being concentric with the ratchet wheel;
the left fixing plate and the right fixing plate are both arc-shaped and concentrically arranged with the rotating shaft, the first locking ratchet is arc-shaped and arranged on the left fixing plate, and the second locking ratchet is arc-shaped and arranged on the right fixing plate.
7. The electrically controlled quick-release type puncture needle holder according to any one of claims 3 to 6, wherein the mechanical locking portion further comprises a first stopper and a second stopper fixedly provided on the base;
the first limiting piece and the second limiting piece are respectively positioned at one end of the ratchet wheel close to the rotating shaft and one end of the ratchet wheel far away from the rotating shaft;
a first gap for accommodating the left fixing plate is formed between the first limiting piece and the ratchet wheel, and a second gap for accommodating the right fixing plate is formed between the second limiting piece and the ratchet wheel, so that when the clamping end is in a clamping state, the first locking ratchet and the second locking ratchet are meshed on the ratchet wheel in a pressure-equalizing and tight manner.
8. An electrically controlled quick release lancet holder as claimed in claim 7, wherein the ratchet teeth on the ratchet wheel comprise a lower ratchet tooth for engaging the first locking ratchet tooth and an upper ratchet tooth for engaging the second locking ratchet tooth;
the lower end of the ratchet wheel is provided with a lower cutting groove and an upper cutting groove which respectively correspond to the lower ratchet and the upper ratchet.
9. The electrically controlled quick-release type puncture needle clamping device according to claim 8, wherein the elastic restoring member is a torsion spring sleeved on the rotating shaft, a first pin of the torsion spring is clamped at the driving end of the left clamping jaw, and a second pin of the torsion spring is clamped at the driving end of the right clamping jaw.
10. The electrically controlled quick release type puncture needle holding device according to claim 9, further comprising a puncture needle holder for fixing the puncture needle, wherein the holding end has an arc-shaped holding surface, and both sides of the puncture needle holder are provided with holding arc surfaces which are in holding fit with the arc-shaped holding surface;
the base orientation the one end of pjncture needle fixing base is provided with the setting element, the setting element orientation the one end of pjncture needle fixing base set up to with the location cambered surface of pjncture needle fixing base laminating.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110798233.0A CN113598897B (en) | 2021-07-14 | 2021-07-14 | Electric control puncture needle clamping device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110798233.0A CN113598897B (en) | 2021-07-14 | 2021-07-14 | Electric control puncture needle clamping device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113598897A true CN113598897A (en) | 2021-11-05 |
| CN113598897B CN113598897B (en) | 2024-02-23 |
Family
ID=78337607
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110798233.0A Active CN113598897B (en) | 2021-07-14 | 2021-07-14 | Electric control puncture needle clamping device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113598897B (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113855221A (en) * | 2021-12-01 | 2021-12-31 | 真健康（北京）医疗科技有限公司 | A surgical robot that is used for terminal needle holder of ablation needle and carries out ablation |
| CN114176737A (en) * | 2022-02-16 | 2022-03-15 | 真健康（北京）医疗科技有限公司 | End sleeve clamp and puncture robot |
| CN114193349A (en) * | 2021-11-15 | 2022-03-18 | 昆山阿普顿自动化系统有限公司 | Manual clamping and releasing device |
| CN114191053A (en) * | 2022-02-16 | 2022-03-18 | 真健康（北京）医疗科技有限公司 | Puncture sleeve clamp and puncture robot |
| CN114191054A (en) * | 2022-02-16 | 2022-03-18 | 真健康（北京）医疗科技有限公司 | Puncture needle clamp and puncture robot |
| CN114469282A (en) * | 2022-03-31 | 2022-05-13 | 真健康（北京）医疗科技有限公司 | Orthogonal structure five-degree-of-freedom puncture robot |
| WO2023128657A1 (en) * | 2021-12-29 | 2023-07-06 | 주식회사 리브스메드 | Surgical instrument |
| CN117414188A (en) * | 2023-12-14 | 2024-01-19 | 真健康(广东横琴)医疗科技有限公司 | Puncture needle fixing device and puncture navigation positioning system |
| CN117481763A (en) * | 2023-12-22 | 2024-02-02 | 中国人民解放军总医院第一医学中心 | Nasal mucosa puncture positioning device for stem cell transnasal transplantation |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6698734B1 (en) * | 2003-01-27 | 2004-03-02 | Ching-Shu Wang | Clamp assembly |
| US20150374445A1 (en) * | 2013-02-19 | 2015-12-31 | gomtec GmbH | Holding device having at least one clamping jaw for a robotic surgical system |
| CN105662593A (en) * | 2016-04-25 | 2016-06-15 | 中山大学附属第三医院 | Universal type-B ultrasonic probe percutaneous renal puncture frame capable of adjusting inserting needle at multiple angles |
| US20170252115A1 (en) * | 2008-11-05 | 2017-09-07 | The Johns Hopkins University | Rotating needle driver and apparatuses and methods related thereto |
| CN107280765A (en) * | 2017-06-16 | 2017-10-24 | 北京理工大学 | A kind of puncture needle retaining release device of CT guided percutaneous transthoracic lung biopsies robot |
| CN206632885U (en) * | 2017-01-04 | 2017-11-14 | 杭州巨星工具有限公司 | A kind of ratchet mechanism and a kind of ratchet wheel clamp of misplace locking and release |
| CN107690318A (en) * | 2015-06-08 | 2018-02-13 | 柯惠Lp公司 | Erecting device and application method for surgery systems |
| CN110682050A (en) * | 2019-10-23 | 2020-01-14 | 无锡市迪索数控焊接设备有限公司 | Clamp for clamping pipeline |
| CN110801253A (en) * | 2018-08-06 | 2020-02-18 | 柯惠Lp公司 | Needle reloading device for use with endoscopic suturing device |
| CN111366279A (en) * | 2020-03-11 | 2020-07-03 | 中国商用飞机有限责任公司 | Verifying attachment of connector pencil contact pin installation power |
| CN111407368A (en) * | 2020-03-02 | 2020-07-14 | 亿盛欣科技(北京)有限公司 | Be used for CT to perspect and guide full-electric quick release type puncture needle inserter |
-
2021
- 2021-07-14 CN CN202110798233.0A patent/CN113598897B/en active Active
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6698734B1 (en) * | 2003-01-27 | 2004-03-02 | Ching-Shu Wang | Clamp assembly |
| US20170252115A1 (en) * | 2008-11-05 | 2017-09-07 | The Johns Hopkins University | Rotating needle driver and apparatuses and methods related thereto |
| US20150374445A1 (en) * | 2013-02-19 | 2015-12-31 | gomtec GmbH | Holding device having at least one clamping jaw for a robotic surgical system |
| CN107690318A (en) * | 2015-06-08 | 2018-02-13 | 柯惠Lp公司 | Erecting device and application method for surgery systems |
| CN105662593A (en) * | 2016-04-25 | 2016-06-15 | 中山大学附属第三医院 | Universal type-B ultrasonic probe percutaneous renal puncture frame capable of adjusting inserting needle at multiple angles |
| CN206632885U (en) * | 2017-01-04 | 2017-11-14 | 杭州巨星工具有限公司 | A kind of ratchet mechanism and a kind of ratchet wheel clamp of misplace locking and release |
| CN107280765A (en) * | 2017-06-16 | 2017-10-24 | 北京理工大学 | A kind of puncture needle retaining release device of CT guided percutaneous transthoracic lung biopsies robot |
| CN110801253A (en) * | 2018-08-06 | 2020-02-18 | 柯惠Lp公司 | Needle reloading device for use with endoscopic suturing device |
| CN110682050A (en) * | 2019-10-23 | 2020-01-14 | 无锡市迪索数控焊接设备有限公司 | Clamp for clamping pipeline |
| CN111407368A (en) * | 2020-03-02 | 2020-07-14 | 亿盛欣科技(北京)有限公司 | Be used for CT to perspect and guide full-electric quick release type puncture needle inserter |
| CN111366279A (en) * | 2020-03-11 | 2020-07-03 | 中国商用飞机有限责任公司 | Verifying attachment of connector pencil contact pin installation power |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114193349A (en) * | 2021-11-15 | 2022-03-18 | 昆山阿普顿自动化系统有限公司 | Manual clamping and releasing device |
| CN114193349B (en) * | 2021-11-15 | 2023-07-11 | 昆山阿普顿自动化系统有限公司 | Manual clamping and releasing device |
| CN113855221A (en) * | 2021-12-01 | 2021-12-31 | 真健康（北京）医疗科技有限公司 | A surgical robot that is used for terminal needle holder of ablation needle and carries out ablation |
| WO2023128657A1 (en) * | 2021-12-29 | 2023-07-06 | 주식회사 리브스메드 | Surgical instrument |
| CN114176737A (en) * | 2022-02-16 | 2022-03-15 | 真健康（北京）医疗科技有限公司 | End sleeve clamp and puncture robot |
| CN114191053A (en) * | 2022-02-16 | 2022-03-18 | 真健康（北京）医疗科技有限公司 | Puncture sleeve clamp and puncture robot |
| CN114191054A (en) * | 2022-02-16 | 2022-03-18 | 真健康（北京）医疗科技有限公司 | Puncture needle clamp and puncture robot |
| CN114469282A (en) * | 2022-03-31 | 2022-05-13 | 真健康（北京）医疗科技有限公司 | Orthogonal structure five-degree-of-freedom puncture robot |
| CN117414188A (en) * | 2023-12-14 | 2024-01-19 | 真健康(广东横琴)医疗科技有限公司 | Puncture needle fixing device and puncture navigation positioning system |
| CN117414188B (en) * | 2023-12-14 | 2024-02-20 | 真健康(广东横琴)医疗科技有限公司 | Puncture needle fixing device and puncture navigation positioning system |
| CN117481763A (en) * | 2023-12-22 | 2024-02-02 | 中国人民解放军总医院第一医学中心 | Nasal mucosa puncture positioning device for stem cell transnasal transplantation |
| CN117481763B (en) * | 2023-12-22 | 2024-04-30 | 中国人民解放军总医院第一医学中心 | Nasal mucosa puncture positioning device for stem cell transnasal transplantation |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113598897B (en) | 2024-02-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113598897A (en) | Electric control quick release type puncture needle clamping device | |
| US9861500B2 (en) | Prosthetic grip unit | |
| CN104523321B (en) | The card locking device and operating theater instruments of carrier state handoff functionality | |
| CN206759850U (en) | Handle locking mechanism and electronic equipment | |
| CN219516526U (en) | Quick release type puncture needle clamping structure, robot end effector and robot | |
| EP3256063B1 (en) | Combined tunneling tools | |
| CN110920939B (en) | Power assisting device | |
| CN112336426A (en) | Quick release type puncture needle guiding device | |
| CN112472160A (en) | Surgical instrument and surgical robot | |
| CN115252142B (en) | Surgical navigation positioning robot and quick release type end effector thereof | |
| CN219557541U (en) | Puncture needle clamping structure with quick-release structure and operation navigation positioning robot | |
| CN217285915U (en) | Electric anastomosis instrument | |
| CN215384241U (en) | Operating handle of minimally invasive surgical instrument | |
| CN214074529U (en) | Ear self-locking structure and medicine injection pump | |
| CN216417123U (en) | Transmission mechanism of endoscope and endoscope | |
| CN211397033U (en) | Bag buckle | |
| CN213249521U (en) | Novel locking and unlocking device of minimally invasive handheld instrument | |
| CN218960824U (en) | Endoscopic cutting anastomat with manual cutter return mechanism | |
| CN219048746U (en) | Synchronous release type electric end effector and surgical navigation positioning robot | |
| CN213217353U (en) | Rear-mounted release device of electric anastomat | |
| CN219557494U (en) | Puncture needle clamping structure convenient to install and detach and operation navigation positioning robot | |
| CN109519663A (en) | Electronic device clamps bracket | |
| CN105559796B (en) | Sensor insertion device | |
| CN217391083U (en) | 360-degree rotating handle | |
| CN114176704A (en) | A hemostasis rescue device for hospital intracardiac branch of academic or vocational study |
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 |