CN113952008B - Cross-drive type puncture needle inserting mechanism and needle puncturing device - Google Patents
Cross-drive type puncture needle inserting mechanism and needle puncturing device Download PDFInfo
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- CN113952008B CN113952008B CN202111583920.7A CN202111583920A CN113952008B CN 113952008 B CN113952008 B CN 113952008B CN 202111583920 A CN202111583920 A CN 202111583920A CN 113952008 B CN113952008 B CN 113952008B
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- 230000007246 mechanism Effects 0.000 title claims abstract description 82
- 230000033001 locomotion Effects 0.000 claims abstract description 22
- 230000000149 penetrating effect Effects 0.000 claims abstract description 17
- 238000003780 insertion Methods 0.000 claims description 25
- 230000037431 insertion Effects 0.000 claims description 25
- 230000005540 biological transmission Effects 0.000 claims description 12
- 238000000034 method Methods 0.000 abstract description 8
- 230000000694 effects Effects 0.000 abstract description 3
- 230000009471 action Effects 0.000 description 4
- 230000010354 integration Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000002324 minimally invasive surgery Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 241000463219 Epitheca Species 0.000 description 1
- 101150006573 PAN1 gene Proteins 0.000 description 1
- 238000011298 ablation treatment Methods 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 238000001574 biopsy Methods 0.000 description 1
- 238000002725 brachytherapy Methods 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 229940079593 drug Drugs 0.000 description 1
- 239000013013 elastic material Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000002690 local anesthesia Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 229910001000 nickel titanium Inorganic materials 0.000 description 1
- 210000004872 soft tissue Anatomy 0.000 description 1
- 210000001519 tissue Anatomy 0.000 description 1
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- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3478—Endoscopic needles, e.g. for infusion
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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
- A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
- A61B2017/00398—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like using powered actuators, e.g. stepper motors, solenoids
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Abstract
The application discloses alternately drive pjncture needle mechanism of inserting and needle piercing depth, this alternately drive pjncture needle mechanism of inserting includes: the first roller can independently rotate around the axis of the first roller; the second roller is arranged on one side of the first roller and can independently rotate around the axis of the second roller; an included angle which is larger than 0 degree is formed between the axis of the second roller and the axis of the first roller; a needle penetrating gap for a needle body to penetrate through is formed between the first roller and the second roller, and the first roller and the second roller can be pressed on the needle body. This application has realized reducing the volume of needle feed mechanism, increases the effective distance of puncture, makes it can use the technological effect on miniaturized puncture robot, and then has solved in the correlation technique for adopting the needle feed direction motion and the self rotary motion of two mechanisms control needles respectively, and lead to needle feed mechanism's volume great, has reduced the effective distance of puncture, and is difficult to integrate the problem on miniaturized puncture robot.
Description
Technical Field
The application relates to the technical field of medical equipment, in particular to a cross-drive type puncture needle inserting mechanism and a needle puncture device.
Background
The puncture is a typical technique in Minimally Invasive Surgery (Minimally Invasive Surgery), and under the guidance of images and other sensing information, a needle transcutaneously penetrates through a cavity to enter a soft tissue target point to complete operations such as drug placement, biopsy, local anesthesia, brachytherapy, ablation treatment and the like. In some cases, it is desirable to use a flexible needle for the puncture.
The flexible needle, the needle body is made by nickel titanium alloy that elastic material is better, and the needle point is asymmetric inclined plane, and the non-uniform force that the needle point received the tissue to exert during the puncture, the needle point can deflect along the atress direction, through controlling the needle point inclined plane towards the flexible needle deflection direction of control to control flexible needle puncture orbit, and then reach control needle point precision and bypass the mesh in the region of can not puncturing. Therefore, the puncture process of the flexible needle not only comprises needle insertion and needle withdrawal, but also comprises rotation. Therefore, in order to realize the puncturing mode, a method for separately controlling needle insertion and rotation is adopted in the related art, in other words, the flexible needle insertion mechanism in the related art at least comprises a needle insertion mechanism and a rotating mechanism, so that the needle insertion mechanism occupies a larger volume, the effective puncturing distance is reduced, and the needle insertion mechanism is difficult to integrate on a miniaturized puncturing robot.
Aiming at the problems that in the prior art, two mechanisms are adopted to respectively control the needle inserting direction movement and the self rotation movement of a needle, so that the needle inserting mechanism is large in size, the effective distance of puncture is reduced, and integration on a small puncture robot is difficult, an effective solution is not provided at present.
Disclosure of Invention
The main object of the present application is to provide a cross-drive type puncture needle insertion mechanism and a needle puncture device, which solve the problems in the related art that the needle insertion direction movement and the self rotation movement of the needle are controlled respectively by two mechanisms, the volume of the needle insertion mechanism is large, the effective distance of the puncture is reduced, and the integration on a miniaturized puncture robot is difficult.
In order to achieve the above object, the present application provides a needle insertion mechanism of a cross-drive type puncture needle, comprising:
the first roller can independently rotate around the axis of the first roller;
the second roller is arranged on one side of the first roller and can independently rotate around the axis of the second roller; an included angle which is larger than 0 degree is formed between the axis of the second roller and the axis of the first roller;
a needle threading gap for a needle body to pass through is formed between the first roller and the second roller, and the first roller and the second roller can be pressed on the needle body;
the first idler wheel is arranged in the bottom shell;
the second idler wheel is arranged in the upper shell, and the upper shell is buckled and fixed on the bottom shell; the bottom shell and the upper shell are buckled to form a guide pin groove corresponding to the needle penetrating gap, the needle body can extend out of the guide pin groove after penetrating through the needle penetrating gap, and the guide pin groove is used for limiting the translational motion of the needle body.
Furthermore, an included angle of 90 degrees is formed between the axis of the first roller and the axis of the second roller;
the axis of the first roller and the axis of the needle body form an included angle of 45 degrees.
Furthermore, the device also comprises a first driving mechanism and a second driving mechanism, wherein the first driving mechanism is used for driving the first roller to rotate, and the second driving mechanism is used for driving the second roller to rotate.
The first roller and the first driving mechanism are arranged in the first mounting groove;
the upper shell is arranged on the bottom shell in a covering mode, a second mounting groove is formed in the upper shell, and the second roller and the second driving mechanism are arranged in the second mounting groove.
Further, a guide pin groove is formed in the bottom shell and/or the upper shell, corresponds to the needle penetrating gap, and is used for penetrating the needle body.
Further, the guide pin groove comprises a first guide pin groove arranged on the bottom shell and a second guide pin groove arranged on the upper shell;
when the upper shell is covered on the bottom shell, the first guide pin groove and the second guide pin groove are buckled to form a guide pin hole, and the guide pin hole corresponds to the needle penetrating gap and is used for penetrating a needle body.
Furthermore, a first driving mechanism comprises a first driving motor set and a first universal connecting joint which are arranged in the first mounting groove, the output end of the first driving motor set is in transmission connection with the first universal connecting joint, and the first universal connecting joint is in transmission connection with the first roller.
Furthermore, second actuating mechanism is including locating second driving motor group and second universal joint in the second mounting groove, the output of second driving motor group with second universal joint transmission is connected, second universal joint with second gyro wheel transmission is connected.
Further, the axes of the first driving motor set and the second driving motor set are parallel to each other.
According to another aspect of the present application, there is provided a needle puncturing device including the above-described cross-drive type puncture needle inserting mechanism.
In the embodiment of the application, the first roller is arranged and can independently rotate around the axis of the first roller; the second roller is arranged on one side of the first roller and can independently rotate around the axis of the second roller; an included angle larger than 0 degree is formed between the axis of the second roller and the axis of the first roller; the needle inserting gap for the needle body to penetrate through is formed between the first roller and the second roller, the first roller and the second roller can be pressed on the needle body, the needle body is pressed between the first roller and the second roller, and the axis of the first roller and the second roller forms an included angle larger than 0 degree, so that the rotating direction and the rotating speed of the first roller and the second roller can be respectively adjusted to enable the needle body to realize needle inserting, needle withdrawing and rotating actions and combined actions of needle inserting or needle withdrawing and rotating, the aim of controlling the needle body to perform various actions by one control mechanism is fulfilled, the volume of the needle inserting mechanism is reduced, the effective puncturing distance is increased, the technical effect of the needle inserting mechanism can be applied to a miniaturized puncturing robot is achieved, and the problem that the needle inserting mechanism is large in volume due to the fact that two mechanisms are adopted to respectively control the needle inserting direction movement and the self rotating movement of the needle in the related technology is solved, the effective distance of puncture is reduced, and the integration on a miniaturized puncture robot is difficult.
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 illustration of an explosive structure according to an embodiment of the present application;
FIG. 3 is a schematic diagram of the overall structure according to an embodiment of the present application;
the device comprises a bottom shell 1, a first driving mechanism 2, a first driving motor set 21, a first universal connecting joint 22, a second driving mechanism 3, a second driving motor set 31, a second universal connecting joint 32, a second roller 4, a guide pin groove 5, a first guide pin groove 51, a second guide pin groove 52, a first roller 6, a first mounting groove 7 and an upper shell 8.
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 the case may be.
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.
The puncture process of the flexible needle not only comprises needle insertion and needle withdrawal, but also comprises rotation. Therefore, in order to realize the puncturing mode, a method for separately controlling needle insertion and rotation is adopted in the related art, in other words, the flexible needle insertion mechanism in the related art at least comprises a needle insertion mechanism and a rotating mechanism, so that the needle insertion mechanism occupies a larger volume, the effective puncturing distance is reduced, and the needle insertion mechanism is difficult to integrate on a miniaturized puncturing robot.
Therefore, to solve this problem, as shown in fig. 1 to 3, an embodiment of the present application provides a needle insertion mechanism of a cross-drive type puncture needle, including:
the first roller 6 can independently rotate around the axis of the first roller;
the second roller 4 is arranged on one side of the first roller 6 and can independently rotate around the axis of the second roller; an included angle of more than 0 degree is formed between the axis of the second roller 4 and the axis of the first roller 6;
a needle threading gap for the needle body to pass through is formed between the first roller 6 and the second roller 4, and the first roller 6 and the second roller 4 can be pressed on the needle body;
the bottom shell 1 is provided with a first roller 6 arranged in the bottom shell 1;
the upper shell 8 and the second roller 4 are arranged in the upper shell 8, and the upper shell 8 is buckled and fixed on the bottom shell 1; form the guide pin groove 5 that corresponds with the needle clearance of wearing after drain pan 1 and the 8 locks of epitheca, the needle body passes and can extend out guide pin groove 5 behind the needle clearance of wearing, and guide pin groove 5 is used for restricting the translation motion of needle body.
In this embodiment, the cross-drive type puncture needle insertion mechanism is mainly composed of two parts, namely a first roller 6 and a second roller 4, wherein the first roller 6 and the second roller 4 are identical in structure, the whole structure is a cylindrical structure, and the outer surface of the first roller 6 and the second roller 4 is a surface with a certain friction force, preferably a rubber surface. The first roller 6 and the second roller 4 can rotate independently around their axes, that is, the first roller 6 and the second roller 4 are respectively connected with a driving member, such as a motor or the like, for driving them to rotate.
Since all the needle movements in this embodiment are realized by the rotation of the first roller 6 and the second roller 4, and the needle movements include not only the linear needle insertion and needle withdrawal movements but also the rotational movement about their own axes, the first roller 6 and the second roller 4 in this embodiment need to have a certain included angle in arrangement, that is, the included angle between the axis of the second roller 4 and the axis of the first roller 6 is greater than 0 °.
By this structure, the moving direction of the needle body given by the first roller 6 and the moving direction of the needle body given by the second roller 4 have an angle. The resultant force when two motion directions is along the radial power of needle body when acting on the needle body, then can make the needle body rotate around self axis, when the slant of needle body when the resultant force in two motion directions is used in the needle body, then can make the needle body rotate around self axis when rectilinear movement, and when the axial of needle body when the resultant force in two motion directions is used in the needle body, then can make the needle body do the rectilinear movement who advances the needle or withdraw the needle and incline.
The specific direction of the resultant force acting on the needle through the first roller 6 and the second roller 4 can be adjusted by controlling the rotational speed and direction of the first roller 6 and the rotational speed and direction of the second roller 4.
Because the needle body is driven by the first roller 6 and the second roller 4 to move by means of the friction force between the rollers and the needle body, after the needle body passes through the needle threading gap between the first roller 6 and the second roller 4, the first roller 6 and the second roller 4 can be pressed on the surface of the needle body for providing sufficient friction force. In order to avoid crushing the needle body, the surfaces of the first roller 6 and the second roller 4 can adopt flexible rubber materials.
This embodiment has reached and can control the needle body by a control mechanism (the control mechanism that first gyro wheel 6 and second gyro wheel 4 are constituteed) and carry out the purpose of multiple action, thereby realized reducing the volume of needle feed mechanism, increase the effective distance of puncture, make it can use the technological effect on miniaturized piercing robot, and then solved in the correlation technique for adopting two mechanisms to control the needle direction motion and self rotary motion of needle respectively, and lead to needle feed mechanism's volume great, the effective distance of puncture has been reduced, and be difficult to integrate the problem on miniaturized piercing robot.
As shown in fig. 1, since the moving direction and the moving speed of the needle body are adjusted by individually controlling the moving direction and the moving speed of the first roller 6 and the second roller 4, the resultant force generated on the needle body by the first roller 6 and the second roller 4 needs to be resolved in the control process. In order to solve the resultant force, as shown in fig. 1, the first roller 6 and the second roller 4 are arranged up and down, and the axis of the first roller 6 and the axis of the second roller 4 form an included angle of 90 degrees, the axis of the first roller 6 and the axis of the needle body form an included angle of 45 degrees, that is, the axis of the first roller 6 is perpendicular to the axis of the second roller 4, and the axis of the first roller 6 and the axis of the second roller 4 both form an included angle of 45 degrees with the axis of the needle body.
In order to separately control the first roller 6 and the second roller 4, the needle inserting mechanism in this embodiment further includes a first driving mechanism 2 and a second driving mechanism 3, the first driving mechanism 2 is used for driving the first roller 6 to rotate, and the second driving mechanism 3 is used for driving the second roller 4 to rotate.
The first driving mechanism 2 and the second driving mechanism 3 have the same structure and the same operation mode, and are different in that the first driving mechanism and the second driving mechanism are respectively used for controlling the first roller 6 and the second roller 4 to rotate, have the function of driving the first roller 6 and the second roller 4 to rotate forwards and backwards, and can also adjust the rotating speed of the first roller 6 and the second roller 4 in real time according to the control of the rear end.
As shown in fig. 1 to 3, in order to facilitate the installation of the first roller 6, the second roller 4 and the corresponding driving mechanism, the needle inserting mechanism in this embodiment further includes a bottom case 1 and an upper case 8, the bottom case 1 is provided with a first mounting groove 7, and the first roller 6 and the first driving mechanism 2 are disposed in the first mounting groove 7;
the upper shell 8 is covered on the bottom shell 1, the bottom shell 1 and the upper shell 8 can be fixedly connected through screws, a second mounting groove (not shown in the figure) is formed in the upper shell 8, and the second roller 4 and the second driving mechanism 3 are arranged in the second mounting groove.
The depth of the first mounting groove 7 can be less than or equal to the diameter of the first roller 6, and the depth of the second mounting groove can also be less than the diameter of the second roller 4, so that the needle body can penetrate between the first roller 6 and the second roller 4, and after the bottom case 1 and the upper case 8 are covered, the first roller 6 and the second roller 4 can be pressed on the needle body.
Because resultant force that the needle body received exists along the radial or oblique power of needle body, consequently for avoiding the needle body to produce the skew when receiving non-axial power, need carry on spacingly to the needle body in radial ascending removal. Therefore, as shown in fig. 1 to 3, in the present embodiment, a guide slot 5 is provided on the bottom case 1 and/or the upper case 8, and the guide slot 5 corresponds to the needle passing gap for passing the needle body.
Due to the arrangement of the guide pin groove 5, the needle body is limited to move in the radial direction when passing through the guide pin groove 5, so that the needle body can only rotate around the axis or move along the axial direction. The inner diameter of the guide pin groove 5 is matched with the outer diameter of the needle body, is slightly larger than the outer diameter of the needle body, and is circular as a whole.
In order to facilitate the stable limit of the needle body, the needle guiding groove 5 should be configured to be a circular structure, and the needle inserting mechanism in this embodiment needs to cover the bottom case 1 when in use, so as to be shown in fig. 1 and fig. 2, the needle guiding groove 5 is divided into two parts in this embodiment, that is, the needle guiding groove 5 includes a first needle guiding groove 51 disposed on the bottom case 1 and a second needle guiding groove 52 disposed on the top case 8;
when the upper case 8 is covered on the bottom case 1, the first guide pin groove 51 and the second guide pin groove 52 are buckled to form a guide pin hole, and the guide pin hole corresponds to the needle threading gap and is used for threading a needle body.
The first guide groove 51 and the second guide groove 52 are configured as a semicircular structure, and form a complete circular structure after being buckled. In order to further improve the guidance and the limitation of the needle body, the first needle guiding groove 51 is divided into two sections, which are respectively located at one end of the bottom case 1 for penetrating the needle body and one end for penetrating the needle body, and similarly, the second needle guiding groove 52 is also divided into two sections, which are respectively located at one end of the upper case 8 for penetrating the needle body and one end for penetrating the needle body.
As shown in fig. 1 to 3, the first driving mechanism 2 includes a first driving motor set 21 and a first universal joint 22 disposed in the first mounting groove 7, an output end of the first driving motor set 21 is in transmission connection with the first universal joint 22, and the first universal joint 22 is in transmission connection with the first roller 6.
Specifically, it should be noted that, because the first roller 6 and the second roller 4 are orthogonally distributed, in order to facilitate adjustment of the mounting position of the first driving motor set 21, in this embodiment, the first driving mechanism 2 includes the first driving motor set 21 and the first universal joint 22, and the first driving motor set 21 is connected with the first roller 6 through the first universal joint 22, so that the mounting position of the first driving motor set 21 can be adjusted at a position that reduces the occupied space of the entire needle inserting mechanism.
As shown in fig. 1 to fig. 2, the second driving mechanism 3 includes a second driving motor set 31 and a second universal joint 32, which are disposed in the second mounting groove, an output end of the second driving motor set 31 is in transmission connection with the second universal joint 32, and the second universal joint 32 is in transmission connection with the second roller 4.
Specifically, it should be noted that the second driving mechanism 3 is arranged in the same manner, and the axes of the first driving motor group 21 and the second driving motor group 31 are parallel to each other. The part of the first mounting groove 7 where the first driving motor set 21 is mounted is also parallel to the part of the second mounting groove where the second driving motor set 31 is mounted, and the part of the first mounting groove 7 where the first roller 6 is mounted is orthogonal to the part of the second mounting groove where the second roller 4 is mounted. The first driving motor set 21 and the second driving motor set 31 have the same structure and comprise a servo motor, an encoder and a speed reducer.
According to another aspect of the present application, there is provided a needle puncturing device including the above-described cross-drive type puncture needle inserting mechanism.
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 (9)
1. A cross-drive type puncture needle insertion mechanism comprising:
the first roller can independently rotate around the axis of the first roller;
the second roller is arranged on one side of the first roller and can independently rotate around the axis of the second roller; an included angle which is larger than 0 degree is formed between the axis of the second roller and the axis of the first roller;
a needle threading gap for a needle body to pass through is formed between the first roller and the second roller, and the first roller and the second roller can be pressed on the needle body;
the first idler wheel is arranged in the bottom shell;
the second idler wheel is arranged in the upper shell, and the upper shell is buckled and fixed on the bottom shell; the bottom shell and the upper shell are buckled to form a guide pin groove corresponding to a needle penetrating gap, the needle body can extend out of the guide pin groove after penetrating through the needle penetrating gap, and the guide pin groove is used for limiting the translational motion of the needle body;
the first driving mechanism is used for driving the first roller to rotate, and the second driving mechanism is used for driving the second roller to rotate.
2. The cross-drive type puncture needle insertion mechanism according to claim 1, wherein the axis of the first roller and the axis of the second roller form an angle of 90 °;
the axis of the first roller and the axis of the needle body form an included angle of 45 degrees.
3. The cross-drive type puncture needle insertion mechanism according to claim 1, wherein the bottom case is provided with a first mounting groove, and the first roller and the first drive mechanism are disposed in the first mounting groove;
the upper shell is arranged on the bottom shell in a covering mode, a second mounting groove is formed in the upper shell, and the second roller and the second driving mechanism are arranged in the second mounting groove.
4. The cross-drive type puncture needle inserting mechanism according to claim 3, wherein a guide needle groove is provided on the bottom case and/or the upper case, the guide needle groove corresponding to the needle inserting gap for inserting the needle body.
5. The cross-drive type puncture needle inserting mechanism according to claim 4, wherein the needle guide grooves include a first needle guide groove provided on the bottom case and a second needle guide groove provided on the top case;
when the upper shell is covered on the bottom shell, the first guide pin groove and the second guide pin groove are buckled to form a guide pin hole, and the guide pin hole corresponds to the needle penetrating gap and is used for penetrating a needle body.
6. The cross-drive type puncture needle inserting mechanism according to any one of claims 3 to 5, wherein the first driving mechanism includes a first driving motor group and a first gimbal arranged in the first mounting groove, an output end of the first driving motor group is in transmission connection with the first gimbal, and the first gimbal is in transmission connection with the first roller.
7. The cross-drive type puncture needle insertion mechanism according to claim 6, wherein the second driving mechanism comprises a second driving motor set and a second universal joint, the second driving motor set is disposed in the second mounting groove, an output end of the second driving motor set is in transmission connection with the second universal joint, and the second universal joint is in transmission connection with the second roller.
8. The cross-drive needle insertion mechanism of claim 7 wherein the axes of the first and second drive motor sets are parallel to each other.
9. A needle puncture device comprising the cross-drive type puncture needle insertion mechanism according to any one of claims 1 to 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111583920.7A CN113952008B (en) | 2021-12-23 | 2021-12-23 | Cross-drive type puncture needle inserting mechanism and needle puncturing device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111583920.7A CN113952008B (en) | 2021-12-23 | 2021-12-23 | Cross-drive type puncture needle inserting mechanism and needle puncturing device |
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| CN113952008A CN113952008A (en) | 2022-01-21 |
| CN113952008B true CN113952008B (en) | 2022-05-24 |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN114469283B (en) * | 2022-03-31 | 2022-07-01 | 真健康（北京）医疗科技有限公司 | Connecting rod type four-freedom-degree puncture needle positioning and guiding device |
| CN114469284B (en) * | 2022-03-31 | 2022-07-01 | 真健康（北京）医疗科技有限公司 | Four-freedom-degree puncture needle positioning and guiding device |
| EP4324407A1 (en) * | 2022-07-05 | 2024-02-21 | Jiangsu Tech-Bio-Med Medical Equipment Co., Ltd. | Tissue suturing system |
| WO2024088212A1 (en) * | 2022-10-28 | 2024-05-02 | 苏州派尼迩医疗科技有限公司 | Automatic puncture surgical robot system and puncture method |
| CN115634025B (en) * | 2022-12-23 | 2023-03-17 | 真健康（北京）医疗科技有限公司 | Automatic puncture device for robot puncture operation |
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