CN113598897B - Electric control puncture needle clamping device - Google Patents
Electric control puncture needle clamping device Download PDFInfo
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- CN113598897B CN113598897B CN202110798233.0A CN202110798233A CN113598897B CN 113598897 B CN113598897 B CN 113598897B CN 202110798233 A CN202110798233 A CN 202110798233A CN 113598897 B CN113598897 B CN 113598897B
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- clamping jaw
- ratchet
- clamping
- ratchet wheel
- fixing plate
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- 230000009471 action Effects 0.000 claims abstract description 17
- 238000006073 displacement reaction Methods 0.000 claims description 24
- 230000007246 mechanism Effects 0.000 claims description 10
- 238000003780 insertion Methods 0.000 claims description 5
- 230000037431 insertion Effects 0.000 claims description 5
- 238000010030 laminating Methods 0.000 claims description 3
- 239000007769 metal material Substances 0.000 description 6
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 239000000463 material Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 239000013013 elastic material Substances 0.000 description 1
- 230000003902 lesion Effects 0.000 description 1
- 229910052755 nonmetal Inorganic materials 0.000 description 1
- 238000005381 potential energy Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
- A61B2017/3405—Needle locating or guiding means using mechanical guide means
Abstract
The application discloses automatically controlled pjncture needle clamping apparatus, this automatically controlled pjncture needle clamping apparatus includes: the device comprises a base, a left clamping jaw, a right clamping jaw, an elastic reset 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 resetting 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 be in an open state. The puncture needle clamping device solves the problems that in the related art, the puncture needle needs to be manually released, the puncture needle clamping and releasing operations are complex, 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 electric control puncture needle clamping device.
Background
In percutaneous puncture surgery, a physician needs to hold a puncture needle and prick the puncture needle into a lesion site in a patient. The robot can replace a doctor to clamp the puncture needle, so that more accurate and more stable puncture operation is realized.
The robot clamps the puncture needle through the puncture needle clamping device. The lancet holding means provides a sufficient holding force to overcome the resistance of the tissue to which the lancet is subjected during lancing. The holding and releasing operation of the puncture needle needs to have a simple and rapid characteristic so as to be convenient for clinical application. Particularly, if a patient moves in the puncturing process, the puncture needle needs to be quickly released to enable the puncture needle to freely move along with the patient, so that the scratch and the false puncturing of the patient are avoided.
The robot can also work in a radiation environment, and can clamp the puncture needle to implement puncture operation under CT real-time scanning. This requires that the lancet holder be of a non-metallic material, avoiding the holder from creating artifacts in the CT image, which may result in an unclear CT image. However, the low stiffness and deformable nature of non-metallic materials compared to metallic materials can result in insufficient holding force for the lancet holding means.
The existing puncture needle clamping device has the problems that the puncture needle needs to be manually released, the puncture needle clamping and releasing operations are complex, the puncture needle cannot be quickly released, and the like, and inconvenience is brought to clinical use.
Disclosure of Invention
The utility model provides a main aim at provides an automatically controlled pjncture needle clamping apparatus to there is the manual pjncture needle of releasing that needs among the correlation technique pjncture needle clamping apparatus, pjncture needle centre gripping and release operation complicacy, can not release pjncture needle scheduling problem fast, brings inconvenient problem for clinical use.
To achieve the above object, the present application provides an electrically controlled lancet holding apparatus comprising: the device comprises a base, a left clamping jaw, a right clamping jaw, an elastic reset piece and a locking assembly; wherein,
the left clamping jaw is hinged with the right clamping jaw 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 be in an open state.
Further, one ends of the left clamping jaw and the right clamping jaw, which are far away from the clamping end, are arranged as driving ends for providing clamping force; the electric unlocking part and the mechanical locking part are both arranged on 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 ratchet wheel is rotationally arranged on the base; the left fixing plate and the right fixing plate are respectively and fixedly arranged on the left clamping jaw and the right clamping jaw and can move relatively or move 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.
Further, the electric unlocking part comprises a linear displacement mechanism fixedly arranged on the base, the linear displacement mechanism comprises a driving part and a displacement part, a jack corresponding to the displacement part is formed in the ratchet wheel, and the displacement part can be inserted into the jack.
Further, the linear displacement mechanism is set to be an electromagnetic lock, the driving part is an electromagnetic driving structure of the electromagnetic lock, and the displacement part is a lock cylinder of the electromagnetic lock and a reset spring sleeved on the lock cylinder.
Further, the jack is arranged on the upper end face of the ratchet wheel, the upper end face of the ratchet wheel is also provided with a slope communicated with the jack, and the slope is arc-shaped and is arranged concentrically with the ratchet wheel;
the left fixing plate and the right fixing plate are arc-shaped and are concentric with the rotating shaft, the first locking ratchet is arc-shaped and is arranged on the left fixing plate, and the second locking ratchet is arc-shaped and is arranged on the right fixing plate.
Further, one end of the lock cylinder close to the ratchet wheel is arranged in a hemispherical shape.
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 close to the rotating shaft and one end of the ratchet far away from the rotating shaft;
the ratchet wheel is characterized in that a first gap for accommodating the left fixing plate is formed between the first limiting piece and the ratchet wheel, a second gap for accommodating the right fixing plate is formed between the second limiting piece and the ratchet wheel, and when the clamping end is in a clamping state, the first locking ratchet wheel and the second locking ratchet wheel are tightly meshed with the ratchet wheel.
Further, the ratchet teeth on the ratchet wheel include a lower ratchet tooth for engaging with the first locking ratchet tooth and an upper ratchet tooth for engaging 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 wheel and the upper ratchet wheel.
Further, the elastic reset piece is arranged to be sleeved on the torsion spring on the rotating shaft, a first pin of the torsion spring is clamped on the driving end of the left clamping jaw, and a second pin of the torsion spring is clamped on the driving end of the right clamping jaw.
Further, 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.
Further, a limiting column for limiting the maximum opening angle of the left clamping jaw and the right clamping jaw is further arranged on the base.
Further, the limit posts are arranged in two and correspond to the left clamping jaw and the right clamping jaw respectively.
Further, the puncture needle fixing seat is used for fixing the puncture needle, the clamping end is provided with an arc-shaped clamping surface, and two sides of the puncture needle fixing seat are provided with clamping cambered surfaces which are in clamping fit with the arc-shaped clamping 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.
In the embodiment of the application, by setting: the device comprises a base, a left clamping jaw, a right clamping jaw, an elastic reset 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 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, so that the purpose that the mechanical locking part can release the puncture needle by controlling the action of the electric unlocking part is achieved, the electric release of the puncture needle can be controlled at the far end, the puncture precision is ensured, the technical effect of operation of releasing the puncture needle is simplified, the technical effects that the puncture needle clamping device needs to manually release the puncture needle in the related art are further solved, the problems that the puncture needle clamping and releasing operation is complex, the puncture needle cannot be quickly released, and the like are solved, and inconvenience is brought to clinical use.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, are included to provide a further understanding of the application and to provide a further understanding of the application with regard to the other features, objects and advantages of the application. The drawings of the illustrative embodiments of the present application and their descriptions are for the purpose of illustrating the present application and are not to be construed as unduly limiting the present application. In the drawings:
FIG. 1 is a schematic diagram of a structure according to an embodiment of the present application;
FIG. 2 is a schematic diagram of a released state according to an embodiment of the present application;
FIG. 3 is a schematic view 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 structural schematic diagram according to an embodiment of the present application;
the electromagnetic driving 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, an electric unlocking part 7, a left clamping jaw 8, a first locking ratchet 9, a left fixing plate 10, a first limiting piece 11, a rotating shaft 12, an elastic resetting piece 13, a puncture needle fixing seat 14, a second gap 15, a locating piece 16, a limiting column 17, a second limiting piece 18, a clamping end 19, a driving end 20, a jack 21, a slope 22, a ratchet 23, a locating cambered surface 24, an arc clamping surface 25, a first gap 26, an upper notch 27, a lower notch 28, a lower notch 29, an upper ratchet 30, a lock cylinder 31 and an electromagnetic driving structure 32.
Detailed Description
In order to make the present application solution better understood by those skilled in the art, the following description will be made in detail and with reference to the accompanying drawings in the embodiments of the present application, it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, shall fall within the scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate in order to describe the embodiments of the present application described herein.
In the present application, the terms "upper", "lower", "inner", and the like indicate an azimuth or a positional relationship based on the azimuth or the positional relationship shown in the drawings. These terms are used primarily to better describe the present application and its embodiments and are not intended to limit the indicated device, element or component to a particular orientation or to be constructed and operated in a particular orientation.
Also, some of the terms described above may be used to indicate other meanings in addition to orientation or positional relationships, for example, the term "upper" may also be used to indicate some sort of attachment or connection 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," "configured," "connected," "secured," and the like are to be construed broadly. For example, "connected" may be in a fixed connection, a removable connection, or a unitary construction; may 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 terms in this application will be understood by those of ordinary skill in the art as the case may be.
In addition, the term "plurality" shall mean two as well as more than two.
It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other. The present application will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
As shown in fig. 1 to 5, an embodiment of the present application provides an electrically controlled lancet holding apparatus including: the device comprises a base 1, a left clamping jaw 8, a right clamping jaw 3, an elastic reset piece 13 and a locking assembly; wherein,
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 reset piece 13 is used for enabling the clamping ends 19 of the left clamping jaw 8 and the right clamping jaw 3 to be opened and reset when the puncture needle is released;
the locking assembly comprises an electric unlocking part 7 and a mechanical locking part 4, wherein 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 electric unlocking portion 7 acts on the mechanical locking portion 4 to release the clamping end 19 to be in an open state.
In this embodiment, the base 1 is used as a bearing structure in the present device, and the locking components of the left clamping jaw 8, the right clamping jaw 3 and the rotating shaft 12 are all mounted on the base 1. Since 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 end and the second end 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 and right jaws 8 and 3 are set as the clamping ends 19 and the second ends are set as the driving ends 20 in this application. The clamping end 19 is used for clamping and fixing and releasing the puncture needle, and the driving end 20 is used for driving the clamping end 19 to clamp and release the puncture needle.
The left clamping jaw 8 and the right clamping jaw 3 realize the opening reset when the puncture needle is released through the elastic reset piece 13, so that the elastic reset piece 13 can adopt elastic structures such as torsion springs or springs. The locking component 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 at the moment, a doctor can operate the clamping device to perform puncture operation. Because the electric unlocking part 7 in the embodiment is an electric component, remote control can be realized, when the puncture needle needs to be released, the electric unlocking part 7 can be controlled by the controller to act so as to release the control on the mechanical locking part 4, at this time, 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, so that the puncture needle is released, and the controller can be a control button electrically connected with the electric unlocking part 7.
The embodiment realizes the technical effects of controlling the electric unlocking part 7 at the far end, electrically releasing the puncture needle, ensuring the puncture precision and simplifying the operation of releasing the puncture needle, thereby solving the problems that the puncture needle clamping device in the related art needs to manually release the puncture needle, the puncture needle clamping and releasing operations are complex, the puncture needle cannot be quickly released, and the like, and bringing inconvenience to clinical use.
As shown in fig. 1 to 5, the ends of the left and right jaws 8, 3 remote from the clamping end 19 are provided as driving ends 20 providing a clamping force; the electric unlocking part 7 and the mechanical locking part 4 are both arranged at the driving end 20.
As shown in fig. 1 to 5, the mechanical locking part 4 is provided between the left jaw 8 and the right jaw 3, and includes a ratchet 23, a left fixing plate 10, and a right fixing plate 5; wherein,
the ratchet wheel 23 is rotatably arranged on the base 1; the left fixing plate 10 and the right fixing plate 5 are respectively fixedly arranged on the left clamping jaw 8 and the right clamping jaw 3 and can move relatively or move reversely 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 23 close to the rotating shaft 12 and one end far away from the rotating shaft 12.
Specifically, the ratchet wheel 23 is rotatably mounted on the base 1 by a ratchet wheel 23 shaft, and the ratchet wheel 23 shaft and the axis of the rotating shaft 12 are parallel. The left fixing plate 10 is located at the inner side of the left clamping jaw 8, the right fixing plate 5 is also located at the inner side of the right clamping jaw 3, so that the left fixing plate 10 and the right fixing plate 5 are oppositely arranged, and when the left clamping jaw 8 and the right clamping jaw 3 move relatively to clamp or move oppositely to release, the left fixing plate 10 and the right fixing plate 5 move relatively and oppositely synchronously. The electric unlocking part 7 acts on the ratchet 23, and when the puncture needle needs to be clamped, the electric unlocking part 7 prevents the ratchet 23 from rotating. Because the ratchet 23 is provided with a plurality of ratchets, when the left fixing plate 10 and the right fixing plate 5 relatively move, the first locking ratchets 9 positioned on the left fixing plate 10 can be meshed with the ratchets on the ratchet 23, so that the left fixing plate 10 is fixed, the right fixing plate 5 can be fixed in the same way, 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, the ratchet wheel 23 is provided with an insertion hole 21 corresponding to the displacement part, and the displacement part can be inserted into the insertion hole 21.
Specifically, it should be noted that, when the puncture needle needs to be clamped, the displacement portion in 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 thereof, and when the left fixing plate 10 and the right fixing plate 5 relatively move, the first locking ratchet 9 on the left fixing plate 10 can be engaged with the ratchet teeth 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 fixing of the left clamping jaw 8 and the right clamping jaw 3 in the clamping state is realized. When the puncture needle needs to be released, the driving part needs to be controlled to drive the displacement part to move and separate from the jack 21 on the ratchet wheel 23, at the moment, the rotation movement 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 reset 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 set as the electromagnetic lock, the driving part is the electromagnetic driving structure 32 of the electromagnetic lock, the displacement part is the lock core 31 of the electromagnetic lock and the reset spring sleeved on the lock core 31. Specifically, it should be noted that the lock core 31 is driven by the electromagnetic driving structure 32 to disengage from the jack 21 on the ratchet 23, and at this time, the lock core 31 compresses the return spring and obtains elastic potential energy.
The jack 21 is arranged on the upper end surface of the ratchet wheel 23, the upper end surface of the ratchet wheel 23 is also provided with a slope 22 communicated with the jack 21, and the slope 22 is arc-shaped and is arranged concentrically 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 away from the jack 21 rotates to be 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 onto the slope 22 under the pushing action of the reset spring, the lock cylinder 31 forces the ratchet wheel 23 to rotate anticlockwise under the continuous pushing action of the reset spring, and when the ratchet wheel rotates to the jack 21 and the lock cylinder 31 are right opposite, the lock cylinder 31 springs into the jack 21 to lock and reset the ratchet wheel 23 so as to carry out the next clamping and locking. 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 in a hemispherical shape, so that a part of the downward action of the lock cylinder 31 on the slope 22 can be decomposed into a horizontal acting force to push the ratchet wheel 23 to rotate and reset, and the reusability of the puncture needle clamping device is improved.
The left fixing plate 10 and the right fixing plate 5 are arc-shaped and are concentric with the rotating shaft 12, the first locking ratchet 9 is arc-shaped and is arranged on the left fixing plate 10, the second locking ratchet 6 is arc-shaped and is arranged on the right fixing plate 5, and the first locking ratchet 9 and the second locking ratchet 6 are convenient to be meshed with the ratchet teeth on the ratchet wheel 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 fixed on the base 1;
the first limiting piece 11 and the second limiting piece 18 are respectively positioned 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 piece 11 and the ratchet wheel 23, and a second gap 15 for accommodating the right fixing plate 5 is formed between the second limiting piece 18 and the ratchet wheel 23, so that the first locking ratchet 9 and the second locking ratchet 6 are in pressure-equalizing tight engagement on the ratchet wheel 23 when the clamping end 19 is in a clamping state.
Specifically, it should be noted that when the clamping device is applied to a CT real-time scanning environment, the puncture needle clamping device is required to be made of a non-metal material, so as to avoid artifacts generated on a CT image by the clamping device, and the CT image is not clear. However, the low stiffness and deformable nature of non-metallic materials compared to metallic materials can result in insufficient holding force for the lancet holding means. Therefore, the first limiting piece 11 and the second limiting piece 18 made of elastic materials are additionally arranged in the embodiment to further fix the left fixing plate 10 and the right fixing plate 5. In particular, due to the existence of the first limiting member 11, when one 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 23, so that the first locking ratchet 9 can be tightly clamped and engaged on the ratchet 23, and the second locking ratchet 6 is tightly clamped and engaged on the ratchet 23 under the action of the pressure applied by the second limiting member 18, so that even if a nonmetallic material is adopted, the clamping device still has higher clamping force.
As shown in fig. 1 to 5, the ratchet teeth on the ratchet wheel 23 include a lower ratchet tooth 28 for engagement with the first locking ratchet tooth 9 and an upper ratchet tooth 30 for engagement with the second locking ratchet tooth 6; to further improve the holding force, the lower end of the ratchet wheel 23 is provided with a lower cutting groove 29 and an upper cutting groove 27 corresponding to the lower ratchet wheel 28 and the upper ratchet wheel 30 respectively, and the ratchet wheel 23 is made of a nonmetallic material, so that when the lower cutting groove 29 and the upper cutting groove 27 are provided, the upper part and the lower part of the ratchet wheel 23 also have certain deformability, thereby providing enough pressure when the first locking ratchet wheel 9 and the lower ratchet wheel 28 are engaged and when the second locking ratchet wheel 6 and the upper ratchet wheel 30 are engaged, so that the holding of the puncture needle is more stable. The embodiment enables the puncture needle clamping device to be applied under CT real-time scanning, and expands application scenes.
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 on the driving end 20 of the left clamping jaw 8, and a second pin of the torsion spring is clamped on the driving end 20 of the right clamping jaw 3. The driving end 20 of the left clamping jaw 8 and the driving end 20 of the right clamping jaw 3 are respectively provided with a boss 2, and a first pin and a second pin of the torsion spring are respectively clamped on the corresponding bosses 2.
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 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 holder further comprises a puncture needle fixing seat 14 for fixing a 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 cambered surfaces which are in clamping fit with the arc-shaped clamping surface 25; the base 1 is provided with the setting element 16 towards the one end of pjncture needle fixing base 14, and the setting element 16 is provided with the location cambered surface 24 of laminating with pjncture needle fixing base 14 towards the one end of pjncture needle fixing base 14 for the position accuracy of centre gripping pjncture needle is guaranteed.
The foregoing description is only of the preferred embodiments of the present application and is not intended to limit the same, but rather, various modifications and variations may be made by those skilled in the art. Any modifications, equivalent substitutions, improvements, or the like, which are within the spirit and principles of the present application, are intended to be included within the scope of the present application.
Claims (7)
1. An electronically controlled lancet holder comprising: the device comprises a base, a left clamping jaw, a right clamping jaw, an elastic reset piece and a locking assembly; wherein,
the left clamping jaw is hinged with the right clamping jaw 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 be in an open state;
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 ratchet wheel is rotationally arranged on the base; the left fixing plate and the right fixing plate are respectively and fixedly arranged on the left clamping jaw and the right clamping jaw and can move relatively or move 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;
the electric unlocking part comprises a linear displacement mechanism fixedly arranged on the base, the linear displacement mechanism comprises a driving part and a displacement part, a jack corresponding to the displacement part is arranged on the ratchet wheel, and the displacement part can be inserted into the jack;
the linear displacement mechanism is arranged as an electromagnetic lock, the driving part is an electromagnetic driving structure of the electromagnetic lock, and the displacement part is a lock cylinder of the electromagnetic lock and a reset spring sleeved on the lock cylinder.
2. The electrically controlled lancet holding device of claim 1, wherein the ends of the left and right jaws distal from the holding end are configured to provide a driving end of the holding force; the electric unlocking part and the mechanical locking part are both arranged on the driving end.
3. The electric control puncture needle clamping device according to claim 2, wherein the 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 arranged concentrically with the ratchet wheel;
the left fixing plate and the right fixing plate are arc-shaped and are concentric with the rotating shaft, the first locking ratchet is arc-shaped and is arranged on the left fixing plate, and the second locking ratchet is arc-shaped and is arranged on the right fixing plate.
4. The electrically controlled lancet holding device of claim 3, wherein the mechanical locking portion further comprises a first stop member and a second stop member secured to the base;
the first limiting piece and the second limiting piece are respectively positioned at one end of the ratchet close to the rotating shaft and one end of the ratchet far away from the rotating shaft;
the ratchet wheel is characterized in that a first gap for accommodating the left fixing plate is formed between the first limiting piece and the ratchet wheel, a second gap for accommodating the right fixing plate is formed between the second limiting piece and the ratchet wheel, and when the clamping end is in a clamping state, the first locking ratchet wheel and the second locking ratchet wheel are tightly meshed with the ratchet wheel.
5. The electrically controlled lancet holding device of claim 4, wherein the ratchet teeth on the ratchet 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 wheel and the upper ratchet wheel.
6. The device according to claim 5, 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.
7. The electrically controlled lancet holding device of claim 6, further comprising a lancet holder for holding a lancet, the holding end having an arcuate holding surface, the lancet holder being provided on both sides with a holding arcuate surface for holding engagement with the arcuate 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.
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| CN202110798233.0A CN113598897B (en) | 2021-07-14 | 2021-07-14 | Electric control puncture needle clamping device |
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| CN202110798233.0A CN113598897B (en) | 2021-07-14 | 2021-07-14 | Electric control puncture needle clamping device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
| CN113855221B (en) * | 2021-12-01 | 2022-03-25 | 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 |
| CN114191053B (en) * | 2022-02-16 | 2023-01-13 | 真健康（北京）医疗科技有限公司 | Puncture sleeve clamp and puncture robot |
| CN114191054B (en) * | 2022-02-16 | 2022-05-13 | 真健康（北京）医疗科技有限公司 | Puncture needle clamp and puncture robot |
| CN114176737B (en) * | 2022-02-16 | 2022-05-13 | 真健康（北京）医疗科技有限公司 | End sleeve clamp and puncture robot |
| CN114469282B (en) * | 2022-03-31 | 2022-07-01 | 真健康（北京）医疗科技有限公司 | Orthogonal structure five-degree-of-freedom puncture robot |
| 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 |
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